Design and performance of an integrated ground and space sensor web for monitoring active volcanoes.

NASA Astrophysics Data System (ADS)

Lahusen, Richard; Song, Wenzhan; Kedar, Sharon; Shirazi, Behrooz; Chien, Steve; Doubleday, Joshua; Davies, Ashley; Webb, Frank; Dzurisin, Dan; Pallister, John

2010-05-01

An interdisciplinary team of computer, earth and space scientists collaborated to develop a sensor web system for rapid deployment at active volcanoes. The primary goals of this Optimized Autonomous Space In situ Sensorweb (OASIS) are to: 1) integrate complementary space and in situ (ground-based) elements into an interactive, autonomous sensor web; 2) advance sensor web power and communication resource management technology; and 3) enable scalability for seamless addition sensors and other satellites into the sensor web. This three-year project began with a rigorous multidisciplinary interchange that resulted in definition of system requirements to guide the design of the OASIS network and to achieve the stated project goals. Based on those guidelines, we have developed fully self-contained in situ nodes that integrate GPS, seismic, infrasonic and lightning (ash) detection sensors. The nodes in the wireless sensor network are linked to the ground control center through a mesh network that is highly optimized for remote geophysical monitoring. OASIS also features an autonomous bidirectional interaction between ground nodes and instruments on the EO-1 space platform through continuous analysis and messaging capabilities at the command and control center. Data from both the in situ sensors and satellite-borne hyperspectral imaging sensors stream into a common database for real-time visualization and analysis by earth scientists. We have successfully completed a field deployment of 15 nodes within the crater and on the flanks of Mount St. Helens, Washington. The demonstration that sensor web technology facilitates rapid network deployments and that we can achieve real-time continuous data acquisition. We are now optimizing component performance and improving user interaction for additional deployments at erupting volcanoes in 2010.

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks

NASA Astrophysics Data System (ADS)

Tan, Jindong; Xi, Ning

2004-09-01

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

A wireless smart sensor network for automated monitoring of cable tension

NASA Astrophysics Data System (ADS)

Sim, Sung-Han; Li, Jian; Jo, Hongki; Park, Jong-Woong; Cho, Soojin; Spencer, Billie F., Jr.; Jung, Hyung-Jo

2014-02-01

As cables are primary load carrying members in cable-stayed bridges, monitoring the tension forces of the cables provides valuable information regarding structural soundness. Incorporating wireless smart sensors with vibration-based tension estimation methods provides an efficient means of autonomous long-term monitoring of cable tensions. This study develops a wireless cable tension monitoring system using MEMSIC’s Imote2 smart sensors. The monitoring system features autonomous operation, sustainable energy harvesting and power consumption, and remote access using the internet. To obtain the tension force, an in-network data processing strategy associated with the vibration-based tension estimation method is implemented on the Imote2-based sensor network, significantly reducing the wireless data transmission and the power consumption. The proposed monitoring system has been deployed and validated on the Jindo Bridge, a cable-stayed bridge located in South Korea.

Using Public Network Infrastructures for UAV Remote Sensing in Civilian Security Operations

DTIC Science & Technology

2011-03-01

leveraging public wireless communication networks for UAV-based sensor networks with respect to existing constraints and user requirements...Detection with an Autonomous Micro UAV Mesh Network . In the near future police departments, fire brigades and other homeland security ...UAV-based sensor networks with respect to existing constraints and user requirements. 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION

Routing Protocols to Minimize the Number of Route Disconnections for Communication in Mobile Ad Hoc Networks

DTIC Science & Technology

2009-09-01

Wireless Sensor Network (WSN) Simulator Research Personnel: Dr. Ali Abu-El Humos Task No. Task Current Status 1 Literature review and problem definition...networks.com/ [2] S. Dulman, P. Havinga, "A Simulation Template for Wireless Sensor Networks ," Supplement of the Sixth International Symposium on Autonomous... Sensor Network (WSN) Simulator 76 I Breakdown of the Research Activity to Tasks 76 II Description of the Tasks 76 Task 1 Literature Review and

A Model for Field Deployment of Wireless Sensor Networks (WSNs) within the Domain of Microclimate Habitat Monitoring

ERIC Educational Resources Information Center

Sanborn, Mark

2011-01-01

Wireless sensor networks (WSNs) represent a class of miniaturized information systems designed to monitor physical environments. These smart monitoring systems form collaborative networks utilizing autonomous sensing, data-collection, and processing to provide real-time analytics of observed environments. As a fundamental research area in…

Intelligent On-Board Processing in the Sensor Web

NASA Astrophysics Data System (ADS)

Tanner, S.

2005-12-01

Most existing sensing systems are designed as passive, independent observers. They are rarely aware of the phenomena they observe, and are even less likely to be aware of what other sensors are observing within the same environment. Increasingly, intelligent processing of sensor data is taking place in real-time, using computing resources on-board the sensor or the platform itself. One can imagine a sensor network consisting of intelligent and autonomous space-borne, airborne, and ground-based sensors. These sensors will act independently of one another, yet each will be capable of both publishing and receiving sensor information, observations, and alerts among other sensors in the network. Furthermore, these sensors will be capable of acting upon this information, perhaps altering acquisition properties of their instruments, changing the location of their platform, or updating processing strategies for their own observations to provide responsive information or additional alerts. Such autonomous and intelligent sensor networking capabilities provide significant benefits for collections of heterogeneous sensors within any environment. They are crucial for multi-sensor observations and surveillance, where real-time communication with external components and users may be inhibited, and the environment may be hostile. In all environments, mission automation and communication capabilities among disparate sensors will enable quicker response to interesting, rare, or unexpected events. Additionally, an intelligent network of heterogeneous sensors provides the advantage that all of the sensors can benefit from the unique capabilities of each sensor in the network. The University of Alabama in Huntsville (UAH) is developing a unique approach to data processing, integration and mining through the use of the Adaptive On-Board Data Processing (AODP) framework. AODP is a key foundation technology for autonomous internetworking capabilities to support situational awareness by sensors and their on-board processes. The two primary research areas for this project are (1) the on-board processing and communications framework itself, and (2) data mining algorithms targeted to the needs and constraints of the on-board environment. The team is leveraging its experience in on-board processing, data mining, custom data processing, and sensor network design. Several unique UAH-developed technologies are employed in the AODP project, including EVE, an EnVironmEnt for on-board processing, and the data mining tools included in the Algorithm Development and Mining (ADaM) toolkit.

Autonomous Vehicles and the Net-Centric Battlespace

DTIC Science & Technology

2000-04-01

Autonomous vehicles are playing increasing roles in the air/land/sea network of today’s battlespace. As the Navy’s lead laboratory for command...including remote sensor platforms, communication relays, and work platforms. As these capabilities are developed autonomous vehicles will become an

Dynamic Tasking of Networked Sensors Using Covariance Information

DTIC Science & Technology

2010-09-01

has been created under an effort called TASMAN (Tasking Autonomous Sensors in a Multiple Application Network). One of the first studies utilizing this...environment was focused on a novel resource management approach, namely covariance-based tasking. Under this scheme, the state error covariance of...resident space objects (RSO), sensor characteristics, and sensor- target geometry were used to determine the effectiveness of future observations in

Optimized Autonomous Space In-situ Sensor-Web for volcano monitoring

USGS Publications Warehouse

Song, W.-Z.; Shirazi, B.; Kedar, S.; Chien, S.; Webb, F.; Tran, D.; Davis, A.; Pieri, D.; LaHusen, R.; Pallister, J.; Dzurisin, D.; Moran, S.; Lisowski, M.

2008-01-01

In response to NASA's announced requirement for Earth hazard monitoring sensor-web technology, a multidisciplinary team involving sensor-network experts (Washington State University), space scientists (JPL), and Earth scientists (USGS Cascade Volcano Observatory (CVO)), is developing a prototype dynamic and scaleable hazard monitoring sensor-web and applying it to volcano monitoring. The combined Optimized Autonomous Space -In-situ Sensor-web (OASIS) will have two-way communication capability between ground and space assets, use both space and ground data for optimal allocation of limited power and bandwidth resources on the ground, and use smart management of competing demands for limited space assets. It will also enable scalability and seamless infusion of future space and in-situ assets into the sensor-web. The prototype will be focused on volcano hazard monitoring at Mount St. Helens, which has been active since October 2004. The system is designed to be flexible and easily configurable for many other applications as well. The primary goals of the project are: 1) integrating complementary space (i.e., Earth Observing One (EO-1) satellite) and in-situ (ground-based) elements into an interactive, autonomous sensor-web; 2) advancing sensor-web power and communication resource management technology; and 3) enabling scalability for seamless infusion of future space and in-situ assets into the sensor-web. To meet these goals, we are developing: 1) a test-bed in-situ array with smart sensor nodes capable of making autonomous data acquisition decisions; 2) efficient self-organization algorithm of sensor-web topology to support efficient data communication and command control; 3) smart bandwidth allocation algorithms in which sensor nodes autonomously determine packet priorities based on mission needs and local bandwidth information in real-time; and 4) remote network management and reprogramming tools. The space and in-situ control components of the system will be integrated such that each element is capable of autonomously tasking the other. Sensor-web data acquisition and dissemination will be accomplished through the use of the Open Geospatial Consortium Sensorweb Enablement protocols. The three-year project will demonstrate end-to-end system performance with the in-situ test-bed at Mount St. Helens and NASA's EO-1 platform. ??2008 IEEE.

Autonomous Adaptive Acoustic Relay Positioning

DTIC Science & Technology

2013-09-01

underwater acoustic sensor networks . In Proc. 1st ACM International Work- shop on Underwater Networks , pages 7–16, 2006. [4] A Alvarez, A...routing in underwater delay/disruption tolerant sensor networks . In Wireless on Demand Network Systems and Services, 2008. WONS 2008. Fifth Annual...the development of multi-vehicle applications in the ocean, and the main mode of wireless data transmission underwater is acoustic .

Autonomous Mission Operations for Sensor Webs

NASA Astrophysics Data System (ADS)

Underbrink, A.; Witt, K.; Stanley, J.; Mandl, D.

2008-12-01

We present interim results of a 2005 ROSES AIST project entitled, "Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations", or SWAMO. The goal of the SWAMO project is to shift the control of spacecraft missions from a ground-based, centrally controlled architecture to a collaborative, distributed set of intelligent agents. The network of intelligent agents intends to reduce management requirements by utilizing model-based system prediction and autonomic model/agent collaboration. SWAMO agents are distributed throughout the Sensor Web environment, which may include multiple spacecraft, aircraft, ground systems, and ocean systems, as well as manned operations centers. The agents monitor and manage sensor platforms, Earth sensing systems, and Earth sensing models and processes. The SWAMO agents form a Sensor Web of agents via peer-to-peer coordination. Some of the intelligent agents are mobile and able to traverse between on-orbit and ground-based systems. Other agents in the network are responsible for encapsulating system models to perform prediction of future behavior of the modeled subsystems and components to which they are assigned. The software agents use semantic web technologies to enable improved information sharing among the operational entities of the Sensor Web. The semantics include ontological conceptualizations of the Sensor Web environment, plus conceptualizations of the SWAMO agents themselves. By conceptualizations of the agents, we mean knowledge of their state, operational capabilities, current operational capacities, Web Service search and discovery results, agent collaboration rules, etc. The need for ontological conceptualizations over the agents is to enable autonomous and autonomic operations of the Sensor Web. The SWAMO ontology enables automated decision making and responses to the dynamic Sensor Web environment and to end user science requests. The current ontology is compatible with Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) Sensor Model Language (SensorML) concepts and structures. The agents are currently deployed on the U.S. Naval Academy MidSTAR-1 satellite and are actively managing the power subsystem on-orbit without the need for human intervention.

Three-dimensional ocean sensor networks: A survey

NASA Astrophysics Data System (ADS)

Wang, Yu; Liu, Yingjian; Guo, Zhongwen

2012-12-01

The past decade has seen a growing interest in ocean sensor networks because of their wide applications in marine research, oceanography, ocean monitoring, offshore exploration, and defense or homeland security. Ocean sensor networks are generally formed with various ocean sensors, autonomous underwater vehicles, surface stations, and research vessels. To make ocean sensor network applications viable, efficient communication among all devices and components is crucial. Due to the unique characteristics of underwater acoustic channels and the complex deployment environment in three dimensional (3D) ocean spaces, new efficient and reliable communication and networking protocols are needed in design of ocean sensor networks. In this paper, we aim to provide an overview of the most recent advances in network design principles for 3D ocean sensor networks, with focuses on deployment, localization, topology design, and position-based routing in 3D ocean spaces.

Virtual Mission Operations of Remote Sensors With Rapid Access To and From Space

NASA Technical Reports Server (NTRS)

Ivancic, William D.; Stewart, Dave; Walke, Jon; Dikeman, Larry; Sage, Steven; Miller, Eric; Northam, James; Jackson, Chris; Taylor, John; Lynch, Scott;

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

NASA Astrophysics Data System (ADS)

Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

2016-05-01

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

Autonomic Intelligent Cyber Sensor to Support Industrial Control Network Awareness

DOE PAGES

Vollmer, Todd; Manic, Milos; Linda, Ondrej

2013-06-01

The proliferation of digital devices in a networked industrial ecosystem, along with an exponential growth in complexity and scope, has resulted in elevated security concerns and management complexity issues. This paper describes a novel architecture utilizing concepts of Autonomic computing and a SOAP based IF-MAP external communication layer to create a network security sensor. This approach simplifies integration of legacy software and supports a secure, scalable, self-managed framework. The contribution of this paper is two-fold: 1) A flexible two level communication layer based on Autonomic computing and Service Oriented Architecture is detailed and 2) Three complementary modules that dynamically reconfiguremore » in response to a changing environment are presented. One module utilizes clustering and fuzzy logic to monitor traffic for abnormal behavior. Another module passively monitors network traffic and deploys deceptive virtual network hosts. These components of the sensor system were implemented in C++ and PERL and utilize a common internal D-Bus communication mechanism. A proof of concept prototype was deployed on a mixed-use test network showing the possible real world applicability. In testing, 45 of the 46 network attached devices were recognized and 10 of the 12 emulated devices were created with specific Operating System and port configurations. Additionally the anomaly detection algorithm achieved a 99.9% recognition rate. All output from the modules were correctly distributed using the common communication structure.« less

Research Update: Nanogenerators for self-powered autonomous wireless sensors

NASA Astrophysics Data System (ADS)

Khan, Usman; Hinchet, Ronan; Ryu, Hanjun; Kim, Sang-Woo

2017-07-01

Largely distributed networks of sensors based on the small electronics have great potential for health care, safety, and environmental monitoring. However, in order to have a maintenance free and sustainable operation, such wireless sensors have to be self-powered. Among various energies present in our environment, mechanical energy is widespread and can be harvested for powering the sensors. Piezoelectric and triboelectric nanogenerators (NGs) have been recently introduced for mechanical energy harvesting. Here we introduce the architecture and operational modes of self-powered autonomous wireless sensors. Thereafter, we review the piezoelectric and triboelectric NGs focusing on their working mechanism, structures, strategies, and materials.

Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

DTIC Science & Technology

2015-05-22

sensor networks for managing power levels of wireless networks ; air and ground transportation systems for air traffic control and payload transport and... network systems, large-scale systems, adaptive control, discontinuous systems 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF...cover a broad spectrum of ap- plications including cooperative control of unmanned air vehicles, autonomous underwater vehicles, distributed sensor

A New Approach to Design Autonomous Wireless Sensor Node Based on RF Energy Harvesting System.

PubMed

Mouapi, Alex; Hakem, Nadir

2018-01-05

Energy Harvesting techniques are increasingly seen as the solution for freeing the wireless sensor nodes from their battery dependency. However, it remains evident that network performance features, such as network size, packet length, and duty cycle, are influenced by the sum of recovered energy. This paper proposes a new approach to defining the specifications of a stand-alone wireless node based on a Radio-frequency Energy Harvesting System (REHS). To achieve adequate performance regarding the range of the Wireless Sensor Network (WSN), techniques for minimizing the energy consumed by the sensor node are combined with methods for optimizing the performance of the REHS. For more rigor in the design of the autonomous node, a comprehensive energy model of the node in a wireless network is established. For an equitable distribution of network charges between the different nodes that compose it, the Low-Energy Adaptive Clustering Hierarchy (LEACH) protocol is used for this purpose. The model considers five energy-consumption sources, most of which are ignored in recently used models. By using the hardware parameters of commercial off-the-shelf components (Mica2 Motes and CC2520 of Texas Instruments), the energy requirement of a sensor node is quantified. A miniature REHS based on a judicious choice of rectifying diodes is then designed and developed to achieve optimal performance in the Industrial Scientific and Medical (ISM) band centralized at 2.45 GHz . Due to the mismatch between the REHS and the antenna, a band pass filter is designed to reduce reflection losses. A gradient method search is used to optimize the output characteristics of the adapted REHS. At 1 mW of input RF power, the REHS provides an output DC power of 0.57 mW and a comparison with the energy requirement of the node allows the Base Station (BS) to be located at 310 m from the wireless nodes when the Wireless Sensor Network (WSN) has 100 nodes evenly spread over an area of 300 × 300 m 2 and when each round lasts 10 min . The result shows that the range of the autonomous WSN increases when the controlled physical phenomenon varies very slowly. Having taken into account all the dissipation sources coexisting in a sensor node and using actual measurements of an REHS, this work provides the guidelines for the design of autonomous nodes based on REHS.

Synchronous wearable wireless body sensor network composed of autonomous textile nodes.

PubMed

Vanveerdeghem, Peter; Van Torre, Patrick; Stevens, Christiaan; Knockaert, Jos; Rogier, Hendrik

2014-10-09

A novel, fully-autonomous, wearable, wireless sensor network is presented, where each flexible textile node performs cooperative synchronous acquisition and distributed event detection. Computationally efficient situational-awareness algorithms are implemented on the low-power microcontroller present on each flexible node. The detected events are wirelessly transmitted to a base station, directly, as well as forwarded by other on-body nodes. For each node, a dual-polarized textile patch antenna serves as a platform for the flexible electronic circuitry. Therefore, the system is particularly suitable for comfortable and unobtrusive integration into garments. In the meantime, polarization diversity can be exploited to improve the reliability and energy-efficiency of the wireless transmission. Extensive experiments in realistic conditions have demonstrated that this new autonomous, body-centric, textile-antenna, wireless sensor network is able to correctly detect different operating conditions of a firefighter during an intervention. By relying on four network nodes integrated into the protective garment, this functionality is implemented locally, on the body, and in real time. In addition, the received sensor data are reliably transferred to a central access point at the command post, for more detailed and more comprehensive real-time visualization. This information provides coordinators and commanders with situational awareness of the entire rescue operation. A statistical analysis of measured on-body node-to-node, as well as off-body person-to-person channels is included, confirming the reliability of the communication system.

Synchronous Wearable Wireless Body Sensor Network Composed of Autonomous Textile Nodes

PubMed Central

Vanveerdeghem, Peter; Van Torre, Patrick; Stevens, Christiaan; Knockaert, Jos; Rogier, Hendrik

2014-01-01

A novel, fully-autonomous, wearable, wireless sensor network is presented, where each flexible textile node performs cooperative synchronous acquisition and distributed event detection. Computationally efficient situational-awareness algorithms are implemented on the low-power microcontroller present on each flexible node. The detected events are wirelessly transmitted to a base station, directly, as well as forwarded by other on-body nodes. For each node, a dual-polarized textile patch antenna serves as a platform for the flexible electronic circuitry. Therefore, the system is particularly suitable for comfortable and unobtrusive integration into garments. In the meantime, polarization diversity can be exploited to improve the reliability and energy-efficiency of the wireless transmission. Extensive experiments in realistic conditions have demonstrated that this new autonomous, body-centric, textile-antenna, wireless sensor network is able to correctly detect different operating conditions of a firefighter during an intervention. By relying on four network nodes integrated into the protective garment, this functionality is implemented locally, on the body, and in real time. In addition, the received sensor data are reliably transferred to a central access point at the command post, for more detailed and more comprehensive real-time visualization. This information provides coordinators and commanders with situational awareness of the entire rescue operation. A statistical analysis of measured on-body node-to-node, as well as off-body person-to-person channels is included, confirming the reliability of the communication system. PMID:25302808

DOE Office of Scientific and Technical Information (OSTI.GOV)

The Autonomic Intelligent Cyber Sensor (AICS) provides cyber security and industrial network state awareness for Ethernet based control network implementations. The AICS utilizes collaborative mechanisms based on Autonomic Research and a Service Oriented Architecture (SOA) to: 1) identify anomalous network traffic; 2) discover network entity information; 3) deploy deceptive virtual hosts; and 4) implement self-configuring modules. AICS achieves these goals by dynamically reacting to the industrial human-digital ecosystem in which it resides. Information is transported internally and externally on a standards based, flexible two-level communication structure.

Cognitive radio wireless sensor networks: applications, challenges and research trends.

PubMed

Joshi, Gyanendra Prasad; Nam, Seung Yeob; Kim, Sung Won

2013-08-22

A cognitive radio wireless sensor network is one of the candidate areas where cognitive techniques can be used for opportunistic spectrum access. Research in this area is still in its infancy, but it is progressing rapidly. The aim of this study is to classify the existing literature of this fast emerging application area of cognitive radio wireless sensor networks, highlight the key research that has already been undertaken, and indicate open problems. This paper describes the advantages of cognitive radio wireless sensor networks, the difference between ad hoc cognitive radio networks, wireless sensor networks, and cognitive radio wireless sensor networks, potential application areas of cognitive radio wireless sensor networks, challenges and research trend in cognitive radio wireless sensor networks. The sensing schemes suited for cognitive radio wireless sensor networks scenarios are discussed with an emphasis on cooperation and spectrum access methods that ensure the availability of the required QoS. Finally, this paper lists several open research challenges aimed at drawing the attention of the readers toward the important issues that need to be addressed before the vision of completely autonomous cognitive radio wireless sensor networks can be realized.

Autonomous distributed self-organization for mobile wireless sensor networks.

PubMed

Wen, Chih-Yu; Tang, Hung-Kai

2009-01-01

This paper presents an adaptive combined-metrics-based clustering scheme for mobile wireless sensor networks, which manages the mobile sensors by utilizing the hierarchical network structure and allocates network resources efficiently A local criteria is used to help mobile sensors form a new cluster or join a current cluster. The messages transmitted during hierarchical clustering are applied to choose distributed gateways such that communication for adjacent clusters and distributed topology control can be achieved. In order to balance the load among clusters and govern the topology change, a cluster reformation scheme using localized criterions is implemented. The proposed scheme is simulated and analyzed to abstract the network behaviors in a number of settings. The experimental results show that the proposed algorithm provides efficient network topology management and achieves high scalability in mobile sensor networks.

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks

PubMed Central

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-01

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage. PMID:28075364

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks.

PubMed

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-09

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

PubMed

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-04-13

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

PubMed Central

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-01-01

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car. PMID:28406426

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

PubMed Central

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Duca, Angelica Lo; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011. PMID:22438748

Secure cooperation of autonomous mobile sensors using an underwater acoustic network.

PubMed

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Lo Duca, Angelica; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles-AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.

Volcano Monitoring: A Case Study in Pervasive Computing

NASA Astrophysics Data System (ADS)

Peterson, Nina; Anusuya-Rangappa, Lohith; Shirazi, Behrooz A.; Song, Wenzhan; Huang, Renjie; Tran, Daniel; Chien, Steve; Lahusen, Rick

Recent advances in wireless sensor network technology have provided robust and reliable solutions for sophisticated pervasive computing applications such as inhospitable terrain environmental monitoring. We present a case study for developing a real-time pervasive computing system, called OASIS for optimized autonomous space in situ sensor-web, which combines ground assets (a sensor network) and space assets (NASA’s earth observing (EO-1) satellite) to monitor volcanic activities at Mount St. Helens. OASIS’s primary goals are: to integrate complementary space and in situ ground sensors into an interactive and autonomous sensorweb, to optimize power and communication resource management of the sensorweb and to provide mechanisms for seamless and scalable fusion of future space and in situ components. The OASIS in situ ground sensor network development addresses issues related to power management, bandwidth management, quality of service management, topology and routing management, and test-bed design. The space segment development consists of EO-1 architectural enhancements, feedback of EO-1 data into the in situ component, command and control integration, data ingestion and dissemination and field demonstrations.

Dynamic Agent Classification and Tracking Using an Ad Hoc Mobile Acoustic Sensor Network

NASA Astrophysics Data System (ADS)

Friedlander, David; Griffin, Christopher; Jacobson, Noah; Phoha, Shashi; Brooks, Richard R.

2003-12-01

Autonomous networks of sensor platforms can be designed to interact in dynamic and noisy environments to determine the occurrence of specified transient events that define the dynamic process of interest. For example, a sensor network may be used for battlefield surveillance with the purpose of detecting, identifying, and tracking enemy activity. When the number of nodes is large, human oversight and control of low-level operations is not feasible. Coordination and self-organization of multiple autonomous nodes is necessary to maintain connectivity and sensor coverage and to combine information for better understanding the dynamics of the environment. Resource conservation requires adaptive clustering in the vicinity of the event. This paper presents methods for dynamic distributed signal processing using an ad hoc mobile network of microsensors to detect, identify, and track targets in noisy environments. They seamlessly integrate data from fixed and mobile platforms and dynamically organize platforms into clusters to process local data along the trajectory of the targets. Local analysis of sensor data is used to determine a set of target attribute values and classify the target. Sensor data from a field test in the Marine base at Twentynine Palms, Calif, was analyzed using the techniques described in this paper. The results were compared to "ground truth" data obtained from GPS receivers on the vehicles.

A Low-Power Sensor Network for Long Duration Monitoring in Deep Caves

NASA Astrophysics Data System (ADS)

Silva, A.; Johnson, I.; Bick, T.; Winclechter, C.; Jorgensen, A. M.; Teare, S. W.; Arechiga, R. O.

2010-12-01

Monitoring deep and inaccessible caves is important and challenging for a variety of reasons. It is of interest to study caves environments for understanding cave ecosystems, and human impact on the ecosystems. Caves may also hold clues to past climate changes. Cave instrumentation must however carry out its job with minimal human intervention and without disturbing the fragile environment. This requires unobtrusive and autonomous instrumentation. Earth-bound caves can also serve as analogs for caves on other planets and act as testbeds for autonomous sensor networks. Here we report on a project to design and implement a low-power, ad-hoc, wireless sensor network for monitoring caves and similar environments. The implemented network is composed of individual nodes which consist of a sensor, processing unit, memory, transceiver and a power source. Data collected at these nodes is transmitted through a wireless ZigBee network to a central data collection point from which the researcher may transfer collected data to a laptop for further analysis. The project accomplished a node design with a physical footprint of 2 inches long by 3 inches wide. The design is based on the EZMSP430-RF2480, a Zigbee hardware base offered by Texas Instruments. Five functioning nodes have been constructed at very low cost and tested. Due to the use of an external analog-to-digital converter the design was able to achieve a 16-bit resolution. The operational time achieved by the prototype was calculated to be approximately 80 days of autonomous operation while sampling once per minute. Each node is able to support and record data from up to four different sensors.

Cognitive Radio Wireless Sensor Networks: Applications, Challenges and Research Trends

PubMed Central

Joshi, Gyanendra Prasad; Nam, Seung Yeob; Kim, Sung Won

2013-01-01

A cognitive radio wireless sensor network is one of the candidate areas where cognitive techniques can be used for opportunistic spectrum access. Research in this area is still in its infancy, but it is progressing rapidly. The aim of this study is to classify the existing literature of this fast emerging application area of cognitive radio wireless sensor networks, highlight the key research that has already been undertaken, and indicate open problems. This paper describes the advantages of cognitive radio wireless sensor networks, the difference between ad hoc cognitive radio networks, wireless sensor networks, and cognitive radio wireless sensor networks, potential application areas of cognitive radio wireless sensor networks, challenges and research trend in cognitive radio wireless sensor networks. The sensing schemes suited for cognitive radio wireless sensor networks scenarios are discussed with an emphasis on cooperation and spectrum access methods that ensure the availability of the required QoS. Finally, this paper lists several open research challenges aimed at drawing the attention of the readers toward the important issues that need to be addressed before the vision of completely autonomous cognitive radio wireless sensor networks can be realized. PMID:23974152

A new model for programming software in body sensor networks.

PubMed

de A Barbosa, Talles M G; Sene, Iwens G; da Rocha, Adson F; de O Nascimento, Francisco A A; Carvalho, Joao L A; Carvalho, Hervaldo S

2007-01-01

A Body Sensor Network (BSN) must be designed to work autonomously. On the other hand, BSNs need mechanisms that allow changes in their behavior in order to become a clinically useful tool. The purpose of this paper is to present a new programming model that will be useful for programming BSN sensor nodes. This model is based on an intelligent intermediate-level compiler. The main purpose of the proposed compiler is to increase the efficiency in system use, and to increase the lifetime of the application, considering its requirements, hardware possibilities and specialist knowledge. With this model, it is possible to maintain the autonomous operation capability of the BSN and still offer tools that allow users with little grasp on programming techniques to program these systems.

Autonomous collection of dynamically-cued multi-sensor imagery

NASA Astrophysics Data System (ADS)

Daniel, Brian; Wilson, Michael L.; Edelberg, Jason; Jensen, Mark; Johnson, Troy; Anderson, Scott

2011-05-01

The availability of imagery simultaneously collected from sensors of disparate modalities enhances an image analyst's situational awareness and expands the overall detection capability to a larger array of target classes. Dynamic cooperation between sensors is increasingly important for the collection of coincident data from multiple sensors either on the same or on different platforms suitable for UAV deployment. Of particular interest is autonomous collaboration between wide area survey detection, high-resolution inspection, and RF sensors that span large segments of the electromagnetic spectrum. The Naval Research Laboratory (NRL) in conjunction with the Space Dynamics Laboratory (SDL) is building sensors with such networked communications capability and is conducting field tests to demonstrate the feasibility of collaborative sensor data collection and exploitation. Example survey / detection sensors include: NuSAR (NRL Unmanned SAR), a UAV compatible synthetic aperture radar system; microHSI, an NRL developed lightweight hyper-spectral imager; RASAR (Real-time Autonomous SAR), a lightweight podded synthetic aperture radar; and N-WAPSS-16 (Nighttime Wide-Area Persistent Surveillance Sensor-16Mpix), a MWIR large array gimbaled system. From these sensors, detected target cues are automatically sent to the NRL/SDL developed EyePod, a high-resolution, narrow FOV EO/IR sensor, for target inspection. In addition to this cooperative data collection, EyePod's real-time, autonomous target tracking capabilities will be demonstrated. Preliminary results and target analysis will be presented.

A New Approach to Design Autonomous Wireless Sensor Node Based on RF Energy Harvesting System

PubMed Central

Hakem, Nadir

2018-01-01

Energy Harvesting techniques are increasingly seen as the solution for freeing the wireless sensor nodes from their battery dependency. However, it remains evident that network performance features, such as network size, packet length, and duty cycle, are influenced by the sum of recovered energy. This paper proposes a new approach to defining the specifications of a stand-alone wireless node based on a Radio-frequency Energy Harvesting System (REHS). To achieve adequate performance regarding the range of the Wireless Sensor Network (WSN), techniques for minimizing the energy consumed by the sensor node are combined with methods for optimizing the performance of the REHS. For more rigor in the design of the autonomous node, a comprehensive energy model of the node in a wireless network is established. For an equitable distribution of network charges between the different nodes that compose it, the Low-Energy Adaptive Clustering Hierarchy (LEACH) protocol is used for this purpose. The model considers five energy-consumption sources, most of which are ignored in recently used models. By using the hardware parameters of commercial off-the-shelf components (Mica2 Motes and CC2520 of Texas Instruments), the energy requirement of a sensor node is quantified. A miniature REHS based on a judicious choice of rectifying diodes is then designed and developed to achieve optimal performance in the Industrial Scientific and Medical (ISM) band centralized at 2.45 GHz. Due to the mismatch between the REHS and the antenna, a band pass filter is designed to reduce reflection losses. A gradient method search is used to optimize the output characteristics of the adapted REHS. At 1 mW of input RF power, the REHS provides an output DC power of 0.57 mW and a comparison with the energy requirement of the node allows the Base Station (BS) to be located at 310 m from the wireless nodes when the Wireless Sensor Network (WSN) has 100 nodes evenly spread over an area of 300 × 300 m2 and when each round lasts 10 min. The result shows that the range of the autonomous WSN increases when the controlled physical phenomenon varies very slowly. Having taken into account all the dissipation sources coexisting in a sensor node and using actual measurements of an REHS, this work provides the guidelines for the design of autonomous nodes based on REHS. PMID:29304002

A Novel Cloud-Based Service Robotics Application to Data Center Environmental Monitoring

PubMed Central

Russo, Ludovico Orlando; Rosa, Stefano; Maggiora, Marcello; Bona, Basilio

2016-01-01

This work presents a robotic application aimed at performing environmental monitoring in data centers. Due to the high energy density managed in data centers, environmental monitoring is crucial for controlling air temperature and humidity throughout the whole environment, in order to improve power efficiency, avoid hardware failures and maximize the life cycle of IT devices. State of the art solutions for data center monitoring are nowadays based on environmental sensor networks, which continuously collect temperature and humidity data. These solutions are still expensive and do not scale well in large environments. This paper presents an alternative to environmental sensor networks that relies on autonomous mobile robots equipped with environmental sensors. The robots are controlled by a centralized cloud robotics platform that enables autonomous navigation and provides a remote client user interface for system management. From the user point of view, our solution simulates an environmental sensor network. The system can easily be reconfigured in order to adapt to management requirements and changes in the layout of the data center. For this reason, it is called the virtual sensor network. This paper discusses the implementation choices with regards to the particular requirements of the application and presents and discusses data collected during a long-term experiment in a real scenario. PMID:27509505

Communal Sensor Network for Adaptive Noise Reduction in Aircraft Engine Nacelles

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Nark, Douglas M.; Jones, Michael G.

2011-01-01

Emergent behavior, a subject of much research in biology, sociology, and economics, is a foundational element of Complex Systems Science and is apropos in the design of sensor network systems. To demonstrate engineering for emergent behavior, a novel approach in the design of a sensor/actuator network is presented maintaining optimal noise attenuation as an adaptation to changing acoustic conditions. Rather than use the conventional approach where sensors are managed by a central controller, this new paradigm uses a biomimetic model where sensor/actuators cooperate as a community of autonomous organisms, sharing with neighbors to control impedance based on local information. From the combination of all individual actions, an optimal attenuation emerges for the global system.

Biology-Inspired Distributed Consensus in Massively-Deployed Sensor Networks

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Lodding, Kenneth N.; Olariu, Stephan; Wilson, Larry; Xin, Chunsheng

2005-01-01

Promises of ubiquitous control of the physical environment by large-scale wireless sensor networks open avenues for new applications that are expected to redefine the way we live and work. Most of recent research has concentrated on developing techniques for performing relatively simple tasks in small-scale sensor networks assuming some form of centralized control. The main contribution of this work is to propose a new way of looking at large-scale sensor networks, motivated by lessons learned from the way biological ecosystems are organized. Indeed, we believe that techniques used in small-scale sensor networks are not likely to scale to large networks; that such large-scale networks must be viewed as an ecosystem in which the sensors/effectors are organisms whose autonomous actions, based on local information, combine in a communal way to produce global results. As an example of a useful function, we demonstrate that fully distributed consensus can be attained in a scalable fashion in massively deployed sensor networks where individual motes operate based on local information, making local decisions that are aggregated across the network to achieve globally-meaningful effects.

A Mobile Sensor Network System for Monitoring of Unfriendly Environments.

PubMed

Song, Guangming; Zhou, Yaoxin; Ding, Fei; Song, Aiguo

2008-11-14

Observing microclimate changes is one of the most popular applications of wireless sensor networks. However, some target environments are often too dangerous or inaccessible to humans or large robots and there are many challenges for deploying and maintaining wireless sensor networks in those unfriendly environments. This paper presents a mobile sensor network system for solving this problem. The system architecture, the mobile node design, the basic behaviors and advanced network capabilities have been investigated respectively. A wheel-based robotic node architecture is proposed here that can add controlled mobility to wireless sensor networks. A testbed including some prototype nodes has also been created for validating the basic functions of the proposed mobile sensor network system. Motion performance tests have been done to get the positioning errors and power consumption model of the mobile nodes. Results of the autonomous deployment experiment show that the mobile nodes can be distributed evenly into the previously unknown environments. It provides powerful support for network deployment and maintenance and can ensure that the sensor network will work properly in unfriendly environments.

An Optimized Autonomous Space In-situ Sensorweb (OASIS) for Volcano Monitoring

NASA Astrophysics Data System (ADS)

Song, W.; Shirazi, B.; Lahusen, R.; Chien, S.; Kedar, S.; Webb, F.

2006-12-01

In response to NASA's announced requirement for Earth hazard monitoring sensor-web technology, we are developing a prototype real-time Optimized Autonomous Space In-situ Sensorweb. The prototype will be focused on volcano hazard monitoring at Mount St. Helens, which has been in continuous eruption since October 2004. The system is designed to be flexible and easily configurable for many other applications as well. The primary goals of the project are: 1) integrating complementary space (i.e., Earth Observing One (EO- 1) satellite) and in-situ (ground-based) elements into an interactive, autonomous sensor-web; 2) advancing sensor-web power and communication resource management technology; and 3) enabling scalability for seamless infusion of future space and in-situ assets into the sensor-web. To meet these goals, we are developing: 1) a test-bed in-situ array with smart sensor nodes capable of making autonomous data acquisition decisions; 2) efficient self-organization algorithm of sensor-web topology to support efficient data communication and command control; 3) smart bandwidth allocation algorithms in which sensor nodes autonomously determine packet priorities based on mission needs and local bandwidth information in real- time; and 4) remote network management and reprogramming tools. The space and in-situ control components of the system will be integrated such that each element is capable of triggering the other. Sensor-web data acquisition and dissemination will be accomplished through the use of SensorML language standards for geospatial information. The three-year project will demonstrate end-to-end system performance with the in-situ test-bed at Mount St. Helens and NASA's EO-1 platform.

