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International conference on Unmanned Aircraft Systems (ICUAS)

作者： Scannapicco, Antonio Fulvio Renga, Alfredo Fasano, Giancanninc Moccia, Antonio Univ Naples Federico II Dept Ind Engn Piazzale Tecchio 80 I-80125 Naples Italy

ISBN: (纸本)9781467393331

This paper examines the capability of a miniaturized radar sensor developed for micro Unmanned Aerial Systems (UAS) to assist the flying platform with autonomous navigation, sense-and-avoid (SAA), and imaging functions. An ultralight radar sensor based on Frequency Modulated Continuous Wave (FMCW) technology and developed by IMST GmbH is tested and results of acquired data for navigation, SAA, and imaging applications are discussed. Main challenges related with data collection requirements are highlighted, too. The results suggest that valuable data for each envisaged application can be obtained.

关键词： UAS radar autonomous navigation SAA imaging

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A Methodology for Improving Vegetation Representation and Health Exploiting a Semantic Robotic System

A Methodology for Improving Vegetation Representation and He...

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International conference on Semantic Computing

作者： Daniela D’Auria Fabio Persia Universita degli Studi di Napoli Federico II Napoli Campania IT Free University of Bozen-Bolzano Bolzano Italy

The continuous development of technology has a strong effect on all the heterogeneous research areas and contexts including production agriculture. As a result, precision farming technologies have been increasingly recognized for their potential ability for improving agricultural productivity, reducing production cost, and minimizing damage to the environment. In this context, the main goal of this paper is to present a methodology that can be applied in order to extract semantic information, more specifically some vegetative indices from plants, in order to further improve the vegetation representation and health by means of a specific semantic robotic system.

关键词： Agriculture Laser radar Global Positioning System sensor systems Indexes Semantics

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Ultralight radar sensor for autonomous operations by micro-UAS

Ultralight radar sensor for autonomous operations by micro-U...

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International conference on Unmanned Aircraft Systems

作者： Antonio Fulvio Scannapieco Alfredo Renga Giancarmine Fasano Antonio Moccia Department of Industrial Engineering University of Naples Federico II Piazzale Tecchio 80 80125 Naples Italy

ISBN: (纸本)9781467393355

关键词： UAS radar autonomous navigation SAA imaging

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Rolling horizon non-myopic scheduling of multifunction radar for search and track

Rolling horizon non-myopic scheduling of multifunction radar...

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International conference on Information Fusion

作者： Marion Byrne Krüger White Jason Williams Defence Science and Technology Group Edinburgh SA Australia

ISBN: (纸本)9781509020126

New developments in sensor technologies have enabled more efficient and effective application of resources. sensors that are agile and support multiple modes of operation require adaptive scheduling approaches in order to yield performance benefits compared to fixed off-line approaches. User objectives for different types of tasks must be carefully defined in order to ensure appropriate allotment of sensor resources. Myopic scheduling approaches concentrate on present sensing actions only, while non-myopic scheduling approaches concentrate on present and future actions. In this paper, two different algorithms are developed for the rolling horizon, or multiple time step look-ahead, non-myopic scheduling problem. An example of a multifunction electronically scanned radar that is tasked to (i) search for targets and (ii) update tracks on targets is used to show how the algorithms can be applied in practice.

关键词： radar tracking Target tracking Silicon Schedules Search problems Surveillance

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Low cost FMCW radar design and implementation for harbour surveillance applications

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Lecture Notes in Electrical Engineering 2016年 351卷 139-144页

作者： Saponara, Sergio Lischi, Stefano Massini, Riccardo Musetti, Luca Staglianò, Daniele Berizzi, Fabrizio Neri, Bruno Dipartimento Ingegneria della Informazione Università di Pisa Via G. Caruso 16 Pisa Italy

