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Algorithms and evaluation framework for uninhabited vehicles

引用

unmanned/unattended sensors and sensor networks iv

作者： Angell, C. Bernhardt, M. Waterfall Solutions Ltd. Parallel House 32 London Road Guildford Surrey United Kingdom

ISBN: (纸本)9780819468949

The nature of co-operating Uninhabited Vehicle (UV) systems is such that performance enhancements are likely to be a result of greatly increased system complexity. Complexity emerges through the interaction of multiple autonomous UVs reacting to their current surroundings. This complexity presents a fundamental challenge to the specification, design and evaluation of such systems, and drives the need for new approaches to the systems engineering. For applications involving multiple autonomous UVs, research into collective and emergent behaviour offers potential benefits in terms of improved system performance and the utilisation of individual UVs with lower processing complexity. This paper reports on the development of a new simulation framework that addresses the systems engineering issues and allows novel algorithms to be created and assessed. Examples are given of how the framework has been used to develop and assess the performance of individual and multiple UVs, as well as unattended ground sensors. Furthermore, a variety of novel algorithms developed using the framework are described and example results are provided. These include co-operative UV missions requiring improved detection performance and the improved management of unattended ground sensors to minimise power usage.

关键词： unmanned vehicles

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Failure prediction for satellite monitoring systems using Bayesian networks - art. no. 67360G

引用

conference on unmanned/unattended sensors and sensor networks iv

作者： Bottone, Steven Lee, Daniel Stanek, Clay O'Sullivan, Michael Spivack, Mark DataPath Inc Poway CA 92064 USA

ISBN: (纸本)9780819468949

Predicting failure in complex systems, such as satellite network systems, is a challenging problem. A satellite earth terminal contains many components, including high-powered amplifiers, signal converters, modems, routers, and generators, any of which may cause system failure. The ability to estimate accurately the probability of failure of any of these components, given the current state of the system, may help-reduce the cost of operation. Probabilistic graphical models, in particular Bayesian networks, provide a consistent framework in which to address problems containing uncertainty and complexity. Building a Bayesian network for failure prediction in a complex system such as a satellite earth terminal requires a large quantity of data. Software monitoring systems have the potential to provide vast amounts of data related to the operating state of the satellite earth terminal. Measurable nodes of the Bayesian network correspond to states of measurable parameters in the system and unmeasurable nodes represent failure of various components. Nodes for environmental factors are also included. A description of Bayesian networks will be provided and a demonstration of inference on the Bayesian network, such as the calculation of the marginal probability of failure nodes given measurements and the maximum probability state of the system for failure diagnosis will be given. Using the data to learn local probabilities of the network will also be covered.

关键词： Failure analysis Satellites Amplifiers Data modeling Complex systems Data analysis Statistical analysis Control systems Data conversion Systems modeling

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Time difference of arrival to blast localization of potential chemical/biological event on the move - art. no. 67360K

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conference on unmanned/unattended sensors and sensor networks iv

作者： Morcos, Amir Desai, Sachi Peltzer, Brian Hohil, Myron E. USA REDECOM Picatinny Arsenal NJ 07806 USA