Escalator: An Autonomous Scheduling Scheme for Convergecast in TSCH

PubMed Central

Oh, Sukho; Hwang, DongYeop; Kim, Ki-Hyung; Kim, Kangseok

2018-01-01

Time Slotted Channel Hopping (TSCH) is widely used in the industrial wireless sensor networks due to its high reliability and energy efficiency. Various timeslot and channel scheduling schemes have been proposed for achieving high reliability and energy efficiency for TSCH networks. Recently proposed autonomous scheduling schemes provide flexible timeslot scheduling based on the routing topology, but do not take into account the network traffic and packet forwarding delays. In this paper, we propose an autonomous scheduling scheme for convergecast in TSCH networks with RPL as a routing protocol, named Escalator. Escalator generates a consecutive timeslot schedule along the packet forwarding path to minimize the packet transmission delay. The schedule is generated autonomously by utilizing only the local routing topology information without any additional signaling with other nodes. The generated schedule is guaranteed to be conflict-free, in that all nodes in the network could transmit packets to the sink in every slotframe cycle. We implement Escalator and evaluate its performance with existing autonomous scheduling schemes through a testbed and simulation. Experimental results show that the proposed Escalator has lower end-to-end delay and higher packet delivery ratio compared to the existing schemes regardless of the network topology. PMID:29659508

Escalator: An Autonomous Scheduling Scheme for Convergecast in TSCH.

PubMed

Oh, Sukho; Hwang, DongYeop; Kim, Ki-Hyung; Kim, Kangseok

2018-04-16

Time Slotted Channel Hopping (TSCH) is widely used in the industrial wireless sensor networks due to its high reliability and energy efficiency. Various timeslot and channel scheduling schemes have been proposed for achieving high reliability and energy efficiency for TSCH networks. Recently proposed autonomous scheduling schemes provide flexible timeslot scheduling based on the routing topology, but do not take into account the network traffic and packet forwarding delays. In this paper, we propose an autonomous scheduling scheme for convergecast in TSCH networks with RPL as a routing protocol, named Escalator. Escalator generates a consecutive timeslot schedule along the packet forwarding path to minimize the packet transmission delay. The schedule is generated autonomously by utilizing only the local routing topology information without any additional signaling with other nodes. The generated schedule is guaranteed to be conflict-free, in that all nodes in the network could transmit packets to the sink in every slotframe cycle. We implement Escalator and evaluate its performance with existing autonomous scheduling schemes through a testbed and simulation. Experimental results show that the proposed Escalator has lower end-to-end delay and higher packet delivery ratio compared to the existing schemes regardless of the network topology.

Remote Autonomous Sensor Networks: A Study in Redundancy and Life Cycle Costs

NASA Astrophysics Data System (ADS)

Ahlrichs, M.; Dotson, A.; Cenek, M.

2017-12-01

The remote nature of the United States and Canada border and their extreme seasonal shifts has made monitoring much of the area impossible using conventional monitoring techniques. Currently, the United States has large gaps in its ability to detect movement on an as-needed-basis in remote areas. The proposed autonomous sensor network aims to meet that need by developing a product that is low cost, robust, and can be deployed on an as-needed-basis for short term monitoring events. This is accomplished by identifying radio frequency disturbance and acoustic disturbance. This project aims to validate the proposed design and offer optimization strategies by conducting a redundancy model as well as performing a Life Cycle Assessment (LCA). The model will incorporate topological, meteorological, and land cover datasets to estimate sensor loss over a three-month period, ensuring that the remaining network does not have significant gaps in coverage which preclude being able to receive and transmit data. The LCA will investigate the materials used to create the sensor to generate an estimate of the total environmental energy that is utilized to create the network and offer alternative materials and distribution methods that can lower this cost. This platform can function as a stand-alone monitoring network or provide additional spatial and temporal resolution to existing monitoring networks. This study aims to create the framework to determine if a sensor's design and distribution is appropriate for the target environment. The incorporation of a LCA will seek to answer if the data a proposed sensor network will collect outweighs the environmental damage that will result from its deployment. Furthermore, as the arctic continues to thaw and economic development grows, the methodology described in paper will function as a guidance document to ensure that future sensor networks have a minimal impact on these pristine areas.

Bio-inspired UAV routing, source localization, and acoustic signature classification for persistent surveillance

NASA Astrophysics Data System (ADS)

Burman, Jerry; Hespanha, Joao; Madhow, Upamanyu; Pham, Tien

2011-06-01

A team consisting of Teledyne Scientific Company, the University of California at Santa Barbara and the Army Research Laboratory* is developing technologies in support of automated data exfiltration from heterogeneous battlefield sensor networks to enhance situational awareness for dismounts and command echelons. Unmanned aerial vehicles (UAV) provide an effective means to autonomously collect data from a sparse network of unattended ground sensors (UGSs) that cannot communicate with each other. UAVs are used to reduce the system reaction time by generating autonomous collection routes that are data-driven. Bio-inspired techniques for search provide a novel strategy to detect, capture and fuse data. A fast and accurate method has been developed to localize an event by fusing data from a sparse number of UGSs. This technique uses a bio-inspired algorithm based on chemotaxis or the motion of bacteria seeking nutrients in their environment. A unique acoustic event classification algorithm was also developed based on using swarm optimization. Additional studies addressed the problem of routing multiple UAVs, optimally placing sensors in the field and locating the source of gunfire at helicopters. A field test was conducted in November of 2009 at Camp Roberts, CA. The field test results showed that a system controlled by bio-inspired software algorithms can autonomously detect and locate the source of an acoustic event with very high accuracy and visually verify the event. In nine independent test runs of a UAV, the system autonomously located the position of an explosion nine times with an average accuracy of 3 meters. The time required to perform source localization using the UAV was on the order of a few minutes based on UAV flight times. In June 2011, additional field tests of the system will be performed and will include multiple acoustic events, optimal sensor placement based on acoustic phenomenology and the use of the International Technology Alliance (ITA) Sensor Network Fabric (IBM).

Building SDN-Based Agricultural Vehicular Sensor Networks Based on Extended Open vSwitch.

PubMed

Huang, Tao; Yan, Siyu; Yang, Fan; Pan, Tian; Liu, Jiang

2016-01-19

Software-defined vehicular sensor networks in agriculture, such as autonomous vehicle navigation based on wireless multi-sensor networks, can lead to more efficient precision agriculture. In SDN-based vehicle sensor networks, the data plane is simplified and becomes more efficient by introducing a centralized controller. However, in a wireless environment, the main controller node may leave the sensor network due to the dynamic topology change or the unstable wireless signal, leaving the rest of network devices without control, e.g., a sensor node as a switch may forward packets according to stale rules until the controller updates the flow table entries. To solve this problem, this paper proposes a novel SDN-based vehicular sensor networks architecture which can minimize the performance penalty of controller connection loss. We achieve this by designing a connection state detection and self-learning mechanism. We build prototypes based on extended Open vSwitch and Ryu. The experimental results show that the recovery time from controller connection loss is under 100 ms and it keeps rule updating in real time with a stable throughput. This architecture enhances the survivability and stability of SDN-based vehicular sensor networks in precision agriculture.

Building SDN-Based Agricultural Vehicular Sensor Networks Based on Extended Open vSwitch

PubMed Central

Huang, Tao; Yan, Siyu; Yang, Fan; Pan, Tian; Liu, Jiang

2016-01-01

Software-defined vehicular sensor networks in agriculture, such as autonomous vehicle navigation based on wireless multi-sensor networks, can lead to more efficient precision agriculture. In SDN-based vehicle sensor networks, the data plane is simplified and becomes more efficient by introducing a centralized controller. However, in a wireless environment, the main controller node may leave the sensor network due to the dynamic topology change or the unstable wireless signal, leaving the rest of network devices without control, e.g., a sensor node as a switch may forward packets according to stale rules until the controller updates the flow table entries. To solve this problem, this paper proposes a novel SDN-based vehicular sensor networks architecture which can minimize the performance penalty of controller connection loss. We achieve this by designing a connection state detection and self-learning mechanism. We build prototypes based on extended Open vSwitch and Ryu. The experimental results show that the recovery time from controller connection loss is under 100 ms and it keeps rule updating in real time with a stable throughput. This architecture enhances the survivability and stability of SDN-based vehicular sensor networks in precision agriculture. PMID:26797616

Optimized autonomous space in-situ sensor web for volcano monitoring

USGS Publications Warehouse

Song, W.-Z.; Shirazi, B.; Huang, R.; Xu, M.; Peterson, N.; LaHusen, R.; Pallister, J.; Dzurisin, D.; Moran, S.; Lisowski, M.; Kedar, S.; Chien, S.; Webb, F.; Kiely, A.; Doubleday, J.; Davies, A.; Pieri, D.

2010-01-01

In response to NASA's announced requirement for Earth hazard monitoring sensor-web technology, a multidisciplinary team involving sensor-network experts (Washington State University), space scientists (JPL), and Earth scientists (USGS Cascade Volcano Observatory (CVO)), have developed a prototype of dynamic and scalable hazard monitoring sensor-web and applied it to volcano monitoring. The combined Optimized Autonomous Space In-situ Sensor-web (OASIS) has two-way communication capability between ground and space assets, uses both space and ground data for optimal allocation of limited bandwidth resources on the ground, and uses smart management of competing demands for limited space assets. It also enables scalability and seamless infusion of future space and in-situ assets into the sensor-web. The space and in-situ control components of the system are integrated such that each element is capable of autonomously tasking the other. The ground in-situ was deployed into the craters and around the flanks of Mount St. Helens in July 2009, and linked to the command and control of the Earth Observing One (EO-1) satellite. ?? 2010 IEEE.

Cross-coherent vector sensor processing for spatially distributed glider networks.

PubMed

Nichols, Brendan; Sabra, Karim G

2015-09-01

Autonomous underwater gliders fitted with vector sensors can be used as a spatially distributed sensor array to passively locate underwater sources. However, to date, the positional accuracy required for robust array processing (especially coherent processing) is not achievable using dead-reckoning while the gliders remain submerged. To obtain such accuracy, the gliders can be temporarily surfaced to allow for global positioning system contact, but the acoustically active sea surface introduces locally additional sensor noise. This letter demonstrates that cross-coherent array processing, which inherently mitigates the effects of local noise, outperforms traditional incoherent processing source localization methods for this spatially distributed vector sensor network.

Progressively Communicating Rich Telemetry from Autonomous Underwater Vehicles via Relays

DTIC Science & Technology

2012-06-01

wireless sensor networks using an autonomous underwater vehicle. In Robotics and...communication over multiple kilometers. In addition to wireless com- munication methods , the recently developed Nereus[12] vehicle at WHOI spools out...A P T U R E M e ss a g e s P ro ce ss / T h re a d M a n a g e m e n t C o n fi g u ra ti o n P a rs in g Network Manager Frame Scheduling

Consistent Steering System using SCTP for Bluetooth Scatternet Sensor Network

NASA Astrophysics Data System (ADS)

Dhaya, R.; Sadasivam, V.; Kanthavel, R.

2012-12-01

Wireless communication is the best way to convey information from source to destination with flexibility and mobility and Bluetooth is the wireless technology suitable for short distance. On the other hand a wireless sensor network (WSN) consists of spatially distributed autonomous sensors to cooperatively monitor physical or environmental conditions, such as temperature, sound, vibration, pressure, motion or pollutants. Using Bluetooth piconet wireless technique in sensor nodes creates limitation in network depth and placement. The introduction of Scatternet solves the network restrictions with lack of reliability in data transmission. When the depth of the network increases, it results in more difficulties in routing. No authors so far focused on the reliability factors of Scatternet sensor network's routing. This paper illustrates the proposed system architecture and routing mechanism to increase the reliability. The another objective is to use reliable transport protocol that uses the multi-homing concept and supports multiple streams to prevent head-of-line blocking. The results show that the Scatternet sensor network has lower packet loss even in the congestive environment than the existing system suitable for all surveillance applications.

Agent Collaborative Target Localization and Classification in Wireless Sensor Networks

PubMed Central

Wang, Xue; Bi, Dao-wei; Ding, Liang; Wang, Sheng

2007-01-01

Wireless sensor networks (WSNs) are autonomous networks that have been frequently deployed to collaboratively perform target localization and classification tasks. Their autonomous and collaborative features resemble the characteristics of agents. Such similarities inspire the development of heterogeneous agent architecture for WSN in this paper. The proposed agent architecture views WSN as multi-agent systems and mobile agents are employed to reduce in-network communication. According to the architecture, an energy based acoustic localization algorithm is proposed. In localization, estimate of target location is obtained by steepest descent search. The search algorithm adapts to measurement environments by dynamically adjusting its termination condition. With the agent architecture, target classification is accomplished by distributed support vector machine (SVM). Mobile agents are employed for feature extraction and distributed SVM learning to reduce communication load. Desirable learning performance is guaranteed by combining support vectors and convex hull vectors. Fusion algorithms are designed to merge SVM classification decisions made from various modalities. Real world experiments with MICAz sensor nodes are conducted for vehicle localization and classification. Experimental results show the proposed agent architecture remarkably facilitates WSN designs and algorithm implementation. The localization and classification algorithms also prove to be accurate and energy efficient.

DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.

PubMed

Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang

2018-05-25

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.

Autonomous chemical and biological miniature wireless-sensor

NASA Astrophysics Data System (ADS)

Goldberg, Bar-Giora

2005-05-01

The presentation discusses a new concept and a paradigm shift in biological, chemical and explosive sensor system design and deployment. From large, heavy, centralized and expensive systems to distributed wireless sensor networks utilizing miniature platforms (nodes) that are lightweight, low cost and wirelessly connected. These new systems are possible due to the emergence and convergence of new innovative radio, imaging, networking and sensor technologies. Miniature integrated radio-sensor networks, is a technology whose time has come. These network systems are based on large numbers of distributed low cost and short-range wireless platforms that sense and process their environment and communicate data thru a network to a command center. The recent emergence of chemical and explosive sensor technology based on silicon nanostructures, coupled with the fast evolution of low-cost CMOS imagers, low power DSP engines and integrated radio chips, has created an opportunity to realize the vision of autonomous wireless networks. These threat detection networks will perform sophisticated analysis at the sensor node and convey alarm information up the command chain. Sensor networks of this type are expected to revolutionize the ability to detect and locate biological, chemical, or explosive threats. The ability to distribute large numbers of low-cost sensors over large areas enables these devices to be close to the targeted threats and therefore improve detection efficiencies and enable rapid counter responses. These sensor networks will be used for homeland security, shipping container monitoring, and other applications such as laboratory medical analysis, drug discovery, automotive, environmental and/or in-vivo monitoring. Avaak"s system concept is to image a chromatic biological, chemical and/or explosive sensor utilizing a digital imager, analyze the images and distribute alarm or image data wirelessly through the network. All the imaging, processing and communications would take place within the miniature, low cost distributed sensor platforms. This concept however presents a significant challenge due to a combination and convergence of required new technologies, as mentioned above. Passive biological and chemical sensors with very high sensitivity and which require no assaying are in development using a technique to optically and chemically encode silicon wafers with tailored nanostructures. The silicon wafer is patterned with nano-structures designed to change colors ad patterns when exposed to the target analytes (TICs, TIMs, VOC). A small video camera detects the color and pattern changes on the sensor. To determine if an alarm condition is present, an on board DSP processor, using specialized image processing algorithms and statistical analysis, determines if color gradient changes occurred on the sensor array. These sensors can detect several agents simultaneously. This system is currently under development by Avaak, with funding from DARPA through an SBIR grant.

An Advanced Sensor Network Design For Subglacial Sensing

NASA Astrophysics Data System (ADS)

Martinez, K.; Hart, J. K.; Elsaify, A.; Zou, G.; Padhy, P.; Riddoch, A.

2006-12-01

In the Glacsweb project a sensor network has been designed to take sensor measurements inside glaciers and send the data back to a web server autonomously. A wide range of experience was gained in the deployment of the earlier systems and this has been used to develop new hardware and software to better meet the needs of glaciologists using the data from the system. The system was reduced in size, new sensors (compass, light sensor) were added and the radio communications system completely changed. The new 173MHz radio system was designed with an antenna tuned to work in ice and a new network algorithm written to provide better data security. Probes can communicate data through each other (ad-hoc network) and store many months of data in a large buffer to cope with long term communications failures. New sensors include a light reflection measurement in order to provide data on the surrounding material. This paper will discuss the design decisions, the effectiveness of the final system and generic outcomes of use to sensor network designers deploying in difficult environments.

A Tree Based Self-routing Scheme for Mobility Support in Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Kim, Young-Duk; Yang, Yeon-Mo; Kang, Won-Seok; Kim, Jin-Wook; An, Jinung

Recently, WSNs (Wireless Sensor Networks) with mobile robot is a growing technology that offer efficient communication services for anytime and anywhere applications. However, the tiny sensor node has very limited network resources due to its low battery power, low data rate, node mobility, and channel interference constraint between neighbors. Thus, in this paper, we proposed a tree based self-routing protocol for autonomous mobile robots based on beacon mode and implemented in real test-bed environments. The proposed scheme offers beacon based real-time scheduling for reliable association process between parent and child nodes. In addition, it supports smooth handover procedure by reducing flooding overhead of control packets. Throughout the performance evaluation by using a real test-bed system and simulation, we illustrate that our proposed scheme demonstrates promising performance for wireless sensor networks with mobile robots.

Adaptive Sampling in Autonomous Marine Sensor Networks

DTIC Science & Technology

2006-06-01

Analog Processing Section A high-performance preamplifier with low noise characteristics is vital to obtaining quality sonar data. The preamplifier ...research assistantships through the Generic Ocean Array Technology Sonar (GOATS) project, contract N00014-97-1-0202 and contract N00014-05-G-0106 Delivery...Formation Behavior ..................................... 60 5 An AUV Intelligent Sensor for Real-Time Adaptive Sensing 63 5.1 A Logical Sonar Sensor

iCalm: wearable sensor and network architecture for wirelessly communicating and logging autonomic activity.

PubMed

Fletcher, Richard Ribon; Dobson, Kelly; Goodwin, Matthew S; Eydgahi, Hoda; Wilder-Smith, Oliver; Fernholz, David; Kuboyama, Yuta; Hedman, Elliott Bruce; Poh, Ming-Zher; Picard, Rosalind W

2010-03-01

Widespread use of affective sensing in healthcare applications has been limited due to several practical factors, such as lack of comfortable wearable sensors, lack of wireless standards, and lack of low-power affordable hardware. In this paper, we present a new low-cost, low-power wireless sensor platform implemented using the IEEE 802.15.4 wireless standard, and describe the design of compact wearable sensors for long-term measurement of electrodermal activity, temperature, motor activity, and photoplethysmography. We also illustrate the use of this new technology for continuous long-term monitoring of autonomic nervous system and motion data from active infants, children, and adults. We describe several new applications enabled by this system, discuss two specific wearable designs for the wrist and foot, and present sample data.

Recent developments in sensing methods for eutrophying nutrients with a focus on automation for environmental applications.

PubMed

Duffy, G; Regan, F

2017-11-20

The demand for autonomous sensors for unattended, continuous nutrient monitoring in water is rapidly growing with the increasing need for more frequent and widespread environmental pollution monitoring. Legislative bodies, local authorities and industries all require frequent water quality monitoring, however, this is time and labour intensive, and an expensive undertaking. Autonomous sensors allow for frequent, unattended data collection. While this solves the time and labour intensive aspects of water monitoring, sensors can be very expensive. Development of low-cost sensors is essential to realise the concept of Internet of Things (IoT). However there is much work yet to be done in this field. This article reviews current literature on the research and development efforts towards deployable autonomous sensors for phosphorus (in the form of phosphate) and nitrogen (in the form of nitrate), with a focus on analytical performance and cost considerations. Additionally, some recent sensing approaches that could be automated in the future are included, along with an overview of approaches to monitoring both nutrients. These approaches are compared with standard laboratory methods and also with commercially available sensors for both phosphate and nitrate. Application of nutrient sensors in agriculture is discussed as an example of how sensor networks can provide improvements in decision making.

Cryosphere Sensor Webs With The Autonomous Sciencecraft Experiment

NASA Astrophysics Data System (ADS)

Scharenbroich, L.; Doggett, T.; Kratz, T.; Castano, R.; Chien, S.; Davies, A. G.; Tran, D.; Mazzoni, D.

2006-12-01

Autonomous sensor-webs are being deployed as part of the Autonomous Sciencecraft Experiment [1], whereby observations using the Hyperion instrument [2] on-board Earth Observing-1 (EO-1 are triggered by either ground sensors or by near-real-time analysis of data from other space-based sensors. In the realm of cryosphere monitoring, one sensor-web has been set up pairing EO-1 with a sensor buoy [3] deployed in Sparkling Lake, one of several lakes in northern Wisconsin monitored by University of Wisconsin's Trout Lake Station. A Support Vector Machine (SVM) classifier was trained on historical thermistor chain data with manually recorded ice-in and ice-out times and used to trigger Hyperion observations of the Trout Lake area during spring thaw and winter freeze in 2005. A second sensor-web is being developed using near-real time sea ice data products, based on Department of Defense meteorological satellites, available from the National Snow and Ice Data Center (NSIDC) [4]. Once operational, this sensor web will trigger Hyperion observations of pre-defined targets in the Arctic and Antarctic where regional resolution data shows sea ice formation or break up. [1] Chien et al. (2005), An autonomous earth-observing sensor-web, IEEE Intelligent Systems, [2] Pearlman et al. (2003), Hyperion, a space-based imaging spectrometer, IEEE Trans. Geosci. Rem. Sens., 41(6), [3] Kratz, T. et al. (in press) Toward a Global Lake Ecological Observatory Network, Proceedings of the Karelian Institute, [4] Cavalieri et al. (1999) Near real-time DMSP SSM/I daily polar gridded sea ice concentrations, National Snow and Ice Data Center. Digital Media.

Sentient networks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chapline, G.

1998-03-01

The engineering problems of constructing autonomous networks of sensors and data processors that can provide alerts for dangerous situations provide a new context for debating the question whether man-made systems can emulate the cognitive capabilities of the mammalian brain. In this paper we consider the question whether a distributed network of sensors and data processors can form ``perceptions`` based on sensory data. Because sensory data can have exponentially many explanations, the use of a central data processor to analyze the outputs from a large ensemble of sensors will in general introduce unacceptable latencies for responding to dangerous situations. A bettermore » idea is to use a distributed ``Helmholtz machine`` architecture in which the sensors are connected to a network of simple processors, and the collective state of the network as a whole provides an explanation for the sensory data. In general communication within such a network will require time division multiplexing, which opens the door to the possibility that with certain refinements to the Helmholtz machine architecture it may be possible to build sensor networks that exhibit a form of artificial consciousness.« less

Neural Network Substorm Identification: Enabling TREx Sensor Web Modes

NASA Astrophysics Data System (ADS)

Chaddock, D.; Spanswick, E.; Arnason, K. M.; Donovan, E.; Liang, J.; Ahmad, S.; Jackel, B. J.

2017-12-01

Transition Region Explorer (TREx) is a ground-based sensor web of optical and radio instruments that is presently being deployed across central Canada. The project consists of an array of co-located blue-line, full-colour, and near-infrared all-sky imagers, imaging riometers, proton aurora spectrographs, and GNSS systems. A key goal of the TREx project is to create the world's first (artificial) intelligent sensor web for remote sensing space weather. The sensor web will autonomously control and coordinate instrument operations in real-time. To accomplish this, we will use real-time in-line analytics of TREx and other data to dynamically switch between operational modes. An operating mode could be, for example, to have a blue-line imager gather data at a one or two orders of magnitude higher cadence than it operates for its `baseline' mode. The software decision to increase the imaging cadence would be in response to an anticipated increase in auroral activity or other programmatic requirements. Our first test for TREx's sensor web technologies is to develop the capacity to autonomously alter the TREx operating mode prior to a substorm expansion phase onset. In this paper, we present our neural network analysis of historical optical and riometer data and our ability to predict an optical onset. We explore the preliminary insights into using a neural network to pick out trends and features which it deems are similar among substorms.

Further Structural Intelligence for Sensors Cluster Technology in Manufacturing

PubMed Central

Mekid, Samir

2006-01-01

With the ever increasing complex sensing and actuating tasks in manufacturing plants, intelligent sensors cluster in hybrid networks becomes a rapidly expanding area. They play a dominant role in many fields from macro and micro scale. Global object control and the ability to self organize into fault-tolerant and scalable systems are expected for high level applications. In this paper, new structural concepts of intelligent sensors and networks with new intelligent agents are presented. Embedding new functionalities to dynamically manage cooperative agents for autonomous machines are interesting key enabling technologies most required in manufacturing for zero defects production.

Potential and challenges of body area networks for personal health.

PubMed

Penders, Julien; van de Molengraft, Jef; Brown, Lindsay; Grundlehner, Bernard; Gyselinckx, Bert; Van Hoof, Chris

2009-01-01

This paper illustrates how body area network technology may enable new personal health concepts. A BAN technology platform is presented, which integrates technology building blocks from the Human++ research program on autonomous wireless sensors. Technology evaluation for the case of wireless sleep staging and real-time arousal monitoring is reported. Key technology challenges are discussed. The ultimate target is the development of miniaturized body sensor nodes powered by body-energy, anticipating the needs of emerging personal health applications.

Quality of Service Metrics in Wireless Sensor Networks: A Survey

NASA Astrophysics Data System (ADS)

Snigdh, Itu; Gupta, Nisha

2016-03-01

Wireless ad hoc network is characterized by autonomous nodes communicating with each other by forming a multi hop radio network and maintaining connectivity in a decentralized manner. This paper presents a systematic approach to the interdependencies and the analogy of the various factors that affect and constrain the wireless sensor network. This article elaborates the quality of service parameters in terms of methods of deployment, coverage and connectivity which affect the lifetime of the network that have been addressed, till date by the different literatures. The analogy of the indispensable rudiments was discussed that are important factors to determine the varied quality of service achieved, yet have not been duly focused upon.

Hazard detection and avoidance sensor for NASA's planetary landers

NASA Technical Reports Server (NTRS)

Lau, Brian; Chao, Tien-Hsin

1992-01-01

An optical terrain analysis based sensor system specifically designed for landing hazard detection as required for NASA's autonomous planetary landers is introduced. This optical hazard detection and avoidance (HDA) sensor utilizes an optoelectronic wedge-and-ting (WRD) filter for Fourier transformed feature extraction and an electronic neural network processor for pattern classification. A fully implemented optical HDA sensor would assure safe landing of the planetary landers. Computer simulation results of a successful feasibility study is reported. Future research for hardware system implementation is also provided.

Current and emerging laser sensors for greenhouse gas sensing and leak detection

NASA Astrophysics Data System (ADS)

Frish, Michael B.

2014-05-01

To reduce atmospheric accumulation of the greenhouse gases methane and carbon dioxide, networks of continuously operating sensors that monitor and map their sources are desirable. In this paper, we discuss advances in laser-based open-path leak detectors, as well as technical and economic challenges inhibiting widespread sensor deployment for "ubiquitous monitoring". We describe permanently-installed, wireless, solar-powered sensors that overcome previous installation and maintenance difficulties while providing autonomous real-time leak reporting without false alarms.

Robot Competence Development by Constructive Learning

NASA Astrophysics Data System (ADS)

Meng, Q.; Lee, M. H.; Hinde, C. J.

This paper presents a constructive learning approach for developing sensor-motor mapping in autonomous systems. The system’s adaptation to environment changes is discussed and three methods are proposed to deal with long term and short term changes. The proposed constructive learning allows autonomous systems to develop network topology and adjust network parameters. The approach is supported by findings from psychology and neuroscience especially during infants cognitive development at early stages. A growing radial basis function network is introduced as a computational substrate for sensory-motor mapping learning. Experiments are conducted on a robot eye/hand coordination testbed and results show the incremental development of sensory-motor mapping and its adaptation to changes such as in tool-use.

Robot Competence Development by Constructive Learning

NASA Astrophysics Data System (ADS)

Meng, Q.; Lee, M. H.; Hinde, C. J.

This paper presents a constructive learning approach for developing sensor-motor mapping in autonomous systems. The system's adaptation to environment changes is discussed and three methods are proposed to deal with long term and short term changes. The proposed constructive learning allows autonomous systems to develop network topology and adjust network parameters. The approach is supported by findings from psychology and neuroscience especially during infants cognitive development at early stages. A growing radial basis function network is introduced as a computational substrate for sensory-motor mapping learning. Experiments are conducted on a robot eye/hand coordination testbed and results show the incremental development of sensory-motor mapping and its adaptation to changes such as in tool-use.

Results from the Autonomous Triggering of in situ Sensors on Kilauea Volcano, HI, from Eruption Detection by Spacecraft

NASA Astrophysics Data System (ADS)

Doubleday, J.; Behar, A.; Davies, A.; Mora-Vargas, A.; Tran, D.; Abtahi, A.; Pieri, D. C.; Boudreau, K.; Cecava, J.

2008-12-01

Response time in acquiring sensor data in volcanic emergencies can be greatly improved through use of autonomous systems. For instance, ground-based observations and data processing applications of the JPL Volcano Sensor Web have promptly triggered spacecraft observations [e.g., 1]. The reverse command and information flow path can also be useful, using autonomous analysis of spacecraft data to trigger in situ sensors. In this demonstration project, SO2 sensors were incorporated into expendable "Volcano Monitor" capsules and placed downwind of the Pu'u 'O'o vent of Kilauea volcano, Hawai'i. In nominal (low) power conservation mode, data from these sensors were collected and transmitted every hour to the Volcano Sensor Web through the Iridium Satellite Network. When SO2 readings exceeded a predetermined threshold, the modem within the Volcano Monitor sent an alert to the Sensor Web, and triggered a request for prompt Earth Observing-1 (EO-1) spacecraft data acquisition. The Volcano Monitors were also triggered by the Sensor Web in response to an eruption detection by the MODIS instrument on Terra. During these pre- defined "critical events" the Sensor Web ordered the SO2 sensors within the Volcano Monitor to increase their sampling frequency to every 5 minutes (high power "burst mode"). Autonomous control of the sensors' sampling frequency enabled the Sensor Web to monitor and respond to rapidly evolving conditions, and allowed rapid compilation and dissemination of these data to the scientific community. Reference: [1] Davies et al., (2006) Eos, 87, (1), 1 and 5. This work was performed at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA. Support was provided by the NASA AIST program, the Idaho Space Grant Consortium, and the New Mexico Space Grant Program. We also especially thank the personnel of the USGS Hawaiian Volcano Observatory for their invaluable scientific guidance and logistical assistance.

Autonomous Triggering of in situ Sensors on Kilauea Volcano, HI, from Eruption Detection by the EO-1 Spacecraft: Design and Operational Scenario.

NASA Astrophysics Data System (ADS)

Boudreau, K.; Cecava, J. R.; Behar, A.; Davies, A. G.; Tran, D. Q.; Abtahi, A. A.; Pieri, D. C.; Jpl Volcano Sensor Web Team, A

2007-12-01

Response time in acquiring sensor data in volcanic emergencies can be greatly improved through use of autonomous systems. For instance, ground-based observations and data processing applications of the JPL Volcano Sensor Web have promptly triggered spacecraft observations [e.g., 1]. The reverse command and information flow path can also be useful, using autonomous analysis of spacecraft data to trigger in situ sensors. In this demonstration project, SO2 sensors have been incorporated into expendable "Volcano Monitor" capsules to be placed downwind of the Pu'U 'O'o vent of Kilauea volcano, Hawai'i. In nominal (low) power conservation mode, data from these sensors are collected and transmitted every hour to the Volcano Sensor Web through the Iridium Satellite Network. If SO2 readings exceed a predetermined threshold, the modem within the Volcano Monitor sends an alert to the Sensor Web, triggering a request for prompt Earth Observing-1 ( EO-1) spacecraft data acquisition. During pre-defined "critical events" as perceived by multiple sensors (which could include both in situ and spaceborne devices), however, the Sensor Web can order the SO2 sensors within the Volcano Monitor to increase their sampling frequency to once per minute (high power "burst mode"). Autonomous control of the sensors' sampling frequency enables the Sensor Web to monitor and respond to rapidly evolving conditions before and during an eruption, and allows near real-time compilation and dissemination of these data to the scientific community. Reference: [1] Davies et al., (2006) Eos, 87, (1), 1&5. This work was performed at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA. Support was provided by the NASA AIST program, the Idaho Space Grant Consortium, and the New Mexico Space Grant Program. We thank the personnel of the USGS Hawaiian Volcano Observatory for their invaluable assistance.

Semi-Autonomous Vehicle Project

NASA Technical Reports Server (NTRS)

Stewart, Christopher

2016-01-01

The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.

2015 Marine Corps Security Environment Forecast: Futures 2030-2045

DTIC Science & Technology

2015-01-01

The technologies that make the iPhone “smart” were publically funded—the Internet, wireless networks, the global positioning system, microelectronics...Energy Revolution (63 percent);  Internet of Things (ubiquitous sensors embedded in interconnected computing devices) (50 percent);  “Sci-Fi...Neuroscience & artificial intelligence - Sensors /control systems -Power & energy -Human-robot interaction Robots/autonomous systems will become part of the

LightDenseYOLO: A Fast and Accurate Marker Tracker for Autonomous UAV Landing by Visible Light Camera Sensor on Drone.

PubMed

Nguyen, Phong Ha; Arsalan, Muhammad; Koo, Ja Hyung; Naqvi, Rizwan Ali; Truong, Noi Quang; Park, Kang Ryoung

2018-05-24

Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS) receivers, inertial measurement unit, and multiple camera systems. Although these approaches successfully estimate an unmanned aerial vehicle location during landing, many calibration processes are required to achieve good detection accuracy. In addition, cases where drones operate in heterogeneous areas with no GPS signal should be considered. To overcome these problems, we determined how to safely land a drone in a GPS-denied environment using our remote-marker-based tracking algorithm based on a single visible-light-camera sensor. Instead of using hand-crafted features, our algorithm includes a convolutional neural network named lightDenseYOLO to extract trained features from an input image to predict a marker's location by visible light camera sensor on drone. Experimental results show that our method significantly outperforms state-of-the-art object trackers both using and not using convolutional neural network in terms of both accuracy and processing time.

Coordinating an Autonomous Earth-Observing Sensorweb

NASA Technical Reports Server (NTRS)

Sherwood, Robert; Cichy, Benjamin; Tran, Daniel; Chien, Steve; Rabideau, Gregg; Davies, Ashley; Castano, Rebecca; frye, Stuart; Mandl, Dan; Shulman, Seth;

Experiences with a Decade of Wireless Sensor Networks in Mountain Cryosphere Research

NASA Astrophysics Data System (ADS)

Beutel, Jan

2017-04-01

Research in geoscience depends on high-quality measurements over long periods of time in order to understand processes and to create and validate models. The promise of wireless sensor networks to monitor autonomously at unprecedented spatial and temporal scale motivated the use of this novel technology for studying mountain permafrost in the mid 2000s. Starting from a first experimental deployment to investigate the thermal properties of steep bedrock permafrost in 2006 on the Jungfraujoch, Switzerland at 3500 m asl using prototype wireless sensors the PermaSense project has evolved into a multi-site and multi-discipline initiative. We develop, deploy and operate wireless sensing systems customized for long-term autonomous operation in high-mountain environments. Around this central element, we develop concepts, methods and tools to investigate and to quantify the connection between climate, cryosphere (permafrost, glaciers, snow) and geomorphodynamics. In this presentation, we describe the concepts and system architecture used both for the wireless sensor network as well as for data management and processing. Furthermore, we will discuss the experience gained in over a decade of planning, installing and operating large deployments on field sites spread across a large part of the Swiss and French Alps and applications ranging from academic, experimental research campaigns, long-term monitoring and natural hazard warning in collaboration with government authorities and local industry partners. Reference http://www.permasense.ch Online Open Data Access http://data.permasense.ch

Autonomic and Coevolutionary Sensor Networking

NASA Astrophysics Data System (ADS)

Boonma, Pruet; Suzuki, Junichi

(WSNs) applications are often required to balance the tradeoffs among conflicting operational objectives (e.g., latency and power consumption) and operate at an optimal tradeoff. This chapter proposes and evaluates a architecture, called BiSNET/e, which allows WSN applications to overcome this issue. BiSNET/e is designed to support three major types of WSN applications: , and hybrid applications. Each application is implemented as a decentralized group of, which is analogous to a bee colony (application) consisting of bees (agents). Agents collect sensor data or detect an event (a significant change in sensor reading) on individual nodes, and carry sensor data to base stations. They perform these data collection and event detection functionalities by sensing their surrounding network conditions and adaptively invoking behaviors such as pheromone emission, reproduction, migration, swarming and death. Each agent has its own behavior policy, as a set of genes, which defines how to invoke its behaviors. BiSNET/e allows agents to evolve their behavior policies (genes) across generations and autonomously adapt their performance to given objectives. Simulation results demonstrate that, in all three types of applications, agents evolve to find optimal tradeoffs among conflicting objectives and adapt to dynamic network conditions such as traffic fluctuations and node failures/additions. Simulation results also illustrate that, in hybrid applications, data collection agents and event detection agents coevolve to augment their adaptability and performance.

