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Collaborative Autonomous Sensing with Bayesians in the Loop 12

Collaborative Autonomous Sensing with Bayesians in the Loop

引用

conference on unmanned/unattended sensors and sensor networks XII

作者： Ahmed, Nisar Univ Colorado Boulder Aerosp Engn Sci Boulder CO 80309 USA

ISBN: (数字)9781510603776 s

ISBN: (纸本)9781510603769;9781510603776

There is a strong push to develop intelligent unmanned autonomy that complements human reasoning for applications as diverse as wilderness search and rescue, military surveillance, and robotic space exploration. More than just replacing humans for 'dull, dirty and dangerous' work, autonomous agents are expected to cope with a whole host of uncertainties while working closely together with humans in new situations. The robotics revolution firmly established the primacy of Bayesian algorithms for tackling challenging perception, learning and decision-making problems. Since the next frontier of autonomy demands the ability to gather information across stretches of time and space that are beyond the reach of a single autonomous agent, the next generation of Bayesian algorithms must capitalize on opportunities to draw upon the sensing and perception abilities of humans-in/on-the-loop. This work summarizes our recent research toward harnessing 'human sensors' for information gathering tasks. The basic idea behind is to allow human end users (i.e. non-experts in robotics, statistics, machine learning, etc.) to directly 'talk to' the information fusion engine and perceptual processes aboard any autonomous agent. Our approach is grounded in rigorous Bayesian modeling and fusion of flexible semantic information derived from user-friendly interfaces, such as natural language chat and locative hand-drawn sketches. This naturally enables 'plug and play' human sensing with existing probabilistic algorithms for planning and perception, and has been successfully demonstrated with human-robot teams in target localization applications.

关键词： Human-machine systems collaborative sensing Bayesian methods machine learning sensor fusion estimation robotics

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Tunable mechanical monolithic sensors for large band low frequency monitoring and characterization of sites and structures 12

Tunable mechanical monolithic sensors for large band low fre...

引用

conference on unmanned/unattended sensors and sensor networks XII

作者： Barone, F. Giordano, G. Acernese, F. Romano, R. Univ Salerno Scuola Med Salernitana Dept Med Surg & Dent Fisciano SA Italy Ist Nazl Fis Nucl Sez Naples Italy Univ Salerno Fisciano SA Italy Univ Salerno Dept Pharm Fisciano SA Italy

ISBN: (数字)9781510603776 s

ISBN: (纸本)9781510603769;9781510603776

Among the different mechanical architectures present in literature, the Watts linkage is one of the most promising ones for the implementation of a new class of mechanical accelerometers (horizontal, vertical and angular). In this paper, we present monolithic implementations of uniaxial and triaxial mechanical seismometers and accelerometers based on the UNISA Folded Pendulum mechanical configuration, optimized for low frequency characterization of sites (including underground sites) and structures as inertial sensor (seismometer). This mechanical architecture allows the design and implementation of very large band monolithic sensors (10(-7)Hz 10(2) Hz), whose sensitivities for the most common applications are defined by the noise introduced by their readouts (e.g. < 10(-12) m/root(Hz) with classical LVDT readouts). These unique features, coupled other relevant properties like scalability, compactness, lightness, high directivity, frequency tunability (typical resonance frequencies in the band 10(-1) Hz 10(2) Hz), very high immunity to environmental noises and low cost make this class of sensors very effective for the implementation of uniaxial (horizontal and/or vertical) and triaxial seismometers and accelerometers for ground, space and underwater applications, including UHV and cryogenics ones. Typical applications of this class of monolithic sensors are in the field of earthquake engineering, seismology, geophysics, civil engineering, characterization of sites (including underground sites), structures (e.g. buildings, bridges, historical monuments), and, in general, in all applications requiring large band-low frequency performances coupled with high sensitivities and compactness.

关键词： Seismometer Accelerometer Monolithic sensor Folded Pendulum Seismic Noise

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unattended and remote inertial sensors on surface acoustic waves. 11

Unattended and remote inertial sensors on surface acoustic w...