ISBN: (纸本)9780819468949

Integrating a sensor suite with ability to discriminate potential Chemical/Biological (CB) events from high-explosive (HE) events employing a standalone acoustic sensor with a Time Difference of Arrival (TDOA) algorithm we developed a cueing mechanism for more power intensive and range limited sensing techniques. Enabling the event detection algorithm to locate to a blast event using TDOA we then provide further information of the event as either Launch/Impact and if CB/HE. The added information is provided to a range limited chemical sensing system that exploits spectroscopy to determine the contents of the chemical event. The main innovation within this sensor suite is the system will provide this information on the move while the chemical sensor will have adequate time to determine the contents of the event from a safe stand-off distance. The CB/HE discrimination algorithm exploits acoustic sensors to provide early detection and identification of CB attacks. Distinct characteristics arise within the different airburst signatures because HE warheads emphasize concussive and shrapnel effects, while CB warheads are designed to disperse their contents over large areas, therefore employing a slower burning, less intense-explosive to mix and spread their contents. Differences characterized by variations in the corresponding peak pressure and rise time of the blast, differences in the ratio of positive pressure amplitude to the negative amplitude, and variations in the overall duration of the resulting waveform. The discrete wavelet transform (DWT) is used to extract the predominant components of these characteristics from air burst signatures at ranges exceeding 3km. Highly reliable discrimination is achieved with a feed-forward neural network classifier trained on a feature space derived from the distribution of wavelet coefficients and higher frequency details found within different levels of the multiresolution decomposition. The development of an adaptive noise flo

关键词： sensors Acoustics Wavelets Artillery Discrete wavelet transforms Algorithm development Neurons Detection and tracking algorithms Neural networks Signal processing

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Mortar and artillery variants classification by exploiting characteristics of the acoustic signature - art. no. 67360J

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conference on unmanned/unattended sensors and sensor networks iv

作者： Hohil, Myron E. Grasing, David Desai, Sachi Morcos, Amir USA RDECOM Picatinny Arsenal NJ 07806 USA

ISBN: (纸本)9780819468949

Feature extraction methods based on the discrete wavelet transform and multiresolution analysis facilitate the development of a robust classification algorithm that reliably discriminates mortar and artillery variants via acoustic signals produced during the launch/impact events. Utilizing acoustic sensors to exploit the sound waveform generated from the blast for the identification of mortar and artillery variants. Distinct characteristics arise within the different mortar variants because varying HE mortar payloads and related charges emphasize concussive and shrapnel effects upon impact employing varying magnitude explosions. The different mortar variants are characterized by variations in the resulting waveform of the event. The waveform holds various harmonic properties distinct to a given mortar/artillery variant that through advanced signal processing techniques can employed to classify a given set. The DWT and other readily available signal processing techniques will be used to extract the predominant components of these characteristics from the acoustic signatures at ranges exceeding 2km. Exploiting these techniques will help develop a feature set highly independent of range, providing discrimination based on acoustic elements of the blast wave. Highly reliable discrimination will be achieved with a feed-forward neural network classifier trained on a feature space derived from the distribution of wavelet coefficients, frequency spectrum, and higher frequency details found within different levels of the multiresolution decomposition. The process that will be described herein extends current technologies, which emphasis multi modal sensor fusion suites to provide such situational awareness. A two fold problem of energy consumption and line of sight arise with the multi modal sensor suites. The process described within will exploit the acoustic properties of the event to provide variant classification as added situational awareness to the solider.

关键词： neural network artillery impact launch statistical analysis acoustic sensors and artillery

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Changing requirements and solutions for unattended ground sensors

引用

unmanned/unattended sensors and sensor networks iv

作者： Prado, Gervasio Johnson, Robert SenTech Inc. Stoneham MA 02180 United States Harris Corporation Rochester NY 14610

ISBN: (纸本)9780819468949

unattended Ground sensors (UGS) were first used to monitor Viet Cong activity along the Ho Chi Minh Trail in the 1960's. In the 1980's, significant improvement in the capabilities of UGS became possible with the development of digital signal processors;this led to their use as fire control devices for smart munitions (for example: the Wide Area Mine) and later to monitor the movements of mobile missile launchers. In these applications, the targets of interest were large military vehicles with strong acoustic, seismic and magnetic signatures. Currently, the requirements imposed by new terrorist threats and illegal border crossings have changed the emphasis to the monitoring of light vehicles and foot traffic. These new requirements have changed the way UGS are used. To improve performance against targets with lower emissions, sensors are used in multi-modal arrangements. Non-imaging sensors (acoustic, seismic, magnetic and passive infrared) are now being used principally as activity sensors to cue imagers and remote cameras. The availability of better imaging technology has made imagers the preferred source of "actionable intelligence". Infrared cameras are now based on un-cooled detector-arrays that have made their application in UGS possible in terms of their cost and power consumption. Visible light imagers are also more sensitive extending their utility well beyond twilight. The imagers are equipped with sophisticated image processing capabilities (image enhancement, moving target detection and tracking, image compression). Various commercial satellite services now provide relatively inexpensive long-range communications and the Internet provides fast worldwide access to the data.