ISBN: (纸本)9783319202266

The prototype of a low power radar with a coverage range from some hundred meters to a few kilometres is presented in this paper. A Frequency Modulate Continuous Wave (FMCW) X-band solution has been chosen from the architectural point of view, and an hybrid realization has been adopted. In fact, one of the main target of the design was to demonstrate the feasibility of high sensitivity radar sensor implemented in a low cost technology. Some original solutions have been adopted to reach this target. The radar prototype is composed by a radio frequency front end, entirely realized by using commercial components, and by a DSP platform implemented by using open source software. The prototype has been realized and tested. The main interesting results are: (i) the low cost of the radio frequency front end;(ii) the high sensitivity of the sensor which resulted capable of monitoring the movements of object and peoples in a range of some hundred meters with a transmitted power as low as a few mW;(iii) a very low level of EM pollution;(iv) a coverage range of 1 mile with an output power of 2 W;(v) the detection of range and velocity for targets with a radar cross section larger than 1 m inside the coverage range. The main application will be as a node of a radar network for harbour surveillance. © Springer International Publishing Switzerland 2016.

关键词： Frequency modulation

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Precise vehicle localization in dense urban environments

Precise vehicle localization in dense urban environments

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International conference on Intelligent Transportation

作者： Jan Rohde Benjamin Völz Holger Mielenz J. Marius Zöllner Robert Bosch GmbH Corporate Research Vehicle Safety and Assistance Systems Renningen Germany Robert Bosch GmbH Gerlingen-Schillerhohe Baden-WÃ¼rttemberg DE Research Center for Information Technology (FZI) Karlsruhe Germany

In this contribution we introduce a framework for precise vehicle localization in dense urban environments which are characterized by high rates of dynamic and semi-static objects. The proposed localization method is specifically designed to handle inconsistencies between map material and sensor measurements. This is achieved by means of a robust map matching procedure based on the Fourier-Mellin transformation (FMT) for global vehicle pose estimation. Accurate and reliable relative localization is obtained from a LiDAR odometry. Consistency checks based on the cumulative sum (CUSUM) test are instrumented for rejection of inconsistent map matching results from the fusion procedure. Our key contributions are: i) Introduction and adaptation of a spectral map matching procedure based on the FMT for urban automated driving, ii) Presentation of a framework for efficient and robust localization in dense urban environments based on a novel LiDAR odometry, map matching, wheel odometry and GPS, iii) Proposal of a procedure for localization integrity monitoring which leads to significantly increased pose estimation accuracy. Evaluation results show the superior performance of the proposed approach compared to another state-of-the-art localization algorithm for a challenging urban dataset. All maps were recorded two years in advance of the evaluation test run. Furthermore, different LiDAR-based sensor setups were used for mapping and localization.

关键词： Robustness Laser radar Vehicles Signal processing algorithms Three-dimensional displays Two dimensional displays Feature extraction

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Scheduling multifunction radar for search and tracking

Scheduling multifunction radar for search and tracking

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International conference on Information Fusion

作者： Marion Byrne Kruger White Jason Williams Defence Science and Technology Organisation Australia School of Electrical and Electronic Engineering University of Adelaide Australia

ISBN: (纸本)9781479974047

Modern sensors that are increasingly flexible may be used to schedule various functions. Such sensors typically have competing demands on limited sensor resources such as the sensor timeline. sensor management systems attempt to meet the overall goal of the sensor user by considering the user's priorities and the capabilities of the sensor. This paper describes an algorithm for scheduling an electronically scanned array radar in order to perform the two functions of (i) searching for new targets and (ii) updating tracks on known targets. A previous formulation considered search theory approaches to determine radar dwell times. This formulation is extended from the search problem to address the tracking or update function for known targets. A key feature of the scheduling formulation permits the sensor user to specify the costs of not detecting targets within a surveillance volume and of not updating tracks on known targets. A single cost function is used to determine a myopic radar schedule that is optimised using an interior point method. A simple example of a dynamically evolving target environment is used to illustrate the allocation of radar timeline for search and tracking functions.

关键词： radar tracking sensors Target tracking Silicon Surveillance Search problems

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Interferometric SAR Coherence Arising from the Vertically-Polarized Electromagnetic Interrogation of Layered, Penetrable Dielectric Media

Interferometric SAR Coherence Arising from the Vertically-Po...