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Toward sensor modular autonomy for persistent land intelligence surveillance and reconnaissance (ISR)

NASA Astrophysics Data System (ADS)

Thomas, Paul A.; Marshall, Gillian; Faulkner, David; Kent, Philip; Page, Scott; Islip, Simon; Oldfield, James; Breckon, Toby P.; Kundegorski, Mikolaj E.; Clark, David J.; Styles, Tim

2016-05-01

Currently, most land Intelligence, Surveillance and Reconnaissance (ISR) assets (e.g. EO/IR cameras) are simply data collectors. Understanding, decision making and sensor control are performed by the human operators, involving high cognitive load. Any automation in the system has traditionally involved bespoke design of centralised systems that are highly specific for the assets/targets/environment under consideration, resulting in complex, non-flexible systems that exhibit poor interoperability. We address a concept of Autonomous Sensor Modules (ASMs) for land ISR, where these modules have the ability to make low-level decisions on their own in order to fulfil a higher-level objective, and plug in, with the minimum of preconfiguration, to a High Level Decision Making Module (HLDMM) through a middleware integration layer. The dual requisites of autonomy and interoperability create challenges around information fusion and asset management in an autonomous hierarchical system, which are addressed in this work. This paper presents the results of a demonstration system, known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT), which was shown in realistic base protection scenarios with live sensors and targets. The SAPIENT system performed sensor cueing, intelligent fusion, sensor tasking, target hand-off and compensation for compromised sensors, without human control, and enabled rapid integration of ISR assets at the time of system deployment, rather than at design-time. Potential benefits include rapid interoperability for coalition operations, situation understanding with low operator cognitive burden and autonomous sensor management in heterogenous sensor systems.

Distributed Sensor Fusion for Scalar Field Mapping Using Mobile Sensor Networks.

PubMed

La, Hung Manh; Sheng, Weihua

2013-04-01

In this paper, autonomous mobile sensor networks are deployed to measure a scalar field and build its map. We develop a novel method for multiple mobile sensor nodes to build this map using noisy sensor measurements. Our method consists of two parts. First, we develop a distributed sensor fusion algorithm by integrating two different distributed consensus filters to achieve cooperative sensing among sensor nodes. This fusion algorithm has two phases. In the first phase, the weighted average consensus filter is developed, which allows each sensor node to find an estimate of the value of the scalar field at each time step. In the second phase, the average consensus filter is used to allow each sensor node to find a confidence of the estimate at each time step. The final estimate of the value of the scalar field is iteratively updated during the movement of the mobile sensors via weighted average. Second, we develop the distributed flocking-control algorithm to drive the mobile sensors to form a network and track the virtual leader moving along the field when only a small subset of the mobile sensors know the information of the leader. Experimental results are provided to demonstrate our proposed algorithms.

Biology Inspired Approach for Communal Behavior in Sensor Networks

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Lodding, Kenneth N.; Olariu, Stephan; Wilson, Larry; Xin, Chunsheng

2006-01-01

Research in wireless sensor network technology has exploded in the last decade. Promises of complex and ubiquitous control of the physical environment by these networks open avenues for new kinds of science and business. Due to the small size and low cost of sensor devices, visionaries promise systems enabled by deployment of massive numbers of sensors working in concert. Although the reduction in size has been phenomenal it results in severe limitations on the computing, communicating, and power capabilities of these devices. Under these constraints, research efforts have concentrated on developing techniques for performing relatively simple tasks with minimal energy expense assuming some form of centralized control. Unfortunately, centralized control does not scale to massive size networks and execution of simple tasks in sparsely populated networks will not lead to the sophisticated applications predicted. These must be enabled by new techniques dependent on local and autonomous cooperation between sensors to effect global functions. As a step in that direction, in this work we detail a technique whereby a large population of sensors can attain a global goal using only local information and by making only local decisions without any form of centralized control.

Distributed policy based access to networked heterogeneous ISR data sources

NASA Astrophysics Data System (ADS)

Bent, G.; Vyvyan, D.; Wood, David; Zerfos, Petros; Calo, Seraphin

2010-04-01

Within a coalition environment, ad hoc Communities of Interest (CoI's) come together, perhaps for only a short time, with different sensors, sensor platforms, data fusion elements, and networks to conduct a task (or set of tasks) with different coalition members taking different roles. In such a coalition, each organization will have its own inherent restrictions on how it will interact with the others. These are usually stated as a set of policies, including security and privacy policies. The capability that we want to enable for a coalition operation is to provide access to information from any coalition partner in conformance with the policies of all. One of the challenges in supporting such ad-hoc coalition operations is that of providing efficient access to distributed sources of data, where the applications requiring the data do not have knowledge of the location of the data within the network. To address this challenge the International Technology Alliance (ITA) program has been developing the concept of a Dynamic Distributed Federated Database (DDFD), also know as a Gaian Database. This type of database provides a means for accessing data across a network of distributed heterogeneous data sources where access to the information is controlled by a mixture of local and global policies. We describe how a network of disparate ISR elements can be expressed as a DDFD and how this approach enables sensor and other information sources to be discovered autonomously or semi-autonomously and/or combined, fused formally defined local and global policies.

Theory, Design, and Algorithms for Optimal Control of wireless Networks

DTIC Science & Technology

2010-06-09

The implementation of network-centric warfare technologies is an abiding, critical interest of Air Force Science and Technology efforts for the Warfighter. Wireless communications, strategic signaling are areas of critical Air Force Mission need. Autonomous networks of multiple, heterogeneous Throughput enhancement and robust connectivity in communications and sensor networks are critical factors in net-centric USAF operations. This research directly supports the Air Force vision of information dominance and the development of anywhere, anytime operational readiness.

A Distributed Data-Gathering Protocol Using AUV in Underwater Sensor Networks.

PubMed

Khan, Jawaad Ullah; Cho, Ho-Shin

2015-08-06

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allows the AUV to visit some selected nodes named path-nodes in a way that reduces the overall transmission power of the sensor nodes. Monte Carlo simulations are performed to investigate the performance of the proposed scheme compared with several preexisting techniques employing the AUV in terms of total amount of energy consumption, standard deviation of each node's energy consumption, latency to gather data at a sink, and controlling overhead. Simulation results show that the proposed scheme not only reduces the total energy consumption but also distributes the energy consumption more uniformly over the network, thereby increasing the lifetime of the network.

A Distributed Data-Gathering Protocol Using AUV in Underwater Sensor Networks

PubMed Central

Khan, Jawaad Ullah; Cho, Ho-Shin

2015-01-01

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allows the AUV to visit some selected nodes named path-nodes in a way that reduces the overall transmission power of the sensor nodes. Monte Carlo simulations are performed to investigate the performance of the proposed scheme compared with several preexisting techniques employing the AUV in terms of total amount of energy consumption, standard deviation of each node’s energy consumption, latency to gather data at a sink, and controlling overhead. Simulation results show that the proposed scheme not only reduces the total energy consumption but also distributes the energy consumption more uniformly over the network, thereby increasing the lifetime of the network. PMID:26287189

Autonomous solutions for powering wireless sensor nodes in rivers

NASA Astrophysics Data System (ADS)

Kamenar, E.; Maćešić, S.; Gregov, G.; Blažević, D.; Zelenika, S.; Marković, K.; Glažar, V.

2015-05-01

There is an evident need for monitoring pollutants and/or other conditions in river flows via wireless sensor networks. In a typical wireless sensor network topography, a series of sensor nodes is to be deployed in the environment, all wirelessly connected to each other and/or their gateways. Each sensor node is composed of active electronic devices that have to be constantly powered. In general, batteries can be used for this purpose, but problems may occur when they have to be replaced. In the case of large networks, when sensor nodes can be placed in hardly accessible locations, energy harvesting can thus be a viable powering solution. The possibility to use three different small-scale river flow energy harvesting principles is hence thoroughly studied in this work: a miniaturized underwater turbine, a so-called `piezoelectric eel' and a hybrid turbine solution coupled with a rigid piezoelectric beam. The first two concepts are then validated experimentally in laboratory as well as in real river conditions. The concept of the miniaturised hydro-generator is finally embedded into the actual wireless sensor node system and its functionality is confirmed.

General visual robot controller networks via artificial evolution

NASA Astrophysics Data System (ADS)

Cliff, David; Harvey, Inman; Husbands, Philip

1993-08-01

We discuss recent results from our ongoing research concerning the application of artificial evolution techniques (i.e., an extended form of genetic algorithm) to the problem of developing `neural' network controllers for visually guided robots. The robot is a small autonomous vehicle with extremely low-resolution vision, employing visual sensors which could readily be constructed from discrete analog components. In addition to visual sensing, the robot is equipped with a small number of mechanical tactile sensors. Activity from the sensors is fed to a recurrent dynamical artificial `neural' network, which acts as the robot controller, providing signals to motors governing the robot's motion. Prior to presentation of new results, this paper summarizes our rationale and past work, which has demonstrated that visually guided control networks can arise without any explicit specification that visual processing should be employed: the evolutionary process opportunistically makes use of visual information if it is available.

Management of Large-Scale Wireless Sensor Networks Utilizing Multi-Parent Recursive Area Hierarchies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cree, Johnathan V.; Delgado-Frias, Jose

2013-04-19

Autonomously configuring and self-healing a largescale wireless sensor network requires a light-weight maintenance protocol that is scalable. Further, in a battery powered wireless sensor network duty-cycling a node’s radio can reduce the power consumption of a device and extend the lifetime of a network. With duty-cycled nodes the power consumption of a node’s radio depends on the amount of communication is must perform and by reducing the communication the power consumption can also be reduced. Multi-parent hierarchies can be used to reduce the communication cost when constructing a recursive area clustering hierarchy when compared to singleparent solutions that utilize inefficientmore » communication methods such as flooding and information propagation via single-hop broadcasts. The multi-parent hierarchies remain scalable and provides a level of redundancy for the hierarchy.« less

Shallow Water MCM and ASW Using Off-Board, Autonomous Sensor Networks and Multistatic, Time-Reversal Acoustics

DTIC Science & Technology

2005-09-30

generalizations of auto-focusing and track - before - detect (TBD) algorithms. Another issue concerns the stability and coherence of surface and seabed multiples and their potential use in advanced medium-frequency sonar concepts.

An Efficient Distributed Coverage Hole Detection Protocol for Wireless Sensor Networks.

PubMed

Sahoo, Prasan Kumar; Chiang, Ming-Jer; Wu, Shih-Lin

2016-03-17

In wireless sensor networks (WSNs), certain areas of the monitoring region may have coverage holes and serious coverage overlapping due to the random deployment of sensors. The failure of electronic components, software bugs and destructive agents could lead to the random death of the nodes. Sensors may be dead due to exhaustion of battery power, which may cause the network to be uncovered and disconnected. Based on the deployment nature of the nodes in remote or hostile environments, such as a battlefield or desert, it is impossible to recharge or replace the battery. However, the data gathered by the sensors are highly essential for the analysis, and therefore, the collaborative detection of coverage holes has strategic importance in WSNs. In this paper, distributed coverage hole detection algorithms are designed, where nodes can collaborate to detect the coverage holes autonomously. The performance evaluation of our protocols suggests that our protocols outperform in terms of hole detection time, limited power consumption and control packet overhead to detect holes as compared to other similar protocols.

On-board Data Mining

NASA Astrophysics Data System (ADS)

Tanner, Steve; Stein, Cara; Graves, Sara J.

Networks of remote sensors are becoming more common as technology improves and costs decline. In the past, a remote sensor was usually a device that collected data to be retrieved at a later time by some other mechanism. This collected data were usually processed well after the fact at a computer greatly removed from the in situ sensing location. This has begun to change as sensor technology, on-board processing, and network communication capabilities have increased and their prices have dropped. There has been an explosion in the number of sensors and sensing devices, not just around the world, but literally throughout the solar system. These sensors are not only becoming vastly more sophisticated, accurate, and detailed in the data they gather but they are also becoming cheaper, lighter, and smaller. At the same time, engineers have developed improved methods to embed computing systems, memory, storage, and communication capabilities into the platforms that host these sensors. Now, it is not unusual to see large networks of sensors working in cooperation with one another. Nor does it seem strange to see the autonomous operation of sensorbased systems, from space-based satellites to smart vacuum cleaners that keep our homes clean and robotic toys that help to entertain and educate our children. But access to sensor data and computing power is only part of the story. For all the power of these systems, there are still substantial limits to what they can accomplish. These include the well-known limits to current Artificial Intelligence capabilities and our limited ability to program the abstract concepts, goals, and improvisation needed for fully autonomous systems. But it also includes much more basic engineering problems such as lack of adequate power, communications bandwidth, and memory, as well as problems with the geolocation and real-time georeferencing required to integrate data from multiple sensors to be used together.

Next generation sensing platforms for extended deployments in large-scale, multidisciplinary, adaptive sampling and observational networks

NASA Astrophysics Data System (ADS)

Cross, J. N.; Meinig, C.; Mordy, C. W.; Lawrence-Slavas, N.; Cokelet, E. D.; Jenkins, R.; Tabisola, H. M.; Stabeno, P. J.

2016-12-01

New autonomous sensors have dramatically increased the resolution and accuracy of oceanographic data collection, enabling rapid sampling over extremely fine scales. Innovative new autonomous platofrms like floats, gliders, drones, and crawling moorings leverage the full potential of these new sensors by extending spatiotemporal reach across varied environments. During 2015 and 2016, The Innovative Technology for Arctic Exploration Program at the Pacific Marine Environmental Laboratory tested several new types of fully autonomous platforms with increased speed, durability, and power and payload capacity designed to deliver cutting-edge ecosystem assessment sensors to remote or inaccessible environments. The Expendable Ice-Tracking (EXIT) gloat developed by the NOAA Pacific Marine Environmental Laboratory (PMEL) is moored near bottom during the ice-free season and released on an autonomous timer beneath the ice during the following winter. The float collects a rapid profile during ascent, and continues to collect critical, poorly-accessible under-ice data until melt, when data is transmitted via satellite. The autonomous Oculus sub-surface glider developed by the University of Washington and PMEL has a large power and payload capacity and an enhanced buoyancy engine. This 'coastal truck' is designed for the rapid water column ascent required by optical imaging systems. The Saildrone is a solar and wind powered ocean unmanned surface vessel (USV) developed by Saildrone, Inc. in partnership with PMEL. This large-payload (200 lbs), fast (1-7 kts), durable (46 kts winds) platform was equipped with 15 sensors designed for ecosystem assessment during 2016, including passive and active acoustic systems specially redesigned for autonomous vehicle deployments. The senors deployed on these platforms achieved rigorous accuracy and precision standards. These innovative platforms provide new sampling capabilities and cost efficiencies in high-resolution sensor deployment, including reconnaissance for annual fisheries and marine mammal surveys; better linkages between sustained observing platforms; and adaptive deployments that can easily target anomalies as they arise.

Telecommunication Platforms for Transmitting Sensor Data over Communication Networks-State of the Art and Challenges.

PubMed

Staniec, Kamil; Habrych, Marcin

2016-07-19

The importance of constructing wide-area sensor networks for holistic environmental state evaluation has been demonstrated. A general structure of such a network has been presented with distinction of three segments: local (based on ZigBee, Ethernet and ModBus techniques), core (base on cellular technologies) and the storage/application. The implementation of these techniques requires knowledge of their technical limitations and electromagnetic compatibility issues. The former refer to ZigBee performance degradation in multi-hop transmission, whereas the latter are associated with the common electromagnetic spectrum sharing with other existing technologies or with undesired radiated emissions generated by the radio modules of the sensor network. In many cases, it is also necessary to provide a measurement station with autonomous energy source, such as solar. As stems from measurements of the energetic efficiency of these sources, one should apply them with care and perform detailed power budget since their real performance may turn out to be far from expected. This, in turn, may negatively affect-in particular-the operation of chemical sensors implemented in the network as they often require additional heating.

Sense, decide, act, communicate (SDAC): next generation of smart sensor systems

NASA Astrophysics Data System (ADS)

Berry, Nina; Davis, Jesse; Ko, Teresa H.; Kyker, Ron; Pate, Ron; Stark, Doug; Stinnett, Regan; Baker, James; Cushner, Adam; Van Dyke, Colin; Kyckelhahn, Brian

2004-09-01

The recent war on terrorism and increased urban warfare has been a major catalysis for increased interest in the development of disposable unattended wireless ground sensors. While the application of these sensors to hostile domains has been generally governed by specific tasks, this research explores a unique paradigm capitalizing on the fundamental functionality related to sensor systems. This functionality includes a sensors ability to Sense - multi-modal sensing of environmental events, Decide - smart analysis of sensor data, Act - response to environmental events, and Communication - internal to system and external to humans (SDAC). The main concept behind SDAC sensor systems is to integrate the hardware, software, and networking to generate 'knowledge and not just data'. This research explores the usage of wireless SDAC units to collectively make up a sensor system capable of persistent, adaptive, and autonomous behavior. These systems are base on the evaluation of scenarios and existing systems covering various domains. This paper presents a promising view of sensor network characteristics, which will eventually yield smart (intelligent collectives) network arrays of SDAC sensing units generally applicable to multiple related domains. This paper will also discuss and evaluate the demonstration system developed to test the concepts related to SDAC systems.

Naming games in two-dimensional and small-world-connected random geometric networks.

PubMed

Lu, Qiming; Korniss, G; Szymanski, B K

2008-01-01

We investigate a prototypical agent-based model, the naming game, on two-dimensional random geometric networks. The naming game [Baronchelli, J. Stat. Mech.: Theory Exp. (2006) P06014] is a minimal model, employing local communications that captures the emergence of shared communication schemes (languages) in a population of autonomous semiotic agents. Implementing the naming games with local broadcasts on random geometric graphs, serves as a model for agreement dynamics in large-scale, autonomously operating wireless sensor networks. Further, it captures essential features of the scaling properties of the agreement process for spatially embedded autonomous agents. Among the relevant observables capturing the temporal properties of the agreement process, we investigate the cluster-size distribution and the distribution of the agreement times, both exhibiting dynamic scaling. We also present results for the case when a small density of long-range communication links are added on top of the random geometric graph, resulting in a "small-world"-like network and yielding a significantly reduced time to reach global agreement. We construct a finite-size scaling analysis for the agreement times in this case.

Deep learning on temporal-spectral data for anomaly detection

NASA Astrophysics Data System (ADS)

Ma, King; Leung, Henry; Jalilian, Ehsan; Huang, Daniel

2017-05-01

Detecting anomalies is important for continuous monitoring of sensor systems. One significant challenge is to use sensor data and autonomously detect changes that cause different conditions to occur. Using deep learning methods, we are able to monitor and detect changes as a result of some disturbance in the system. We utilize deep neural networks for sequence analysis of time series. We use a multi-step method for anomaly detection. We train the network to learn spectral and temporal features from the acoustic time series. We test our method using fiber-optic acoustic data from a pipeline.

Water Catchment and Storage Monitoring

NASA Astrophysics Data System (ADS)

Bruenig, Michael; Dunbabin, Matt; Moore, Darren

2010-05-01

Sensors and Sensor Networks technologies provide the means for comprehensive understanding of natural processes in the environment by radically increasing the availability of empirical data about the natural world. This step change is achieved through a dramatic reduction in the cost of data acquisition and many orders of magnitude increase in the spatial and temporal granularity of measurements. Australia's Commonwealth Scientific and Industrial Research Organisation (CSIRO) is undertaking a strategic research program developing wireless sensor network technology for environmental monitoring. As part of this research initiative, we are engaging with government agencies to densely monitor water catchments and storages, thereby enhancing understanding of the environmental processes that affect water quality. In the Gold Coast hinterland in Queensland, Australia, we are building sensor networks to monitor restoration of rainforest within the catchment, and to monitor methane flux release and water quality in the water storages. This poster will present our ongoing work in this region of eastern Australia. The Springbrook plateau in the Gold Coast hinterland lies within a World Heritage listed area, has uniquely high rainfall, hosts a wide range of environmental gradients, and forms part of the catchment for Gold Coast's water storages. Parts of the plateau are being restored from agricultural grassland to native rainforest vegetation. Since April 2008, we have had a 10-node, multi-hop sensor network deployed there to monitor microclimate variables. This network will be expanded to 50-nodes in February 2010, and to around 200-nodes and 1000 sensors by mid-2011, spread over an area of approximately 0.8 square kilometers. The extremely dense microclimate sensing will enhance knowledge of the environmental factors that enhance or inhibit the regeneration of native rainforest. The final network will also include nodes with acoustic and image sensing capability for monitoring higher level parameters such as fauna diversity. The regenerating rainforest environment presents a number of interesting challenges for wireless sensor networks related to energy harvesting and to reliable low-power wireless communications through dense and wet vegetation. Located downstream from the Springbrook plateau, the Little Nerang and Hinze dams are the two major water supply storages for the Gold Coast region. In September 2009 we fitted methane, light, wind, and sonar sensors to our autonomous electric boat platform and successfully demonstrated autonomous collection of methane flux release data on Little Nerang Dam. Sensor and boat status data were relayed back to a human operator on the shore of the dam via a small network of our Fleck™ nodes. The network also included 4 floating nodes each fitted with a string of 6 temperature sensors for profiling temperature at different water depths. We plan to expand the network further during 2010 to incorporate floating methane nodes, additional temperature sensing nodes, as well as land-based microclimate nodes. The overall monitoring system will provide significant data to understand the connected catchment-to-storage system and will provide continuous data to monitor and understand change trends within this world heritage area.

Immobile Robots: AI in the New Millennium

NASA Technical Reports Server (NTRS)

Williams, Brian C.; Nayak, P. Pandurang

1996-01-01

A new generation of sensor rich, massively distributed, autonomous systems are being developed that have the potential for profound social, environmental, and economic change. These include networked building energy systems, autonomous space probes, chemical plant control systems, satellite constellations for remote ecosystem monitoring, power grids, biosphere-like life support systems, and reconfigurable traffic systems, to highlight but a few. To achieve high performance, these immobile robots (or immobots) will need to develop sophisticated regulatory and immune systems that accurately and robustly control their complex internal functions. To accomplish this, immobots will exploit a vast nervous system of sensors to model themselves and their environment on a grand scale. They will use these models to dramatically reconfigure themselves in order to survive decades of autonomous operations. Achieving these large scale modeling and configuration tasks will require a tight coupling between the higher level coordination function provided by symbolic reasoning, and the lower level autonomic processes of adaptive estimation and control. To be economically viable they will need to be programmable purely through high level compositional models. Self modeling and self configuration, coordinating autonomic functions through symbolic reasoning, and compositional, model-based programming are the three key elements of a model-based autonomous systems architecture that is taking us into the New Millennium.

MARSnet: Mission-aware Autonomous Radar Sensor Network for Future Combat Systems

DTIC Science & Technology

2007-05-03

34Parameter estimation for 3-parameter log-logistic distribution (LLD3) by Porne ", Parameter estimation for 3-parameter log-logistic distribu- tion...section V we physical security, air traffic control, traffic monitoring, andvidefaconu s cribedy. video surveillance, industrial automation etc. Each

RF-Embedding of Energy-Autonomous Sensors and Actuators into Wireless Sensor Networks

DTIC Science & Technology

2006-10-01

ABSTRACT The principle of energy harvesting , i. e. gleaning of extremely small amounts of energy from the environment, has been around for a long time...technically highly interesting product bears a mention: the Atmos produced by the Swiss company Jaeger-LeCoultre since 1936 [3]. This clock has an expansion...UNLIMITED 2.2 Vibration Energy Using vibration converters, relatively large outputs can be generated, even with small masses, if acceleration is

Minimal Representation and Decision Making for Networked Autonomous Agents

DTIC Science & Technology

2015-08-27

to a multi-vehicle version of the Travelling Salesman Problem (TSP). We further provided a direct formula for computing the number of robots...the sensor. As a first stab at this, the two-agent rendezvous problem is considered where one agent (the target) is equipped with no sensors and is...by the total distance traveled by all agents. For agents with limited sensing and communication capabilities, we give a formula that computes the

A Wireless Biomedical Signal Interface System-on-Chip for Body Sensor Networks.

PubMed

Lei Wang; Guang-Zhong Yang; Jin Huang; Jinyong Zhang; Li Yu; Zedong Nie; Cumming, D R S

2010-04-01

Recent years have seen the rapid development of biosensor technology, system-on-chip design, wireless technology. and ubiquitous computing. When assembled into an autonomous body sensor network (BSN), the technologies become powerful tools in well-being monitoring, medical diagnostics, and personal connectivity. In this paper, we describe the first demonstration of a fully customized mixed-signal silicon chip that has most of the attributes required for use in a wearable or implantable BSN. Our intellectual-property blocks include low-power analog sensor interface for temperature and pH, a data multiplexing and conversion module, a digital platform based around an 8-b microcontroller, data encoding for spread-spectrum wireless transmission, and a RF section requiring very few off-chip components. The chip has been fully evaluated and tested by connection to external sensors, and it satisfied typical system requirements.

Telecommunication Platforms for Transmitting Sensor Data over Communication Networks—State of the Art and Challenges

PubMed Central

Staniec, Kamil; Habrych, Marcin

2016-01-01

The importance of constructing wide-area sensor networks for holistic environmental state evaluation has been demonstrated. A general structure of such a network has been presented with distinction of three segments: local (based on ZigBee, Ethernet and ModBus techniques), core (base on cellular technologies) and the storage/application. The implementation of these techniques requires knowledge of their technical limitations and electromagnetic compatibility issues. The former refer to ZigBee performance degradation in multi-hop transmission, whereas the latter are associated with the common electromagnetic spectrum sharing with other existing technologies or with undesired radiated emissions generated by the radio modules of the sensor network. In many cases, it is also necessary to provide a measurement station with autonomous energy source, such as solar. As stems from measurements of the energetic efficiency of these sources, one should apply them with care and perform detailed power budget since their real performance may turn out to be far from expected. This, in turn, may negatively affect—in particular—the operation of chemical sensors implemented in the network as they often require additional heating. PMID:27447633

Track classification within wireless sensor network

NASA Astrophysics Data System (ADS)

Doumerc, Robin; Pannetier, Benjamin; Moras, Julien; Dezert, Jean; Canevet, Loic

2017-05-01

In this paper, we present our study on track classification by taking into account environmental information and target estimated states. The tracker uses several motion model adapted to different target dynamics (pedestrian, ground vehicle and SUAV, i.e. small unmanned aerial vehicle) and works in centralized architecture. The main idea is to explore both: classification given by heterogeneous sensors and classification obtained with our fusion module. The fusion module, presented in his paper, provides a class on each track according to track location, velocity and associated uncertainty. To model the likelihood on each class, a fuzzy approach is used considering constraints on target capability to move in the environment. Then the evidential reasoning approach based on Dempster-Shafer Theory (DST) is used to perform a time integration of this classifier output. The fusion rules are tested and compared on real data obtained with our wireless sensor network.In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of this system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

Real-time monitoring of ubiquitous wireless ECG sensor node for medical care using ZigBee

NASA Astrophysics Data System (ADS)

Vijayalakshmi, S. R.; Muruganand, S.

2012-01-01

Sensor networks have the potential to impact many aspects of medical care greatly. By outfitting patients with wireless, wearable vital sign sensors, collecting detailed real-time data on physiological status can be greatly simplified. In this article, we propose the system architecture for smart sensor platform based on advanced wireless sensor networks. An emerging application for wireless sensor networks involves their use in medical care. In hospitals or clinics, outfitting every patient with tiny, wearable wireless vital sign sensors would allow doctors, nurses and other caregivers to continuously monitor the status of their patients. In an emergency or disaster scenario, the same technology would enable medics to more effectively care for a large number of casualties. First responders could receive immediate notifications on any changes in patient status, such as respiratory failure or cardiac arrest. Wireless sensor network is a set of small, autonomous devices, working together to solve different problems. It is a relatively new technology, experiencing true expansion in the past decade. People have realised that integration of small and cheap microcontrollers with sensors can result in the production of extremely useful devices, which can be used as an integral part of the sensor nets. These devices are called sensor nodes. Today, sensor nets are used in agriculture, ecology and tourism, but medicine is the area where they certainly meet the greatest potential. This article presents a medical smart sensor node platform. This article proposes a wireless two-lead EKG. These devices collect heart rate and EKG data and relay it over a short-range (300 m) wireless network to any number of receiving devices, including PDAs, laptops or ambulance-based terminals.

Autonomous self-organizing resource manager for multiple networked platforms

NASA Astrophysics Data System (ADS)

Smith, James F., III

2002-08-01

A fuzzy logic based expert system for resource management has been developed that automatically allocates electronic attack (EA) resources in real-time over many dissimilar autonomous naval platforms defending their group against attackers. The platforms can be very general, e.g., ships, planes, robots, land based facilities, etc. Potential foes the platforms deal with can also be general. This paper provides an overview of the resource manager including the four fuzzy decision trees that make up the resource manager; the fuzzy EA model; genetic algorithm based optimization; co-evolutionary data mining through gaming; and mathematical, computational and hardware based validation. Methods of automatically designing new multi-platform EA techniques are considered. The expert system runs on each defending platform rendering it an autonomous system requiring no human intervention. There is no commanding platform. Instead the platforms work cooperatively as a function of battlespace geometry; sensor data such as range, bearing, ID, uncertainty measures for sensor output; intelligence reports; etc. Computational experiments will show the defending networked platform's ability to self- organize. The platforms' ability to self-organize is illustrated through the output of the scenario generator, a software package that automates the underlying data mining problem and creates a computer movie of the platforms' interaction for evaluation.

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring

PubMed Central

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-01-01

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper. PMID:27649186

An Efficient Distributed Coverage Hole Detection Protocol for Wireless Sensor Networks

PubMed Central

Kumar Sahoo, Prasan; Chiang, Ming-Jer; Wu, Shih-Lin

2016-01-01

In wireless sensor networks (WSNs), certain areas of the monitoring region may have coverage holes and serious coverage overlapping due to the random deployment of sensors. The failure of electronic components, software bugs and destructive agents could lead to the random death of the nodes. Sensors may be dead due to exhaustion of battery power, which may cause the network to be uncovered and disconnected. Based on the deployment nature of the nodes in remote or hostile environments, such as a battlefield or desert, it is impossible to recharge or replace the battery. However, the data gathered by the sensors are highly essential for the analysis, and therefore, the collaborative detection of coverage holes has strategic importance in WSNs. In this paper, distributed coverage hole detection algorithms are designed, where nodes can collaborate to detect the coverage holes autonomously. The performance evaluation of our protocols suggests that our protocols outperform in terms of hole detection time, limited power consumption and control packet overhead to detect holes as compared to other similar protocols. PMID:26999143

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring.

PubMed

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-09-14

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper.

A Network Topology Control and Identity Authentication Protocol with Support for Movable Sensor Nodes

PubMed Central

Zhang, Ying; Chen, Wei; Liang, Jixing; Zheng, Bingxin; Jiang, Shengming

2015-01-01

It is expected that in the near future wireless sensor network (WSNs) will be more widely used in the mobile environment, in applications such as Autonomous Underwater Vehicles (AUVs) for marine monitoring and mobile robots for environmental investigation. The sensor nodes’ mobility can easily cause changes to the structure of a network topology, and lead to the decline in the amount of transmitted data, excessive energy consumption, and lack of security. To solve these problems, a kind of efficient Topology Control algorithm for node Mobility (TCM) is proposed. In the topology construction stage, an efficient clustering algorithm is adopted, which supports sensor node movement. It can ensure the balance of clustering, and reduce the energy consumption. In the topology maintenance stage, the digital signature authentication based on Error Correction Code (ECC) and the communication mechanism of soft handover are adopted. After verifying the legal identity of the mobile nodes, secure communications can be established, and this can increase the amount of data transmitted. Compared to some existing schemes, the proposed scheme has significant advantages regarding network topology stability, amounts of data transferred, lifetime and safety performance of the network. PMID:26633405

A Network Topology Control and Identity Authentication Protocol with Support for Movable Sensor Nodes.

PubMed

Zhang, Ying; Chen, Wei; Liang, Jixing; Zheng, Bingxin; Jiang, Shengming

2015-12-01

It is expected that in the near future wireless sensor network (WSNs) will be more widely used in the mobile environment, in applications such as Autonomous Underwater Vehicles (AUVs) for marine monitoring and mobile robots for environmental investigation. The sensor nodes' mobility can easily cause changes to the structure of a network topology, and lead to the decline in the amount of transmitted data, excessive energy consumption, and lack of security. To solve these problems, a kind of efficient Topology Control algorithm for node Mobility (TCM) is proposed. In the topology construction stage, an efficient clustering algorithm is adopted, which supports sensor node movement. It can ensure the balance of clustering, and reduce the energy consumption. In the topology maintenance stage, the digital signature authentication based on Error Correction Code (ECC) and the communication mechanism of soft handover are adopted. After verifying the legal identity of the mobile nodes, secure communications can be established, and this can increase the amount of data transmitted. Compared to some existing schemes, the proposed scheme has significant advantages regarding network topology stability, amounts of data transferred, lifetime and safety performance of the network.

Propagation, cascades, and agreement dynamics in complex communication and social networks

NASA Astrophysics Data System (ADS)

Lu, Qiming

Many modern and important technological, social, information and infrastructure systems can be viewed as complex systems with a large number of interacting components. Models of complex networks and dynamical interactions, as well as their applications are of fundamental interests in many aspects. Here, several stylized models of multiplex propagation and opinion dynamics are investigated on complex and empirical social networks. We first investigate cascade dynamics in threshold-controlled (multiplex) propagation on random geometric networks. We find that such local dynamics can serve as an efficient, robust, and reliable prototypical activation protocol in sensor networks in responding to various alarm scenarios. We also consider the same dynamics on a modified network by adding a few long-range communication links, resulting in a small-world network. We find that such construction can further enhance and optimize the speed of the network's response, while keeping energy consumption at a manageable level. We also investigate a prototypical agent-based model, the Naming Game, on two-dimensional random geometric networks. The Naming Game [A. Baronchelli et al., J. Stat. Mech.: Theory Exp. (2006) P06014.] is a minimal model, employing local communications that captures the emergence of shared communication schemes (languages) in a population of autonomous semiotic agents. Implementing the Naming Games with local broadcasts on random geometric graphs, serves as a model for agreement dynamics in large-scale, autonomously operating wireless sensor networks. Further, it captures essential features of the scaling properties of the agreement process for spatially-embedded autonomous agents. Among the relevant observables capturing the temporal properties of the agreement process, we investigate the cluster-size distribution and the distribution of the agreement times, both exhibiting dynamic scaling. We also present results for the case when a small density of long-range communication links are added on top of the random geometric graph, resulting in a "small-world"-like network and yielding a significantly reduced time to reach global agreement. We construct a finite-size scaling analysis for the agreement times in this case. When applying the model of Naming Game on empirical social networks, this stylized agent-based model captures essential features of agreement dynamics in a network of autonomous agents, corresponding to the development of shared classification schemes in a network of artificial agents or opinion spreading and social dynamics in social networks. Our study focuses on the impact that communities in the underlying social graphs have on the outcome of the agreement process. We find that networks with strong community structure hinder the system from reaching global agreement; the evolution of the Naming Game in these networks maintains clusters of coexisting opinions indefinitely. Further, we investigate agent-based network strategies to facilitate convergence to global consensus.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

A Hybrid Adaptive Routing Algorithm for Event-Driven Wireless Sensor Networks

PubMed Central

Figueiredo, Carlos M. S.; Nakamura, Eduardo F.; Loureiro, Antonio A. F.

2009-01-01

Routing is a basic function in wireless sensor networks (WSNs). For these networks, routing algorithms depend on the characteristics of the applications and, consequently, there is no self-contained algorithm suitable for every case. In some scenarios, the network behavior (traffic load) may vary a lot, such as an event-driven application, favoring different algorithms at different instants. This work presents a hybrid and adaptive algorithm for routing in WSNs, called Multi-MAF, that adapts its behavior autonomously in response to the variation of network conditions. In particular, the proposed algorithm applies both reactive and proactive strategies for routing infrastructure creation, and uses an event-detection estimation model to change between the strategies and save energy. To show the advantages of the proposed approach, it is evaluated through simulations. Comparisons with independent reactive and proactive algorithms show improvements on energy consumption. PMID:22423207

A hybrid adaptive routing algorithm for event-driven wireless sensor networks.

PubMed

Figueiredo, Carlos M S; Nakamura, Eduardo F; Loureiro, Antonio A F

2009-01-01

Routing is a basic function in wireless sensor networks (WSNs). For these networks, routing algorithms depend on the characteristics of the applications and, consequently, there is no self-contained algorithm suitable for every case. In some scenarios, the network behavior (traffic load) may vary a lot, such as an event-driven application, favoring different algorithms at different instants. This work presents a hybrid and adaptive algorithm for routing in WSNs, called Multi-MAF, that adapts its behavior autonomously in response to the variation of network conditions. In particular, the proposed algorithm applies both reactive and proactive strategies for routing infrastructure creation, and uses an event-detection estimation model to change between the strategies and save energy. To show the advantages of the proposed approach, it is evaluated through simulations. Comparisons with independent reactive and proactive algorithms show improvements on energy consumption.

Monitoring Architectural Heritage by Wireless Sensors Networks: San Gimignano — A Case Study

PubMed Central

Mecocci, Alessandro; Abrardo, Andrea

2014-01-01

This paper describes a wireless sensor network (WSN) used to monitor the health state of architectural heritage in real-time. The WSN has been deployed and tested on the “Rognosa” tower in the medieval village of San Gimignano, Tuscany, Italy. This technology, being non-invasive, mimetic, and long lasting, is particularly well suited for long term monitoring and on-line diagnosis of the conservation state of heritage buildings. The proposed monitoring system comprises radio-equipped nodes linked to suitable sensors capable of monitoring crucial parameters like: temperature, humidity, masonry cracks, pouring rain, and visual light. The access to data is granted by a user interface for remote control. The WSN can autonomously send remote alarms when predefined thresholds are reached. PMID:24394600

Location estimation in wireless sensor networks using spring-relaxation technique.

