Ground Unmanned Support Surrogate (GUSS), unmanned ground vehicle (UGV), TORC Robotics, Blacksburg, Virginia, USA

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Contributors:

TORC Robotics

Virginia Tech (Virginia Polytechnic Institute and State University), Blacksburg, Virginia,USA

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TORC ByWire XGV Reaches 102mph in Drive-By-Wire Control

Uploaded on Feb 24, 2009

TORC Technologies reports that its ByWire XGV™, drive-by-wire converted Hybrid Escape platform, was successfully operated at speeds of up to 102 miles per hour in January of 2009. The tests were run on the Virginia Tech Transportation Institutes Smart Road, a 2.2 mile road closed to outside traffic and pedestrians. The ByWire XGV provides unmanned system developers, researchers, and integrators with a scalable, computer controlled ground vehicle platform with integrated SafeStop™ safety and PowerHub™ power management systems.

Ready for the addition of an autonomous navigation system, the ByWire XGV conversion is tightly integrated to the existing vehicle systems. Controlled through a single interface using JAUS (Joint Architecture for Unmanned Systems) or other proprietary standard over Ethernet, the steering, throttle, shifter, braking, and signals can all be controlled electronically. The safety systems on the XGV are centered around the TORC SafeStop, an off-the-shelf wireless emergency stop system, which provides up to a six mile line-of-sight range and allows for both disable and pause-vehicle states. An internally mounted emergency stop button, easily accessible from both front seats, and two optional externally mounted emergency stop buttons provide for additional safety.

A key benefit of the XGV is the availability of onboard electric power, which prevents the need for adding additional sources of power. TORCs PowerHub power conditioning and distribution options allow for use of up to 2 kW of managed power, configurable over Ethernet through a web browser.

The XGV is another product that TORC has developed based on needs from the DARPA Grand Challenges and other robotic programs from a variety of government groups and industry sectors. We see cutting edge robotic organizations spending too many resources reinventing drive-by-wire, safety, and power details rather than focusing on the higher level perception, planning, and control issues. The XGV allows organizations to leverage our experience solving the Base Platform problem, states Michael Fleming, CEO of TORC. We are excited to demonstrate the XGV at closed-loop control at speed at over 100 miles per hour.

The ByWire XGV uses multiple embedded modules to convert the stock vehicle to by-wire control. At the heart of this system is the National Instruments CompactRIO (cRIO) real-time system. The cRIO handles closed-loop control of the steering, throttling, and braking, as well as shifting, and lighting commands and feedback. Furthermore, the National Instruments cRIO provides the user access to the XGV system through a unified input over Ethernet.

"National Instruments is excited about TORC Technology's' ability to leverage LabVIEW and NI CompactRIO for leading autonomous vehicle design and deployment. TORC has been able to create unique offerings in the market through drive-by-wire technology," states Shelley Gretlein, Robotics Business Development Manager at National Instruments.

A number of other performance tests were also completed in addition to the high speed runs. An operator was able to safely change lanes at speeds of up to 80 miles per hour, and the ByWire XGV was also able to slalom between two lanes at speeds of up to 60 miles per hour. Both tests demonstrate the quick response time of the drive-by-wire conversion, and the accuracy at which desired commands can be achieved.

The ByWire XGV is currently available for purchase through TORC Technologies. The clean installation, intuitive user interface, and rapid conversion make the XGV ideal for unmanned system developers, system integrators and research universities.

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About TORC Technologies
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TORC is automating dull, dirty, and dangerous tasks by commercializing intelligent robotic technologies into interoperable off-the-shelf products, providing the essential building blocks for rapidly enabling autonomy on virtually any platform. TORC's product line offers an integrated set of functionalities necessary for implementing varying levels of unmanned and autonomous operation that can increase your speed to market while reducing risks and development costs.

Robotics Rodeo 2012 - TORC Robotics Places 1st in JIEDDO Endurance Challenge

Published on Jul 10, 2012

TORC Robotics placed first in the Joint IED Defeat Organization's (JIEDDO) 2012 Counter-IED Robotics Endurance Challenge, which took place during the TARDEC Robotics Rodeo at Fort Benning, GA. TORC was awarded with the fastest time to complete the mounted, 23 km challenge, which assessed:

- the speed and endurance of support robots over unimproved roads;
- the ability to detect changes in the road environment over time;
- and the creation of cartographic products for use in mission planning and after action review.

While the Challenge allowed teams to control their systems via local or remote teleoperation, TORC ran the Ground Unmanned Support Surrogate (GUSS) system fully autonomously to further validate its highly capable autonomous navigation system and Autonomy Kit.

