1. Transition of UAV Technologies from MIT Aeronautics & Astronautics to Nascent Technology Corporation James D. Paduano Eric Feron Presented to the ACGSC, Salt Lake City March 2, 2005 Aeronautics & Astronautics NASCENT TECHNOLOGY

2. 9/9/2015 Copyright Nascent Technology Corporation © 2005 2 MOTIVATION – MIT UAV TECH OPPORTUNITIES MIT HAS CONTRIBUTED TO SEVERAL PROGRAMS ON UAV COORDINATION AND CONTROL –Software Enabled Control (DARPA) –Autonomous Integrated Network of Systems (AINS – ONR) –Mixed-Initiative Control of Autonomous Teams (MICA – DARPA) –Precision Autonomous Landing Adaptive Control Experiment (PALACE – US Army, NASA Ames) –Faculty participating: John Deyst (Draper collaborations) Eric Feron (LIDS) Jon How (formerly Stanford) Jim Paduano (through NTC) FLIGHT DEMONSTRATIONS USING MIT AUTONOMOUS MINIATURE HELICOPTER –Aggressive Maneuvering –MILP-Based Flight Control –Multi-Vehicle Coordination and Associated Optimization Methods MANY SBIR/STTR OPPORTUNITIES TO COMMERCIALIZE Aeronautics & Astronautics

3. 9/9/2015 Copyright Nascent Technology Corporation © 2005 3 NASCENT TECHNOLOGY CORPORATION NTC began commercializing MIT Technologies in 2001 –Autonomous Highly Maneuverable Miniature Helicopter –Tools for Multi-vehicle Coordination –Flight Test Services Small, but Growing Base of SBIR, STTR and Aerospace Customers –SBIR: SOCOM, NSWC, MDA, DARPA –STTR: ONR (AINS Program) –Other: Lockheed Martin Systems Integration – Owego TechnoSciences, Incorporated Oregon Graduate Institute MIT (flight test support) Three full-time, Three part-time employees Aeronautics & Astronautics

4. 9/9/2015 Copyright Nascent Technology Corporation © 2005 4 AHMMH-1 MIT Designed, NTC Built Flight System Seven copies built to date (MIT, LMSI, AFRL) API created to enable interface with various ground stations (TCP/IP/CORBA, AMUST-D, MIT Multi-vehicle, NTC) Upgraded for long range, endurance, and higher lift –Collaborative requirements definition with ETGI, other potential customers Know-how to re-create aggressive helicopters has migrated from MIT students to NTC employees Aeronautics & Astronautics

5. 9/9/2015 Copyright Nascent Technology Corporation © 2005 5 Route Monitor triggers automated route replanning when a UAV route is jeopardized by threats. Fuel Guardian monitors each UAV fuel usage and warns the operator of potentially dangerous low fuel situations. Flight Management Supports up to 16 UAVs – Sensor workload limited Control of UAVs Flight Mode (Route, Loiter, Direct-To-Home) Automated Onboard Route Planning Speed and Altitude Adjustments Sensor Management Controls for Sensor Pointing (Auto, Location, and Fixed Forward) Sensor Coverage History Video Display Window Lockheed Martin Systems Integration - Owego LMSI Proposed MMH/VTUAV/SonoUAV Team Demo

6. 9/9/2015 Copyright Nascent Technology Corporation © 2005 6 Router/Switch Interoperable TCDL Mux/Demux ARC210 Radios FLIR Processor Embedded Computer Reduced Workload Command and Control Integrated Digital Map RFA ARC210 Radios smUAV Video smUAV Radio smUAV Comms Sensor Console VTUAV Surrogate – Nascent Technology AHMMH-1 TUAV Surrogate - Nascent Technology/ Cornell and ACR Demonstrates migration of MMH manned/unmanned airborne system architecture with VTUAV/TUAV Surrogates 802.11 Dotted elements are currently under integration on base MMH program Huey Avionics Testbed MMH Surrogate Lockheed Martin Systems Integration - Owego LMSI 3-Vehicle Demonstration 17 August 2004 ACR ‘Silver Fox’ and NTC AHMMH-1 as TUAV/VTUAV Surrogates

7. 9/9/2015 Copyright Nascent Technology Corporation © 2005 7 Other Activities Flight demonstration of visibility-minimization guidance algorithms (for MIT) –Vehicle performed an on-line computed path plan based on virtual urban map, reducing visibility to defined point ONR-STTR Two-vehicle demonstration of deceptive area search –Flight test complete 20 November 2004 Tactical Tomahawk Weapon Control System (TTWCS) operator interface –Imbedded algorithms to optimally place missiles –Help Navy to take advantage of TTWCS loiter capabilities Optically-Enabled Flight –Laser range-finder integrated into avionics –DARPA program initiated Jan ’05 for optic-flow integration –Acquiring an automotive radar for testing and possible integration Negotiating Marketing Agreement with ETGI –Enforcement Technology Group Inc. –Markets to Police, Special Ops, ‘Three-Letter Organizations’ Aeronautics & Astronautics

8. 9/9/2015 Copyright Nascent Technology Corporation © 2005 8 Deceptive Area Search Scaled-down search area Aeronautics & Astronautics

9. 9/9/2015 Copyright Nascent Technology Corporation © 2005 9 Deceptive Area Search Aeronautics & Astronautics

10. 9/9/2015 Copyright Nascent Technology Corporation © 2005 10 Multi-vehicle Planning Interface Developed for Tactical Tomahawk… …applicable to multi-vehicle coordination under human supervisory control