PubMed

Zhang, Qing; Foh, Chuan Heng; Seet, Boon-Chong; Fong, A C M

2010-01-01

Accurate and low-cost autonomous self-localization is a critical requirement of various applications of a large-scale distributed wireless sensor network (WSN). Due to its massive deployment of sensors, explicit measurements based on specialized localization hardware such as the Global Positioning System (GPS) is not practical. In this paper, we propose a low-cost WSN localization solution. Our design uses received signal strength indicators for ranging, light weight distributed algorithms based on the spring-relaxation technique for location computation, and the cooperative approach to achieve certain location estimation accuracy with a low number of nodes with known locations. We provide analysis to show the suitability of the spring-relaxation technique for WSN localization with cooperative approach, and perform simulation experiments to illustrate its accuracy in localization.

Sensor networks for optimal target localization with bearings-only measurements in constrained three-dimensional scenarios.

PubMed

Moreno-Salinas, David; Pascoal, Antonio; Aranda, Joaquin

2013-08-12

In this paper, we address the problem of determining the optimal geometric configuration of an acoustic sensor network that will maximize the angle-related information available for underwater target positioning. In the set-up adopted, a set of autonomous vehicles carries a network of acoustic units that measure the elevation and azimuth angles between a target and each of the receivers on board the vehicles. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using tools from estimation theory, the problem is converted into that of minimizing, by proper choice of the sensor positions, the trace of the inverse of the Fisher Information Matrix (also called the Cramer-Rao Bound matrix) to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration of the sensors depends explicitly on the intensity of the measurement noise, the constraints imposed on the sensor configuration, the target depth and the probabilistic distribution that defines the prior uncertainty in the target position. Simulation examples illustrate the key results derived.

A power management system for energy harvesting and wireless sensor networks application based on a novel charge pump circuit

NASA Astrophysics Data System (ADS)

Aloulou, R.; De Peslouan, P.-O. Lucas; Mnif, H.; Alicalapa, F.; Luk, J. D. Lan Sun; Loulou, M.

2016-05-01

Energy Harvesting circuits are developed as an alternative solution to supply energy to autonomous sensor nodes in Wireless Sensor Networks. In this context, this paper presents a micro-power management system for multi energy sources based on a novel design of charge pump circuit to allow the total autonomy of self-powered sensors. This work proposes a low-voltage and high performance charge pump (CP) suitable for implementation in standard complementary metal oxide semiconductor (CMOS) technologies. The CP design was implemented using Cadence Virtuoso with AMS 0.35μm CMOS technology parameters. Its active area is 0.112 mm2. Consistent results were obtained between the measured findings of the chip testing and the simulation results. The circuit can operate with an 800 mV supply and generate a boosted output voltage of 2.835 V with 1 MHz as frequency.

Prototyping and Testing a Wireless Sensor Network to Retrieve SWE at High Spatial Resolution

NASA Astrophysics Data System (ADS)

Kang, D.; Barros, A. P.

2007-12-01

A critical challenge in snow research from space is the ability to obtain measurements at the spatial and temporal resolution to characterize the statistical structure of the space-time variability of the physical properties of the snowpack within an area consistent with the pixel resolution in snow hydrology models or that expected from a future NASA mission dedicated to cold region processes. That is, observations of relevant snow dielectric properties are necessary at high spatial and temporal resolution during the accumulation and melt seasons. We present a new wireless sensor network prototype consisting of multiple antennas and buried low-power, multi- channel transmitters operating in L-band that communicate to a central pod equipped with a Vector Signal Analyzer (VSA) that receives, processes and manages the data. Only commercial off-the-shelf hard-ware parts were used to build the sensors. Because the sensors are very low cost and run autonomously, one envisions that self-organizing networks of large numbers of such sensors might be distributed over very large areas, therefore proving much needed data sets for scaling studies. The measurement strategy consists of placing the transmitters the land surface in the beginning of the snow season which are then run autonomously till the end of the spring and waken at pre-determined time-intervals to emit radio frequency signals and thus sample the snowpack. Along with the sensors, an important component of this work entails the development of an estimation algorithm to estimate snow dielectric properties, snow density, and volume fraction of snow (VF) from the time-of-travel, amplitude and phase modification of the multi-channel RF signals as they propagate through the snow-pack. Here, we present results from full system testing and evaluation of the sensors that were conducted at Duke University using ¢®¡Æsynthetic¢®¡¾ limited-area snowpacks (0.5 by 0.5 m2 and 1 by 2 m2) constructed of various combinations of foam layers of different porosities to simulate heterogeneous distributions of water. The existing sensors are currently being primed for field deployment. Discussion is also presented regarding further technology development including power usage, networking, and distribution and operations in remote regions.

Localization in Self-Healing Autonomous Sensor Networks (SASNet): Studies on Cooperative Localization of Sensor Nodes using Distributed Maps

DTIC Science & Technology

2008-01-01

CCA-MAP algorithm are analyzed. Further, we discuss the design considerations of the discussed cooperative localization algorithms to compare and...MAP and CCA-MAP to compare and evaluate their performance. Then a preliminary design analysis is given to address the implementation requirements and...plus précis, avec un nombre inférieur de nœuds ancres, comparativement aux autres types de schémas de localisation. En réalité, les algorithmes de

Cost-Effective Encryption-Based Autonomous Routing Protocol for Efficient and Secure Wireless Sensor Networks.

PubMed

Saleem, Kashif; Derhab, Abdelouahid; Orgun, Mehmet A; Al-Muhtadi, Jalal; Rodrigues, Joel J P C; Khalil, Mohammed Sayim; Ali Ahmed, Adel

2016-03-31

The deployment of intelligent remote surveillance systems depends on wireless sensor networks (WSNs) composed of various miniature resource-constrained wireless sensor nodes. The development of routing protocols for WSNs is a major challenge because of their severe resource constraints, ad hoc topology and dynamic nature. Among those proposed routing protocols, the biology-inspired self-organized secure autonomous routing protocol (BIOSARP) involves an artificial immune system (AIS) that requires a certain amount of time to build up knowledge of neighboring nodes. The AIS algorithm uses this knowledge to distinguish between self and non-self neighboring nodes. The knowledge-building phase is a critical period in the WSN lifespan and requires active security measures. This paper proposes an enhanced BIOSARP (E-BIOSARP) that incorporates a random key encryption mechanism in a cost-effective manner to provide active security measures in WSNs. A detailed description of E-BIOSARP is presented, followed by an extensive security and performance analysis to demonstrate its efficiency. A scenario with E-BIOSARP is implemented in network simulator 2 (ns-2) and is populated with malicious nodes for analysis. Furthermore, E-BIOSARP is compared with state-of-the-art secure routing protocols in terms of processing time, delivery ratio, energy consumption, and packet overhead. The findings show that the proposed mechanism can efficiently protect WSNs from selective forwarding, brute-force or exhaustive key search, spoofing, eavesdropping, replaying or altering of routing information, cloning, acknowledgment spoofing, HELLO flood attacks, and Sybil attacks.

Cost-Effective Encryption-Based Autonomous Routing Protocol for Efficient and Secure Wireless Sensor Networks

PubMed Central

Saleem, Kashif; Derhab, Abdelouahid; Orgun, Mehmet A.; Al-Muhtadi, Jalal; Rodrigues, Joel J. P. C.; Khalil, Mohammed Sayim; Ali Ahmed, Adel

2016-01-01

The deployment of intelligent remote surveillance systems depends on wireless sensor networks (WSNs) composed of various miniature resource-constrained wireless sensor nodes. The development of routing protocols for WSNs is a major challenge because of their severe resource constraints, ad hoc topology and dynamic nature. Among those proposed routing protocols, the biology-inspired self-organized secure autonomous routing protocol (BIOSARP) involves an artificial immune system (AIS) that requires a certain amount of time to build up knowledge of neighboring nodes. The AIS algorithm uses this knowledge to distinguish between self and non-self neighboring nodes. The knowledge-building phase is a critical period in the WSN lifespan and requires active security measures. This paper proposes an enhanced BIOSARP (E-BIOSARP) that incorporates a random key encryption mechanism in a cost-effective manner to provide active security measures in WSNs. A detailed description of E-BIOSARP is presented, followed by an extensive security and performance analysis to demonstrate its efficiency. A scenario with E-BIOSARP is implemented in network simulator 2 (ns-2) and is populated with malicious nodes for analysis. Furthermore, E-BIOSARP is compared with state-of-the-art secure routing protocols in terms of processing time, delivery ratio, energy consumption, and packet overhead. The findings show that the proposed mechanism can efficiently protect WSNs from selective forwarding, brute-force or exhaustive key search, spoofing, eavesdropping, replaying or altering of routing information, cloning, acknowledgment spoofing, HELLO flood attacks, and Sybil attacks. PMID:27043572

Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

NASA Technical Reports Server (NTRS)

Sanders, Adam M. (Inventor); Strawser, Philip A. (Inventor); Barajas, Leandro G. (Inventor); Permenter, Frank Noble (Inventor)

2015-01-01

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

Road Nail: Experimental Solar Powered Intelligent Road Marking System

NASA Astrophysics Data System (ADS)

Samardžija, Dragan; Teslić, Nikola; Todorović, Branislav M.; Kovač, Erne; Isailović, Đorđe; Miladinović, Bojan

2012-03-01

Driving in low visibility conditions (night time, fog or heavy precipitation) is particularly challenging task with an increased probability of traffic accidents and possible injuries. Road Nail is a solar powered intelligent road marking system of wirelessly networked signaling devices that improve driver safety in low visibility conditions along hazardous roadways. Nails or signaling devices are autonomous nodes with capability to accumulate energy, exchange wireless messages, detect approaching vehicles and emit signalization light. We have built an experimental test-bed that consists of 20 nodes and a cellular gateway. Implementation details of the above system, including extensive measurements and performance evaluations in realistic field deployments are presented. A novel distributed network topology discovery scheme is proposed which integrates both sensor and wireless communication aspects, where nodes act autonomously. Finally, integration of the Road Nail system with the cellular network and the Internet is described.

Radar based autonomous sensor module

NASA Astrophysics Data System (ADS)

Styles, Tim

2016-10-01

Most surveillance systems combine camera sensors with other detection sensors that trigger an alert to a human operator when an object is detected. The detection sensors typically require careful installation and configuration for each application and there is a significant burden on the operator to react to each alert by viewing camera video feeds. A demonstration system known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT) has been developed to address these issues using Autonomous Sensor Modules (ASM) and a central High Level Decision Making Module (HLDMM) that can fuse the detections from multiple sensors. This paper describes the 24 GHz radar based ASM, which provides an all-weather, low power and license exempt solution to the problem of wide area surveillance. The radar module autonomously configures itself in response to tasks provided by the HLDMM, steering the transmit beam and setting range resolution and power levels for optimum performance. The results show the detection and classification performance for pedestrians and vehicles in an area of interest, which can be modified by the HLDMM without physical adjustment. The module uses range-Doppler processing for reliable detection of moving objects and combines Radar Cross Section and micro-Doppler characteristics for object classification. Objects are classified as pedestrian or vehicle, with vehicle sub classes based on size. Detections are reported only if the object is detected in a task coverage area and it is classified as an object of interest. The system was shown in a perimeter protection scenario using multiple radar ASMs, laser scanners, thermal cameras and visible band cameras. This combination of sensors enabled the HLDMM to generate reliable alerts with improved discrimination of objects and behaviours of interest.

On-Board Event-Based State Estimation for Trajectory Approaching and Tracking of a Vehicle

PubMed Central

Martínez-Rey, Miguel; Espinosa, Felipe; Gardel, Alfredo; Santos, Carlos

2015-01-01

For the problem of pose estimation of an autonomous vehicle using networked external sensors, the processing capacity and battery consumption of these sensors, as well as the communication channel load should be optimized. Here, we report an event-based state estimator (EBSE) consisting of an unscented Kalman filter that uses a triggering mechanism based on the estimation error covariance matrix to request measurements from the external sensors. This EBSE generates the events of the estimator module on-board the vehicle and, thus, allows the sensors to remain in stand-by mode until an event is generated. The proposed algorithm requests a measurement every time the estimation distance root mean squared error (DRMS) value, obtained from the estimator's covariance matrix, exceeds a threshold value. This triggering threshold can be adapted to the vehicle's working conditions rendering the estimator even more efficient. An example of the use of the proposed EBSE is given, where the autonomous vehicle must approach and follow a reference trajectory. By making the threshold a function of the distance to the reference location, the estimator can halve the use of the sensors with a negligible deterioration in the performance of the approaching maneuver. PMID:26102489

Data fusion for target tracking and classification with wireless sensor network

NASA Astrophysics Data System (ADS)

Pannetier, Benjamin; Doumerc, Robin; Moras, Julien; Dezert, Jean; Canevet, Loic

2016-10-01

In this paper, we address the problem of multiple ground target tracking and classification with information obtained from a unattended wireless sensor network. A multiple target tracking (MTT) algorithm, taking into account road and vegetation information, is proposed based on a centralized architecture. One of the key issue is how to adapt classical MTT approach to satisfy embedded processing. Based on track statistics, the classification algorithm uses estimated location, velocity and acceleration to help to classify targets. The algorithms enables tracking human and vehicles driving both on and off road. We integrate road or trail width and vegetation cover, as constraints in target motion models to improve performance of tracking under constraint with classification fusion. Our algorithm also presents different dynamic models, to palliate the maneuvers of targets. The tracking and classification algorithms are integrated into an operational platform (the fusion node). In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

An Autonomous Navigation Algorithm for High Orbit Satellite Using Star Sensor and Ultraviolet Earth Sensor

PubMed Central

Baohua, Li; Wenjie, Lai; Yun, Chen; Zongming, Liu

2013-01-01

An autonomous navigation algorithm using the sensor that integrated the star sensor (FOV1) and ultraviolet earth sensor (FOV2) is presented. The star images are sampled by FOV1, and the ultraviolet earth images are sampled by the FOV2. The star identification algorithm and star tracking algorithm are executed at FOV1. Then, the optical axis direction of FOV1 at J2000.0 coordinate system is calculated. The ultraviolet image of earth is sampled by FOV2. The center vector of earth at FOV2 coordinate system is calculated with the coordinates of ultraviolet earth. The autonomous navigation data of satellite are calculated by integrated sensor with the optical axis direction of FOV1 and the center vector of earth from FOV2. The position accuracy of the autonomous navigation for satellite is improved from 1000 meters to 300 meters. And the velocity accuracy of the autonomous navigation for satellite is improved from 100 m/s to 20 m/s. At the same time, the period sine errors of the autonomous navigation for satellite are eliminated. The autonomous navigation for satellite with a sensor that integrated ultraviolet earth sensor and star sensor is well robust. PMID:24250261

An autonomous navigation algorithm for high orbit satellite using star sensor and ultraviolet earth sensor.

PubMed

Baohua, Li; Wenjie, Lai; Yun, Chen; Zongming, Liu

2013-01-01

An autonomous navigation algorithm using the sensor that integrated the star sensor (FOV1) and ultraviolet earth sensor (FOV2) is presented. The star images are sampled by FOV1, and the ultraviolet earth images are sampled by the FOV2. The star identification algorithm and star tracking algorithm are executed at FOV1. Then, the optical axis direction of FOV1 at J2000.0 coordinate system is calculated. The ultraviolet image of earth is sampled by FOV2. The center vector of earth at FOV2 coordinate system is calculated with the coordinates of ultraviolet earth. The autonomous navigation data of satellite are calculated by integrated sensor with the optical axis direction of FOV1 and the center vector of earth from FOV2. The position accuracy of the autonomous navigation for satellite is improved from 1000 meters to 300 meters. And the velocity accuracy of the autonomous navigation for satellite is improved from 100 m/s to 20 m/s. At the same time, the period sine errors of the autonomous navigation for satellite are eliminated. The autonomous navigation for satellite with a sensor that integrated ultraviolet earth sensor and star sensor is well robust.

Analysis of Energy Efficiency in WSN by Considering SHM Application

NASA Astrophysics Data System (ADS)

Kumar, Pawan; Naresh Babu, Merugu; Raju, Kota Solomon, Dr; Sharma, Sudhir Kumar, Dr; Jain, Vaibhav

2017-08-01

The Wireless Sensor Network is composed of a significant number of autonomous nodes deployed in an extensive or remote area. In WSN, the sensor nodes have a limited transmission range, processing speed and storage capabilities as well as their energy resources are also limited. In WSN all nodes are not directly connected. The primary objective for all kind of WSN is to enhance and optimize the network lifetime i.e. to minimize the energy consumption in the WSN. There are lots of applications of WSN out of which this research paper focuses upon the Structural Health Monitoring application in which 50 Meter bridge has been taken as a test application for the simulation purpose.

Ocean Observatories Initiative (OOI): Status of Design, Capabilities, and Implementation

NASA Astrophysics Data System (ADS)

Brasseur, L. H.; Banahan, S.; Cowles, T.

2009-05-01

The National Science Foundation's (NSF) Ocean Observatories Initiative (OOI) will implement the construction and operation of an interactive, integrated ocean observing network. This research- driven, multi-scale network will provide the broad ocean science community with access to advanced technology to enable studies of fundamental ocean processes. The OOI will afford observations at coastal, regional, and global scales on timeframes of milliseconds to decades in support of investigations into climate variability, ocean ecosystems, biogeochemical processes, coastal ocean dynamics, circulation and mixing dynamics, fluid-rock interactions, and the sub-seafloor biosphere. The elements of the OOI include arrays of fixed and re-locatable moorings, autonomous underwater vehicles, and cabled seafloor nodes. All assets combined, the OOI network will provide data from over 45 distinct types of sensors, comprising over 800 total sensors distributed in the Pacific and Atlantic oceans. These core sensors for the OOI were determined through a formal process of science requirements development. This core sensor array will be integrated through a system-wide cyberinfrastructure allowing for remote control of instruments, adaptive sampling, and near-real time access to data. Implementation of the network will stimulate new avenues of research and the development of new infrastructure, instrumentation, and sensor technologies. The OOI is funded by the NSF and managed by the Consortium for Ocean Leadership which focuses on the science, technology, education, and outreach for an emerging network of ocean observing systems.

User Needs and Advances in Space Wireless Sensing and Communications

NASA Technical Reports Server (NTRS)

Kegege, Obadiah

2017-01-01

Decades of space exploration and technology trends for future missions show the need for new approaches in space/planetary sensor networks, observatories, internetworking, and communications/data delivery to Earth. The User Needs to be discussed in this talk includes interviews with several scientists and reviews of mission concepts for the next generation of sensors, observatories, and planetary surface missions. These observatories, sensors are envisioned to operate in extreme environments, with advanced autonomy, whereby sometimes communication to Earth is intermittent and delayed. These sensor nodes require software defined networking capabilities in order to learn and adapt to the environment, collect science data, internetwork, and communicate. Also, some user cases require the level of intelligence to manage network functions (either as a host), mobility, security, and interface data to the physical radio/optical layer. For instance, on a planetary surface, autonomous sensor nodes would create their own ad-hoc network, with some nodes handling communication capabilities between the wireless sensor networks and orbiting relay satellites. A section of this talk will cover the advances in space communication and internetworking to support future space missions. NASA's Space Communications and Navigation (SCaN) program continues to evolve with the development of optical communication, a new vision of the integrated network architecture with more capabilities, and the adoption of CCSDS space internetworking protocols. Advances in wireless communications hardware and electronics have enabled software defined networking (DVB-S2, VCM, ACM, DTN, Ad hoc, etc.) protocols for improved wireless communication and network management. Developing technologies to fulfil these user needs for wireless communications and adoption of standardized communication/internetworking protocols will be a huge benefit to future planetary missions, space observatories, and manned missions to other planets.

MARSnet: Mission-aware Autonomous Radar Sensor Network for Future Combat Systems 12/8/06 to 12/31/09

DTIC Science & Technology

2010-01-01

8/06 to 12/31/09. Qilian Liang Department of Electrical Engineering 416 Yates Street, Room 518 University of Texas at Arlington Arlington, TX 76019...Modeling in Foliage Environment Jing Liang and Qilian Liang, Senior Member, IEEE Department of Electrical Engineering University of Texas at Arlington E...32 46 of 816 NEW: Network-enabled Electronic Warfare for Target Recognition Qilian Liang Xiuzhen Cheng Sherwood W. Samn Dept of Electrical

Mobile System for Precise Aero Delivery with Global Reach Network Capability

DTIC Science & Technology

2009-08-30

No intention / need for taking advantage of networking with other agents. The Atair’s Onyx Micro Light ( Onyx ML) delivery system (www.atair.com... onyx ) (Fig.9a) is a precision airdrop system designed to address the requirements of the Joint Precision Airdrop System MLW (JPADS-MLW) system of the...autonomous powered paraglider (LEAPP) developed under contract with DARPA (Fig.9b). a) b) Fig. 9. Onyx ML with mock sensor payload release

Neural Network Classifies Teleoperation Data

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Giancaspro, Antonio; Losito, Sergio; Pasquariello, Guido

1994-01-01

Prototype artificial neural network, implemented in software, identifies phases of telemanipulator tasks in real time by analyzing feedback signals from force sensors on manipulator hand. Prototype is early, subsystem-level product of continuing effort to develop automated system that assists in training and supervising human control operator: provides symbolic feedback (e.g., warnings of impending collisions or evaluations of performance) to operator in real time during successive executions of same task. Also simplifies transition between teleoperation and autonomous modes of telerobotic system.

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility

PubMed Central

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-01-01

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability. PMID:27007373

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility.

PubMed

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-03-19

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability.

Building Intrusion Detection with a Wireless Sensor Network

NASA Astrophysics Data System (ADS)

Wälchli, Markus; Braun, Torsten

This paper addresses the detection and reporting of abnormal building access with a wireless sensor network. A common office room, offering space for two working persons, has been monitored with ten sensor nodes and a base station. The task of the system is to report suspicious office occupation such as office searching by thieves. On the other hand, normal office occupation should not throw alarms. In order to save energy for communication, the system provides all nodes with some adaptive short-term memory. Thus, a set of sensor activation patterns can be temporarily learned. The local memory is implemented as an Adaptive Resonance Theory (ART) neural network. Unknown event patterns detected on sensor node level are reported to the base station, where the system-wide anomaly detection is performed. The anomaly detector is lightweight and completely self-learning. The system can be run autonomously or it could be used as a triggering system to turn on an additional high-resolution system on demand. Our building monitoring system has proven to work reliably in different evaluated scenarios. Communication costs of up to 90% could be saved compared to a threshold-based approach without local memory.

Navigation of robotic system using cricket motes

NASA Astrophysics Data System (ADS)

Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

2011-06-01

This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

Development of Power Supply Management Module for Radio Signal Repeaters of Automatic Metering Reading System in Variable Solar Density Conditions

NASA Astrophysics Data System (ADS)

Kondratjevs, K.; Zabasta, A.; Selmanovs-Pless, V.

2016-02-01

In recent years, there has been significant research focus that revolves around harvesting and minimising energy consumption by wireless sensor network nodes. When a sensor node is depleted of energy, it becomes unresponsive and disconnected from the network that can significantly influence the performance of the whole network. The purpose of the present research is to create a power supply management module in order to provide stable operating voltage for autonomous operations of radio signal repeaters, sensors or gateways of WSN. The developed management module is composed of a solar panel, lithium battery and power supply management module. The novelty of the research is the management module, which ensures stable and uninterrupted operations of electronic equipment in various power supply modes in different situations, simultaneously ensuring energy protection and sustainability of the module components. The management module is able to provide power supply of 5 V for electronics scheme independently, without power interruption switching between power sources and power flows in different directions.

Design of autonomous sensor nodes for remote soil monitoring in tropical banana plantation

NASA Astrophysics Data System (ADS)

Tiausas, Francis Jerome G.; Co, Jerelyn; Macalinao, Marc Joseph M.; Guico, Maria Leonora; Monje, Jose Claro; Oppus, Carlos

2017-09-01

Determining the effect of Fusarium oxysporum f. sp. cubense Tropical Race 4 on various soil parameters is essential in modeling and predicting its occurrence in banana plantations. One way to fulfill this is through a sensor network that will continuously and automatically monitor environmental conditions at suspect locations for an extended period of time. A wireless sensor network was developed specifically for this purpose. This sensor network is capable of measuring soil acidity, moisture, temperature, and conductivity. The designed prototype made use of off-the-shelf Parrot Flower Power soil sensor, pH sensor, Bluno Beetle, battery, and 3D-printed materials, catering specifically to the conditions of tropical banana plantations with consideration for sensor node size, communication, and power. Sensor nodes were tested on both simulated tropical environments and on an actual banana plantation in San Jose, General Santos City, Philippines. Challenges were resolved through iterative design and development of prototypes. Several tests including temperature and weather resilience, and structural stress tests were done to validate the design. Findings showed that the WSN nodes developed for this purpose are resilient to high tropical temperatures for up to 12 hours of continuous exposure, are able to withstand compressive forces of up to 8880.6 N, and can reliably collect data automatically from the area 47.96% of the time at an hourly frequency under actual field conditions.

Laser Range and Bearing Finder for Autonomous Missions

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object's distance, direction, and orientation. This is true whether the mission is autonomous in-space assembly, rendezvous and docking, or rover surface navigation. Advanced Optical Systems, Inc. has developed a wide-angle laser range and bearing finder (RBF) for autonomous space missions. The laser RBF has a number of features that make it well-suited for autonomous missions. It has an operating range of 10 m to 5 km, with a 5 deg field of view. Its wide field of view removes the need for scanning systems such as gimbals, eliminating moving parts and making the sensor simpler and space qualification easier. Its range accuracy is 1% or better. It is designed to operate either as a stand-alone sensor or in tandem with a sensor that returns range, bearing, and orientation at close ranges, such as NASA's Advanced Video Guidance Sensor. We have assembled the initial prototype and are currently testing it. We will discuss the laser RBF's design and specifications. Keywords: laser range and bearing finder, autonomous rendezvous and docking, space sensors, on-orbit sensors, advanced video guidance sensor

A black carbon air quality network

NASA Astrophysics Data System (ADS)

Kirchstetter, T.; Caubel, J.; Cados, T.; Preble, C.; Rosen, A.

2016-12-01

We developed a portable, power efficient black carbon sensor for deployment in an air quality network in West Oakland, California. West Oakland is a San Francisco Bay Area residential/industrial community adjacent to regional port and rail yard facilities, and is surrounded by major freeways. As such, the community is affected by diesel particulate matter emissions from heavy-duty diesel trucks, locomotives, and ships associated with freight movement. In partnership with Environmental Defense Fund, the Bay Area Air Quality Management District, and the West Oakland Environmental Indicators Project, we are collaborating with community members to build and operate a 100-sensor black carbon measurement network for a period of several months. The sensor employs the filter-based light transmission method to measure black carbon. Each sensor node in the network transmits data hourly via SMS text messages. Cost, power consumption, and performance are considered in choosing components (e.g., pump) and operating conditions (e.g., sample flow rate). In field evaluation trials over several weeks at three monitoring locations, the sensor nodes provided black carbon concentrations comparable to commercial instruments and ran autonomously for a week before sample filters and rechargeable batteries needed to be replaced. Buildup to the 100-sensor network is taking place during Fall 2016 and will overlap with other ongoing air monitoring projects and monitoring platforms in West Oakland. Sensors will be placed along commercial corridors, adjacent to freeways, upwind of and within the Port, and throughout the residential community. Spatial and temporal black carbon concentration patterns will help characterize pollution sources and demonstrate the value of sensing networks for characterizing intra-urban air pollution concentrations and exposure to air pollution.

Automated sensor networks to advance ocean science

NASA Astrophysics Data System (ADS)

Schofield, O.; Orcutt, J. A.; Arrott, M.; Vernon, F. L.; Peach, C. L.; Meisinger, M.; Krueger, I.; Kleinert, J.; Chao, Y.; Chien, S.; Thompson, D. R.; Chave, A. D.; Balasuriya, A.

2010-12-01

The National Science Foundation has funded the Ocean Observatories Initiative (OOI), which over the next five years will deploy infrastructure to expand scientist’s ability to remotely study the ocean. The deployed infrastructure will be linked by a robust cyberinfrastructure (CI) that will integrate marine observatories into a coherent system-of-systems. OOI is committed to engaging the ocean sciences community during the construction pahse. For the CI, this is being enabled by using a “spiral design strategy” allowing for input throughout the construction phase. In Fall 2009, the OOI CI development team used an existing ocean observing network in the Mid-Atlantic Bight (MAB) to test OOI CI software. The objective of this CI test was to aggregate data from ships, autonomous underwater vehicles (AUVs), shore-based radars, and satellites and make it available to five different data-assimilating ocean forecast models. Scientists used these multi-model forecasts to automate future glider missions in order to demonstrate the feasibility of two-way interactivity between the sensor web and predictive models. The CI software coordinated and prioritized the shared resources that allowed for the semi-automated reconfiguration of assett-tasking, and thus enabled an autonomous execution of observation plans for the fixed and mobile observation platforms. Efforts were coordinated through a web portal that provided an access point for the observational data and model forecasts. Researchers could use the CI software in tandem with the web data portal to assess the performance of individual numerical model results, or multi-model ensembles, through real-time comparisons with satellite, shore-based radar, and in situ robotic measurements. The resulting sensor net will enable a new means to explore and study the world’s oceans by providing scientists a responsive network in the world’s oceans that can be accessed via any wireless network.

Distributed cluster management techniques for unattended ground sensor networks

NASA Astrophysics Data System (ADS)

Essawy, Magdi A.; Stelzig, Chad A.; Bevington, James E.; Minor, Sharon

2005-05-01

Smart Sensor Networks are becoming important target detection and tracking tools. The challenging problems in such networks include the sensor fusion, data management and communication schemes. This work discusses techniques used to distribute sensor management and multi-target tracking responsibilities across an ad hoc, self-healing cluster of sensor nodes. Although miniaturized computing resources possess the ability to host complex tracking and data fusion algorithms, there still exist inherent bandwidth constraints on the RF channel. Therefore, special attention is placed on the reduction of node-to-node communications within the cluster by minimizing unsolicited messaging, and distributing the sensor fusion and tracking tasks onto local portions of the network. Several challenging problems are addressed in this work including track initialization and conflict resolution, track ownership handling, and communication control optimization. Emphasis is also placed on increasing the overall robustness of the sensor cluster through independent decision capabilities on all sensor nodes. Track initiation is performed using collaborative sensing within a neighborhood of sensor nodes, allowing each node to independently determine if initial track ownership should be assumed. This autonomous track initiation prevents the formation of duplicate tracks while eliminating the need for a central "management" node to assign tracking responsibilities. Track update is performed as an ownership node requests sensor reports from neighboring nodes based on track error covariance and the neighboring nodes geo-positional location. Track ownership is periodically recomputed using propagated track states to determine which sensing node provides the desired coverage characteristics. High fidelity multi-target simulation results are presented, indicating the distribution of sensor management and tracking capabilities to not only reduce communication bandwidth consumption, but to also simplify multi-target tracking within the cluster.

Distributed Algorithm for Voronoi Partition of Wireless Sensor Networks with a Limited Sensing Range.

PubMed

He, Chenlong; Feng, Zuren; Ren, Zhigang

2018-02-03

For Wireless Sensor Networks (WSNs), the Voronoi partition of a region is a challenging problem owing to the limited sensing ability of each sensor and the distributed organization of the network. In this paper, an algorithm is proposed for each sensor having a limited sensing range to compute its limited Voronoi cell autonomously, so that the limited Voronoi partition of the entire WSN is generated in a distributed manner. Inspired by Graham's Scan (GS) algorithm used to compute the convex hull of a point set, the limited Voronoi cell of each sensor is obtained by sequentially scanning two consecutive bisectors between the sensor and its neighbors. The proposed algorithm called the Boundary Scan (BS) algorithm has a lower computational complexity than the existing Range-Constrained Voronoi Cell (RCVC) algorithm and reaches the lower bound of the computational complexity of the algorithms used to solve the problem of this kind. Moreover, it also improves the time efficiency of a key step in the Adjust-Sensing-Radius (ASR) algorithm used to compute the exact Voronoi cell. Extensive numerical simulations are performed to demonstrate the correctness and effectiveness of the BS algorithm. The distributed realization of the BS combined with a localization algorithm in WSNs is used to justify the WSN nature of the proposed algorithm.

Distributed Algorithm for Voronoi Partition of Wireless Sensor Networks with a Limited Sensing Range

PubMed Central

Feng, Zuren; Ren, Zhigang

2018-01-01

For Wireless Sensor Networks (WSNs), the Voronoi partition of a region is a challenging problem owing to the limited sensing ability of each sensor and the distributed organization of the network. In this paper, an algorithm is proposed for each sensor having a limited sensing range to compute its limited Voronoi cell autonomously, so that the limited Voronoi partition of the entire WSN is generated in a distributed manner. Inspired by Graham’s Scan (GS) algorithm used to compute the convex hull of a point set, the limited Voronoi cell of each sensor is obtained by sequentially scanning two consecutive bisectors between the sensor and its neighbors. The proposed algorithm called the Boundary Scan (BS) algorithm has a lower computational complexity than the existing Range-Constrained Voronoi Cell (RCVC) algorithm and reaches the lower bound of the computational complexity of the algorithms used to solve the problem of this kind. Moreover, it also improves the time efficiency of a key step in the Adjust-Sensing-Radius (ASR) algorithm used to compute the exact Voronoi cell. Extensive numerical simulations are performed to demonstrate the correctness and effectiveness of the BS algorithm. The distributed realization of the BS combined with a localization algorithm in WSNs is used to justify the WSN nature of the proposed algorithm. PMID:29401649

Distributed estimation of sensors position in underwater wireless sensor network

NASA Astrophysics Data System (ADS)

Zandi, Rahman; Kamarei, Mahmoud; Amiri, Hadi

2016-05-01

In this paper, a localisation method for determining the position of fixed sensor nodes in an underwater wireless sensor network (UWSN) is introduced. In this simple and range-free scheme, the node localisation is achieved by utilising an autonomous underwater vehicle (AUV) that transverses through the network deployment area, and that periodically emits a message block via four directional acoustic beams. A message block contains the actual known AUV position as well as a directional dependent marker that allows a node to identify the respective transmit beam. The beams form a fixed angle with the AUV body. If a node passively receives message blocks, it could calculate the arithmetic mean of the coordinates existing in each messages sequence, to find coordinates at two different time instants via two different successive beams. The node position can be derived from the two computed positions of the AUV. The major advantage of the proposed localisation algorithm is that it is silent, which leads to energy efficiency for sensor nodes. The proposed method does not require any synchronisation among the nodes owing to being silent. Simulation results, using MATLAB, demonstrated that the proposed method had better performance than other similar AUV-based localisation methods in terms of the rates of well-localised sensor nodes and positional root mean square error.

Stability of distributed MPC in an intersection scenario

NASA Astrophysics Data System (ADS)

Sprodowski, T.; Pannek, J.

2015-11-01

The research topic of autonomous cars and the communication among them has attained much attention in the last years and is developing quickly. Among others, this research area spans fields such as image recognition, mathematical control theory, communication networks, and sensor fusion. We consider an intersection scenario where we divide the shared road space in different cells. These cells form a grid. The cars are modelled as an autonomous multi-agent system based on the Distributed Model Predictive Control algorithm (DMPC). We prove that the overall system reaches stability using Optimal Control for each multi-agent and demonstrate that by numerical results.

Nature-Inspired Acoustic Sensor Projects

DTIC Science & Technology

1999-08-24

m). The pager motors are worn on the wrists. Yale Intelligent Sensors Lab 8 Autonomous vehicle navigation Yago – Yale Autonomous Go-Cart Yago is used...proximity sensor determined the presence of close-by objects missed by the sonars. Yago operated autonomously by avoiding obstacles. Problems being

Cyber-physical networking for wireless mesh infrastructures

NASA Astrophysics Data System (ADS)

Mannweiler, C.; Lottermann, C.; Klein, A.; Schneider, J.; Schotten, H. D.

2012-09-01

This paper presents a novel approach for cyber-physical network control. "Cyber-physical" refers to the inclusion of different parameters and information sources, ranging from physical sensors (e.g. energy, temperature, light) to conventional network information (bandwidth, delay, jitter, etc.) to logical data providers (inference systems, user profiles, spectrum usage databases). For a consistent processing, collected data is represented in a uniform way, analyzed, and provided to dedicated network management functions and network services, both internally and, through an according API, to third party services. Specifically, in this work, we outline the design of sophisticated energy management functionalities for a hybrid wireless mesh network (WLAN for both backhaul traffic and access, GSM for access only), disposing of autonomous energy supply, in this case solar power. Energy consumption is optimized under the presumption of fluctuating power availability and considerable storage constraints, thus influencing, among others, handover and routing decisions. Moreover, advanced situation-aware auto-configuration and self-adaptation mechanisms are introduced for an autonomous operation of the network. The overall objective is to deploy a robust wireless access and backbone infrastructure with minimal operational cost and effective, cyber-physical control mechanisms, especially dedicated for rural or developing regions.

