THE JOINT ARCHITECTURE THE JOINT ARCHITECTURE FOR UNMANNED SYSTEMSFOR UNMANNED SYSTEMS

By By Jeremy Crouse Computer Jeremy Crouse Computer EngineerEngineerAdvisor Dr. Joseph WunderlichAdvisor Dr. Joseph WunderlichNetwork Consultant Dr. Thomas LeapNetwork Consultant Dr. Thomas Leap

What is JAUS?What is JAUS?

Joint Architecture for Unmanned Joint Architecture for Unmanned SystemsSystems

Created by DoDCreated by DoD Software implementationSoftware implementation Industry standard messagesIndustry standard messages

Command CodesCommand Codes

Hexadecimal Hexadecimal numbersnumbers• Received as ASCII Received as ASCII

characterscharacters• Decoded into byte Decoded into byte

arrayarray Integer numbersInteger numbers

Code 0001h: Set Component AuthorityCode 0002h: ShutdownCode 0003h: StandbyCode 0004h: Resume

Code 0005h: ResetCode 0006h: Set Emergency

Code 0007h: Clear EmergencyCode 0008h: Create Service ConnectionCode 0009h: Confirm Service ConnectionCode 000Ah: Activate Service ConnectionCode 000Bh: Suspend Service Connection

Code 000Ch: Terminate Service ConnectionCode 000Dh: Request Component ControlCode 000Eh: Release Component ControlCode 000Fh: Confirm Component ControlCode 0010h: Reject Component Control

Code 2001h: Query Component AuthorityCode 2002h: Query Component Status

Code 4001h: Report Component AuthorityCode 4002h: Report Component Status

Internet protocolInternet protocol

Uses UDP vs. TCP Uses UDP vs. TCP packet structurepacket structure• 128 bits128 bits• JAUS IndicatorJAUS Indicator

In data section of In data section of UPD packetUPD packet

Message StructureMessage Structure

Message PropertiesMessage Properties Message ConstructionMessage Construction

• Binary Binary • Decimal/ASCIIDecimal/ASCII

Router SetupRouter Setup

Program Phoenix Contact RouterProgram Phoenix Contact Router• IP RegulationIP Regulation

Operator control unitOperator control unit RobotRobot

• Port RegulationPort Regulation

JAUS Compliance Tool Suite JAUS Compliance Tool Suite

Will be used by officials at Will be used by officials at competitioncompetition• Provided by US ArmyProvided by US Army

JAUS & Wunderbot 4JAUS & Wunderbot 4

How it worksHow it works Message sent by operator control unit (OCU)Message sent by operator control unit (OCU) Received by wireless router on robotReceived by wireless router on robot

• IP addressIP address• Port numberPort number

Check for JAUS message indicatorCheck for JAUS message indicator DecodeDecode

• Message propertiesMessage properties• Command codeCommand code• Source IDSource ID• Destination IDDestination ID

Send command to correct controllerSend command to correct controller Robot carries out commandRobot carries out command

JAUS Front PanelJAUS Front Panel

JAUS Front PanelJAUS Front Panel

JAUS block diagramJAUS block diagram

JAUS block diagramJAUS block diagram

JAUS block diagramJAUS block diagram

JAUS block diagramJAUS block diagram

IGVC ChallengeIGVC Challenge

Can’t accept messages without Can’t accept messages without correct indicatorcorrect indicator• JAUS01.0JAUS01.0

JAUS PortJAUS Port• 37493749

JAUS OCP IPJAUS OCP IP• 192.168.128.1192.168.128.1

JAUS Router IPJAUS Router IP• 192.168.128.2-254192.168.128.2-254