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European radar conference

作者： Kamalesh Sainath Fernando L. Teixeira Scott Hensley ElectroScience Laboratory The Ohio State University NASA Jet Propulsion Laboratory California Institute of Technology

ISBN: (纸本)9781467392716

We model coherence trends in w-polarized Interferometric Synthetic Aperture radar (InSAR) images arising specifically from the penetration of electromagnetic (EM) waves into geophysical media. Departing from previous InSAR coherence models, we simultaneously incorporate the interacting effects (on coherence) of (i) "multi-bounce" (wave guidance) within an arbitrary number of dielectric layers, (ii) azimuthal deviation in antenna pointing, (iii) local topography, and (iv) subsurface interface and volume scatter mechanisms. Including multi-bounce phenomena, in particular, allows better understanding of chief mechanisms behind backscatter enhancement, and the resultant strong corruption of InSAR observables, arising from interrogation of strongly guiding geophysical medium layers. Moreover, modeling the subsurface guidance behavior's influence from terrain topography expands upon many previous InSAR models that assumed simpler terrain and sensor geometries. As the two key results of this paper then, we quantitatively elucidate (i) how guidance behavior in dielectric slabs can engender unbounded, diverging interferometric phase bias, as well as (ii) how terrain sloping can render sub-sections of InSAR coherence images, generated by otherwise terrain-robust sensor geometries, susceptible to guidance-related phase bias and correlation degradation.

关键词： radar interferometry radar remote sensing

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ObsCon: Integrated Monitoring and Control for Parallel, Real-Time Applications

ObsCon: Integrated Monitoring and Control for Parallel, Real...

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IEEE International conference on Cluster Computing

作者： Alan Nussbaum Shwetha Mathangi Chandra Choodamani Karsten Schwan College of Computing Georgia Institute of Technology Atlanta GA

A large class of emerging compute-intensive applications demand real-time or near real-time processing guarantees on streaming data. sensor processing in particular, has stringent latency requirements for carrying out its digital processing for rapidly incoming radar data streams. The consequent demands on the cluster middleware used to run such codes include (i) efficient online observation of current application performance, coupled with (ii) highly responsive controllers able to dynamically adjust the application's input-and data-dependent runtime behavior. We present the Obs(erver)Con(troller) software for online monitoring and control, which based on specifications of acceptable application states and tunable knobs within the execution environment, ensures that application performance falls within acceptable limits. ObsCon topologies are dynamic, making possible the runtime association of ObsCon methods with arbitrary DAG-structured, distributed/parallel stream processing applications running on high end cluster machines. This paper describes the ObsCon software and its 'grey box' use with a high performance cluster code that exports to ObsCon select 'hooks' for online monitoring and control -- Adaptive Digital Beamforming for a phase-array radar system.

关键词： Monitoring Peer-to-peer computing Runtime Topology Real-time systems Middleware radar

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Estimating Low-Power Radio Signal Attenuation in Forests: A LiDAR-Based Approach

Estimating Low-Power Radio Signal Attenuation in Forests: A ...

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International conference on Distributed Computing in sensor Systems (DCOSS)

作者： Silvia Demetri Gian Pietro Picco Lorenzo Bruzzone Department of Information Engineering and Computer Science (DISI) University of Trento Italy

Wireless sensor networks offer unprecedented opportunities to monitor natural ecosystems. However, despite the growing number of applications (e.g., Forest fire detection, wildlife monitoring), the deployment challenges posed by the real-world natural environment still hinder the widespread adoption of this technology. In particular, the unpredictability of the low-power wireless channel in the presence of vegetation requires costly trial-and-error pilot campaigns to understand where and how to place the wireless nodes. In this paper, we propose a technique based on remote sensing for accurately estimating low-power radio signal attenuation in forest environments. We leverage airborne Light Detection and Ranging (LiDAR) instruments and related automatic data analysis systems to determine local forest attributes (e.g., Tree density) that, once factored into a specialized radio path loss model, enable accurate estimation of the received signal power. Our approach is i) automatic, i.e., It does not require in-field campaigns, and ii) fine-grained, i.e., It enables per-link estimates. Our validation from deployments in a real forest shows that the error of our per-link estimates of the received signal power is around ± 6 dBm - the accuracy of RSSI readings from the radio transceiver.

关键词： Vegetation Laser radar Wireless sensor networks Vegetation mapping Wireless communication Estimation Attenuation

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