A New User Interface for On-Demand Customizable Data Products for Sensors in a SensorWeb

NASA Technical Reports Server (NTRS)

Mandl, Daniel; Cappelaere, Pat; Frye, Stuart; Sohlberg, Rob; Ly, Vuong; Chien, Steve; Sullivan, Don

2011-01-01

A SensorWeb is a set of sensors, which can consist of ground, airborne and space-based sensors interoperating in an automated or autonomous collaborative manner. The NASA SensorWeb toolbox, developed at NASA/GSFC in collaboration with NASA/JPL, NASA/Ames and other partners, is a set of software and standards that (1) enables users to create virtual private networks of sensors over open networks; (2) provides the capability to orchestrate their actions; (3) provides the capability to customize the output data products and (4) enables automated delivery of the data products to the users desktop. A recent addition to the SensorWeb Toolbox is a new user interface, together with web services co-resident with the sensors, to enable rapid creation, loading and execution of new algorithms for processing sensor data. The web service along with the user interface follows the Open Geospatial Consortium (OGC) standard called Web Coverage Processing Service (WCPS). This presentation will detail the prototype that was built and how the WCPS was tested against a HyspIRI flight testbed and an elastic computation cloud on the ground with EO-1 data. HyspIRI is a future NASA decadal mission. The elastic computation cloud stores EO-1 data and runs software similar to Amazon online shopping.

Autonomous Satellite Operations Via Secure Virtual Mission Operations Center

NASA Technical Reports Server (NTRS)

Miller, Eric; Paulsen, Phillip E.; Pasciuto, Michael

2011-01-01

The science community is interested in improving their ability to respond to rapidly evolving, transient phenomena via autonomous rapid reconfiguration, which derives from the ability to assemble separate but collaborating sensors and data forecasting systems to meet a broad range of research and application needs. Current satellite systems typically require human intervention to respond to triggers from dissimilar sensor systems. Additionally, satellite ground services often need to be coordinated days or weeks in advance. Finally, the boundaries between the various sensor systems that make up such a Sensor Web are defined by such things as link delay and connectivity, data and error rate asymmetry, data reliability, quality of service provisions, and trust, complicating autonomous operations. Over the past ten years, researchers from the NASA Glenn Research Center (GRC), General Dynamics, Surrey Satellite Technology Limited (SSTL), Cisco, Universal Space Networks (USN), the U.S. Geological Survey (USGS), the Naval Research Laboratory, the DoD Operationally Responsive Space (ORS) Office, and others have worked collaboratively to develop a virtual mission operations capability. Called VMOC (Virtual Mission Operations Center), this new capability allows cross-system queuing of dissimilar mission unique systems through the use of a common security scheme and published application programming interfaces (APIs). Collaborative VMOC demonstrations over the last several years have supported the standardization of spacecraft to ground interfaces needed to reduce costs, maximize space effects to the user, and allow the generation of new tactics, techniques and procedures that lead to responsive space employment.

Passive and Self-Powered Autonomous Sensors for Remote Measurements

PubMed Central

Sardini, Emilio; Serpelloni, Mauro

2009-01-01

Autonomous sensors play a very important role in the environmental, structural, and medical fields. The use of this kind of systems can be expanded for several applications, for example in implantable devices inside the human body where it is impossible to use wires. Furthermore, they enable measurements in harsh or hermetic environments, such as under extreme heat, cold, humidity or corrosive conditions. The use of batteries as a power supply for these devices represents one solution, but the size, and sometimes the cost and unwanted maintenance burdens of replacement are important drawbacks. In this paper passive and self-powered autonomous sensors for harsh or hermetical environments without batteries are discussed. Their general architectures are presented. Sensing strategies, communication techniques and power management are analyzed. Then, general building blocks of an autonomous sensor are presented and the design guidelines that such a system must follow are given. Furthermore, this paper reports different proposed applications of autonomous sensors applied in harsh or hermetic environments: two examples of passive autonomous sensors that use telemetric communication are proposed, the first one for humidity measurements and the second for high temperatures. Other examples of self-powered autonomous sensors that use a power harvesting system from electromagnetic fields are proposed for temperature measurements and for airflow speeds. PMID:22399949

Passive and self-powered autonomous sensors for remote measurements.

PubMed

Sardini, Emilio; Serpelloni, Mauro

2009-01-01

Autonomous sensors play a very important role in the environmental, structural, and medical fields. The use of this kind of systems can be expanded for several applications, for example in implantable devices inside the human body where it is impossible to use wires. Furthermore, they enable measurements in harsh or hermetic environments, such as under extreme heat, cold, humidity or corrosive conditions. The use of batteries as a power supply for these devices represents one solution, but the size, and sometimes the cost and unwanted maintenance burdens of replacement are important drawbacks. In this paper passive and self-powered autonomous sensors for harsh or hermetical environments without batteries are discussed. Their general architectures are presented. Sensing strategies, communication techniques and power management are analyzed. Then, general building blocks of an autonomous sensor are presented and the design guidelines that such a system must follow are given. Furthermore, this paper reports different proposed applications of autonomous sensors applied in harsh or hermetic environments: two examples of passive autonomous sensors that use telemetric communication are proposed, the first one for humidity measurements and the second for high temperatures. Other examples of self-powered autonomous sensors that use a power harvesting system from electromagnetic fields are proposed for temperature measurements and for airflow speeds.

Lights Out Operations of a Space, Ground, Sensorweb

NASA Technical Reports Server (NTRS)

Chien, Steve; Tran, Daniel; Johnston, Mark; Davies, Ashley Gerard; Castano, Rebecca; Rabideau, Gregg; Cichy, Benjamin; Doubleday, Joshua; Pieri, David; Scharenbroich, Lucas;

Energy efficient wireless sensor networks by using a fuzzy-based solution

NASA Astrophysics Data System (ADS)

Tirrito, Salvatore; Nicolosi, Giuseppina

2016-12-01

Wireless Sensor Networks are characterized by a distributed architecture realized by a set of autonomous electronic devices able to sense data from the surrounding environment and to communicate among them. These devices are battery powered since they may be used even to monitor hazardous events in inaccessible areas. As a consequence, it is preferable to assure the adoption of energy management solutions in order to extend the WSN lifetime, as far as possible. Moreover, it is crucial to guarantee that the nodes receive the transmitted data correctly. It is clear that trading off power optimization and quality of service has become one the most important concerns when dealing with modern systems based on WSNs. This paper introduces a solution based on a Fuzzy Logic Controller (FLC) focusing on the minimization of energy consumption of wireless sensor nodes. This is made possible because the sleeping time of these nodes is dynamically regulated by a FLC.

An intelligent surveillance platform for large metropolitan areas with dense sensor deployment.

PubMed

Fernández, Jorge; Calavia, Lorena; Baladrón, Carlos; Aguiar, Javier M; Carro, Belén; Sánchez-Esguevillas, Antonio; Alonso-López, Jesus A; Smilansky, Zeev

2013-06-07

This paper presents an intelligent surveillance platform based on the usage of large numbers of inexpensive sensors designed and developed inside the European Eureka Celtic project HuSIMS. With the aim of maximizing the number of deployable units while keeping monetary and resource/bandwidth costs at a minimum, the surveillance platform is based on the usage of inexpensive visual sensors which apply efficient motion detection and tracking algorithms to transform the video signal in a set of motion parameters. In order to automate the analysis of the myriad of data streams generated by the visual sensors, the platform's control center includes an alarm detection engine which comprises three components applying three different Artificial Intelligence strategies in parallel. These strategies are generic, domain-independent approaches which are able to operate in several domains (traffic surveillance, vandalism prevention, perimeter security, etc.). The architecture is completed with a versatile communication network which facilitates data collection from the visual sensors and alarm and video stream distribution towards the emergency teams. The resulting surveillance system is extremely suitable for its deployment in metropolitan areas, smart cities, and large facilities, mainly because cheap visual sensors and autonomous alarm detection facilitate dense sensor network deployments for wide and detailed coverage.

Practical Considerations in the Implementation of Collaborative Beamforming on Wireless Sensor Networks

PubMed Central

Felici-Castell, Santiago; Navarro, Enrique A.; Pérez-Solano, Juan J.; Segura-García, Jaume; García-Pineda, Miguel

2017-01-01

Wireless Sensor Networks (WSNs) are composed of spatially distributed autonomous sensor devices, named motes. These motes have their own power supply, processing unit, sensors and wireless communications However with many constraints, such as limited energy, bandwidth and computational capabilities. In these networks, at least one mote called a sink, acts as a gateway to connect with other networks. These sensor networks run monitoring applications and then the data gathered by these motes needs to be retrieved by the sink. When this sink is located in the far field, there have been many proposals in the literature based on Collaborative Beamforming (CB), also known as Distributed or Cooperative Beamforming, for these long range communications to reach the sink. In this paper, we conduct a thorough study of the related work and analyze the requirements to do CB. In order to implement these communications in real scenarios, we will consider if these requirements and the assumptions made are feasible from the point of view of commercial motes and their constraints. In addition, we will go a step further and will consider different alternatives, by relaxing these requirements, trying to find feasible assumptions to carry out these types of communications with commercial motes. This research considers the nonavailability of a central clock that synchronizes all motes in the WSN, and all motes have identical hardware. This is a feasibility study to do CB on WSN, using a simulated scenario with randomized delays obtained from experimental data from commercial motes. PMID:28134753

Practical Considerations in the Implementation of Collaborative Beamforming on Wireless Sensor Networks.

PubMed

Felici-Castell, Santiago; Navarro, Enrique A; Pérez-Solano, Juan J; Segura-García, Jaume; García-Pineda, Miguel

2017-01-26

Wireless Sensor Networks (WSNs) are composed of spatially distributed autonomous sensor devices, named motes. These motes have their own power supply, processing unit, sensors and wireless communications However with many constraints, such as limited energy, bandwidth and computational capabilities. In these networks, at least one mote called a sink, acts as a gateway to connect with other networks. These sensor networks run monitoring applications and then the data gathered by these motes needs to be retrieved by the sink. When this sink is located in the far field, there have been many proposals in the literature based on Collaborative Beamforming (CB), also known as Distributed or Cooperative Beamforming, for these long range communications to reach the sink. In this paper, we conduct a thorough study of the related work and analyze the requirements to do CB. In order to implement these communications in real scenarios, we will consider if these requirements and the assumptions made are feasible from the point of view of commercial motes and their constraints. In addition, we will go a step further and will consider different alternatives, by relaxing these requirements, trying to find feasible assumptions to carry out these types of communications with commercial motes. This research considers the nonavailability of a central clock that synchronizes all motes in the WSN, and all motes have identical hardware. This is a feasibility study to do CB on WSN, using a simulated scenario with randomized delays obtained from experimental data from commercial motes.

Virtual-Lattice Based Intrusion Detection Algorithm over Actuator-Assisted Underwater Wireless Sensor Networks

PubMed Central

Yan, Jing; Li, Xiaolei; Luo, Xiaoyuan; Guan, Xinping

2017-01-01

Due to the lack of a physical line of defense, intrusion detection becomes one of the key issues in applications of underwater wireless sensor networks (UWSNs), especially when the confidentiality has prime importance. However, the resource-constrained property of UWSNs such as sparse deployment and energy constraint makes intrusion detection a challenging issue. This paper considers a virtual-lattice-based approach to the intrusion detection problem in UWSNs. Different from most existing works, the UWSNs consist of two kinds of nodes, i.e., sensor nodes (SNs), which cannot move autonomously, and actuator nodes (ANs), which can move autonomously according to the performance requirement. With the cooperation of SNs and ANs, the intruder detection probability is defined. Then, a virtual lattice-based monitor (VLM) algorithm is proposed to detect the intruder. In order to reduce the redundancy of communication links and improve detection probability, an optimal and coordinative lattice-based monitor patrolling (OCLMP) algorithm is further provided for UWSNs, wherein an equal price search strategy is given for ANs to find the shortest patrolling path. Under VLM and OCLMP algorithms, the detection probabilities are calculated, while the topology connectivity can be guaranteed. Finally, simulation results are presented to show that the proposed method in this paper can improve the detection accuracy and save the energy consumption compared with the conventional methods. PMID:28531127

Fusing Laser Reflectance and Image Data for Terrain Classification for Small Autonomous Robots

DTIC Science & Technology

2014-12-01

limit us to low power, lightweight sensors , and a maximum range of approximately 5 meters. Contrast these robot characteristics to typical terrain...classifi- cation work which uses large autonomous ground vehicles with sensors mounted high above the ground. Terrain classification for small autonomous...into predefined classes [10], [11]. However, wheeled vehicles offer the ability to use non-traditional sensors such as vibration sensors [12] and

A Federal Vision for Future Computing: A Nanotechnology-Inspired Grand Challenge

DTIC Science & Technology

2016-07-29

Science Foundation (NSF), Department of Defense (DOD), National Institute of Standards and Technology (NIST), Intelligence Community (IC) Introduction...multiple Federal agencies: • Intelligent big data sensors that act autonomously and are programmable via the network for increased flexibility, and... intelligence for scientific discovery enabled by rapid extreme-scale data analysis, capable of understanding and making sense of results and thereby

ACD16-0001-018

NASA Image and Video Library

2016-01-06

This Nissan LEAF vehicle being tested on the Ames campus is equipped with cameras, sensors and cellular data networking, and uses robotics software originally developed for Ames’ K-10 and K-REX planetary rovers to operate autonomously. Shown here are Kathy Sun and Liam Pedersen, Nissan who are awaiting the arrival of the visiting group from Renault-Nissan Alliance for a demo ride across Ames.

Precision analysis of autonomous orbit determination using star sensor for Beidou MEO satellite

NASA Astrophysics Data System (ADS)

Shang, Lin; Chang, Jiachao; Zhang, Jun; Li, Guotong

2018-04-01

This paper focuses on the autonomous orbit determination accuracy of Beidou MEO satellite using the onboard observations of the star sensors and infrared horizon sensor. A polynomial fitting method is proposed to calibrate the periodic error in the observation of the infrared horizon sensor, which will greatly influence the accuracy of autonomous orbit determination. Test results show that the periodic error can be eliminated using the polynomial fitting method. The User Range Error (URE) of Beidou MEO satellite is less than 2 km using the observations of the star sensors and infrared horizon sensor for autonomous orbit determination. The error of the Right Ascension of Ascending Node (RAAN) is less than 60 μrad and the observations of star sensors can be used as a spatial basis for Beidou MEO navigation constellation.

On-Board Mining in the Sensor Web

NASA Astrophysics Data System (ADS)

Tanner, S.; Conover, H.; Graves, S.; Ramachandran, R.; Rushing, J.

2004-12-01

On-board data mining can contribute to many research and engineering applications, including natural hazard detection and prediction, intelligent sensor control, and the generation of customized data products for direct distribution to users. The ability to mine sensor data in real time can also be a critical component of autonomous operations, supporting deep space missions, unmanned aerial and ground-based vehicles (UAVs, UGVs), and a wide range of sensor meshes, webs and grids. On-board processing is expected to play a significant role in the next generation of NASA, Homeland Security, Department of Defense and civilian programs, providing for greater flexibility and versatility in measurements of physical systems. In addition, the use of UAV and UGV systems is increasing in military, emergency response and industrial applications. As research into the autonomy of these vehicles progresses, especially in fleet or web configurations, the applicability of on-board data mining is expected to increase significantly. Data mining in real time on board sensor platforms presents unique challenges. Most notably, the data to be mined is a continuous stream, rather than a fixed store such as a database. This means that the data mining algorithms must be modified to make only a single pass through the data. In addition, the on-board environment requires real time processing with limited computing resources, thus the algorithms must use fixed and relatively small amounts of processing time and memory. The University of Alabama in Huntsville is developing an innovative processing framework for the on-board data and information environment. The Environment for On-Board Processing (EVE) and the Adaptive On-board Data Processing (AODP) projects serve as proofs-of-concept of advanced information systems for remote sensing platforms. The EVE real-time processing infrastructure will upload, schedule and control the execution of processing plans on board remote sensors. These plans provide capabilities for autonomous data mining, classification and feature extraction using both streaming and buffered data sources. A ground-based testbed provides a heterogeneous, embedded hardware and software environment representing both space-based and ground-based sensor platforms, including wireless sensor mesh architectures. The AODP project explores the EVE concepts in the world of sensor-networks, including ad-hoc networks of small sensor platforms.

Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks

PubMed Central

Urdiales, Cristina; Aguilera, Francisco; González-Parada, Eva; Cano-García, Jose; Sandoval, Francisco

2016-01-01

In mobile wireless sensor networks (MWSN), nodes are allowed to move autonomously for deployment. This process is meant: (i) to achieve good coverage; and (ii) to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles. PMID:27399709

Cascading failure in the wireless sensor scale-free networks

NASA Astrophysics Data System (ADS)

Liu, Hao-Ran; Dong, Ming-Ru; Yin, Rong-Rong; Han, Li

2015-05-01

In the practical wireless sensor networks (WSNs), the cascading failure caused by a failure node has serious impact on the network performance. In this paper, we deeply research the cascading failure of scale-free topology in WSNs. Firstly, a cascading failure model for scale-free topology in WSNs is studied. Through analyzing the influence of the node load on cascading failure, the critical load triggering large-scale cascading failure is obtained. Then based on the critical load, a control method for cascading failure is presented. In addition, the simulation experiments are performed to validate the effectiveness of the control method. The results show that the control method can effectively prevent cascading failure. Project supported by the Natural Science Foundation of Hebei Province, China (Grant No. F2014203239), the Autonomous Research Fund of Young Teacher in Yanshan University (Grant No. 14LGB017) and Yanshan University Doctoral Foundation, China (Grant No. B867).

An Efficient Data-Gathering Routing Protocol for Underwater Wireless Sensor Networks.

PubMed

Javaid, Nadeem; Ilyas, Naveed; Ahmad, Ashfaq; Alrajeh, Nabil; Qasim, Umar; Khan, Zahoor Ali; Liaqat, Tayyaba; Khan, Majid Iqbal

2015-11-17

Most applications of underwater wireless sensor networks (UWSNs) demand reliable data delivery over a longer period in an efficient and timely manner. However, the harsh and unpredictable underwater environment makes routing more challenging as compared to terrestrial WSNs. Most of the existing schemes deploy mobile sensors or a mobile sink (MS) to maximize data gathering. However, the relatively high deployment cost prevents their usage in most applications. Thus, this paper presents an autonomous underwater vehicle (AUV)-aided efficient data-gathering (AEDG) routing protocol for reliable data delivery in UWSNs. To prolong the network lifetime, AEDG employs an AUV for data collection from gateways and uses a shortest path tree (SPT) algorithm while associating sensor nodes with the gateways. The AEDG protocol also limits the number of associated nodes with the gateway nodes to minimize the network energy consumption and to prevent the gateways from overloading. Moreover, gateways are rotated with the passage of time to balance the energy consumption of the network. To prevent data loss, AEDG allows dynamic data collection at the AUV depending on the limited number of member nodes that are associated with each gateway. We also develop a sub-optimal elliptical trajectory of AUV by using a connected dominating set (CDS) to further facilitate network throughput maximization. The performance of the AEDG is validated via simulations, which demonstrate the effectiveness of AEDG in comparison to two existing UWSN routing protocols in terms of the selected performance metrics.

An Efficient Data-Gathering Routing Protocol for Underwater Wireless Sensor Networks

PubMed Central

Javaid, Nadeem; Ilyas, Naveed; Ahmad, Ashfaq; Alrajeh, Nabil; Qasim, Umar; Khan, Zahoor Ali; Liaqat, Tayyaba; Khan, Majid Iqbal

2015-01-01

Most applications of underwater wireless sensor networks (UWSNs) demand reliable data delivery over a longer period in an efficient and timely manner. However, the harsh and unpredictable underwater environment makes routing more challenging as compared to terrestrial WSNs. Most of the existing schemes deploy mobile sensors or a mobile sink (MS) to maximize data gathering. However, the relatively high deployment cost prevents their usage in most applications. Thus, this paper presents an autonomous underwater vehicle (AUV)-aided efficient data-gathering (AEDG) routing protocol for reliable data delivery in UWSNs. To prolong the network lifetime, AEDG employs an AUV for data collection from gateways and uses a shortest path tree (SPT) algorithm while associating sensor nodes with the gateways. The AEDG protocol also limits the number of associated nodes with the gateway nodes to minimize the network energy consumption and to prevent the gateways from overloading. Moreover, gateways are rotated with the passage of time to balance the energy consumption of the network. To prevent data loss, AEDG allows dynamic data collection at the AUV depending on the limited number of member nodes that are associated with each gateway. We also develop a sub-optimal elliptical trajectory of AUV by using a connected dominating set (CDS) to further facilitate network throughput maximization. The performance of the AEDG is validated via simulations, which demonstrate the effectiveness of AEDG in comparison to two existing UWSN routing protocols in terms of the selected performance metrics. PMID:26593924

Biology-inspired Architecture for Situation Management

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Lodding, Kenneth N.; Olariu, Stephan; Wilson, Larry; Xin, Chunsheng

2006-01-01

Situation Management is a rapidly developing science combining new techniques for data collection with advanced methods of data fusion to facilitate the process leading to correct decisions prescribing action. Current research focuses on reducing increasing amounts of diverse data to knowledge used by decision makers and on reducing time between observations, decisions and actions. No new technology is more promising for increasing the diversity and fidelity of observations than sensor networks. However, current research on sensor networks concentrates on a centralized network architecture. We believe this trend will not realize the full potential of situation management. We propose a new architecture modeled after biological ecosystems where motes are autonomous and intelligent, yet cooperate with local neighborhoods. Providing a layered approach, they sense and act independently when possible, and cooperate with neighborhoods when necessary. The combination of their local actions results in global effects. While situation management research is currently dominated by military applications, advances envisioned for industrial and business applications have similar requirements. NASA has requirements for intelligent and autonomous systems in future missions that can benefit from advances in situation management. We describe requirements for the Integrated Vehicle Health Management program where our biology-inspired architecture provides a layered approach and decisions can be made at the proper level to improve safety, reduce costs, and improve efficiency in making diagnostic and prognostic assessments of the structural integrity, aerodynamic characteristics, and operation of aircraft.

Low-Cost Sensor Units for Measuring Urban Air Quality

NASA Astrophysics Data System (ADS)

Popoola, O. A.; Mead, M.; Stewart, G.; Hodgson, T.; McLoed, M.; Baldovi, J.; Landshoff, P.; Hayes, M.; Calleja, M.; Jones, R.

2010-12-01

Measurements of selected key air quality gases (CO, NO & NO2) have been made with a range of miniature low-cost sensors based on electrochemical gas sensing technology incorporating GPS and GPRS for position and communication respectively. Two types of simple to operate sensors units have been designed to be deployed in relatively large numbers. Mobile handheld sensor units designed for operation by members of the public have been deployed on numerous occasions including in Cambridge, London and Valencia. Static sensor units have also been designed for long-term autonomous deployment on existing street furniture. A study was recently completed in which 45 sensor units were deployed in the Cambridge area for a period of 3 months. Results from these studies indicate that air quality varies widely both spatially and temporally. The widely varying concentrations found suggest that the urban environment cannot be fully understood using limited static site (AURN) networks and that a higher resolution, more dispersed network is required to better define air quality in the urban environment. The results also suggest that higher spatial and temporal resolution measurements could improve knowledge of the levels of individual exposure in the urban environment.

Characterization of Industrial Coolant Fluids and Continuous Ageing Monitoring by Wireless Node-Enabled Fiber Optic Sensors.

PubMed

Sachat, Alexandros El; Meristoudi, Anastasia; Markos, Christos; Sakellariou, Andreas; Papadopoulos, Aggelos; Katsikas, Serafim; Riziotis, Christos

2017-03-11

Environmentally robust chemical sensors for monitoring industrial processes or infrastructures are lately becoming important devices in industry. Low complexity and wireless enabled characteristics can offer the required flexibility for sensor deployment in adaptable sensing networks for continuous monitoring and management of industrial assets. Here are presented the design, development and operation of a class of low cost photonic sensors for monitoring the ageing process and the operational characteristics of coolant fluids used in an industrial heavy machinery infrastructure. The chemical, physical and spectroscopic characteristics of specific industrial-grade coolant fluids were analyzed along their entire life cycle range, and proper parameters for their efficient monitoring were identified. Based on multimode polymer or silica optical fibers, wide range (3-11) pH sensors were developed by employing sol-gel derived pH sensitive coatings. The performances of the developed sensors were characterized and compared, towards their coolants' ageing monitoring capability, proving their efficiency in such a demanding application scenario and harsh industrial environment. The operating characteristics of this type of sensors allowed their integration in an autonomous wireless sensing node, thus enabling the future use of the demonstrated platform in wireless sensor networks for a variety of industrial and environmental monitoring applications.

Characterization of Industrial Coolant Fluids and Continuous Ageing Monitoring by Wireless Node—Enabled Fiber Optic Sensors

PubMed Central

El Sachat, Alexandros; Meristoudi, Anastasia; Markos, Christos; Sakellariou, Andreas; Papadopoulos, Aggelos; Katsikas, Serafim; Riziotis, Christos

2017-01-01

Environmentally robust chemical sensors for monitoring industrial processes or infrastructures are lately becoming important devices in industry. Low complexity and wireless enabled characteristics can offer the required flexibility for sensor deployment in adaptable sensing networks for continuous monitoring and management of industrial assets. Here are presented the design, development and operation of a class of low cost photonic sensors for monitoring the ageing process and the operational characteristics of coolant fluids used in an industrial heavy machinery infrastructure. The chemical, physical and spectroscopic characteristics of specific industrial-grade coolant fluids were analyzed along their entire life cycle range, and proper parameters for their efficient monitoring were identified. Based on multimode polymer or silica optical fibers, wide range (3–11) pH sensors were developed by employing sol-gel derived pH sensitive coatings. The performances of the developed sensors were characterized and compared, towards their coolants’ ageing monitoring capability, proving their efficiency in such a demanding application scenario and harsh industrial environment. The operating characteristics of this type of sensors allowed their integration in an autonomous wireless sensing node, thus enabling the future use of the demonstrated platform in wireless sensor networks for a variety of industrial and environmental monitoring applications. PMID:28287488

Distributed adaptive diagnosis of sensor faults using structural response data

NASA Astrophysics Data System (ADS)

Dragos, Kosmas; Smarsly, Kay

2016-10-01

The reliability and consistency of wireless structural health monitoring (SHM) systems can be compromised by sensor faults, leading to miscalibrations, corrupted data, or even data loss. Several research approaches towards fault diagnosis, referred to as ‘analytical redundancy’, have been proposed that analyze the correlations between different sensor outputs. In wireless SHM, most analytical redundancy approaches require centralized data storage on a server for data analysis, while other approaches exploit the on-board computing capabilities of wireless sensor nodes, analyzing the raw sensor data directly on board. However, using raw sensor data poses an operational constraint due to the limited power resources of wireless sensor nodes. In this paper, a new distributed autonomous approach towards sensor fault diagnosis based on processed structural response data is presented. The inherent correlations among Fourier amplitudes of acceleration response data, at peaks corresponding to the eigenfrequencies of the structure, are used for diagnosis of abnormal sensor outputs at a given structural condition. Representing an entirely data-driven analytical redundancy approach that does not require any a priori knowledge of the monitored structure or of the SHM system, artificial neural networks (ANN) are embedded into the sensor nodes enabling cooperative fault diagnosis in a fully decentralized manner. The distributed analytical redundancy approach is implemented into a wireless SHM system and validated in laboratory experiments, demonstrating the ability of wireless sensor nodes to self-diagnose sensor faults accurately and efficiently with minimal data traffic. Besides enabling distributed autonomous fault diagnosis, the embedded ANNs are able to adapt to the actual condition of the structure, thus ensuring accurate and efficient fault diagnosis even in case of structural changes.

Autonomous vision networking: miniature wireless sensor networks with imaging technology

NASA Astrophysics Data System (ADS)

Messinger, Gioia; Goldberg, Giora

2006-09-01

The recent emergence of integrated PicoRadio technology, the rise of low power, low cost, System-On-Chip (SOC) CMOS imagers, coupled with the fast evolution of networking protocols and digital signal processing (DSP), created a unique opportunity to achieve the goal of deploying large-scale, low cost, intelligent, ultra-low power distributed wireless sensor networks for the visualization of the environment. Of all sensors, vision is the most desired, but its applications in distributed sensor networks have been elusive so far. Not any more. The practicality and viability of ultra-low power vision networking has been proven and its applications are countless, from security, and chemical analysis to industrial monitoring, asset tracking and visual recognition, vision networking represents a truly disruptive technology applicable to many industries. The presentation discusses some of the critical components and technologies necessary to make these networks and products affordable and ubiquitous - specifically PicoRadios, CMOS imagers, imaging DSP, networking and overall wireless sensor network (WSN) system concepts. The paradigm shift, from large, centralized and expensive sensor platforms, to small, low cost, distributed, sensor networks, is possible due to the emergence and convergence of a few innovative technologies. Avaak has developed a vision network that is aided by other sensors such as motion, acoustic and magnetic, and plans to deploy it for use in military and commercial applications. In comparison to other sensors, imagers produce large data files that require pre-processing and a certain level of compression before these are transmitted to a network server, in order to minimize the load on the network. Some of the most innovative chemical detectors currently in development are based on sensors that change color or pattern in the presence of the desired analytes. These changes are easily recorded and analyzed by a CMOS imager and an on-board DSP processor. Image processing at the sensor node level may also be required for applications in security, asset management and process control. Due to the data bandwidth requirements posed on the network by video sensors, new networking protocols or video extensions to existing standards (e.g. Zigbee) are required. To this end, Avaak has designed and implemented an ultra-low power networking protocol designed to carry large volumes of data through the network. The low power wireless sensor nodes that will be discussed include a chemical sensor integrated with a CMOS digital camera, a controller, a DSP processor and a radio communication transceiver, which enables relaying of an alarm or image message, to a central station. In addition to the communications, identification is very desirable; hence location awareness will be later incorporated to the system in the form of Time-Of-Arrival triangulation, via wide band signaling. While the wireless imaging kernel already exists specific applications for surveillance and chemical detection are under development by Avaak, as part of a co-founded program from ONR and DARPA. Avaak is also designing vision networks for commercial applications - some of which are undergoing initial field tests.

A Mobile Sensor Network to Map CO2 in Urban Environments

NASA Astrophysics Data System (ADS)

Lee, J.; Christen, A.; Nesic, Z.; Ketler, R.

2014-12-01

Globally, an estimated 80% of all fuel-based CO2 emissions into the atmosphere are attributable to cities, but there is still a lack of tools to map, visualize and monitor emissions to the scales at which emissions reduction strategies can be implemented - the local and urban scale. Mobile CO2 sensors, such as those attached to taxis and other existing mobile platforms, may be a promising way to observe and map CO2 mixing ratios across heterogenous urban environments with a limited number of sensors. Emerging modular open source technologies, and inexpensive compact sensor components not only enable rapid prototyping and replication, but also are allowing for the miniaturization and mobilization of traditionally fixed sensor networks. We aim to optimize the methods and technologies for monitoring CO2 in cities using a network of CO2 sensors deployable on vehicles and bikes. Our sensor technology is contained in a compact weather-proof case (35.8cm x 27.8cm x 11.8cm), powered independently by battery or by car, and includes the Li-Cor Li-820 infrared gas analyzer (Licor Inc, lincoln, NB, USA), Arduino Mega microcontroller (Arduino CC, Italy) and Adafruit GPS (Adafruit Technologies, NY, USA), and digital air temperature thermometer which measure CO2 mixing ratios (ppm), geolocation and speed, pressure and temperature, respectively at 1-second intervals. With the deployment of our sensor technology, we will determine if such a semi-autonomous mobile approach to monitoring CO2 in cities can determine excess urban CO2 mixing ratios (i.e. the 'urban CO2 dome') when compared to values measured at a fixed, remote background site. We present results from a pilot study in Vancouver, BC, where the a network of our new sensors was deployed both in fixed network and in a mobile campaign and examine the spatial biases of the two methods.

Methods of determining complete sensor requirements for autonomous mobility

NASA Technical Reports Server (NTRS)

Curtis, Steven A. (Inventor)

2012-01-01

A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Survey of energy harvesting and energy scavenging approaches for on-site powering of wireless sensor- and microinstrument-networks

NASA Astrophysics Data System (ADS)

Lee, D.; Dulai, G.; Karanassios, Vassili

2013-05-01

Energy (or power) harvesting can be defined as the gathering and either storing or immediately using energy "freely" available in a local environment. Examples include harvesting energy from obvious sources such as photon-fluxes (e.g., solar), or wind or water waves, or from unusual sources such as naturally occurring pH differences. Energy scavenging can be defined as gathering and storing or immediately re-using energy that has been discarded, for instance, waste heat from air conditioning units, from in-door lights or from everyday actions such as walking or from body-heat. Although the power levels that can be harvested or scavenged are typically low (e.g., from nWatt/cm2 to mWatt/cm2), the key motivation is to harvest or to scavenge energy for a wide variety of applications. Example applications include powering devices in remote weather stations, or wireless Bluetooth headsets, or wearable computing devices or for sensor networks for health and bio-medical applications. Beyond sensors and sensor networks, there is a need to power compete systems, such as portable and energy-autonomous chemical analysis microinstruments for use on-site. A portable microinstrument is one that offers the same functionality as a large one but one that has at least one critical component in the micrometer regime. This paper surveys continuous or discontinuous energy harvesting and energy scavenging approaches (with particular emphasis on sensor and microinstrument networks) and it discusses current trends. It also briefly explores potential future directions, for example, for nature-inspired (e.g., photosynthesis), for human-power driven (e.g., for biomedical applications, or for wearable sensor networks) or for nanotechnology-enabled energy harvesting and energy scavenging approaches.

Mobile Networked Sensors for Environmental Observatories

NASA Astrophysics Data System (ADS)

Kaiser, W. J.

2005-12-01

The development of the first embedded networked sensing (ENS) systems has been rapidly followed by their successful deployment for investigations in environments ranging from forest ecosystems, to rivers and lakes, and to subsurface soil observations. As ENS systems have been deployed, many technology challenges have been successfully addressed. For example, the requirements for local and remote data access and long operating life have been encountered and solved with a novel hierarchical network architecture and unique, low power platforms. This presentation will describe this progress and also the development and applications of a new ENS system addressing the most current challenges: A robotic ENS platform providing precise, reliable, and sustained observation capability with diverse sensing capabilities that may adapt to environmental dynamics. In the development of methods for autonomous observation by networked sensors, many applications have emerged requiring spatially and temporally intensive data sampling. Examples include the mapping of forest understory solar radiation, autonomous acquisition of imaging for plant phenology, and mapping of contaminant concentration in aquatic systems. Common to these applications is the need to actively and continuously configure the location and orientation of sensors for high fidelity mapping of the spatial distribution of phenomena. To address this primary environmental observation need, a new sensing platform, Networked Infomechanical Systems (NIMS) has been developed. NIMS relies on deployed aerial infrastructure (for example, cable suspension systems) in the natural environment to permit robotic devices to precisely and reliably move or remain stationary as required at elevations that may lie directly in or above the forest canopy or within a river or stream. NIMS systems are suspended to allow devices to translate a sensor node horizontally, and also to raise and lower devices. Examples of sensors that are now carried by NIMS include sensors for visible wavelength imaging, thermal infrared temperature mapping, microclimate, solar radiation, and for water quality and physical characterization of aquatic systems. NIMS devices include compact embedded computing, wireless network connectivity to surrounding static sensors, and remote Internet access. Exploiting this onboard computing allows NIMS devices to follow precise scanning protocols and self-calibration procedures. This presentation will describe permanent facility NIMS systems deployed at the James San Jacinto Mountains Reserve. Rapidly deployable NIMS permitting short term, highly mobile experiments will also be discussed. This includes the Thermal Mapper system that simultaneously samples plant physical structure (using laser position sensing and imaging) along with plant surface temperature (using high spatial resolution thermal infrared sensing). This compact system has been applied to the investigation of thermal characteristics of alpine plants in varying soil surfaces at the White Mountains Research Station. Other NIMS applications and results to be described include novel spatial mapping of nitrate concentration and other variables in flowing streams. Finally, this presentation will also address the many future applications of observatories linking investigators with remote mobile and static sensor networks. This research is supported by the NSF0331481 ITR program. Research has been performed in collaboration with R. Ambrose, K. Bible, D. Estrin, E. Graham, M. Hamilton, M. Hanson, T. Harmon, G. Pottie, P. Rundel, M. Srivastava, and G. Sukhatme

An Intelligent Surveillance Platform for Large Metropolitan Areas with Dense Sensor Deployment

PubMed Central

Fernández, Jorge; Calavia, Lorena; Baladrón, Carlos; Aguiar, Javier M.; Carro, Belén; Sánchez-Esguevillas, Antonio; Alonso-López, Jesus A.; Smilansky, Zeev

2013-01-01

This paper presents an intelligent surveillance platform based on the usage of large numbers of inexpensive sensors designed and developed inside the European Eureka Celtic project HuSIMS. With the aim of maximizing the number of deployable units while keeping monetary and resource/bandwidth costs at a minimum, the surveillance platform is based on the usage of inexpensive visual sensors which apply efficient motion detection and tracking algorithms to transform the video signal in a set of motion parameters. In order to automate the analysis of the myriad of data streams generated by the visual sensors, the platform's control center includes an alarm detection engine which comprises three components applying three different Artificial Intelligence strategies in parallel. These strategies are generic, domain-independent approaches which are able to operate in several domains (traffic surveillance, vandalism prevention, perimeter security, etc.). The architecture is completed with a versatile communication network which facilitates data collection from the visual sensors and alarm and video stream distribution towards the emergency teams. The resulting surveillance system is extremely suitable for its deployment in metropolitan areas, smart cities, and large facilities, mainly because cheap visual sensors and autonomous alarm detection facilitate dense sensor network deployments for wide and detailed coverage. PMID:23748169

Implementation of Multiple Host Nodes in Wireless Sensing Node Network System for Landslide Monitoring

NASA Astrophysics Data System (ADS)

Abas, Faizulsalihin bin; Takayama, Shigeru

2015-02-01

This paper proposes multiple host nodes in Wireless Sensing Node Network System (WSNNS) for landslide monitoring. As landslide disasters damage monitoring system easily, one major demand in landslide monitoring is the flexibility and robustness of the system to evaluate the current situation in the monitored area. For various reasons WSNNS can provide an important contribution to reach that aim. In this system, acceleration sensors and GPS are deployed in sensing nodes. Location information by GPS, enable the system to estimate network topology and enable the system to perceive the location in emergency by monitoring the node mode. Acceleration sensors deployment, capacitate this system to detect slow mass movement that can lead to landslide occurrence. Once deployed, sensing nodes self-organize into an autonomous wireless ad hoc network. The measurement parameter data from sensing nodes is transmitted to Host System via host node and "Cloud" System. The implementation of multiple host nodes in Local Sensing Node Network System (LSNNS), improve risk- management of the WSNNS for real-time monitoring of landslide disaster.

