Shannon Ridgeway | University of Florida (original) (raw)

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Papers by Shannon Ridgeway

Http Dx Doi Org 10 1163 156855395x00210, Apr 2, 2012

This paper describes the development of an autonomous vehicle system that participated in the 200... more This paper describes the development of an autonomous vehicle system that participated in the 2005 DARPA Grand Challenge event. After a brief description of the event, the architecture, based on version 3.0 of the DoD Joint Architecture for Unmanned Systems (JAUS), and design of the system are presented in detail. In particular, the "smart sensor" concept is introduced which provided a standardized means for each sensor to present data for rapid integration and arbitration.

This paper describes the system design developed for Team Gator Nation's submission to the 20... more This paper describes the system design developed for Team Gator Nation's submission to the 2007 DARPA Urban Challenge. A hybrid Toyota Highlander has been automated and instrumented with pose estimation (GPS and inertial) and object detection (vision and ladar) sensors. The control architecture consists of four primary elements, i.e. Planning Element, Perception Element, Intelligence Element, and Control Element. The Intelligence

Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics, 1995

A prototype wall-crawler for remote inspection operation was designed and fabricated for use in a... more A prototype wall-crawler for remote inspection operation was designed and fabricated for use in a constrained hazardous environment. The transporter was designed to carry inspection sensors to detect weld flaws in reactor and containment vessels and had to withstand elevated temperature and radiation exposure. Other design parameter considerations included limitations on size and operation in an inert environment. The transporter

The research performed by the University of Florida (UF) is directed to the development of techno... more The research performed by the University of Florida (UF) is directed to the development of technologies that can be utilized at a micro-scale in varied environments. Work is focused on micro-scale energy systems, visualization, and mechanical devices. This work will impact the NNSA need related to micro-assembly operations. The URPR activities are executed in a University environment, yet many applications

Experience from the DARPA Urban Challenge, 2011

This paper describes the system design developed for Team Gator Nation's submission to the 2007 D... more This paper describes the system design developed for Team Gator Nation's submission to the 2007 DARPA Urban Challenge. In this event, vehicles had to navigate on city streets while obeying basic traffic laws. One of the major challenges was interacting with other vehicles such as at intersections. To address these challenges, a hybrid Toyota Highlander was automated and instrumented with pose estimation (GPS and inertial) and object detection (vision and ladar) sensors. A control architecture was developed which integrates planning, perception, decision making, and control elements. The intelligence element implements the Adaptive Planning Framework which was developed by researchers at the University of Florida. This framework provides a means for situation assessment, behavior mode evaluation, and behavior selection and execution. The paper describes this architecture and concludes with lessons learned from participation in the Urban Challenge event.

Journal of Aerospace Computing, Information, and Communication, 2007

This paper describes the system design developed for Team Gator Nation's submission to the 2... more This paper describes the system design developed for Team Gator Nation's submission to the 2007 DARPA Urban Challenge. A hybrid Toyota Highlander has been automated and instrumented with pose estimation (GPS and inertial) and object detection (vision and ladar) sensors. ...

SAE Technical Paper Series, 1999

This paper describes the intelligence components associated with the system design developed for ... more This paper describes the intelligence components associated with the system design developed for Team Gator Nation's submission to the 2007 DARPA Urban Challenge. In this event, vehicles had to navigate on city streets while obeying basic traffic laws. One of the major challenges was interacting with other vehicles such as at intersections. To address these challenges, a hybrid Toyota Highlander was automated and instrumented with pose estimation (GPS and inertial) and object detection (vision and ladar) sensors. A control architecture was developed which integrates planning, perception, decision making, and control elements. The intelligence element implements the Adaptive Planning Framework which was developed by researchers at the University of Florida. This framework provides a means for situation assessment, behavior mode evaluation, and behavior selection and execution. The paper describes this architecture and concludes with lessons learned from participation in the Urba...

Journal of Manufacturing Science and Engineering, 2000

Recently, companies have been experimenting with parallelmechanism based approaches for milling m... more Recently, companies have been experimenting with parallelmechanism based approaches for milling machines. This research presents an investigation into the development of a special 6-6 parallel mechanism for application to contour milling. The idea behind this approach is that existing non-CNC milling equipment can be augmented to increase its capability at a lower cost than purchasing traditional 5-axis machining centers. This paper presents the phase of research associated with developing a parametric kinestatic design methodology for a special 6-6 parallel mechanism (Kinestatic Platform, KP). This methodology was applied to the design specifications associated with 5-axis contour milling. The resulting kinestatic design's dynamics were evaluated to determine the actuation requirements of each connector. A prototype connector was built to allow the evaluation of actuator response under simulated loading conditions. Joint stiffness and control strategy were of primary concern in evaluating the performance of the prototype connector. The parametric kinestatic design and control strategy results are presented. Several observations are evidenced from the research. Joint deflection is an obvious critical issue and the most difficult to quantify. A scheme is proposed detailing the concept of using a separate metrology frame to overcome difficulties associated with accurate connector length determination.

Journal of Field Robotics, 2006

Summary. This paper describes the development of an autonomous vehicle system that participated i... more Summary. This paper describes the development of an autonomous vehicle system that participated in the 2005 DARPA Grand Challenge event. After a brief descrip-tion of the event, the architecture, based on version 3.2 of the Department of Defense Joint Architecture for ...

CIRP Annals - Manufacturing Technology, 1999

... Jiri Tlusty a , John Ziegert a and Shannon Ridgeway a. ... 9 REFERENCES Tlusty, J.,Smith, S.,... more ... Jiri Tlusty a , John Ziegert a and Shannon Ridgeway a. ... 9 REFERENCES Tlusty, J.,Smith, S., Badrawy,SJ, Smith, DA, Smith, AP, 1997, Design of a High Speed Milling Machine for Aluminum Aircraft parts, ASME Mfg. Sc. & Eng., Vol. 2, MED-Vol. 6-2:323-332. Tlusty. ...

Advanced Robotics, 1994

The development of an articulated transporter/manipulator system was undertaken to meet the navig... more The development of an articulated transporter/manipulator system was undertaken to meet the navigational and manipulation needs expected in confined areas associated with the nuclear power industry. Initially, the mobility concept was examined. An articulated vehicle was conceived that could conceptually meet the expected navigational requirements. This concept consists of several (up to 12) segments attached to each other by two

Journal of Manufacturing Processes, 2000

The stiffness characteristics of classical serial machine tools are compared with parallel kinema... more The stiffness characteristics of classical serial machine tools are compared with parallel kinematic, or hexapod, structures for high-speed milling applications. A structural stiffness requirement for this application is determined by the stiffness of current-generation high-speed spindles and the desire for stability against chatter. It is found that hexapod structures exhibit lower structural stiffness than can be achieved in serial machines