引用

conference on unmanned/unattended sensors and sensor networks XI;and Advanced Free-Space Optical Communication Techniques and Applications

作者： Lukyanov, Dmitry Shevchenko, Sergey Kukaev, Alexander Khivrich, Maria Telichkin, Roman St Petersburg Electrotech Univ Dept Laser Measurement & Nav Syst St Petersburg Russia

ISBN: (纸本)9781628418576

A great number of design concepts of surface acoustic wave (SAW)-based gyroscopes was proposed through the last decade mainly due to their unique robustness and ability to survive extremely high shocks. At the same time, these devices are small, cheap and easy to produce. Later publications offered a novel idea of constructing a fully passive and wireless gyroscope using SAW-based elements. Although this idea is very attractive, proposed design concepts rise a number of questions. This paper is dedicated to give a short overview of existing design concepts, focusing on details of its operation. Moreover, a new design concept utilizing a single delay line and a phase detector is proposed.

关键词： gyroscope wireless sensing surface acoustic waves

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A system concept for persistent, unmanned, local-area Arctic surveillance 11

A system concept for persistent, unmanned, local-area Arctic...

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conference on unmanned/unattended sensors and sensor networks XI;and Advanced Free-Space Optical Communication Techniques and Applications

作者： McArthur, Bruce A. Atlantic Res Ctr Def Res & Dev Canada Dartmouth NS B2Y 3Z7 Canada

ISBN: (纸本)9781628418576

This paper describes a system concept for persistent (up to 365 days, 24/7), unmanned, local-area surveillance of maritime surface and sub-surface objects, as well as air objects, in the Canadian Arctic. The system concept is based on unmanned, remotely controlled and monitored Local-Area Arctic Surveillance Systems (LAASS) that could be deployed at one or more maritime chokepoints, at locations in the Canadian Arctic Archipelago. The LAASS would be operated over a satellite communications channel from a Southern Control Centre (SCC) located in the south of Canada. Surveillance information for each detected platform and environmental reports for the local operating area would be compiled semi-automatically, from the integration of data transmitted from multiple above-water and underwater sensors and self-reporting systems, and be disseminated, in near real-time, to defence, security, and public safety clients. The system concept is comprised of a surveillance concept which includes environmental and geographic factors, platform types under potential surveillance, end-user information requirements, contributions of individual sensor types to surveillance, and the role of local-area surveillance within the broader context of Arctic Domain Awareness and a system operating concept. The system operating concept describes the system capabilities and operating modes required to achieve the surveillance concept. Consideration is given to the interplay between the automation level, the quality and timeliness of the resulting information productions, the allocation of processing functions between the SCC and the LAASS, and transmitted data volumes.

关键词： surveillance Arctic unmanned remote operation Maritime Domain Awareness

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The use of composite fence with integrated sensors in security systems 11

The use of composite fence with integrated sensors in securi...

引用

conference on unmanned/unattended sensors and sensor networks XI;and Advanced Free-Space Optical Communication Techniques and Applications

作者： Szustakowski, M. Markowski, P. Ciurapinski, W. Zyczkowski, M. Karol, M. Mil Univ Technol Inst Optoelect PL-00908 Warsaw Poland

ISBN: (纸本)9781628418576

This paper presents possibilities of using the composite fence in the security systems. The fence made entirely of dielectric materials is neutral for electromagnetic waves. Thus, the fence does not introduce disturbances in propagation of electromagnetic waves. The use of composite fences reduces reflections of electromagnetic waves which cause negative effects on fence sensors, microwave barriers and radars. Additionally, the sensing part of the fence sensors can be integrated in the composite fence structure. Thus, the detecting elements mounted on the fence are invisible for potential intruder. This paper presents the composite fence with integrated fiber for fiber optic sensors. By arranging the fiber into fence grid it is possible not only discreet installation of the sensors, but also better transfer movements of the fence to sensitive optical fiber. By using the fiber as a sensing element the whole fence remain dielectric. Thereby obtaining a fence entirely transparent to electromagnetic waves which is also monitored for forcing attempts. Another way to use the dielectric properties of the composite fence is possibility of use electromagnetic sensors. Installation of the electromagnetic sensor directly on the fence allows to create a monitored zone in the close surroundings on both sides of the fence. The use of two types of sensors based on different physical phenomena provides an improvement in the detection properties of the entire security system by reducing the number of false alarms and increasing level of safety by increasing the probability of detection an attempt to force the fence.