An Authentication Protocol for Future Sensor Networks.

PubMed

Bilal, Muhammad; Kang, Shin-Gak

2017-04-28

Authentication is one of the essential security services in Wireless Sensor Networks (WSNs) for ensuring secure data sessions. Sensor node authentication ensures the confidentiality and validity of data collected by the sensor node, whereas user authentication guarantees that only legitimate users can access the sensor data. In a mobile WSN, sensor and user nodes move across the network and exchange data with multiple nodes, thus experiencing the authentication process multiple times. The integration of WSNs with Internet of Things (IoT) brings forth a new kind of WSN architecture along with stricter security requirements; for instance, a sensor node or a user node may need to establish multiple concurrent secure data sessions. With concurrent data sessions, the frequency of the re-authentication process increases in proportion to the number of concurrent connections. Moreover, to establish multiple data sessions, it is essential that a protocol participant have the capability of running multiple instances of the protocol run, which makes the security issue even more challenging. The currently available authentication protocols were designed for the autonomous WSN and do not account for the above requirements. Hence, ensuring a lightweight and efficient authentication protocol has become more crucial. In this paper, we present a novel, lightweight and efficient key exchange and authentication protocol suite called the Secure Mobile Sensor Network (SMSN) Authentication Protocol. In the SMSN a mobile node goes through an initial authentication procedure and receives a re-authentication ticket from the base station. Later a mobile node can use this re-authentication ticket when establishing multiple data exchange sessions and/or when moving across the network. This scheme reduces the communication and computational complexity of the authentication process. We proved the strength of our protocol with rigorous security analysis (including formal analysis using the BAN-logic) and simulated the SMSN and previously proposed schemes in an automated protocol verifier tool. Finally, we compared the computational complexity and communication cost against well-known authentication protocols.

An Authentication Protocol for Future Sensor Networks

PubMed Central

Bilal, Muhammad; Kang, Shin-Gak

2017-01-01

Authentication is one of the essential security services in Wireless Sensor Networks (WSNs) for ensuring secure data sessions. Sensor node authentication ensures the confidentiality and validity of data collected by the sensor node, whereas user authentication guarantees that only legitimate users can access the sensor data. In a mobile WSN, sensor and user nodes move across the network and exchange data with multiple nodes, thus experiencing the authentication process multiple times. The integration of WSNs with Internet of Things (IoT) brings forth a new kind of WSN architecture along with stricter security requirements; for instance, a sensor node or a user node may need to establish multiple concurrent secure data sessions. With concurrent data sessions, the frequency of the re-authentication process increases in proportion to the number of concurrent connections. Moreover, to establish multiple data sessions, it is essential that a protocol participant have the capability of running multiple instances of the protocol run, which makes the security issue even more challenging. The currently available authentication protocols were designed for the autonomous WSN and do not account for the above requirements. Hence, ensuring a lightweight and efficient authentication protocol has become more crucial. In this paper, we present a novel, lightweight and efficient key exchange and authentication protocol suite called the Secure Mobile Sensor Network (SMSN) Authentication Protocol. In the SMSN a mobile node goes through an initial authentication procedure and receives a re-authentication ticket from the base station. Later a mobile node can use this re-authentication ticket when establishing multiple data exchange sessions and/or when moving across the network. This scheme reduces the communication and computational complexity of the authentication process. We proved the strength of our protocol with rigorous security analysis (including formal analysis using the BAN-logic) and simulated the SMSN and previously proposed schemes in an automated protocol verifier tool. Finally, we compared the computational complexity and communication cost against well-known authentication protocols. PMID:28452937

AURP: An AUV-Aided Underwater Routing Protocol for Underwater Acoustic Sensor Networks

PubMed Central

Yoon, Seokhoon; Azad, Abul K.; Oh, Hoon; Kim, Sunghwan

2012-01-01

Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved. PMID:22438740

AURP: an AUV-aided underwater routing protocol for underwater acoustic sensor networks.

PubMed

Yoon, Seokhoon; Azad, Abul K; Oh, Hoon; Kim, Sunghwan

2012-01-01

Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved.

Powering autonomous sensors with miniaturized piezoelectric based energy harvesting devices operating at very low frequency

NASA Astrophysics Data System (ADS)

Ferin, G.; Bantignies, C.; Le Khanh, H.; Flesch, E.; Nguyen-Dinh, A.

2015-12-01

Harvesting energy from ambient mechanical vibrations is a smart and efficient way to power autonomous sensors and support innovative developments in IoT (Internet of Things), WSN (Wireless Sensor Network) and even implantable medical devices. Beyond the environmental operating conditions, efficiency of such devices is mainly related to energy source properties like the amplitude of vibrations and its spectral contain and some of these applications exhibit a quite low frequency spectrum where harvesting surrounding mechanical energy make sense, typically 5-50Hz for implantable medical devices or 50Hz-150Hz for industrial machines. Harvesting such low frequency vibrations is a challenge since it leads to adapt the resonator geometries to the targeted frequency or to use out-off band indirect harvesting strategies. In this paper we present a piezoelectric based vibrational energy harvesting device (PEH) which could be integrated into a biocompatible package to power implantable sensor or therapeutic medical devices. The presented architecture is a serial bimorph laminated with ultra-thinned (ranging from 15μm to 100μm) outer PZT “skins” that could operate at a “very low frequency”, below 25Hz typically. The core process flow is disclosed and performances highlighted with regards to other low frequency demonstrations.

Automated analysis of long-term bridge behavior and health using a cyber-enabled wireless monitoring system

NASA Astrophysics Data System (ADS)

O'Connor, Sean M.; Zhang, Yilan; Lynch, Jerome; Ettouney, Mohammed; van der Linden, Gwen

2014-04-01

A worthy goal for the structural health monitoring field is the creation of a scalable monitoring system architecture that abstracts many of the system details (e.g., sensors, data) from the structure owner with the aim of providing "actionable" information that aids in their decision making process. While a broad array of sensor technologies have emerged, the ability for sensing systems to generate large amounts of data have far outpaced advances in data management and processing. To reverse this trend, this study explores the creation of a cyber-enabled wireless SHM system for highway bridges. The system is designed from the top down by considering the damage mechanisms of concern to bridge owners and then tailoring the sensing and decision support system around those concerns. The enabling element of the proposed system is a powerful data repository system termed SenStore. SenStore is designed to combine sensor data with bridge meta-data (e.g., geometric configuration, material properties, maintenance history, sensor locations, sensor types, inspection history). A wireless sensor network deployed to a bridge autonomously streams its measurement data to SenStore via a 3G cellular connection for storage. SenStore securely exposes the bridge meta- and sensor data to software clients that can process the data to extract information relevant to the decision making process of the bridge owner. To validate the proposed cyber-enable SHM system, the system is implemented on the Telegraph Road Bridge (Monroe, MI). The Telegraph Road Bridge is a traditional steel girder-concrete deck composite bridge located along a heavily travelled corridor in the Detroit metropolitan area. A permanent wireless sensor network has been installed to measure bridge accelerations, strains and temperatures. System identification and damage detection algorithms are created to automatically mine bridge response data stored in SenStore over an 18-month period. Tools like Gaussian Process (GP) regression are used to predict changes in the bridge behavior as a function of environmental parameters. Based on these analyses, pertinent behavioral information relevant to bridge management is autonomously extracted.

Long-Term Simultaneous Localization and Mapping in Dynamic Environments

DTIC Science & Technology

2015-01-01

core competencies required for autonomous mobile robotics is the ability to use sensors to perceive the environment. From this noisy sensor data, the...and mapping (SLAM), is a prerequisite for almost all higher-level autonomous behavior in mobile robotics. By associating the robot???s sensory...distributed stochastic neighbor embedding x ABSTRACT One of the core competencies required for autonomous mobile robotics is the ability to use sensors

Mobile Wireless Sensor Networks for Advanced Soil Sensing and Ecosystem Monitoring

NASA Astrophysics Data System (ADS)

Mollenhauer, Hannes; Schima, Robert; Remmler, Paul; Mollenhauer, Olaf; Hutschenreuther, Tino; Toepfer, Hannes; Dietrich, Peter; Bumberger, Jan

2015-04-01

For an adequate characterization of ecosystems it is necessary to detect individual processes with suitable monitoring strategies and methods. Due to the natural complexity of all environmental compartments, single point or temporally and spatially fixed measurements are mostly insufficient for an adequate representation. The application of mobile wireless sensor networks for soil and atmosphere sensing offers significant benefits, due to the simple adjustment of the sensor distribution, the sensor types and the sample rate (e.g. by using optimization approaches or event triggering modes) to the local test conditions. This can be essential for the monitoring of heterogeneous and dynamic environmental systems and processes. One significant advantage in the application of mobile ad-hoc wireless sensor networks is their self-organizing behavior. Thus, the network autonomously initializes and optimizes itself. Due to the localization via satellite a major reduction in installation and operation costs and time is generated. In addition, single point measurements with a sensor are significantly improved by measuring at several optimized points continuously. Since performing analog and digital signal processing and computation in the sensor nodes close to the sensors a significant reduction of the data to be transmitted can be achieved which leads to a better energy management of nodes. Furthermore, the miniaturization of the nodes and energy harvesting are current topics under investigation. First results of field measurements are given to present the potentials and limitations of this application in environmental science. In particular, collected in-situ data with numerous specific soil and atmosphere parameters per sensor node (more than 25) recorded over several days illustrates the high performance of this system for advanced soil sensing and soil-atmosphere interaction monitoring. Moreover, investigations of biotic and abiotic process interactions and optimization of sensor positioning for measuring soil moisture are scopes of this work and initial results of these issues will be presented.

Large-N in Volcano Settings: Volcanosri

NASA Astrophysics Data System (ADS)

Lees, J. M.; Song, W.; Xing, G.; Vick, S.; Phillips, D.

2014-12-01

We seek a paradigm shift in the approach we take on volcano monitoring where the compromise from high fidelity to large numbers of sensors is used to increase coverage and resolution. Accessibility, danger and the risk of equipment loss requires that we develop systems that are independent and inexpensive. Furthermore, rather than simply record data on hard disk for later analysis we desire a system that will work autonomously, capitalizing on wireless technology and in field network analysis. To this end we are currently producing a low cost seismic array which will incorporate, at the very basic level, seismological tools for first cut analysis of a volcano in crises mode. At the advanced end we expect to perform tomographic inversions in the network in near real time. Geophone (4 Hz) sensors connected to a low cost recording system will be installed on an active volcano where triggering earthquake location and velocity analysis will take place independent of human interaction. Stations are designed to be inexpensive and possibly disposable. In one of the first implementations the seismic nodes consist of an Arduino Due processor board with an attached Seismic Shield. The Arduino Due processor board contains an Atmel SAM3X8E ARM Cortex-M3 CPU. This 32 bit 84 MHz processor can filter and perform coarse seismic event detection on a 1600 sample signal in fewer than 200 milliseconds. The Seismic Shield contains a GPS module, 900 MHz high power mesh network radio, SD card, seismic amplifier, and 24 bit ADC. External sensors can be attached to either this 24-bit ADC or to the internal multichannel 12 bit ADC contained on the Arduino Due processor board. This allows the node to support attachment of multiple sensors. By utilizing a high-speed 32 bit processor complex signal processing tasks can be performed simultaneously on multiple sensors. Using a 10 W solar panel, second system being developed can run autonomously and collect data on 3 channels at 100Hz for 6 months with the installed 16Gb SD card. Initial designs and test results will be presented and discussed.

Autonomous System for Monitoring the Integrity of Composite Fan Housings

NASA Technical Reports Server (NTRS)

Qing, Xinlin P.; Aquino, Christopher; Kumar, Amrita

2010-01-01

A low-cost and reliable system assesses the integrity of composite fan-containment structures. The system utilizes a network of miniature sensors integrated with the structure to scan the entire structural area for any impact events and resulting structural damage, and to monitor degradation due to usage. This system can be used to monitor all types of composite structures on aircraft and spacecraft, as well as automatically monitor in real time the location and extent of damage in the containment structures. This diagnostic information is passed to prognostic modeling that is being developed to utilize the information and provide input on the residual strength of the structure, and maintain a history of structural degradation during usage. The structural health-monitoring system would consist of three major components: (1) sensors and a sensor network, which is permanently bonded onto the structure being monitored; (2) integrated hardware; and (3) software to monitor in-situ the health condition of in-service structures.

Virtual Sensor Web Architecture

NASA Astrophysics Data System (ADS)

Bose, P.; Zimdars, A.; Hurlburt, N.; Doug, S.

2006-12-01

NASA envisions the development of smart sensor webs, intelligent and integrated observation network that harness distributed sensing assets, their associated continuous and complex data sets, and predictive observation processing mechanisms for timely, collaborative hazard mitigation and enhanced science productivity and reliability. This paper presents Virtual Sensor Web Infrastructure for Collaborative Science (VSICS) Architecture for sustained coordination of (numerical and distributed) model-based processing, closed-loop resource allocation, and observation planning. VSICS's key ideas include i) rich descriptions of sensors as services based on semantic markup languages like OWL and SensorML; ii) service-oriented workflow composition and repair for simple and ensemble models; event-driven workflow execution based on event-based and distributed workflow management mechanisms; and iii) development of autonomous model interaction management capabilities providing closed-loop control of collection resources driven by competing targeted observation needs. We present results from initial work on collaborative science processing involving distributed services (COSEC framework) that is being extended to create VSICS.

Reconnaissance blind multi-chess: an experimentation platform for ISR sensor fusion and resource management

NASA Astrophysics Data System (ADS)

Newman, Andrew J.; Richardson, Casey L.; Kain, Sean M.; Stankiewicz, Paul G.; Guseman, Paul R.; Schreurs, Blake A.; Dunne, Jeffrey A.

2016-05-01

This paper introduces the game of reconnaissance blind multi-chess (RBMC) as a paradigm and test bed for understanding and experimenting with autonomous decision making under uncertainty and in particular managing a network of heterogeneous Intelligence, Surveillance and Reconnaissance (ISR) sensors to maintain situational awareness informing tactical and strategic decision making. The intent is for RBMC to serve as a common reference or challenge problem in fusion and resource management of heterogeneous sensor ensembles across diverse mission areas. We have defined a basic rule set and a framework for creating more complex versions, developed a web-based software realization to serve as an experimentation platform, and developed some initial machine intelligence approaches to playing it.

Advances in Small Remotely Piloted Aircraft Communications and Remote Sensing in Maritime Environments including the Arctic

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Wackowski, S.; Walker, G.

2011-12-01

Small remotely piloted aircraft have recently been used for maritime remote sensing, including launch and retrieval operations from land, ships and sea ice. Such aircraft can also function to collect and communicate data from other ocean observing system platforms including moorings, tagged animals, drifters, autonomous surface vessels (ASVs), and autonomous underwater vessels (AUVs). The use of small remotely piloted aircraft (or UASs, unmanned aerial systems) with a combination of these capabilities will be required to monitor the vast areas of the open ocean, as well as in harsh high-latitude ecosystems. Indeed, these aircraft are a key component of planned high latitude maritime domain awareness environmental data collection capabilities, including use of visible, IR and hyperspectral sensors, as well as lidar, meteorological sensors, and interferometric synthetic aperture radars (ISARs). We here first describe at-sea demonstrations of improved reliability and bandwidth of communications from ocean sensors on autonomous underwater vehicles to autonomous surface vessels, and then via remotely piloted aircraft to shore, ships and manned aircraft using Delay and Disruption Tolerant (DTN) communication protocols. DTN enables data exchange in communications-challenged environments, such as remote regions of the ocean including high latitudes where low satellite angles and auroral disturbances can be problematic. DTN provides a network architecture and application interface structured around optionally-reliable asynchronous message forwarding, with limited expectations of end-to-end connectivity and node resources. This communications method enables aircraft and surface vessels to function as data mules to move data between physically disparate nodes. We provide examples of the uses of this communication protocol for environmental data collection and data distribution with a variety of different remotely piloted aircraft in a coastal ocean environment. Next, we highlight use in the arctic of two different small remotely piloted aircraft (ScanEagle and RAVEN) for remote sensing of ice and ocean conditions as well as surveys of marine mammals. Finally, we explain how these can be used in future networked environments with DTN support not only for the collection of ocean and ice data for maritime domain awareness, but also for monitoring oil spill dynamics in high latitude environments, including spills in and under sea ice. The networked operation of heterogeneous air and ocean vehicle systems using DTN communications methods can provide unprecedented levels of spatial-temporal sampling resolution important to improving arctic remote sensing and maritime domain awareness capabilities.

Fabrication and Characterization of Bi2Te3-Based Chip-Scale Thermoelectric Energy Harvesting Devices

NASA Astrophysics Data System (ADS)

Cornett, Jane; Chen, Baoxing; Haidar, Samer; Berney, Helen; McGuinness, Pat; Lane, Bill; Gao, Yuan; He, Yifan; Sun, Nian; Dunham, Marc; Asheghi, Mehdi; Goodson, Ken; Yuan, Yi; Najafi, Khalil

2017-05-01

Thermoelectric energy harvesters convert otherwise wasted heat into electrical energy. As a result, they have the potential to play a critical role in the autonomous wireless sensor network signal chain. In this paper, we present work carried out on the development of Bi2Te3-based thermoelectric chip-scale energy harvesting devices. Process flow, device demonstration and characterization are highlighted.

Potential and challenges of body area networks for cardiac monitoring.

PubMed

Gyselinckx, Bert; Penders, Julien; Vullers, Ruud

2007-01-01

This article gives an overview of results of the Human++ research program related to cardiac monitoring (http://www.imec-nl.nl/). This research aims to achieve highly miniaturized and nearly autonomous sensor systems that assist our health and comfort. It combines expertise in wireless ultra-low-power communications, packaging and 3D integration technologies, Micro Electro Mechanical Systems (MEMS) energy scavenging techniques, and low-power design techniques.

Edge systems in the deep ocean

NASA Astrophysics Data System (ADS)

Coon, Andrew; Earp, Samuel L.

2010-04-01

DARPA has initiated a program to explore persistent presence in the deep ocean. The deep ocean is difficult to access and presents a hostile environment. Persistent operations in the deep ocean will require new technology for energy, communications and autonomous operations. Several fundamental characteristics of the deep ocean shape any potential system architecture. The deep sea presents acoustic sensing opportunities that may provide significantly enhanced sensing footprints relative to sensors deployed at traditional depths. Communication limitations drive solutions towards autonomous operation of the platforms and automation of data collection and processing. Access to the seabed presents an opportunity for fixed infrastructure with no important limitations on size and weight. Difficult access and persistence impose requirements for long-life energy sources and potentially energy harvesting. The ocean is immense, so there is a need to scale the system footprint for presence over tens of thousands and perhaps hundreds of thousands of square nautical miles. This paper focuses on the aspect of distributed sensing, and the engineering of networks of sensors to cover the required footprint.

Directional MAC approach for wireless body area networks.

PubMed

Hussain, Md Asdaque; Alam, Md Nasre; Kwak, Kyung Sup

2011-01-01

Wireless Body Area Networks (WBANs) designed for medical, sports, and entertainment applications, have drawn the attention of academia and industry alike. A WBAN is a special purpose network, designed to operate autonomously to connect various medical sensors and appliances, located inside and/or outside of a human body. This network enables physicians to remotely monitor vital signs of patients and provide real time feedback for medical diagnosis and consultations. The WBAN system can offer two significant advantages: patient mobility due to their use of portable monitoring devices and a location independent monitoring facility. With its appealing dimensions, it brings about a new set of challenges, which we do not normally consider in such small sensor networks. It requires a scalable network in terms of heterogeneous data traffic, low power consumption of sensor nodes, integration in and around the body networking and coexistence. This work presents a medium access control protocol for WBAN which tries to overcome the aforementioned challenges. We consider the use of multiple beam adaptive arrays (MBAA) at BAN Coordinator (BAN_C) node. When used as a BAN_C, an MBAA can successfully receive two or more overlapping packets at the same time. Each beam captures a different packet by automatically pointing its pattern toward one packet while annulling other contending packets. This paper describes how an MBAA can be integrated into a single hope star topology as a BAN_C. Simulation results show the performance of our proposed protocol.

Fuzzy logic in autonomous orbital operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.; Jani, Yashvant

1991-01-01

Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

Control of autonomous ground vehicles: a brief technical review

NASA Astrophysics Data System (ADS)

Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

2017-07-01

This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

Designing and Testing Energy Harvesters Suitable for Renewable Power Sources

NASA Astrophysics Data System (ADS)

Synkiewicz, B.; Guzdek, P.; Piekarski, J.; Zaraska, K.

2016-01-01

Energy harvesters convert waste power (heat, light and vibration) directly to electric power . Fast progress in their technology, design and areas of application (e.g. “Internet of Things”) has been observed recently. Their effectiveness is steadily growing which makes their application to powering sensor networks with wireless data transfer reasonable. The main advantage is the independence from wired power sources, which is especially important for monitoring state of environmental parameters. In this paper we describe the design and realization of a gas sensor monitoring CO level (powered by TEG) and two, designed an constructed in ITE, autonomous power supply modules powered by modern photovoltaic cells.

Structural health monitoring system for bridges based on skin-like sensor

NASA Astrophysics Data System (ADS)

Loupos, Konstantinos; Damigos, Yannis; Amditis, Angelos; Gerhard, Reimund; Rychkov, Dmitry; Wirges, Werner; Schulze, Manuel; Lenas, Sotiris-Angelos; Chatziandreoglou, Christos; Malliou, Christina M.; Tsaoussidis, Vassilis; Brady, Ken; Frankenstein, Bernd

2017-09-01

Structural health monitoring activities are of primal importance for managing transport infrastructure, however most SHM methodologies are based on point-based sensors that have limitations in terms of their spatial positioning requirements, cost of development and measurement range. This paper describes the progress on the SENSKIN EC project whose objective is to develop a dielectric-elastomer and micro-electronics-based sensor, formed from a large highly extensible capacitance sensing membrane supported by advanced microelectronic circuitry, for monitoring transport infrastructure bridges. Such a sensor could provide spatial measurements of strain in excess of 10%. The actual sensor along with the data acquisition module, the communication module and power electronics are all integrated into a compact unit, the SENSKIN device, which is energy-efficient, requires simple signal processing and it is easy to install over various surface types. In terms of communication, SENSKIN devices interact with each other to form the SENSKIN system; a fully distributed and autonomous wireless sensor network that is able to self-monitor. SENSKIN system utilizes Delay-/Disruption-Tolerant Networking technologies to ensure that the strain measurements will be received by the base station even under extreme conditions where normal communications are disrupted. This paper describes the architecture of the SENSKIN system and the development and testing of the first SENSKIN prototype sensor, the data acquisition system, and the communication system.

A Global Lake Ecological Observatory Network (GLEON) for synthesising high-frequency sensor data for validation of deterministic ecological models

USGS Publications Warehouse

David, Hamilton P; Carey, Cayelan C.; Arvola, Lauri; Arzberger, Peter; Brewer, Carol A.; Cole, Jon J; Gaiser, Evelyn; Hanson, Paul C.; Ibelings, Bas W; Jennings, Eleanor; Kratz, Tim K; Lin, Fang-Pang; McBride, Christopher G.; de Motta Marques, David; Muraoka, Kohji; Nishri, Ami; Qin, Boqiang; Read, Jordan S.; Rose, Kevin C.; Ryder, Elizabeth; Weathers, Kathleen C.; Zhu, Guangwei; Trolle, Dennis; Brookes, Justin D

2014-01-01

A Global Lake Ecological Observatory Network (GLEON; www.gleon.org) has formed to provide a coordinated response to the need for scientific understanding of lake processes, utilising technological advances available from autonomous sensors. The organisation embraces a grassroots approach to engage researchers from varying disciplines, sites spanning geographic and ecological gradients, and novel sensor and cyberinfrastructure to synthesise high-frequency lake data at scales ranging from local to global. The high-frequency data provide a platform to rigorously validate process- based ecological models because model simulation time steps are better aligned with sensor measurements than with lower-frequency, manual samples. Two case studies from Trout Bog, Wisconsin, USA, and Lake Rotoehu, North Island, New Zealand, are presented to demonstrate that in the past, ecological model outputs (e.g., temperature, chlorophyll) have been relatively poorly validated based on a limited number of directly comparable measurements, both in time and space. The case studies demonstrate some of the difficulties of mapping sensor measurements directly to model state variable outputs as well as the opportunities to use deviations between sensor measurements and model simulations to better inform process understanding. Well-validated ecological models provide a mechanism to extrapolate high-frequency sensor data in space and time, thereby potentially creating a fully 3-dimensional simulation of key variables of interest.

The Challenges of Internetworking Unattended Autonomous Sensors

DTIC Science & Technology

2006-12-01

number of nodes that can hear the broadcast by a squared factor. The establishment of path keys for multi-hop range extension should however be used...Conf. on Info. Sci. and Syst. (CISS 󈧅), Baltimore, 21-23 March 2001 [9] R . Ramanathan, “On the Performance of Ad Hoc Networks with Beamforming...Computing”, Prentice Hall PTR, 2002 [12] S. Slijepcevic, M. Potkonjak, V. Tsiatsis, S. Zimbeck, M.B. Srivastava “On Communication Security inWireless Ad

Integrated polarization-dependent sensor for autonomous navigation

NASA Astrophysics Data System (ADS)

Liu, Ze; Zhang, Ran; Wang, Zhiwen; Guan, Le; Li, Bin; Chu, Jinkui

2015-01-01

Based on the navigation strategy of insects utilizing the polarized skylight, an integrated polarization-dependent sensor for autonomous navigation is presented. The navigation sensor has the features of compact structure, high precision, strong robustness, and a simple manufacture technique. The sensor is composed by integrating a complementary-metal-oxide-semiconductor sensor with a multiorientation nanowire grid polarizer. By nanoimprint lithography, the multiorientation nanowire polarizer is fabricated in one step and the alignment error is eliminated. The statistical theory is added to the interval-division algorithm to calculate the polarization angle of the incident light. The laboratory and outdoor tests for the navigation sensor are implemented and the errors of the measured angle are ±0.02 deg and ±1.3 deg, respectively. The results show that the proposed sensor has potential for application in autonomous navigation.

Ultrasensitive Wearable Soft Strain Sensors of Conductive, Self-healing, and Elastic Hydrogels with Synergistic "Soft and Hard" Hybrid Networks.

PubMed

Liu, Yan-Jun; Cao, Wen-Tao; Ma, Ming-Guo; Wan, Pengbo

2017-08-02

Robust, stretchable, and strain-sensitive hydrogels have recently attracted immense research interest because of their potential application in wearable strain sensors. The integration of the synergistic characteristics of decent mechanical properties, reliable self-healing capability, and high sensing sensitivity for fabricating conductive, elastic, self-healing, and strain-sensitive hydrogels is still a great challenge. Inspired by the mechanically excellent and self-healing biological soft tissues with hierarchical network structures, herein, functional network hydrogels are fabricated by the interconnection between a "soft" homogeneous polymer network and a "hard" dynamic ferric (Fe 3+ ) cross-linked cellulose nanocrystals (CNCs-Fe 3+ ) network. Under stress, the dynamic CNCs-Fe 3+ coordination bonds act as sacrificial bonds to efficiently dissipate energy, while the homogeneous polymer network leads to a smooth stress-transfer, which enables the hydrogels to achieve unusual mechanical properties, such as excellent mechanical strength, robust toughness, and stretchability, as well as good self-recovery property. The hydrogels demonstrate autonomously self-healing capability in only 5 min without the need of any stimuli or healing agents, ascribing to the reorganization of CNCs and Fe 3+ via ionic coordination. Furthermore, the resulted hydrogels display tunable electromechanical behavior with sensitive, stable, and repeatable variations in resistance upon mechanical deformations. Based on the tunable electromechanical behavior, the hydrogels can act as a wearable strain sensor to monitor finger joint motions, breathing, and even the slight blood pulse. This strategy of building synergistic "soft and hard" structures is successful to integrate the decent mechanical properties, reliable self-healing capability, and high sensing sensitivity together for assembling a high-performance, flexible, and wearable strain sensor.

Development and deployment of a low-cost, mobile-ready, air quality sensor system: progress toward distributed networks and autonomous aerial sampling

NASA Astrophysics Data System (ADS)

Hersey, S. P.; DiVerdi, R.; Gadtaula, P.; Sheneman, T.; Flores, K.; Chen, Y. H.; Jayne, J. T.; Cross, E. S.

2017-12-01

Throughout the 2016-2017 academic year, a new partnership between Olin College of Engineering and Aerodyne Research, Inc. developed an affordable, self-contained air quality monitoring instrument called Modulair. The Modulair instrument is based on the same operating principles as Aerodyne's newly-developed ARISense integrated sensor system, employing electrochemical sensors for gas-phase measurements of CO, NO, NO2, and O3 and an off-the-shelf optical particle counter for particle concentration, number, and size distribution information (0.4 < dp < 17 microns). High Dimensional Model Representation (HDMR) has been used to model the interference derived from relative humidity and temperature as well as the cross-sensitivity of the electrochemical sensors to non-target gas-phase species. The aim of the modeling effort is to provide transparent and robust calibration of electrical signals to pollutant concentrations from a set of electrochemical sensors. Modulair was designed from the ground-up, with custom electronics - including a more powerful microcontroller, a fully re-designed housing and a device-specific backend with a mobile, cloud-based data management system for real-time data posting and analysis. Open source tools and software were utilized in the development of the instrument. All initial work was completed by a team of undergraduate students as part of the Senior Capstone Program in Engineering (SCOPE) at Olin College. Deployment strategies for Modulair include distributed, mobile measurements and drone-based aerial sampling. Design goals for the drone integration include maximizing airborne sampling time and laying the foundation for software integration with the drone's autopilot system to allow for autonomous plume sampling across concentration gradients. Modulair and its flexible deployments enable real-time mapping of air quality data at exposure-relevant spatial scales, as well as regular, autonomous characterization of sources and dispersion of atmospheric pollutants. We will present an overview of the Modulair instrument and results from benchtop and field validation, including mobile and drone-based plume sampling in the Boston area.

Inkjet-/3D-/4D-printed autonomous wearable RF modules for biomonitoring, positioning and sensing applications

NASA Astrophysics Data System (ADS)

Bito, Jo; Bahr, Ryan; Hester, Jimmy; Kimionis, John; Nauroze, Abdullah; Su, Wenjing; Tehrani, Bijan; Tentzeris, Manos M.

2017-05-01

In this paper, numerous inkjet-/3D-/4D-printed wearable flexible antennas, RF electronics, modules and sensors fabricated on paper and other polymer (e.g. LCP) substrates are introduced as a system-level solution for ultra-low-cost mass production of autonomous Biomonitoring, Positioning and Sensing applications. This paper briefly discusses the state-of-the-art area of fully-integrated wearable wireless sensor modules on paper or flexible LCP and show the first ever 4D sensor module integration on paper, as well as numerous 3D and 4D multilayer paper-based and LCP-based RF/microwave, flexible and wearable structures, that could potentially set the foundation for the truly convergent wireless sensor ad-hoc "on-body networks of the future with enhanced cognitive intelligence and "rugged" packaging. Also, some challenges concerning the power sources of "nearperpetual" wearable RF modules, including flexible miniaturized batteries as well as power-scavenging approaches involving electromagnetic and solar energy forms are discuessed. The final step of the paper will involve examples from mmW wearable (e.g. biomonitoring) antennas and RF modules, as well as the first examples of the integration of inkjet-printed nanotechnology-based (e.g.CNT) sensors on paper and organic substrates for Internet of Things (IoT) applications. It has to be noted that the paper will review and present challenges for inkjetprinted organic active and nonlinear devices as well as future directions in the area of environmentally-friendly "green") wearable RF electronics and "smart-skin conformal sensors.

Towards an Automated Development Methodology for Dependable Systems with Application to Sensor Networks

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Rash, James L.; Rouff, Christopher A.

2005-01-01

A general-purpose method to mechanically transform system requirements into a probably equivalent model has yet to appeal: Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including sensor networks and autonomous systems. Currently available tools and methods that start with a formal model of a system and mechanically produce a probably equivalent implementation are valuable but not su8cient. The "gap" unfilled by such tools and methods is that their. formal models cannot be proven to be equivalent to the system requirements as originated by the customel: For the classes of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a probably equivalent formal model that can be used as the basis for code generation and other transformations.

Self-organizing team formation for target observation

NASA Astrophysics Data System (ADS)

Bowyer, Richard S.; Bogner, Robert E.

2001-08-01

Target observation is a problem where the application of multiple sensors can improve the probability of detection and observation of the target. Team formation is one method by which seemingly unsophisticated heterogeneous sensors may be organized to achieve a coordinated observation system. The sensors, which we shall refer to as agents, are situated in an area of interest with the goal of observing a moving target. We apply a team approach to this problem, which combines the strengths of individual agents into a cohesive entity - the team. In autonomous systems, the mechanisms that underlie the formation of a team are of interest. Teams may be formed by various mechanisms, which include an externally imposed grouping of agents, or an internally, self-organized (SO) grouping of agents. Internally motivated mechanisms are particularly challenging, but offer the benefit of being unsupervised, an important quality for groups of autonomous cooperating machines. This is the focus of our research. By studying natural systems such as colonies of ants, we obtain insight into these mechanisms of self organization. We propose that the team is an expression of a distributed agent-self, and that a particular realization of the agent-self exists, whilst the environmental conditions are conducive to that existence. We describe an algorithms for agent team formation that is inspired by the self-organizing behavior of ants, and describe simulation results for team formation amongst a lattice of networked sensors.

Planning and Scheduling for Environmental Sensor Networks

NASA Astrophysics Data System (ADS)

Frank, J. D.

2005-12-01

Environmental Sensor Networks are a new way of monitoring the environment. They comprise autonomous sensor nodes in the environment that record real-time data, which is retrieved, analyzed, integrated with other data sets (e.g. satellite images, GIS, process models) and ultimately lead to scientific discoveries. Sensor networks must operate within time and resource constraints. Sensors have limited onboard memory, energy, computational power, communications windows and communications bandwidth. The value of data will depend on when, where and how it was collected, how detailed the data is, how long it takes to integrate the data, and how important the data was to the original scientific question. Planning and scheduling of sensor networks is necessary for effective, safe operations in the face of these constraints. For example, power bus limitations may preclude sensors from simultaneously collecting data and communicating without damaging the sensor; planners and schedulers can ensure these operations are ordered so that they do not happen simultaneously. Planning and scheduling can also ensure best use of the sensor network to maximize the value of collected science data. For example, if data is best recorded using a particular camera angle but it is costly in time and energy to achieve this, planners and schedulers can search for times when time and energy are available to achieve the optimal camera angle. Planning and scheduling can handle uncertainty in the problem specification; planners can be re-run when new information is made available, or can generate plans that include contingencies. For example, if bad weather may prevent the collection of data, a contingent plan can check lighting conditions and turn off data collection to save resources if lighting is not ideal. Both mobile and immobile sensors can benefit from planning and scheduling. For example, data collection on otherwise passive sensors can be halted to preserve limited power and memory resources and to reduce the costs of communication. Planning and scheduling is generally a heavy consumer of time, memory and energy resources. This means careful thought must be given to how much planning and scheduling should be done on the sensors themselves, and how much to do elsewhere. The difficulty of planning and scheduling is exacerbated when reasoning about uncertainty. More time, memory and energy is needed to solve such problems, leading either to more expensive sensors, or suboptimal plans. For example, scientifically interesting events may happen at random times, making it difficult to ensure that sufficient resources are availanble. Since uncertainty is usually lowest in proximity to the sensors themselves, this argues for planning and scheduling onboard the sensors. However, cost minimization dictates sensors be kept as simple as possible, reducing the amount of planning and scheduling they can do themselves. Furthermore, coordinating each sensor's independent plans can be difficult. In the full presentation, we will critically review the planning and scheduling systems used by previously fielded sensor networks. We do so primarily from the perspective of the computational sciences, with a focus on taming computational complexity when operating sensor networks. The case studies are derived from sensor networks based on UAVs, satellites, and planetary rovers. Planning and scheduling considerations include multi-sensor coordination, optimizing science value, onboard power management, onboard memory, planning movement actions to acquire data, and managing communications.These case studies offer lessons for future designs of environmental sensor networks.

Supplying the power requirements to a sensor network using radio frequency power transfer.

PubMed

Percy, Steven; Knight, Chris; Cooray, Francis; Smart, Ken

2012-01-01

Wireless power transmission is a method of supplying power to small electronic devices when there is no wired connection. One way to increase the range of these systems is to use a directional transmitting antenna, the problem with this approach is that power can only be transmitted through a narrow beam and directly forward, requiring the transmitter to always be aligned with the sensor node position. The work outlined in this article describes the design and testing of an autonomous radio frequency power transfer system that is capable of rotating the base transmitter to track the position of sensor nodes and transferring power to that sensor node. The system's base station monitors the node's energy levels and forms a charge queue to plan charging order and maintain energy levels of the nodes. Results show a radio frequency harvesting circuit with a measured S11 value of -31.5 dB and a conversion efficiency of 39.1%. Simulation and experimentation verified the level of power transfer and efficiency. The results of this work show a small network of three nodes with different storage types powered by a central base node.