11. 9/9/2015 Copyright Nascent Technology Corporation © 2005 11 Multi-vehicle Planning Interface Developed for Tactical Tomahawk, applicable to multi-vehicle coordination under human supervisory control Aeronautics & Astronautics

12. 9/9/2015 Copyright Nascent Technology Corporation © 2005 12 Multi-vehicle Planning Interface Developed for Tactical Tomahawk, applicable to multi-vehicle coordination under human supervisory control Aeronautics & Astronautics

13. 9/9/2015 Copyright Nascent Technology Corporation © 2005 13 What missions would benefit from MIT/NTC vehicles & algorithms? Aeronautics & Astronautics Aggressive Autonomous Helicopter: Any mission requiring… … persistent observation (as opposed to fly-by) at close range … flight at low altitude in obstacle-rich environments … urban canyon sensor emplacement missions … organic support of troops advancing through urban environments Algorithms: –Fast, cooperative navigation to a target point in threat-laden environment –Optimal coverage of multiple surveillance/target points (placement of assets) –Deceptive reconnaissance of a planned route where ambush is possible Low Cost Flight Test: For testing sensors, multi-vehicle algorithms, etc.

14. 9/9/2015 Copyright Nascent Technology Corporation © 2005 14 Scenario: Nonlinear urban battlefield: Combat or Stability and Support Operation (SASO) Intelligence Preparation of the Battlefield (IPB) completed to identify known or templated enemy locations Imagery available prior to operations to identify urban grid of major/minor roads GOAL: provide persistent recon of NAIs and key intersections to prevent enemy from ambushing ground element Assumptions: Multiple UAVs organic at battalion and brigade Analysts available in unit headquarters (TOC/TAC) to assess UAV imagery real-time Sufficient communications channels and bandwidth to enable UAVs to communicate between each other and relay data to headquarters (TOC/TAC) UAV sensors capable of identifying enemy ambushes Recon Mission Priorities 1.Timely, persistent recon of NAIs and potential ambush sites to answer Commander’s PIR 2.Provide situation awareness of enemy activities in key locations 2. Remain stealthy EXAMPLE: SENSOR EMPLACEMENT SCENARIO Ref: Army Field Manual 100-5, Staff Organizations and Operations

15. 9/9/2015 Copyright Nascent Technology Corporation © 2005 15 Operations Officer (S3) develops ground route OBJ TAA ~8 miles Intelligence Preparation of the Battlefield (IPB) Step 1: Define the Battlefield Environment Identify major road network Step 2: Describe the Battlefield’s Effects Weather analysis Identify friendly, neutral, and insurgent supported areas Step 3: Evaluate the Threat Develop threat model and doctrinal template Step 4: Determine Threat Courses of Action (COAs) † Develop Named Areas of Interest (NAIs) – zones necessary to observe to determine the enemy COA; observing NAIs is the key to determining whether the enemy can and will ambush a convoy Develop event template and event matrix – anticipated threat actions triggered by activity in NAIs

16. 9/9/2015 Copyright Nascent Technology Corporation © 2005 16 Intelligence Officer (S2) develops NAIs † OBJ TAA Intelligence Preparation of the Battlefield (IPB) Step 1: Define the Battlefield Environment Identify major road network Step 2: Describe the Battlefield’s Effects Weather analysis Identify friendly, neutral, and insurgent supported areas Step 3: Evaluate the Threat Develop threat model and doctrinal template Step 4: Determine Threat Courses of Action (COAs) † Develop Named Areas of Interest (NAIs) – zones necessary to observe to determine the enemy COA; observing NAIs is the key to determining whether the enemy can and will ambush a convoy Develop event template and event matrix – anticipated threat actions triggered by activity in NAIs

17. 9/9/2015 Copyright Nascent Technology Corporation © 2005 17 Operations Officer (S3) develops alternate routes OBJ TAA

18. 9/9/2015 Copyright Nascent Technology Corporation © 2005 18 Operations Officer (S3) and Intelligence Officer (S2) develop and publish Recon and Surveillance (R/S) Order tasking two UAVs (White and Red) and 50 sensor emplacements to recon NAIs and convoy route Note: Ground convoy can depart at any time following the launch of the UAVs/sensors depending on the mission, threat and unit Tactics, Techniques and Procedures (TTPs) OBJ TAA

19. 9/9/2015 Copyright Nascent Technology Corporation © 2005 19 Red and White UAVs begin ‘deceptive’ reconnaissance of planned and alternate routes Sensors are placed in NAIs, either launched from TAA or from UAVs OBJ TAA

20. 9/9/2015 Copyright Nascent Technology Corporation © 2005 20 Red and White UAVs begin ‘deceptive’ reconnaissanceof planned and alternate routes Sensors are placed in NAIs, either launched from TAA or from UAVs OBJ TAA White UAV remains within comm range of sensors Red UAV forges ahead, relays comms from forward sensors through white UAV

21. 9/9/2015 Copyright Nascent Technology Corporation © 2005 21 Aeronautics & Astronautics

22. 9/9/2015 Copyright Nascent Technology Corporation © 2005 22 Spiral 2 Laboratory Configuration AUAV Aircraft Model Visualization Low Level Autopilot Ground Control Station Team Management Control Station Autopilot GPS IMU Comm Link TUAV1 VTUAV Surrogate Autopilot and Closed Loop SImulator TUAV2 Silver Fox Autopilot and Closed Loop Simulator Net-Centric Testbed Forward Platform Relay Platform Ship Platform Rugged Console Real TUAVs Simulated UAVs Joystick Takeoff/ Landing Minimal TUAV where needed Control Station UAV Laboratory supports integration with the MMH avionics system labs Lockheed Martin Systems Integration - Owego Lab Network