关键词： perimeter protection security systems composite structures fiber optic sensors electromagnetic sensors

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Detection and tracking of drones using advanced acoustic cameras 11

Detection and tracking of drones using advanced acoustic cam...

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conference on unmanned/unattended sensors and sensor networks XI;and Advanced Free-Space Optical Communication Techniques and Applications

作者： Busset, Joel Perrodin, Florian Wellig, Peter Ott, Beat Heutschi, Kurt Ruehl, Torben Nussbaumer, Thomas Distran GmbH CH-8092 Zurich Switzerland Armasuisse Sci & Technol CH-3602 Thun Switzerland EMPA Swiss Fed Labs Mat Sci & Technol CH-8600 Dubendorf Switzerland RUAG CH-3602 Thun Switzerland

ISBN: (纸本)9781628418576

Recent events of drones flying over city centers, official buildings and nuclear installations stressed the growing threat of uncontrolled drone proliferation and the lack of real countermeasure. Indeed, detecting and tracking them can be difficult with traditional techniques. A system to acoustically detect and track small moving objects, such as drones or ground robots, using acoustic cameras is presented. The described sensor, is completely passive, and composed of a 120-element microphone array and a video camera. The acoustic imaging algorithm determines in real-time the sound power level coming from all directions, using the phase of the sound signals. A tracking algorithm is then able to follow the sound sources. Additionally, a beamforming algorithm selectively extracts the sound coming from each tracked sound source. This extracted sound signal can be used to identify sound signatures and determine the type of object. The described techniques can detect and track any object that produces noise (engines, propellers, tires, etc). It is a good complementary approach to more traditional techniques such as (i) optical and infrared cameras, for which the object may only represent few pixels and may be hidden by the blooming of a bright background, and (ii) radar or other echo-localization techniques, suffering from the weakness of the echo signal coming back to the sensor. The distance of detection depends on the type (frequency range) and volume of the noise emitted by the object, and on the background noise of the environment. Detection range and resilience to background noise were tested in both, laboratory environments and outdoor conditions. It was determined that drones can be tracked up to 160 to 250 meters, depending on their type. Speech extraction was also experimentally investigated: the speech signal of a person being 80 to 100 meters away can be captured with acceptable speech intelligibility.

关键词： Cameras Acoustics unmanned aerial vehicles Imaging systems Detection and tracking algorithms Phased arrays sensors Video Spherical lenses Clocks

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Urban Target Search and Tracking Using a UAV and unattended Ground sensors

Urban Target Search and Tracking Using a UAV and Unattended ...

引用

American Control conference

作者： J.-P. Ramirez-Paredes E. A. Doucette J. W. Curtis N. R. Gans Department of Electrical Engineering The University of Texas at Dallas Richardson TX 75080 USA Munitions Directorate Air Force Research Laboratory Eglin AFB USA

ISBN: (纸本)9781479917730

We present a framework to search for and track a target within an urban environment by fusing data from an unmanned Aerial Vehicle and unattended Ground sensors. The target and UAV are restricted to a road network modeled as a directed graph with the ground sensors deployed along selected edges. The UAV is equipped with an onboard camera capable of detecting the target, and it is guided by an information-theoretic planner that uses a particle filter estimate of the target state as its input. We introduce a method to process out-of-sequence measurements that exploits the time-sparseness of the UGS readings to reduce the computational complexity. Finally, we present simulation results on real road networks that show the target tracking performance and the gains in computation time of our approach.

关键词： unattended Ground sensor road network computational time tracking vehicle urban environment

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Encounter Detection to Improve Navigation in a Group of unattended Vehicles 10

Encounter Detection to Improve Navigation in a Group of Unat...