关键词： Smart sensors

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A multi-sensor scenario for coastal surveillance

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unmanned/unattended sensors and sensor networks iv

作者： Van Den Broek, A.C. Van Den Broek, S.P. Van Den Heuvel, J.C. Schwering, P.B.W. Van Heijningen, A.W.P. TNO Defence Security and Safety P.O. Box 96864 2509 JG The Hague Netherlands

ISBN: (纸本)9780819468949

Maritime borders and coastal zones are susceptible to threats such as drug trafficking, piracy, undermining economical activities. At TNO Defence, Security and Safety various studies aim at improving situational awareness in a coastal zone. In this study we focus on multi-sensor surveillance of the coastal environment. We present a study on improving classification results for small sea surface targets using an advanced sensor suite and a scenario in which a small boat is approaching the coast. A next generation sensor suite mounted on a tower has been defined consisting of a maritime surveillance and tracking radar system, capable of producing range profiles and ISAR imagery of ships, an advanced infrared camera and a laser range profiler. For this suite we have developed a multi-sensor classification procedure, which is used to evaluate the capabilities for recognizing and identifying non-cooperative ships in coastal waters. We have found that the different sensors give complementary information. Each sensor has its own specific distance range in which it contributes most. A multi-sensor approach reduces the number of misclassifications and reliable classification results are obtained earlier compared to a single sensor approach.

关键词： Coastal engineering

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Intelligent algorithms for persistent and pervasive sensing in systems comprised of wireless ad hoc networks of ground-based sensors and mobile infrastructures

Intelligent algorithms for persistent and pervasive sensing ...

引用

conference on Intelligent Computing - Theory and Applications V

作者： Hortos, William S. ACERT Orlando FL 32819 USA

ISBN: (纸本)9780819466822

With the development of low-cost, durable unmanned aerial vehicles (UAVs), it is now practical to perform persistent sensing and target tracking autonomously over broad surveillance areas. These vehicles can sense the environment directly through onboard active sensors, or indirectly when aimed toward ground targets in a mission environment by gound-based passive sensors operating wirelessly as an ad hoc network in the environment. The combination of the swarm intelligence of the airborne infrastructure comprised of UAVs with the ant-like collaborative behavior of the unattended ground sensors creates a system capable of both persistent and pervasive sensing of mission environment, such that, the continuous collection, analysis and tracking of targets from sensor data received from the ground can be achieved. Mobile software agents are used to implement intelligent algorithms for the communications, formation control and sensor data processing in this composite configuration. The enabling mobile agents are organized in a hierarchy for the three stages of processing in the distributed system: target detection, location and recognition from the collaborative data processing among active ground-sensor nodes;transfer of the target information processed on the ground to the UAV swarm overhead;and formation control and sensor activation of the UAV swarm for sustained ground-target surveillance and tracking. Intelligent algorithms are presented that can adapt to the operation of the composite system to target dynamics and system resources. Established routines, appropriate to the processing needs of each stage, are selected as preferred based on their published use in similar scenarios, ability to be distributively implemented over the set of processors at system nodes, and ability to conserve the limited resources at the ground nodes to extend the lifetime of the pervasive network. In this paper, the performance of this distributed, collaborative system concept for persis

关键词： persistent sensing swarm intelligence ad hoc networking network lifetime mobile software agents unattended aerial vehicle (UAV) ground sensors target positioning target surveillance

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Integrated Mobile and Static Sensing for Target Tracking