An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback

NASA Technical Reports Server (NTRS)

Humphreys, William M, Jr.; Culliton, William G.

2008-01-01

Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

Distributed cyberinfrastructure tools for automated data processing of structural monitoring data

NASA Astrophysics Data System (ADS)

Zhang, Yilan; Kurata, Masahiro; Lynch, Jerome P.; van der Linden, Gwendolyn; Sederat, Hassan; Prakash, Atul

2012-04-01

The emergence of cost-effective sensing technologies has now enabled the use of dense arrays of sensors to monitor the behavior and condition of large-scale bridges. The continuous operation of dense networks of sensors presents a number of new challenges including how to manage such massive amounts of data that can be created by the system. This paper reports on the progress of the creation of cyberinfrastructure tools which hierarchically control networks of wireless sensors deployed in a long-span bridge. The internet-enabled cyberinfrastructure is centrally managed by a powerful database which controls the flow of data in the entire monitoring system architecture. A client-server model built upon the database provides both data-provider and system end-users with secured access to various levels of information of a bridge. In the system, information on bridge behavior (e.g., acceleration, strain, displacement) and environmental condition (e.g., wind speed, wind direction, temperature, humidity) are uploaded to the database from sensor networks installed in the bridge. Then, data interrogation services interface with the database via client APIs to autonomously process data. The current research effort focuses on an assessment of the scalability and long-term robustness of the proposed cyberinfrastructure framework that has been implemented along with a permanent wireless monitoring system on the New Carquinez (Alfred Zampa Memorial) Suspension Bridge in Vallejo, CA. Many data interrogation tools are under development using sensor data and bridge metadata (e.g., geometric details, material properties, etc.) Sample data interrogation clients including those for the detection of faulty sensors, automated modal parameter extraction.

Wireless sensor network

NASA Astrophysics Data System (ADS)

Perotti, Jose M.; Lucena, Angel R.; Mullenix, Pamela A.; Mata, Carlos T.

2006-05-01

Current and future requirements of aerospace sensors and transducers demand the design and development of a new family of sensing devices, with emphasis on reduced weight, power consumption, and physical size. This new generation of sensors and transducers will possess a certain degree of intelligence in order to provide the end user with critical data in a more efficient manner. Communication between networks of traditional or next-generation sensors can be accomplished by a Wireless Sensor Network (WSN) developed by NASA's Instrumentation Branch and ASRC Aerospace Corporation at Kennedy Space Center (KSC), consisting of at least one central station and several remote stations and their associated software. The central station is application-dependent and can be implemented on different computer hardware, including industrial, handheld, or PC-104 single-board computers, on a variety of operating systems: embedded Windows, Linux, VxWorks, etc. The central stations and remote stations share a similar radio frequency (RF) core module hardware that is modular in design. The main components of the remote stations are an RF core module, a sensor interface module, batteries, and a power management module. These modules are stackable, and a common bus provides the flexibility to stack other modules for additional memory, increased processing, etc. WSN can automatically reconfigure to an alternate frequency if interference is encountered during operation. In addition, the base station will autonomously search for a remote station that was perceived to be lost, using relay stations and alternate frequencies. Several wireless remote-station types were developed and tested in the laboratory to support different sensing technologies, such as resistive temperature devices, silicon diodes, strain gauges, pressure transducers, and hydrogen leak detectors.

Estimation of Visual Maps with a Robot Network Equipped with Vision Sensors

PubMed Central

Gil, Arturo; Reinoso, Óscar; Ballesta, Mónica; Juliá, Miguel; Payá, Luis

2010-01-01

In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment. PMID:22399930

Estimation of visual maps with a robot network equipped with vision sensors.

PubMed

Gil, Arturo; Reinoso, Óscar; Ballesta, Mónica; Juliá, Miguel; Payá, Luis

2010-01-01

In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment.

A Lego Mindstorms NXT based test bench for multiagent exploratory systems and distributed network partitioning

NASA Astrophysics Data System (ADS)

Patil, Riya Raghuvir

Networks of communicating agents require distributed algorithms for a variety of tasks in the field of network analysis and control. For applications such as swarms of autonomous vehicles, ad hoc and wireless sensor networks, and such military and civilian applications as exploring and patrolling a robust autonomous system that uses a distributed algorithm for selfpartitioning can be significantly helpful. A single team of autonomous vehicles in a field may need to self-dissemble into multiple teams, conducive to completing multiple control tasks. Moreover, because communicating agents are subject to changes, namely, addition or failure of an agent or link, a distributed or decentralized algorithm is favorable over having a central agent. A framework to help with the study of self-partitioning of such multi agent systems that have most basic mobility model not only saves our time in conception but also gives us a cost effective prototype without negotiating the physical realization of the proposed idea. In this thesis I present my work on the implementation of a flexible and distributed stochastic partitioning algorithm on the LegoRTM Mindstorms' NXT on a graphical programming platform using National Instruments' LabVIEW(TM) forming a team of communicating agents via NXT-Bee radio module. We single out mobility, communication and self-partition as the core elements of the work. The goal is to randomly explore a precinct for reference sites. Agents who have discovered the reference sites announce their target acquisition to form a network formed based upon the distance of each agent with the other wherein the self-partitioning begins to find an optimal partition. Further, to illustrate the work, an experimental test-bench of five Lego NXT robots is presented.

Semi autonomous mine detection system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Douglas Few; Roelof Versteeg; Herman Herman

2010-04-01

CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIKmore » was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.« less

An Autonomous Data Reduction Pipeline for Wide Angle EO Systems

NASA Astrophysics Data System (ADS)

Privett, G.; George, S.; Feline, W.; Ash, A.; Routledge, G.

The UK’s National Space and Security Policy states that the identification of potential on-orbit collisions and re-entry warning over the UK is of high importance, and is driving requirements for indigenous Space Situational Awareness (SSA) systems. To meet these requirements options are being examined, including the creation of a distributed network of simple, low cost commercial–off-the-shelf electro-optical sensors to support survey work and catalogue maintenance. This paper outlines work at Dstl examining whether data obtained using readily-deployable equipment could significantly enhance UK SSA capability and support cross-cueing between multiple deployed systems. To effectively exploit data from this distributed sensor architecture, a data handling system is required to autonomously detect satellite trails in a manner that pragmatically handles highly variable target intensities, periodicity and rates of apparent motion. The processing and collection strategies must be tailored to specific mission sets to ensure effective detections of platforms as diverse as stable geostationary satellites and low altitude CubeSats. Data captured during the Automated Transfer Vehicle-5 (ATV-5) de-orbit trial and images captured of a rocket body break up and a deployed deorbit sail have been employed to inform the development of a prototype processing pipeline for autonomous on-site processing. The approach taken employs tools such as Astrometry.Net and DAOPHOT from the astronomical community, together with image processing and orbit determination software developed inhouse by Dstl. Interim results from the automated analysis of data collected from wide angle sensors are described, together with the current perceived limitations of the proposed system and our plans for future development.

Adaptive Oceanographic Sampling in a Coastal Environment Using Autonomous Gliding Vehicles

DTIC Science & Technology

2003-08-01

cost autonomous vehicles with near-global range and modular sensor payload. Particular emphasis is placed on the development of adaptive sampling...environment. Secondary objectives include continued development of adaptive sampling strategies suitable for large fleets of slow-moving autonomous ... vehicles , and development and implementation of new oceanographic sensors and sampling methodologies. The main task completed was a complete redesign of

Survey of Methods and Algorithms of Robot Swarm Aggregation

NASA Astrophysics Data System (ADS)

E Shlyakhov, N.; Vatamaniuk, I. V.; Ronzhin, A. L.

2017-01-01

The paper considers the problem of swarm aggregation of autonomous robots with the use of three methods based on the analogy of the behavior of biological objects. The algorithms substantiating the requirements for hardware realization of sensor, computer and network resources and propulsion devices are presented. Techniques for efficiency estimation of swarm aggregation via space-time characteristics are described. The developed model of the robot swarm reconfiguration into a predetermined three-dimensional shape is presented.

Preparing to Predict: The Second Autonomous Ocean Sampling Network (AOSN-II) Experiment in the Monterey Bay

DTIC Science & Technology

2008-06-06

MBARI buoy M2, profiling to 250 m depth (Figure 1). Instruments on board included a CTD, fluorometer, oxygen and nitrate sensors, bioluminescence, and...dimensional multiscale ocean variability: Massachusetts Bay. Journal of Marine Systems, Special issue on “Three-dimensional ocean circulation: Lagrangian...Oceanography”, T. Paluszkiewicz and S. Harper, Eds., Vol. 19, 1, 172-183. Liang, X.S. and Anderson, D.G.M. (2007) Multiscale Window Transform, SIAM J

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

PubMed Central

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently. PMID:28255297

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

PubMed

Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

PubMed Central

2015-01-01

For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system. PMID:26089863

Design and Implementation of a Wireless Sensor and Actuator Network to Support the Intelligent Control of Efficient Energy Usage.

PubMed

Blanco, Jesús; García, Andrés; Morenas, Javier de Las

2018-06-09

Energy saving has become a major concern for the developed society of our days. This paper presents a Wireless Sensor and Actuator Network (WSAN) designed to provide support to an automatic intelligent system, based on the Internet of Things (IoT), which enables a responsible consumption of energy. The proposed overall system performs an efficient energetic management of devices, machines and processes, optimizing their operation to achieve a reduction in their overall energy usage at any given time. For this purpose, relevant data is collected from intelligent sensors, which are in-stalled at the required locations, as well as from the energy market through the Internet. This information is analysed to provide knowledge about energy utilization, and to improve efficiency. The system takes autonomous decisions automatically, based on the available information and the specific requirements in each case. The proposed system has been implanted and tested in a food factory. Results show a great optimization of energy efficiency and a substantial improvement on energy and costs savings.

Wind-Driven Wireless Networked System of Mobile Sensors for Mars Exploration

NASA Technical Reports Server (NTRS)

Davoodi, Faranak; Murphy, Neil

2013-01-01

A revolutionary way is proposed of studying the surface of Mars using a wind-driven network of mobile sensors: GOWON. GOWON would be a scalable, self-powered and autonomous distributed system that could allow in situ mapping of a wide range of environmental phenomena in a much larger portion of the surface of Mars compared to earlier missions. It could improve the possibility of finding rare phenomena such as "blueberries' or bio-signatures and mapping their occurrence, through random wind-driven search. It would explore difficult terrains that were beyond the reach of previous missions, such as regions with very steep slopes and cluttered surfaces. GOWON has a potentially long life span, as individual elements can be added to the array periodically. It could potentially provide a cost-effective solution for mapping wide areas of Martian terrain, enabling leaving a long-lasting sensing and searching infrastructure on the surface of Mars. The system proposed here addresses this opportunity using technology advances in a distributed system of wind-driven sensors, referred to as Moballs.

Real-time Data Access to First Responders: A VORB application

NASA Astrophysics Data System (ADS)

Lu, S.; Kim, J. B.; Bryant, P.; Foley, S.; Vernon, F.; Rajasekar, A.; Meier, S.

2006-12-01

Getting information to first responders is not an easy task. The sensors that provide the information are diverse in formats and come from many disciplines. They are also distributed by location, transmit data at different frequencies and are managed and owned by autonomous administrative entities. Pulling such types of data in real-time, needs a very robust sensor network with reliable data transport and buffering capabilities. Moreover, the system should be extensible and scalable in numbers and sensor types. ROADNet is a real- time sensor network project at UCSD gathering diverse environmental data in real-time or near-real-time. VORB (Virtual Object Ring Buffer) is the middleware used in ROADNet offering simple, uniform and scalable real-time data management for discovering (through metadata), accessing and archiving real-time data and data streams. Recent development in VORB, a web API, has offered quick and simple real-time data integration with web applications. In this poster, we discuss one application developed as part of ROADNet. SMER (Santa Margarita Ecological Reserve) is located in interior Southern California, a region prone to catastrophic wildfires each summer and fall. To provide data during emergencies, we have applied the VORB framework to develop a web-based application for providing access to diverse sensor data including weather data, heat sensor information, and images from cameras. Wildfire fighters have access to real-time data about weather and heat conditions in the area and view pictures taken from cameras at multiple points in the Reserve to pinpoint problem areas. Moreover, they can browse archived images and sensor data from earlier times to provide a comparison framework. To show scalability of the system, we have expanded the sensor network under consideration through other areas in Southern California including sensors accessible by Los Angeles County Fire Department (LACOFD) and those available through the High Performance Wireless Research and Education Network (HPWREN). The poster will discuss the system architecture and components, the types of sensor being used and usage scenarios. The system is currently operational through the SMER web-site.

SPADnet: a fully digital, scalable, and networked photonic component for time-of-flight PET applications

NASA Astrophysics Data System (ADS)

Bruschini, Claudio; Charbon, Edoardo; Veerappan, Chockalingam; Braga, Leo H. C.; Massari, Nicola; Perenzoni, Matteo; Gasparini, Leonardo; Stoppa, David; Walker, Richard; Erdogan, Ahmet; Henderson, Robert K.; East, Steve; Grant, Lindsay; Játékos, Balázs; Ujhelyi, Ferenc; Erdei, Gábor; Lörincz, Emöke; André, Luc; Maingault, Laurent; Jacolin, David; Verger, L.; Gros d'Aillon, Eric; Major, Peter; Papp, Zoltan; Nemeth, Gabor

2014-05-01

The SPADnet FP7 European project is aimed at a new generation of fully digital, scalable and networked photonic components to enable large area image sensors, with primary target gamma-ray and coincidence detection in (Time-of- Flight) Positron Emission Tomography (PET). SPADnet relies on standard CMOS technology, therefore allowing for MRI compatibility. SPADnet innovates in several areas of PET systems, from optical coupling to single-photon sensor architectures, from intelligent ring networks to reconstruction algorithms. It is built around a natively digital, intelligent SPAD (Single-Photon Avalanche Diode)-based sensor device which comprises an array of 8×16 pixels, each composed of 4 mini-SiPMs with in situ time-to-digital conversion, a multi-ring network to filter, carry, and process data produced by the sensors at 2Gbps, and a 130nm CMOS process enabling mass-production of photonic modules that are optically interfaced to scintillator crystals. A few tens of sensor devices are tightly abutted on a single PCB to form a so-called sensor tile, thanks to TSV (Through Silicon Via) connections to their backside (replacing conventional wire bonding). The sensor tile is in turn interfaced to an FPGA-based PCB on its back. The resulting photonic module acts as an autonomous sensing and computing unit, individually detecting gamma photons as well as thermal and Compton events. It determines in real time basic information for each scintillation event, such as exact time of arrival, position and energy, and communicates it to its peers in the field of view. Coincidence detection does therefore occur directly in the ring itself, in a differed and distributed manner to ensure scalability. The selected true coincidence events are then collected by a snooper module, from which they are transferred to an external reconstruction computer using Gigabit Ethernet.

Ikhana: A NASA UAS Supporting Long Duration Earth Science Missions

NASA Technical Reports Server (NTRS)

Cobleigh, Brent R.

2006-01-01

NASA's Ikhana unmanned aerial vehicle (UAV) is a General Atomics MQ-9 Predator-B modified to support the conduct of Earth science missions for the NASA Science Mission Directorate through partnerships, other government agencies and universities. Ikhana, a Native American word meaning 'intelligence', can carry over 2000 lbs of atmospheric and remote sensing instruments in the payload bay and external pods. The aircraft is capable of mission durations in excess of 24 hours at altitudes above 40,000 ft. Redundant flight control, avionics, power, and network systems increase the system reliability and allow easier access to public airspace. The aircraft is remotely piloted from a mobile ground control station (GCS) using both C-band line-of-sight and Ku-band over-the-horizon satellite datalinks. NASA's GCS has been modified to support on-site science monitoring, or the downlink data can be networked to remote sites. All ground support systems are designed to be deployable to support global Eart science investigations. On-board support capabilities include an instrumentation system and an Airborne Research Test System (ARTS). The ARTS can host research algorithms that will autonomously command and control on-board sensors, perform sensor health monitoring, conduct data analysis, and request changes to the flight plan to maximize data collection. The ARTS also has the ability to host algorithms that will autonomously control the aircraft trajectory based on sensor needs, (e.g. precision trajectory for repeat pass interferometry) or to optimize mission objectives (e.g. search for specific atmospheric conditions). Standard on-board networks will collect science data for recording and for inclusion in the aircraft's high bandwidth downlink. The Ikhana project will complete GCS development, science support systems integration, external pod integration and flight clearance, and operations crew training in early 2007. A large-area remote sensing mission is currently scheduled for the Summer 2007.

A wearable, low-power, health-monitoring instrumentation based on a Programmable System-on-Chip.

PubMed

Massot, Bertrand; Gehin, Claudine; Nocua, Ronald; Dittmar, Andre; McAdams, Eric

2009-01-01

Improvement in quality and efficiency of health and medicine, at home and in hospital, has become of paramount importance. The solution of this problem would require the continuous monitoring of several key patient parameters, including the assessment of autonomic nervous system (ANS) activity using non-invasive sensors, providing information for emotional, sensorial, cognitive and physiological analysis of the patient. Recent advances in embedded systems, microelectronics, sensors and wireless networking enable the design of wearable systems capable of such advanced health monitoring. The subject of this article is an ambulatory system comprising a small wrist device connected to several sensors for the detection of the autonomic nervous system activity. It affords monitoring of skin resistance, skin temperature and heart activity. It is also capable of recording the data on a removable media or sending it to computer via a wireless communication. The wrist device is based on a Programmable System-on-Chip (PSoC) from Cypress: PSoCs are mixed-signal arrays, with dynamic, configurable digital and analogical blocks and an 8-bit Microcontroller unit (MCU) core on a single chip. In this paper we present first of all the hardware and software architecture of the device, and then results obtained from initial experiments.

Research on an autonomous vision-guided helicopter

NASA Technical Reports Server (NTRS)

Amidi, Omead; Mesaki, Yuji; Kanade, Takeo

1994-01-01

Integration of computer vision with on-board sensors to autonomously fly helicopters was researched. The key components developed were custom designed vision processing hardware and an indoor testbed. The custom designed hardware provided flexible integration of on-board sensors with real-time image processing resulting in a significant improvement in vision-based state estimation. The indoor testbed provided convenient calibrated experimentation in constructing real autonomous systems.

A low cost, high precision extreme/harsh cold environment, autonomous sensor data gathering and transmission platform.

NASA Astrophysics Data System (ADS)

Chetty, S.; Field, L. A.

2014-12-01

SWIMS III, is a low cost, autonomous sensor data gathering platform developed specifically for extreme/harsh cold environments. Arctic ocean's continuing decrease of summer-time ice is related to rapidly diminishing multi-year ice due to the effects of climate change. Ice911 Research aims to develop environmentally inert materials that when deployed will increase the albedo, enabling the formation and/preservation of multi-year ice. SWIMS III's sophisticated autonomous sensors are designed to measure the albedo, weather, water temperature and other environmental parameters. This platform uses low cost, high accuracy/precision sensors, extreme environment command and data handling computer system using satellite and terrestrial wireless solution. The system also incorporates tilt sensors and sonar based ice thickness sensors. The system is light weight and can be deployed by hand by a single person. This presentation covers the technical, and design challenges in developing and deploying these platforms.

Real-Time Alpine Measurement System Using Wireless Sensor Networks

PubMed Central

2017-01-01

Monitoring the snow pack is crucial for many stakeholders, whether for hydro-power optimization, water management or flood control. Traditional forecasting relies on regression methods, which often results in snow melt runoff predictions of low accuracy in non-average years. Existing ground-based real-time measurement systems do not cover enough physiographic variability and are mostly installed at low elevations. We present the hardware and software design of a state-of-the-art distributed Wireless Sensor Network (WSN)-based autonomous measurement system with real-time remote data transmission that gathers data of snow depth, air temperature, air relative humidity, soil moisture, soil temperature, and solar radiation in physiographically representative locations. Elevation, aspect, slope and vegetation are used to select network locations, and distribute sensors throughout a given network location, since they govern snow pack variability at various scales. Three WSNs were installed in the Sierra Nevada of Northern California throughout the North Fork of the Feather River, upstream of the Oroville dam and multiple powerhouses along the river. The WSNs gathered hydrologic variables and network health statistics throughout the 2017 water year, one of northern Sierra’s wettest years on record. These networks leverage an ultra-low-power wireless technology to interconnect their components and offer recovery features, resilience to data loss due to weather and wildlife disturbances and real-time topological visualizations of the network health. Data show considerable spatial variability of snow depth, even within a 1 km2 network location. Combined with existing systems, these WSNs can better detect precipitation timing and phase in, monitor sub-daily dynamics of infiltration and surface runoff during precipitation or snow melt, and inform hydro power managers about actual ablation and end-of-season date across the landscape. PMID:29120376

Real-Time Alpine Measurement System Using Wireless Sensor Networks.

PubMed

Malek, Sami A; Avanzi, Francesco; Brun-Laguna, Keoma; Maurer, Tessa; Oroza, Carlos A; Hartsough, Peter C; Watteyne, Thomas; Glaser, Steven D

2017-11-09

Monitoring the snow pack is crucial for many stakeholders, whether for hydro-power optimization, water management or flood control. Traditional forecasting relies on regression methods, which often results in snow melt runoff predictions of low accuracy in non-average years. Existing ground-based real-time measurement systems do not cover enough physiographic variability and are mostly installed at low elevations. We present the hardware and software design of a state-of-the-art distributed Wireless Sensor Network (WSN)-based autonomous measurement system with real-time remote data transmission that gathers data of snow depth, air temperature, air relative humidity, soil moisture, soil temperature, and solar radiation in physiographically representative locations. Elevation, aspect, slope and vegetation are used to select network locations, and distribute sensors throughout a given network location, since they govern snow pack variability at various scales. Three WSNs were installed in the Sierra Nevada of Northern California throughout the North Fork of the Feather River, upstream of the Oroville dam and multiple powerhouses along the river. The WSNs gathered hydrologic variables and network health statistics throughout the 2017 water year, one of northern Sierra's wettest years on record. These networks leverage an ultra-low-power wireless technology to interconnect their components and offer recovery features, resilience to data loss due to weather and wildlife disturbances and real-time topological visualizations of the network health. Data show considerable spatial variability of snow depth, even within a 1 km 2 network location. Combined with existing systems, these WSNs can better detect precipitation timing and phase in, monitor sub-daily dynamics of infiltration and surface runoff during precipitation or snow melt, and inform hydro power managers about actual ablation and end-of-season date across the landscape.

XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker

PubMed Central

Viman, Liviu; Daraban, Mihai; Fizesan, Raul; Iuonas, Mircea

2016-01-01

This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet. PMID:26978360

XpertTrack: Precision Autonomous Measuring Device Developed for Real Time Shipments Tracker.

PubMed

Viman, Liviu; Daraban, Mihai; Fizesan, Raul; Iuonas, Mircea

2016-03-10

This paper proposes a software and hardware solution for real time condition monitoring applications. The proposed device, called XpertTrack, exchanges data through the GPRS protocol over a GSM network and monitories temperature and vibrations of critical merchandise during commercial shipments anywhere on the globe. Another feature of this real time tracker is to provide GPS and GSM positioning with a precision of 10 m or less. In order to interpret the condition of the merchandise, the data acquisition, analysis and visualization are done with 0.1 °C accuracy for the temperature sensor, and 10 levels of shock sensitivity for the acceleration sensor. In addition to this, the architecture allows increasing the number and the types of sensors, so that companies can use this flexible solution to monitor a large percentage of their fleet.

Maturation of Structural Health Management Systems for Solid Rocket Motors

NASA Technical Reports Server (NTRS)

Quing, Xinlin; Beard, Shawn; Zhang, Chang

2011-01-01

Concepts of an autonomous and automated space-compliant diagnostic system were developed for conditioned-based maintenance (CBM) of rocket motors for space exploration vehicles. The diagnostic system will provide real-time information on the integrity of critical structures on launch vehicles, improve their performance, and greatly increase crew safety while decreasing inspection costs. Using the SMART Layer technology as a basis, detailed procedures and calibration techniques for implementation of the diagnostic system were developed. The diagnostic system is a distributed system, which consists of a sensor network, local data loggers, and a host central processor. The system detects external impact to the structure. The major functions of the system include an estimate of impact location, estimate of impact force at impacted location, and estimate of the structure damage at impacted location. This system consists of a large-area sensor network, dedicated multiple local data loggers with signal processing and data analysis software to allow for real-time, in situ monitoring, and longterm tracking of structural integrity of solid rocket motors. Specifically, the system could provide easy installation of large sensor networks, onboard operation under harsh environments and loading, inspection of inaccessible areas without disassembly, detection of impact events and impact damage in real-time, and monitoring of a large area with local data processing to reduce wiring.

Ground vehicle control at NIST: From teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Murphy, Karl N.; Juberts, Maris; Legowik, Steven A.; Nashman, Marilyn; Schneiderman, Henry; Scott, Harry A.; Szabo, Sandor

1994-01-01

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

Data-Gathering Scheme Using AUVs in Large-Scale Underwater Sensor Networks: A Multihop Approach

PubMed Central

Khan, Jawaad Ullah; Cho, Ho-Shin

2016-01-01

In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected multihop network through inter-AUV synchronization (in this paper, synchronization means an interconnection between nodes for communication) for forwarding data to the designated sink. In such a scenario, the performance of the multihop communication depends upon the synchronization among the vehicles. The mobility parameters of the vehicles vary continuously because of the constantly changing underwater currents. The variations in the AUV mobility parameters reduce the inter-AUV synchronization frequency contributing to delays in the multihop communication. The proposed scheme improves the AUV synchronization frequency by permitting neighboring AUVs to share their status information via a pre-selected node called an agent-node at the static layer of the network. We evaluate the proposed scheme in terms of the AUV synchronization frequency, vertical delay (node→AUV), horizontal delay (AUV→AUV), end-to-end delay, and the packet loss ratio. Simulation results show that the proposed scheme significantly reduces the aforementioned delays without the synchronization time-out process employed in conventional works. PMID:27706042

Data-Gathering Scheme Using AUVs in Large-Scale Underwater Sensor Networks: A Multihop Approach.

PubMed

Khan, Jawaad Ullah; Cho, Ho-Shin

2016-09-30

In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected multihop network through inter-AUV synchronization (in this paper, synchronization means an interconnection between nodes for communication) for forwarding data to the designated sink. In such a scenario, the performance of the multihop communication depends upon the synchronization among the vehicles. The mobility parameters of the vehicles vary continuously because of the constantly changing underwater currents. The variations in the AUV mobility parameters reduce the inter-AUV synchronization frequency contributing to delays in the multihop communication. The proposed scheme improves the AUV synchronization frequency by permitting neighboring AUVs to share their status information via a pre-selected node called an agent-node at the static layer of the network. We evaluate the proposed scheme in terms of the AUV synchronization frequency, vertical delay (node→AUV), horizontal delay (AUV→AUV), end-to-end delay, and the packet loss ratio. Simulation results show that the proposed scheme significantly reduces the aforementioned delays without the synchronization time-out process employed in conventional works.

Virtual Vision

NASA Astrophysics Data System (ADS)

Terzopoulos, Demetri; Qureshi, Faisal Z.

Computer vision and sensor networks researchers are increasingly motivated to investigate complex multi-camera sensing and control issues that arise in the automatic visual surveillance of extensive, highly populated public spaces such as airports and train stations. However, they often encounter serious impediments to deploying and experimenting with large-scale physical camera networks in such real-world environments. We propose an alternative approach called "Virtual Vision", which facilitates this type of research through the virtual reality simulation of populated urban spaces, camera sensor networks, and computer vision on commodity computers. We demonstrate the usefulness of our approach by developing two highly automated surveillance systems comprising passive and active pan/tilt/zoom cameras that are deployed in a virtual train station environment populated by autonomous, lifelike virtual pedestrians. The easily reconfigurable virtual cameras distributed in this environment generate synthetic video feeds that emulate those acquired by real surveillance cameras monitoring public spaces. The novel multi-camera control strategies that we describe enable the cameras to collaborate in persistently observing pedestrians of interest and in acquiring close-up videos of pedestrians in designated areas.

Autonomous Sensors for Large Scale Data Collection

NASA Astrophysics Data System (ADS)

Noto, J.; Kerr, R.; Riccobono, J.; Kapali, S.; Migliozzi, M. A.; Goenka, C.

2017-12-01

Presented here is a novel implementation of a "Doppler imager" which remotely measures winds and temperatures of the neutral background atmosphere at ionospheric altitudes of 87-300Km and possibly above. Incorporating both recent optical manufacturing developments, modern network awareness and the application of machine learning techniques for intelligent self-monitoring and data classification. This system achieves cost savings in manufacturing, deployment and lifetime operating costs. Deployed in both ground and space-based modalities, this cost-disruptive technology will allow computer models of, ionospheric variability and other space weather models to operate with higher precision. Other sensors can be folded into the data collection and analysis architecture easily creating autonomous virtual observatories. A prototype version of this sensor has recently been deployed in Trivandrum India for the Indian Government. This Doppler imager is capable of operation, even within the restricted CubeSat environment. The CubeSat bus offers a very challenging environment, even for small instruments. The lack of SWaP and the challenging thermal environment demand development of a new generation of instruments; the Doppler imager presented is well suited to this environment. Concurrent with this CubeSat development is the development and construction of ground based arrays of inexpensive sensors using the proposed technology. This instrument could be flown inexpensively on one or more CubeSats to provide valuable data to space weather forecasters and ionospheric scientists. Arrays of magnetometers have been deployed for the last 20 years [Alabi, 2005]. Other examples of ground based arrays include an array of white-light all sky imagers (THEMIS) deployed across Canada [Donovan et al., 2006], oceans sensors on buoys [McPhaden et al., 2010], and arrays of seismic sensors [Schweitzer et al., 2002]. A comparable array of Doppler imagers can be constructed and deployed on the ground, to compliment the CubeSat data.

Nanotechnology at NASA Ames

NASA Technical Reports Server (NTRS)

Srivastava, Deepak; Meyyappan, Meyya; Yan, Jerry (Technical Monitor)

2000-01-01

Advanced miniaturization, a key thrust area to enable new science and exploration missions, provides ultrasmall sensors, power sources, communication, navigation, and propulsion systems with very low mass, volume, and power consumption. Revolutions in electronics and computing will allow reconfigurable, autonomous, 'thinking' spacecraft. Nanotechnology presents a whole new spectrum of opportunities to build device components and systems for entirely new space architectures: (1) networks of ultrasmall probes on planetary surfaces; (2) micro-rovers that drive, hop, fly, and burrow; and (3) collections of microspacecraft making a variety of measurements.

MARSnet: Mission-aware Autonomous Radar Sensor Network for Future Combat Systems

DTIC Science & Technology

2009-03-23

15 , , L x(s)x*(s) ds WdB = lOlog Jo Y ; ; (19) In addition, the sidelobe structure is changed because of the Dop])ler shift...Synchro- nous CDMA Systems.’’ IEICE Trans.Fundamentals. E832A(11): 1 16, 2000. 24 [10] P. Z. Fan. "New Direction in Spreading Sequence Design and the...Suehiro , N Kuroyanagi and P Z Fan. "Two types of polyphase sequence set. for approximately synchronized CDMA systems." IEICE Trans. Fundamentals. E862A

GeoTrack: bio-inspired global video tracking by networks of unmanned aircraft systems

NASA Astrophysics Data System (ADS)

Barooah, Prabir; Collins, Gaemus E.; Hespanha, João P.

2009-05-01

Research from the Institute for Collaborative Biotechnologies (ICB) at the University of California at Santa Barbara (UCSB) has identified swarming algorithms used by flocks of birds and schools of fish that enable these animals to move in tight formation and cooperatively track prey with minimal estimation errors, while relying solely on local communication between the animals. This paper describes ongoing work by UCSB, the University of Florida (UF), and the Toyon Research Corporation on the utilization of these algorithms to dramatically improve the capabilities of small unmanned aircraft systems (UAS) to cooperatively locate and track ground targets. Our goal is to construct an electronic system, called GeoTrack, through which a network of hand-launched UAS use dedicated on-board processors to perform multi-sensor data fusion. The nominal sensors employed by the system will EO/IR video cameras on the UAS. When GMTI or other wide-area sensors are available, as in a layered sensing architecture, data from the standoff sensors will also be fused into the GeoTrack system. The output of the system will be position and orientation information on stationary or mobile targets in a global geo-stationary coordinate system. The design of the GeoTrack system requires significant advances beyond the current state-of-the-art in distributed control for a swarm of UAS to accomplish autonomous coordinated tracking; target geo-location using distributed sensor fusion by a network of UAS, communicating over an unreliable channel; and unsupervised real-time image-plane video tracking in low-powered computing platforms.

Microscale autonomous sensor and communications module

DOEpatents

Okandan, Murat; Nielson, Gregory N

2014-03-25

Various technologies pertaining to a microscale autonomous sensor and communications module are described herein. Such a module includes a sensor that generates a sensor signal that is indicative of an environmental parameter. An integrated circuit receives the sensor signal and generates an output signal based at least in part upon the sensor signal. An optical emitter receives the output signal and generates an optical signal as a function of the output signal. An energy storage device is configured to provide power to at least the integrated circuit and the optical emitter, and wherein the module has a relatively small diameter and thickness.

Park Smart

NASA Technical Reports Server (NTRS)

1999-01-01

The Parking Garage Automation System (PGAS) is based on a technology developed by a NASA-sponsored project called Robot sensorSkin(TM). Merritt Systems, Inc., of Orlando, Florida, teamed up with NASA to improve robots working with critical flight hardware at Kennedy Space Center in Florida. The system, containing smart sensor modules and flexible printed circuit board skin, help robots to steer clear of obstacles using a proximity sensing system. Advancements in the sensor designs are being applied to various commercial applications, including the PGAS. The system includes a smartSensor(TM) network installed around and within public parking garages to autonomously guide motorists to open facilities, and once within, to free parking spaces. The sensors use non-invasive reflective-ultrasonic technology for high accuracy, high reliability, and low maintenance. The system is remotely programmable: it can be tuned to site-specific requirements, has variable range capability, and allows remote configuration, monitoring, and diagnostics. The sensors are immune to interference from metallic construction materials, such as rebar and steel beams. Inside the garage, smart routing signs mounted overhead or on poles in front of each row of parking spots guide the motorist precisely to free spaces.

Intelligent Hardware-Enabled Sensor and Software Safety and Health Management for Autonomous UAS

NASA Technical Reports Server (NTRS)

Rozier, Kristin Y.; Schumann, Johann; Ippolito, Corey

2015-01-01

Unmanned Aerial Systems (UAS) can only be deployed if they can effectively complete their mission and respond to failures and uncertain environmental conditions while maintaining safety with respect to other aircraft as well as humans and property on the ground. We propose to design a real-time, onboard system health management (SHM) capability to continuously monitor essential system components such as sensors, software, and hardware systems for detection and diagnosis of failures and violations of safety or performance rules during the ight of a UAS. Our approach to SHM is three-pronged, providing: (1) real-time monitoring of sensor and software signals; (2) signal analysis, preprocessing, and advanced on-the- y temporal and Bayesian probabilistic fault diagnosis; (3) an unobtrusive, lightweight, read-only, low-power hardware realization using Field Programmable Gate Arrays (FPGAs) in order to avoid overburdening limited computing resources or costly re-certi cation of ight software due to instrumentation. No currently available SHM capabilities (or combinations of currently existing SHM capabilities) come anywhere close to satisfying these three criteria yet NASA will require such intelligent, hardwareenabled sensor and software safety and health management for introducing autonomous UAS into the National Airspace System (NAS). We propose a novel approach of creating modular building blocks for combining responsive runtime monitoring of temporal logic system safety requirements with model-based diagnosis and Bayesian network-based probabilistic analysis. Our proposed research program includes both developing this novel approach and demonstrating its capabilities using the NASA Swift UAS as a demonstration platform.

Solving Autonomy Technology Gaps through Wireless Technology and Orion Avionics Architectural Principles

NASA Astrophysics Data System (ADS)

Black, Randy; Bai, Haowei; Michalicek, Andrew; Shelton, Blaine; Villela, Mark

2008-01-01

Currently, autonomy in space applications is limited by a variety of technology gaps. Innovative application of wireless technology and avionics architectural principles drawn from the Orion crew exploration vehicle provide solutions for several of these gaps. The Vision for Space Exploration envisions extensive use of autonomous systems. Economic realities preclude continuing the level of operator support currently required of autonomous systems in space. In order to decrease the number of operators, more autonomy must be afforded to automated systems. However, certification authorities have been notoriously reluctant to certify autonomous software in the presence of humans or when costly missions may be jeopardized. The Orion avionics architecture, drawn from advanced commercial aircraft avionics, is based upon several architectural principles including partitioning in software. Robust software partitioning provides "brick wall" separation between software applications executing on a single processor, along with controlled data movement between applications. Taking advantage of these attributes, non-deterministic applications can be placed in one partition and a "Safety" application created in a separate partition. This "Safety" partition can track the position of astronauts or critical equipment and prevent any unsafe command from executing. Only the Safety partition need be certified to a human rated level. As a proof-of-concept demonstration, Honeywell has teamed with the Ultra WideBand (UWB) Working Group at NASA Johnson Space Center to provide tracking of humans, autonomous systems, and critical equipment. Using UWB the NASA team can determine positioning to within less than one inch resolution, allowing a Safety partition to halt operation of autonomous systems in the event that an unplanned collision is imminent. Another challenge facing autonomous systems is the coordination of multiple autonomous agents. Current approaches address the issue as one of networking and coordination of multiple independent units, each with its own mission. As a proof-of-concept Honeywell is developing and testing various algorithms that lead to a deterministic, fault tolerant, reliable wireless backplane. Just as advanced avionics systems control several subsystems, actuators, sensors, displays, etc.; a single "master" autonomous agent (or base station computer) could control multiple autonomous systems. The problem is simplified to controlling a flexible body consisting of several sensors and actuators, rather than one of coordinating multiple independent units. By filling technology gaps associated with space based autonomous system, wireless technology and Orion architectural principles provide the means for decreasing operational costs and simplifying problems associated with collaboration of multiple autonomous systems.