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US Marines' New Self-driving Car - GUSS Autonomous Vehicle

Published on Jul 14, 2014

Video footage of Marines maneuvering the Ground Unmanned Support Surrogate (GUSS), experimental technology being tested by the Marine Corps Warfighting Lab during Rim of the Pacific 2014 at Kahuku Training Area on Oahu, Hawaii. The GUSS is a multi-purpose support vehicle based on the ITV equipped with sensors to allow operation with or without a driver. GUSS is one of many technologies being experimented in a field environment during the Advanced Warfighting Experiment looking at new technologies and war fighting concepts for the Marine Corps of the future. Video by Kyle Olson | Marine Corps Futures Directorate

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Marines Unmanned Vehicle-Ground Unmanned Support Surrogate (GUSS)
July 20, 2014

07/20/2014: U.S. Marines and civilians with the Marine Corps Warfighting Lab conduct experiments using the Ground Unmanned Support Surrogate (GUSS) 10-13 July, 2014 at the Kahuku Training Area on the island of Oahu in Hawaii during the Marine Corps' Advanced Warfighting Experiment.

The GUSS is a multi-use vehicle that can be used from resupply to casualty evacuations with or without a driver. There are multiple technologies being tested during RIMPAC, the largest maritime exercise in the Pacific region.

Credit:Marine Forces Pacific Combat Camera:7/15/14

According to one source involved in the creation of the project:

The Naval Surface Warfare Center(NSWC) Dahlgren Division, Virginia Tech, and TORC were tasked by the Marine Corps Warfighting Laboratory (MCWL) to design, develop, and test a fleet of four Ground Unmanned Support Surrogate (GUSS) vehicles.

GUSS systems are optionally unmanned and autonomous vehicles that reduce the dependence of dispersed ground combat elements on external resupply, reduce the loads carried by the dismounted Warfighter, and aid casualty evacuation.

Warfighters each carry up to 90lbs of equipment; this functionality lightens the load of the dismounted Warfighter and increases the durations units that units can operate independently.

GUSS can carry approximately 1800 lbs and is designed for autonomous speeds of 5mph, or about the speed of dismounted troops. It operates in three modes: tele-operated, semi-autonomous and autonomous. It can also travel on all types of terrain, in the day, night and even inclement weather.

TORC components (hardware and software) make up the key components of the autonomous vehicle systems that Virginia Tech installed on existing Polaris MVRS700 6x6 platforms to create the four GUSS robotic systems.

The Drive-by-Wire System and SafeStop, were used in the conversion of the base vehicle. Additionally, TORC provided the required computing modules and autonomous navigation software for unmanned and autonomous operation.

This included a localization module and the main processors for sensors data and autonomous decision making.

Finally, the WaySight, a multi-functional handheld operator control unit, was used as the primary operator interface for the GUSS vehicles. Using the 1lb WaySight, the dismounted Warfighter can easily command the vehicles in various modes depending on the missions being executed. The WaySight modes include: "Target Mode" for rapid path planning using its sight-and-click waypoint tagging, "Follow Me" mode in which GUSS follows autonomously at a predetermined distance, and "WE Mode" which allows for tele-operation of the vehicle. With a few button presses, the operator can quickly switch between modes and use the most appropriate method of robotic control as the situation changes.

The mission of GUSS - supporting a squad of Marines for extended multi-day patrols, sometimes off road in completely unmapped areas - guided its development with continual feedback by Marines testing the system. "Our immediate goal to showcase the GUSS technology through experimentation is a success," said Brent Azzarelli, NSWC Dahlgren Division GUSS Project Manager, after the MCWL Enhanced Company Operations Limited Objective Experiment (LOE) 4. "GUSS is pushing the envelope on small tactical vehicle autonomy and obstacle avoidance, and we are optimistic that this technology will bring a capability to the warfighter in the very near future."

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US Marines "GUSS" Driverless Vehicle - Field Testing

Published on Jul 23, 2014

Footage of a Ground Unmanned Support Surrogate (GUSS) being field tested by Marines at Kahuku Training Area, Oahu, Hawaii. Video by Master Sgt. Ryan Kruse | Defense Media Activity -- Hawaii News Bureau. Derivative works: AiirSource

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Ground Unmanned Support Surrogate (GUSS)

Published on Jul 16, 2014

Elizabeth Carlson describes the Ground Unmanned Support Surrogate (GUSS). Also available in high definition.