Integrated Mobile and Static Sensing for Target Tracking

引用

MILCOM, Military Communications conference

作者： Oliver Kosut Andrey Turovsky John Sun Matthew Ezovski Lang Tong Gene Whipps School of Electrical and Computer Engineering Cornell University Ithaca NY USA Army Research Laboratory USA

networks of low-power, low-cost, and widely distributed wireless sensor nodes are being envisioned and developed for many military applications including surveillance and localization. However, due to energy and communication constraints, combinations of static nodes (such as unattended ground sensors (UGS)) and mobile nodes (such as robotic ground vehicles (RGV) and unmanned aerial vehicles (UAV)) are being used to expand or fill in coverage areas and reduce energy costs. A multi-chaser target tracking scenario is developed where mobile nodes, or chasers, use information provided by static nodes to infer the position of an intruder in the sensor grid. In large-scale sensor networks with mobile access, the communication range of static nodes may be limited by terrain and signal transmission energy. A drop-box static sensor architecture is developed to aid data propagation in such limited range networks. Chasers will "drop off" previously collected information about the target and retrieve new information stored in the static sensors. An algorithm is presented which takes advantage of this particular architecture. It is used to demonstrate that the drop-box nature of the static nodes improves performance.

关键词： Target tracking Wireless sensor networks Mobile communication unmanned aerial vehicles Surveillance Mobile robots Robot sensing systems Land vehicles Costs Large-scale systems

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Multifunctional, self-sensing microcantilever arrays for unattended detection of chemicals, explosives, and biological agents

Multifunctional, self-sensing microcantilever arrays for una...

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conference on unmanned/unattended sensors and sensor networks III

作者： Rogers, B. Whitten, R. Adams, J. D. Nevada Nanotech Syst Inc 661 Sierra Rose Dr Reno NV 89511 USA

ISBN: (纸本)9780819464927

unattended sensing applications necessitate robust, compact, low-cost, low-power sensor units. The microcantileverbased Self-Sensing Array (SSA) technology developed by Nevada Nanotech Systems, Inc. (NNTS) is a strong candidate for such units. SSA technology is expected to provide the selectivity, sensitivity, durability, low cost, and low power needed for unattended sensors and sensor networks. The sensor employs a variety of sensor coatings and the ability to analyze the electrical and thermal properties of molecules on the cantilevers. This so-called Lab-on-a-Tip(TM) technology could lead to enhanced chemical identification capabilities of the trace detection platform.

关键词： microcantilever array unattended multidimensional sensor

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A software design approach for heterogeneous systems of unattended sensors, unmanned vehicles and monitoring stations

A software design approach for heterogeneous systems of unat...

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conference on unmanned/unattended sensors and sensor networks III

作者： Smuda, William J. Gerhart, Grant Shing, Man-Tak Auguston, Mikhail USA Tank Automot RDE Ctr 6501 E 11 Mile Rd Warren MI 48397 USA Naval Postgrad Sch Monterey CA USA

ISBN: (纸本)9780819464927

The design and implementation of software for network systems of diverse physical assets is a continuing challenge to sensor network developers. The problems are often multiplied when adding new elements, and when reconfiguring existing systems. For software systems, like physical systems, explicit architectural descriptions increase system level comprehension. Coupled with well defined object oriented design practices, system extensibility is defined and software reuse and code composition are enabled. Our research is based on model driven design architecture. High level system models are defined in the Unified Modeling Language (UML), the language of the software engineer. However, since most experimental work is done by non-software specialists, (electronics Engineers, Mechanical Engineers and technicians) the model is translated into a graphical, domain specific model. Components are presented as domain specific icons, and constraints from the UML model are propagated into the domain model. Domain specialists manipulate the domain model, which then composes software elements needed at each node to create an aggregate system.

关键词： software design unattended sensors unmanned vehicles model driven design software reuse UML distributed systems design patterns software components JAUS

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