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conference on unmanned/unattended sensors and sensor networks X

作者： Ruizenaar, M. G. A. TNO Tech Sci The Hague Netherlands

ISBN: (纸本)9781628413113

Research was conducted on groups of unattended vehicles performing some collaborative tasks. Navigation of these vehicles and more specifically, knowing each other's position, is mandatory. In densely built environments, forests, etc., GPS is not always available or accurate. Using information about encounters between the vehicles may significantly improve position information. Detecting encounters can be done very easily with low cost sensors. TNO developed and patented an innovative technology that uses information on encounters to improve the position information. The first promising results show that information on encounters can be used in standard integrated INS/GNSS navigation systems to aid the navigation solution. To increase the number of encounters, a group of unattended vehicles may deliberately try to encounter each other if their navigation solution becomes less certain during GNSS outages.

关键词： Encounter Navigation unattended INS GNSS Kalman Unaided Proximity

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Implementing the Distributed Consensus-based Estimation of Environmental Variables in unattended Wireless sensor networks 10

Implementing the Distributed Consensus-based Estimation of E...

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conference on unmanned/unattended sensors and sensor networks X

作者： Contreras, Rodrigo Restrepo, Silvia Elena Pezoa, Jorge E. Univ Concepcion Dept Ingn Elect Concepcion Chile

ISBN: (纸本)9781628413113

In this paper, the prototype implementation of a scalable, distributed protocol for calculating the global average of sensed environmental variables in unattended wireless sensor networks (WSNs) is presented. The design and implementation of the protocol introduces a communication scheme for discovering the WSN topology. Such scheme uses a synchronous flooding algorithm, which was implemented over an unreliable radiogram-based wireless channel. The topology discovery protocol has been synchronized with sampling time of the WSN and must be executed before the consensus-based estimation of the global averages. An average consensus algorithm, suited for clustered WSNs with static topologies, was selected from the literature. The algorithm was properly modified so that its implementation guarantees that the convergence time is bounded and less than the sampling time of the WSN. Moreover, to implement the consensus algorithm, a reliable packet-passing protocol was designed to exchange the weighting factors among the sensor nodes. Since the amount of data exchanged in each packet is bounded by the degree of the WSN, the scalability of the protocol is guaranteed to be linear. The proposed protocol was implemented in the Sun SPOT hardware/software platform using the Java programming language. All the radio communications were implemented over the IEEE 802.15.4 standard and the sensed environmental variables corresponded to the temperature and luminosity.

关键词： wireless sensor networks consensus theory IEEE 802.15.4

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PADF Electromagnetic Source Localization Using Extremum Seeking Control 10

PADF Electromagnetic Source Localization Using Extremum Seek...

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conference on unmanned/unattended sensors and sensor networks X

作者： Al Issa, Huthaifa A. Ordonez, Raul Jerash Univ Fac Engn Dept Commun & Elect Engn POB 311 Jerash 26150 Jordan Univ Dayton Dept Elect & Comp Engn Dayton OH 45469 USA

ISBN: (纸本)9781628413113

Wireless sensor networks (WSNs) are a significant technology attracting considerable research interest. Recent advances in wireless communications and electronics have enabled the development of low-cost, low-power and multi-functional sensors that are small in size and communicate over short distances. Most WSN applications require knowing or measuring locations of thousands of sensors accurately. For example, sensing data without knowing the sensor location is often meaningless. Locations of sensor nodes are fundamental to providing location stamps, locating and tracking objects, forming clusters, and facilitating routing. This research focused on the modeling and implementation of distributed, mobile radar sensor networks. In particular, we worked on the problem of Position-Adaptive Direction Finding (PADF), to determine the location of a non- collaborative transmitter, possibly hidden within a structure, by using a team of cooperative intelligent sensor networks. Position-Adaptive radar concepts have been formulated and investigated at the Air Force Research Laboratory (AFRL) within the past few years. In this paper, we present the simulation performance analysis on the application aspect. We apply Extremum Seeking Control (ESC) schemes by using the swarm seeking problem, where the goal is to design a control law for each individual sensor that can minimize the error metric by adapting the sensor positions in real-time, thereby minimizing the unknown estimation error. As a result we achieved source seeking and collision avoidance of the entire group of the sensor positions.

关键词： Extremum seeking control swarm source seeking position-adaptive direction finding localization wireless ad-hoc networks unmanned aerial vehicles

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