Real-Time Wireless Data Acquisition System

NASA Technical Reports Server (NTRS)

Valencia, Emilio J.; Perotti, Jose; Lucena, Angel; Mata, Carlos

2007-01-01

Current and future aerospace requirements demand the creation of a new breed of sensing devices, with emphasis on reduced weight, power consumption, and physical size. This new generation of sensors must possess a high degree of intelligence to provide critical data efficiently and in real-time. Intelligence will include self-calibration, self-health assessment, and pre-processing of raw data at the sensor level. Most of these features are already incorporated in the Wireless Sensors Network (SensorNet(TradeMark)), developed by the Instrumentation Group at Kennedy Space Center (KSC). A system based on the SensorNet(TradeMark) architecture consists of data collection point(s) called Central Stations (CS) and intelligent sensors called Remote Stations (RS) where one or more CSs can be accommodated depending on the specific application. The CS's major function is to establish communications with the Remote Stations and to poll each RS for data and health information. The CS also collects, stores and distributes these data to the appropriate systems requiring the information. The system has the ability to perform point-to-point, multi-point and relay mode communications with an autonomous self-diagnosis of each communications link. Upon detection of a communication failure, the system automatically reconfigures to establish new communication paths. These communication paths are automatically and autonomously selected as the best paths by the system based on the existing operating environment. The data acquisition system currently under development at KSC consists of the SensorNet(TradeMark) wireless sensors as the remote stations and the central station called the Radio Frequency Health Node (RFHN). The RFF1N is the central station which remotely communicates with the SensorNet(TradeMark) sensors to control them and to receive data. The system's salient feature is the ability to provide deterministic sensor data with accurate time stamps for both time critical and non-time critical applications. Current wireless standards such as Zigbee(TradeMark) and Bluetooth(Registered TradeMark) do not have these capabilities and can not meet the needs that are provided by the SensorNet technology. Additionally, the system has the ability to automatically reconfigure the wireless communication link to a secondary frequency if interference is encountered and can autonomously search for a sensor that was perceived to be lost using the relay capabilities of the sensors and the secondary frequency. The RFHN and the SensorNet designs are based on modular architectures that allow for future increases in capability and the ability to expand or upgrade with relative ease. The RFHN and SensorNet sensors .can also perform data processing which forms a distributed processing architecture allowing the system to pass along information rather than just sending "raw data points" to the next higher level system. With a relatively small size, weight and power consumption, this system has the potential for both spacecraft and aircraft applications as well as ground applications that require time critical data.

Project Solaris, a Global Network of Autonomous Observatories: Design, Commissioning, and First Science Results

NASA Astrophysics Data System (ADS)

Kozłowski, S. K.; Sybilski, P. W.; Konacki, M.; Pawłaszek, R. K.; Ratajczak, M.; Hełminiak, K. G.; Litwicki, M.

2017-10-01

We present the design and commissioning of Project Solaris, a global network of autonomous observatories. Solaris is a Polish scientific undertaking aimed at the detection and characterization of circumbinary exoplanets and eclipsing binary stars. To accomplish this, a network of four fully autonomous observatories has been deployed in the Southern Hemisphere: Solaris-1 and Solaris-2 in the South African Astronomical Observatory in South Africa; Solaris-3 in Siding Spring Observatory in Australia; and Solaris-4 in Complejo Astronomico El Leoncito in Argentina. The four stations are nearly identical and are equipped with 0.5-m Ritchey-Crétien (f/15) or Cassegrain (f/9, Solaris-3) optics and high-grade 2 K × 2 K CCD cameras with Johnson and Sloan filter sets. We present the design and implementation of low-level security; data logging and notification systems; weather monitoring components; all-sky vision system, surveillance system; and distributed temperature and humidity sensors. We describe dedicated grounding and lighting protection system design and robust fiber data transfer interfaces in electrically demanding conditions. We discuss the outcomes of our design, as well as the resulting software engineering requirements. We describe our system’s engineering approach to achieve the required level of autonomy, the architecture of the custom high-level industry-grade software that has been designed and implemented specifically for the use of the network. We present the actual status of the project and first photometric results; these include data and models of already studied systems for benchmarking purposes (Wasp-4b, Wasp-64b, and Wasp-98b transits, PG 1663-018, an eclipsing binary with a pulsator) as well J024946-3825.6, an interesting low-mass binary system for which a complete model is provided for the first time.

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

2007-01-01

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Innovative thermal energy harvesting for future autonomous applications

NASA Astrophysics Data System (ADS)

Monfray, Stephane

2013-12-01

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power μ-processors, μ-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies & Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market.

Secure, Autonomous, Intelligent Controller for Integrating Distributed Sensor Webs

NASA Technical Reports Server (NTRS)

Ivancic, William D.

2007-01-01

This paper describes the infrastructure and protocols necessary to enable near-real-time commanding, access to space-based assets, and the secure interoperation between sensor webs owned and controlled by various entities. Select terrestrial and aeronautics-base sensor webs will be used to demonstrate time-critical interoperability between integrated, intelligent sensor webs both terrestrial and between terrestrial and space-based assets. For this work, a Secure, Autonomous, Intelligent Controller and knowledge generation unit is implemented using Virtual Mission Operation Center technology.

Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; de Saussure, G.; Spelt, P.F.

1988-01-01

This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioningmore » of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.« less

Optimized Autonomous Space - In-situ Sensorweb: A new Tool for Monitoring Restless Volcanoes

NASA Astrophysics Data System (ADS)

Lahusen, R. G.; Kedar, S.; Song, W.; Chien, S.; Shirazi, B.; Davies, A.; Tran, D.; Pieri, D.

2007-12-01

An interagency team of earth scientists, space scientists and computer scientists are collaborating to develop a real-time monitoring system optimized for rapid deployment at restless volcanoes. The primary goals of this Optimized Autonomous Space In-situ Sensorweb (OASIS) are: 1) integrate complementary space and in-situ (ground-based) elements into an interactive, autonomous sensorweb; 2) advance sensorweb power and communication resource management technology; and 3) enable scalability for seamless infusion of future space and in-situ assets into the sensorweb. A prototype system will be deployed on Mount St. Helens by December 2009. Each node will include GPS, seismic, infrasonic and lightning (for ash plume detection) sensors plus autonomous decision making capabilities and interaction with EO-1 multi-spectral satellite. This three year project is jointly funded by NASA AIST program and USGS Volcano Hazards Program. Work has begun with a rigorous multi-disciplinary discussion and resulted in a system requirements document aimed to guide the design of OASIS and future networks and to achieve the project's stated goals. In this presentation we will highlight the key OASIS system requirements, their rationale and the physical and technical challenges they pose. Preliminary design decisions will be presented.

Online learning algorithm for time series forecasting suitable for low cost wireless sensor networks nodes.

PubMed

Pardo, Juan; Zamora-Martínez, Francisco; Botella-Rocamora, Paloma

2015-04-21

Time series forecasting is an important predictive methodology which can be applied to a wide range of problems. Particularly, forecasting the indoor temperature permits an improved utilization of the HVAC (Heating, Ventilating and Air Conditioning) systems in a home and thus a better energy efficiency. With such purpose the paper describes how to implement an Artificial Neural Network (ANN) algorithm in a low cost system-on-chip to develop an autonomous intelligent wireless sensor network. The present paper uses a Wireless Sensor Networks (WSN) to monitor and forecast the indoor temperature in a smart home, based on low resources and cost microcontroller technology as the 8051MCU. An on-line learning approach, based on Back-Propagation (BP) algorithm for ANNs, has been developed for real-time time series learning. It performs the model training with every new data that arrive to the system, without saving enormous quantities of data to create a historical database as usual, i.e., without previous knowledge. Consequently to validate the approach a simulation study through a Bayesian baseline model have been tested in order to compare with a database of a real application aiming to see the performance and accuracy. The core of the paper is a new algorithm, based on the BP one, which has been described in detail, and the challenge was how to implement a computational demanding algorithm in a simple architecture with very few hardware resources.

Online Learning Algorithm for Time Series Forecasting Suitable for Low Cost Wireless Sensor Networks Nodes

PubMed Central

Pardo, Juan; Zamora-Martínez, Francisco; Botella-Rocamora, Paloma

2015-01-01

Time series forecasting is an important predictive methodology which can be applied to a wide range of problems. Particularly, forecasting the indoor temperature permits an improved utilization of the HVAC (Heating, Ventilating and Air Conditioning) systems in a home and thus a better energy efficiency. With such purpose the paper describes how to implement an Artificial Neural Network (ANN) algorithm in a low cost system-on-chip to develop an autonomous intelligent wireless sensor network. The present paper uses a Wireless Sensor Networks (WSN) to monitor and forecast the indoor temperature in a smart home, based on low resources and cost microcontroller technology as the 8051MCU. An on-line learning approach, based on Back-Propagation (BP) algorithm for ANNs, has been developed for real-time time series learning. It performs the model training with every new data that arrive to the system, without saving enormous quantities of data to create a historical database as usual, i.e., without previous knowledge. Consequently to validate the approach a simulation study through a Bayesian baseline model have been tested in order to compare with a database of a real application aiming to see the performance and accuracy. The core of the paper is a new algorithm, based on the BP one, which has been described in detail, and the challenge was how to implement a computational demanding algorithm in a simple architecture with very few hardware resources. PMID:25905698

Networking Multiple Autonomous Air and Ocean Vehicles for Oceanographic Research and Monitoring

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Rajan, K.

2013-12-01

Autonomous underwater and surface vessels (AUVs and ASVs) are coming into wider use as components of oceanographic research, including ocean observing systems. Unmanned airborne vehicles (UAVs) are now available at modest cost, allowing multiple UAVs to be deployed with multiple AUVs and ASVs. For optimal use good communication and coordination among vehicles is essential. We report on the use of multiple AUVs networked in communication with multiple UAVs. The UAVs are augmented by inferential reasoning software developed at MBARI that allows UAVs to recognize oceanographic fronts and change their navigation and control. This in turn allows UAVs to automatically to map frontal features, as well as to direct AUVs and ASVs to proceed to such features and conduct sampling via onboard sensors to provide validation for airborne mapping. ASVs can also act as data nodes for communication between UAVs and AUVs, as well as collecting data from onboard sensors, while AUVs can sample the water column vertically. This allows more accurate estimation of phytoplankton biomass and productivity, and can be used in conjunction with UAV sampling to determine air-sea flux of gases (e.g. CO2, CH4, DMS) affecting carbon budgets and atmospheric composition. In particular we describe tests in July 2013 conducted off Sesimbra, Portugal in conjunction with the Portuguese Navy by the University of Porto and MBARI with the goal of tracking large fish in the upper water column with coordinated air/surface/underwater measurements. A thermal gradient was observed in the infrared by a low flying UAV, which was used to dispatch an AUV to obtain ground truth to demonstrate the event-response capabilities using such autonomous platforms. Additional field studies in the future will facilitate integration of multiple unmanned systems into research vessel operations. The strength of hardware and software tools described in this study is to permit fundamental oceanographic measurements of both ocean and atmosphere over temporal and spatial scales that have previously been problematic. The methods demonstrated are particularly suited to the study of oceanographic fronts and for tracking and mapping oil spills or plankton blooms. With the networked coordination of multiple autonomous systems, individual components may be changed out while ocean observations continue, allowing coarse to fine spatial studies of hydrographic features over temporal dimensions that would otherwise be difficult, including diurnal and tidal periods. Constraints on these methods currently involve coordination of data archiving systems into shipboard operating systems, familiarization of oceanographers with these methods, and existing nearshore airspace use constraints on UAVs. An important outcome of these efforts is to understand the methodology for using multiple heterogeneous autonomous vehicles for targeted science exploration.

Diode laser absorption sensors for gas-dynamic and combustion flows

NASA Technical Reports Server (NTRS)

Allen, M. G.

1998-01-01

Recent advances in room-temperature, near-IR and visible diode laser sources for tele-communication, high-speed computer networks, and optical data storage applications are enabling a new generation of gas-dynamic and combustion-flow sensors based on laser absorption spectroscopy. In addition to conventional species concentration and density measurements, spectroscopic techniques for temperature, velocity, pressure and mass flux have been demonstrated in laboratory, industrial and technical flows. Combined with fibreoptic distribution networks and ultrasensitive detection strategies, compact and portable sensors are now appearing for a variety of applications. In many cases, the superior spectroscopic quality of the new laser sources compared with earlier cryogenic, mid-IR devices is allowing increased sensitivity of trace species measurements, high-precision spectroscopy of major gas constituents, and stable, autonomous measurement systems. The purpose of this article is to review recent progress in this field and suggest likely directions for future research and development. The various laser-source technologies are briefly reviewed as they relate to sensor applications. Basic theory for laser absorption measurements of gas-dynamic properties is reviewed and special detection strategies for the weak near-IR and visible absorption spectra are described. Typical sensor configurations are described and compared for various application scenarios, ranging from laboratory research to automated field and airborne packages. Recent applications of gas-dynamic sensors for air flows and fluxes of trace atmospheric species are presented. Applications of gas-dynamic and combustion sensors to research and development of high-speed flows aeropropulsion engines, and combustion emissions monitoring are presented in detail, along with emerging flow control systems based on these new sensors. Finally, technology in nonlinear frequency conversion, UV laser materials, room-temperature mid-IR materials and broadly tunable multisection devices is reviewed to suggest new sensor possibilities.

Sensor-scheduling simulation of disparate sensors for Space Situational Awareness

NASA Astrophysics Data System (ADS)

Hobson, T.; Clarkson, I.

2011-09-01

The art and science of space situational awareness (SSA) has been practised and developed from the time of Sputnik. However, recent developments, such as the accelerating pace of satellite launch, the proliferation of launch capable agencies, both commercial and sovereign, and recent well-publicised collisions involving man-made space objects, has further magnified the importance of timely and accurate SSA. The United States Strategic Command (USSTRATCOM) operates the Space Surveillance Network (SSN), a global network of sensors tasked with maintaining SSA. The rapidly increasing number of resident space objects will require commensurate improvements in the SSN. Sensors are scarce resources that must be scheduled judiciously to obtain measurements of maximum utility. Improvements in sensor scheduling and fusion, can serve to reduce the number of additional sensors that may be required. Recently, Hill et al. [1] have proposed and developed a simulation environment named TASMAN (Tasking Autonomous Sensors in a Multiple Application Network) to enable testing of alternative scheduling strategies within a simulated multi-sensor, multi-target environment. TASMAN simulates a high-fidelity, hardware-in-the-loop system by running multiple machines with different roles in parallel. At present, TASMAN is limited to simulations involving electro-optic sensors. Its high fidelity is at once a feature and a limitation, since supercomputing is required to run simulations of appreciable scale. In this paper, we describe an alternative, modular and scalable SSA simulation system that can extend the work of Hill et al with reduced complexity, albeit also with reduced fidelity. The tool has been developed in MATLAB and therefore can be run on a very wide range of computing platforms. It can also make use of MATLAB’s parallel processing capabilities to obtain considerable speed-up. The speed and flexibility so obtained can be used to quickly test scheduling algorithms even with a relatively large number of space objects. We further describe an application of the tool by exploring how the relative mixture of electro-optical and radar sensors can impact the scheduling, fusion and achievable accuracy of an SSA system. By varying the mixture of sensor types, we are able to characterise the main advantages and disadvantages of each configuration.

Training a Network of Electronic Neurons for Control of a Mobile Robot

NASA Astrophysics Data System (ADS)

Vromen, T. G. M.; Steur, E.; Nijmeijer, H.

An adaptive training procedure is developed for a network of electronic neurons, which controls a mobile robot driving around in an unknown environment while avoiding obstacles. The neuronal network controls the angular velocity of the wheels of the robot based on the sensor readings. The nodes in the neuronal network controller are clusters of neurons rather than single neurons. The adaptive training procedure ensures that the input-output behavior of the clusters is identical, even though the constituting neurons are nonidentical and have, in isolation, nonidentical responses to the same input. In particular, we let the neurons interact via a diffusive coupling, and the proposed training procedure modifies the diffusion interaction weights such that the neurons behave synchronously with a predefined response. The working principle of the training procedure is experimentally validated and results of an experiment with a mobile robot that is completely autonomously driving in an unknown environment with obstacles are presented.

Monitoring Pest Insect Traps by Means of Low-Power Image Sensor Technologies

PubMed Central

López, Otoniel; Rach, Miguel Martinez; Migallon, Hector; Malumbres, Manuel P.; Bonastre, Alberto; Serrano, Juan J.

2012-01-01

Monitoring pest insect populations is currently a key issue in agriculture and forestry protection. At the farm level, human operators typically must perform periodical surveys of the traps disseminated through the field. This is a labor-, time- and cost-consuming activity, in particular for large plantations or large forestry areas, so it would be of great advantage to have an affordable system capable of doing this task automatically in an accurate and a more efficient way. This paper proposes an autonomous monitoring system based on a low-cost image sensor that it is able to capture and send images of the trap contents to a remote control station with the periodicity demanded by the trapping application. Our autonomous monitoring system will be able to cover large areas with very low energy consumption. This issue would be the main key point in our study; since the operational live of the overall monitoring system should be extended to months of continuous operation without any kind of maintenance (i.e., battery replacement). The images delivered by image sensors would be time-stamped and processed in the control station to get the number of individuals found at each trap. All the information would be conveniently stored at the control station, and accessible via Internet by means of available network services at control station (WiFi, WiMax, 3G/4G, etc.). PMID:23202232

Monitoring pest insect traps by means of low-power image sensor technologies.

PubMed

López, Otoniel; Rach, Miguel Martinez; Migallon, Hector; Malumbres, Manuel P; Bonastre, Alberto; Serrano, Juan J

2012-11-13

Monitoring pest insect populations is currently a key issue in agriculture and forestry protection. At the farm level, human operators typically must perform periodical surveys of the traps disseminated through the field. This is a labor-, time- and cost-consuming activity, in particular for large plantations or large forestry areas, so it would be of great advantage to have an affordable system capable of doing this task automatically in an accurate and a more efficient way. This paper proposes an autonomous monitoring system based on a low-cost image sensor that it is able to capture and send images of the trap contents to a remote control station with the periodicity demanded by the trapping application. Our autonomous monitoring system will be able to cover large areas with very low energy consumption. This issue would be the main key point in our study; since the operational live of the overall monitoring system should be extended to months of continuous operation without any kind of maintenance (i.e., battery replacement). The images delivered by image sensors would be time-stamped and processed in the control station to get the number of individuals found at each trap. All the information would be conveniently stored at the control station, and accessible via Internet by means of available network services at control station (WiFi, WiMax, 3G/4G, etc.).

Adaptive measurements of urban runoff quality

NASA Astrophysics Data System (ADS)

Wong, Brandon P.; Kerkez, Branko

2016-11-01

An approach to adaptively measure runoff water quality dynamics is introduced, focusing specifically on characterizing the timing and magnitude of urban pollutographs. Rather than relying on a static schedule or flow-weighted sampling, which can miss important water quality dynamics if parameterized inadequately, novel Internet-enabled sensor nodes are used to autonomously adapt their measurement frequency to real-time weather forecasts and hydrologic conditions. This dynamic approach has the potential to significantly improve the use of constrained experimental resources, such as automated grab samplers, which continue to provide a strong alternative to sampling water quality dynamics when in situ sensors are not available. Compared to conventional flow-weighted or time-weighted sampling schemes, which rely on preset thresholds, a major benefit of the approach is the ability to dynamically adapt to features of an underlying hydrologic signal. A 28 km2 urban watershed was studied to characterize concentrations of total suspended solids (TSS) and total phosphorus. Water quality samples were autonomously triggered in response to features in the underlying hydrograph and real-time weather forecasts. The study watershed did not exhibit a strong first flush and intraevent concentration variability was driven by flow acceleration, wherein the largest loadings of TSS and total phosphorus corresponded with the steepest rising limbs of the storm hydrograph. The scalability of the proposed method is discussed in the context of larger sensor network deployments, as well the potential to improving control of urban water quality.

Formation Flying for Satellites and Unmanned Aerial Vehicles

NASA Technical Reports Server (NTRS)

Merrill, Garrick

2015-01-01

The shrinking size of satellites and unmanned aerial vehicles (UAVs) is enabling lower cost missions. As sensors and electronics continue to downsize, the next step is multiple vehicles providing different perspectives or variations for more precise measurements. While flying a single satellite or UAV autonomously is a challenge, flying multiple vehicles in a precise formation is even more challenging. The goal of this project is to develop a scalable mesh network between vehicles (satellites or UAVs) to share real-time position data and maintain formations autonomously. Newly available low-cost, commercial off-the-shelf credit card size computers will be used as the basis for this network. Mesh networking techniques will be used to provide redundant links and a flexible network. The Small Projects Rapid Integration and Test Environment Lab will be used to simulate formation flying of satellites. UAVs built by the Aero-M team will be used to demonstrate the formation flying in the West Test Area. The ability to test in flight on NASA-owned UAVs allows this technology to achieve a high Technology Readiness Level (TRL) (TRL-4 for satellites and TRL-7 for UAVs). The low cost of small UAVs and the availability of a large test range (West Test Area) dramatically reduces the expense of testing. The end goal is for this technology to be ready to use on any multiple satellite or UAV mission.

Internetting tactical security sensor systems

NASA Astrophysics Data System (ADS)

Gage, Douglas W.; Bryan, W. D.; Nguyen, Hoa G.

1998-08-01

The Multipurpose Surveillance and Security Mission Platform (MSSMP) is a distributed network of remote sensing packages and control stations, designed to provide a rapidly deployable, extended-range surveillance capability for a wide variety of military security operations and other tactical missions. The baseline MSSMP sensor suite consists of a pan/tilt unit with video and FLIR cameras and laser rangefinder. With an additional radio transceiver, MSSMP can also function as a gateway between existing security/surveillance sensor systems such as TASS, TRSS, and IREMBASS, and IP-based networks, to support the timely distribution of both threat detection and threat assessment information. The MSSMP system makes maximum use of Commercial Off The Shelf (COTS) components for sensing, processing, and communications, and of both established and emerging standard communications networking protocols and system integration techniques. Its use of IP-based protocols allows it to freely interoperate with the Internet -- providing geographic transparency, facilitating development, and allowing fully distributed demonstration capability -- and prepares it for integration with the IP-based tactical radio networks that will evolve in the next decade. Unfortunately, the Internet's standard Transport layer protocol, TCP, is poorly matched to the requirements of security sensors and other quasi- autonomous systems in being oriented to conveying a continuous data stream, rather than discrete messages. Also, its canonical 'socket' interface both conceals short losses of communications connectivity and simply gives up and forces the Application layer software to deal with longer losses. For MSSMP, a software applique is being developed that will run on top of User Datagram Protocol (UDP) to provide a reliable message-based Transport service. In addition, a Session layer protocol is being developed to support the effective transfer of control of multiple platforms among multiple control stations.

Toward an Autonomous Telescope Network: the TBT Scheduler

NASA Astrophysics Data System (ADS)

Racero, E.; Ibarra, A.; Ocaña, F.; de Lis, S. B.; Ponz, J. D.; Castillo, M.; Sánchez-Portal, M.

2015-09-01

Within the ESA SSA program, it is foreseen to deploy several robotic telescopes to provide surveillance and tracking services for hazardous objects. The TBT project will procure a validation platform for an autonomous optical observing system in a realistic scenario, consisting of two telescopes located in Spain and Australia, to collect representative test data for precursor SSA services. In this context, the planning and scheduling of the night consists of two software modules, the TBT Scheduler, that will allow the manual and autonomous planning of the night, and the control of the real-time response of the system, done by the RTS2 internal scheduler. The TBT Scheduler allocates tasks for both telescopes without human intervention. Every night it takes all the inputs needed and prepares the schedule following some predefined rules. The main purpose of the scheduler is the distribution of the time for follow-up of recently discovered targets and surveys. The TBT Scheduler considers the overall performance of the system, and combine follow-up with a priori survey strategies for both kind of objects. The strategy is defined according to the expected combined performance for both systems the upcoming night (weather, sky brightness, object accessibility and priority). Therefore, TBT Scheduler defines the global approach for the network and relies on the RTS2 internal scheduler for the final detailed distribution of tasks at each sensor.

Cybersecurity and Optimization in Smart “Autonomous” Buildings

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mylrea, Michael E.; Gourisetti, Sri Nikhil Gup

Significant resources have been invested in making buildings “smart” by digitizing, networking and automating key systems and operations. Smart autonomous buildings create new energy efficiency, economic and environmental opportunities. But as buildings become increasingly networked to the Internet, they can also become more vulnerable to various cyber threats. Automated and Internet-connected buildings systems, equipment, controls, and sensors can significantly increase cyber and physical vulnerabilities that threaten the confidentiality, integrity, and availability of critical systems in organizations. Securing smart autonomous buildings presents a national security and economic challenge to the nation. Ignoring this challenge threatens business continuity and the availability ofmore » critical infrastructures that are enabled by smart buildings. In this chapter, the authors address challenges and explore new opportunities in securing smart buildings that are enhanced by machine learning, cognitive sensing, artificial intelligence (AI) and smart-energy technologies. The chapter begins by identifying cyber-threats and challenges to smart autonomous buildings. Then it provides recommendations on how AI enabled solutions can help smart buildings and facilities better protect, detect and respond to cyber-physical threats and vulnerabilities. Next, the chapter will provide case studies that examine how combining AI with innovative smart-energy technologies can increase both cybersecurity and energy efficiency savings in buildings. The chapter will conclude by proposing recommendations for future cybersecurity and energy optimization research for examining AI enabled smart-energy technology.« less

Development and evaluation of an ambulatory stress monitor based on wearable sensors.

PubMed

Choi, Jongyoon; Ahmed, Beena; Gutierrez-Osuna, Ricardo

2012-03-01

Chronic stress is endemic to modern society. However, as it is unfeasible for physicians to continuously monitor stress levels, its diagnosis is nontrivial. Wireless body sensor networks offer opportunities to ubiquitously detect and monitor mental stress levels, enabling improved diagnosis, and early treatment. This article describes the development of a wearable sensor platform to monitor a number of physiological correlates of mental stress. We discuss tradeoffs in both system design and sensor selection to balance information content and wearability. Using experimental signals collected from the wearable sensor, we describe a selected number of physiological features that show good correlation with mental stress. In particular, we propose a new spectral feature that estimates the balance of the autonomic nervous system by combining information from the power spectral density of respiration and heart rate variability. We validate the effectiveness of our approach on a binary discrimination problem when subjects are placed under two psychophysiological conditions: mental stress and relaxation. When used in a logistic regression model, our feature set is able to discriminate between these two mental states with a success rate of 81% across subjects. © 2012 IEEE

Development and Successful Application of a Tree Movement Energy Harvesting Device, to Power a Wireless Sensor Node

PubMed Central

McGarry, Scott; Knight, Chris

2012-01-01

Wireless sensor networks are becoming increasingly more common as a means to sense, measure, record and transmit data for scientific and engineering evaluation, remotely and autonomously. Usually, remotely located sensor nodes are powered by batteries which are recharged by solar or wind energy harvesters. Sometimes nodes are located in areas where these forms of energy harvesting are not possible due to local conditions, such as under the canopy of a forest. This article outlines the design and testing of a device capable of harvesting energy from tree movement, and shows the device powering a wireless sensor node continuously. The device uses the force and displacement of the movement of a tree trunk (of a 6 m tall tree) to drive an electromagnetic generator that recharges a nickel metal hydride battery. The battery stores the energy from which a ∼0.5 mW wireless sensor node is powered continuously. This demonstrated method of energy harvesting may allow the placement and powering of nodes in locations previously not possible.

RoBlock: a prototype autonomous manufacturing cell

NASA Astrophysics Data System (ADS)

Baekdal, Lars K.; Balslev, Ivar; Eriksen, Rene D.; Jensen, Soren P.; Jorgensen, Bo N.; Kirstein, Brian; Kristensen, Bent B.; Olsen, Martin M.; Perram, John W.; Petersen, Henrik G.; Petersen, Morten L.; Ruhoff, Peter T.; Skjolstrup, Carl E.; Sorensen, Anders S.; Wagenaar, Jeroen M.

2000-10-01

RoBlock is the first phase of an internally financed project at the Institute aimed at building a system in which two industrial robots suspended from a gantry, as shown below, cooperate to perform a task specified by an external user, in this case, assembling an unstructured collection of colored wooden blocks into a specified 3D pattern. The blocks are identified and localized using computer vision and grasped with a suction cup mechanism. Future phases of the project will involve other processes such as grasping and lifting, as well as other types of robot such as autonomous vehicles or variable geometry trusses. Innovative features of the control software system include: The use of an advanced trajectory planning system which ensures collision avoidance based on a generalization of the method of artificial potential fields, the use of a generic model-based controller which learns the values of parameters, including static and kinetic friction, of a detailed mechanical model of itself by comparing actual with planned movements, the use of fast, flexible, and robust pattern recognition and 3D-interpretation strategies, integration of trajectory planning and control with the sensor systems in a distributed Java application running on a network of PC's attached to the individual physical components. In designing this first stage, the aim was to build in the minimum complexity necessary to make the system non-trivially autonomous and to minimize the technological risks. The aims of this project, which is planned to be operational during 2000, are as follows: To provide a platform for carrying out experimental research in multi-agent systems and autonomous manufacturing systems, to test the interdisciplinary cooperation architecture of the Maersk Institute, in which researchers in the fields of applied mathematics (modeling the physical world), software engineering (modeling the system) and sensor/actuator technology (relating the virtual and real worlds) could collaborate with systems integrators to construct intelligent, autonomous systems, and to provide a showpiece demonstrator in the entrance hall of the Institute's new building.

GROVER: An autonomous vehicle for ice sheet research

NASA Astrophysics Data System (ADS)

Trisca, G. O.; Robertson, M. E.; Marshall, H.; Koenig, L.; Comberiate, M. A.

2013-12-01

The Goddard Remotely Operated Vehicle for Exploration and Research or Greenland Rover (GROVER) is a science enabling autonomous robot specifically designed to carry a low-power, large bandwidth radar for snow accumulation mapping over the Greenland Ice Sheet. This new and evolving technology enables reduced cost and increased safety for polar research. GROVER was field tested at Summit, Greenland in May 2013. The robot traveled over 30 km and was controlled both by line of sight wireless and completely autonomously with commands and telemetry via the Iridium Satellite Network, from Summit as well as remotely from Boise, Idaho. Here we describe GROVER's unique abilities and design. The software stack features a modular design that can be adapted for any application that requires autonomous behavior, reliable communications using different technologies and low level control of peripherals. The modules are built to communicate using the publisher-subscriber design pattern to maximize data-reuse and allow for graceful failures at the software level, along with the ability to be loaded or unloaded on-the-fly, enabling the software to adopt different behaviors based on power constraints or specific processing needs. These modules can also be loaded or unloaded remotely for servicing and telemetry can be configured to contain any kind of information being generated by the sensors or scientific instruments. The hardware design protects the electronic components and the control system can change functional parameters based on sensor input. Power failure modes built into the hardware prevent the vehicle from running out of energy permanently by monitoring voltage levels and triggering software reboots when the levels match pre-established conditions. This guarantees that the control software will be operational as soon as there is enough charge to sustain it, giving the vehicle increased longevity in case of a temporary power loss. GROVER demonstrates that autonomous rovers can be a revolutionary tool for data collection, and that both the technology and the software are available and ready to be implemented to create scientific data collection platforms.

Model-Based Method for Sensor Validation

NASA Technical Reports Server (NTRS)

Vatan, Farrokh

2012-01-01

Fault detection, diagnosis, and prognosis are essential tasks in the operation of autonomous spacecraft, instruments, and in situ platforms. One of NASA s key mission requirements is robust state estimation. Sensing, using a wide range of sensors and sensor fusion approaches, plays a central role in robust state estimation, and there is a need to diagnose sensor failure as well as component failure. Sensor validation can be considered to be part of the larger effort of improving reliability and safety. The standard methods for solving the sensor validation problem are based on probabilistic analysis of the system, from which the method based on Bayesian networks is most popular. Therefore, these methods can only predict the most probable faulty sensors, which are subject to the initial probabilities defined for the failures. The method developed in this work is based on a model-based approach and provides the faulty sensors (if any), which can be logically inferred from the model of the system and the sensor readings (observations). The method is also more suitable for the systems when it is hard, or even impossible, to find the probability functions of the system. The method starts by a new mathematical description of the problem and develops a very efficient and systematic algorithm for its solution. The method builds on the concepts of analytical redundant relations (ARRs).

Neuromorphic vision sensors and preprocessors in system applications

NASA Astrophysics Data System (ADS)

Kramer, Joerg; Indiveri, Giacomo

1998-09-01

A partial review of neuromorphic vision sensors that are suitable for use in autonomous systems is presented. Interfaces are being developed to multiplex the high- dimensional output signals of arrays of such sensors and to communicate them in standard formats to off-chip devices for higher-level processing, actuation, storage and display. Alternatively, on-chip processing stages may be implemented to extract sparse image parameters, thereby obviating the need for multiplexing. Autonomous robots are used to test neuromorphic vision chips in real-world environments and to explore the possibilities of data fusion from different sensing modalities. Examples of autonomous mobile systems that use neuromorphic vision chips for line tracking and optical flow matching are described.

Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2014-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks , through innovative signal processing, coding, and...4. TITLE AND SUBTITLE Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and...coding: 3) OFDM modulated dynamic coded cooperation in underwater acoustic channels; 3 Localization, Networking , and Testbed: 4) On-demand

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application.

PubMed

Vivacqua, Rafael; Vassallo, Raquel; Martins, Felipe

2017-10-16

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle's backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application

PubMed Central

Vassallo, Raquel

2017-01-01

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle’s backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation. PMID:29035334

An Autonomous Sensor Tasking Approach for Large Scale Space Object Cataloging

NASA Astrophysics Data System (ADS)

Linares, R.; Furfaro, R.

The field of Space Situational Awareness (SSA) has progressed over the last few decades with new sensors coming online, the development of new approaches for making observations, and new algorithms for processing them. Although there has been success in the development of new approaches, a missing piece is the translation of SSA goals to sensors and resource allocation; otherwise known as the Sensor Management Problem (SMP). This work solves the SMP using an artificial intelligence approach called Deep Reinforcement Learning (DRL). Stable methods for training DRL approaches based on neural networks exist, but most of these approaches are not suitable for high dimensional systems. The Asynchronous Advantage Actor-Critic (A3C) method is a recently developed and effective approach for high dimensional systems, and this work leverages these results and applies this approach to decision making in SSA. The decision space for the SSA problems can be high dimensional, even for tasking of a single telescope. Since the number of SOs in space is relatively high, each sensor will have a large number of possible actions at a given time. Therefore, efficient DRL approaches are required when solving the SMP for SSA. This work develops a A3C based method for DRL applied to SSA sensor tasking. One of the key benefits of DRL approaches is the ability to handle high dimensional data. For example DRL methods have been applied to image processing for the autonomous car application. For example, a 256x256 RGB image has 196608 parameters (256*256*3=196608) which is very high dimensional, and deep learning approaches routinely take images like this as inputs. Therefore, when applied to the whole catalog the DRL approach offers the ability to solve this high dimensional problem. This work has the potential to, for the first time, solve the non-myopic sensor tasking problem for the whole SO catalog (over 22,000 objects) providing a truly revolutionary result.

Integrating Predictive Modeling with Control System Design for Managed Aquifer Recharge and Recovery Applications

NASA Astrophysics Data System (ADS)

Drumheller, Z. W.; Regnery, J.; Lee, J. H.; Illangasekare, T. H.; Kitanidis, P. K.; Smits, K. M.

2014-12-01

Aquifers around the world show troubling signs of irreversible depletion and seawater intrusion as climate change, population growth, and urbanization led to reduced natural recharge rates and overuse. Scientists and engineers have begun to re-investigate the technology of managed aquifer recharge and recovery (MAR) as a means to increase the reliability of the diminishing and increasingly variable groundwater supply. MAR systems offer the possibility of naturally increasing groundwater storage while improving the quality of impaired water used for recharge. Unfortunately, MAR systems remain wrought with operational challenges related to the quality and quantity of recharged and recovered water stemming from a lack of data-driven, real-time control. Our project seeks to ease the operational challenges of MAR facilities through the implementation of active sensor networks, adaptively calibrated flow and transport models, and simulation-based meta-heuristic control optimization methods. The developed system works by continually collecting hydraulic and water quality data from a sensor network embedded within the aquifer. The data is fed into an inversion algorithm, which calibrates the parameters and initial conditions of a predictive flow and transport model. The calibrated model is passed to a meta-heuristic control optimization algorithm (e.g. genetic algorithm) to execute the simulations and determine the best course of action, i.e., the optimal pumping policy for current aquifer conditions. The optimal pumping policy is manually or autonomously applied. During operation, sensor data are used to assess the accuracy of the optimal prediction and augment the pumping strategy as needed. At laboratory-scale, a small (18"H x 46"L) and an intermediate (6'H x 16'L) two-dimensional synthetic aquifer were constructed and outfitted with sensor networks. Data collection and model inversion components were developed and sensor data were validated by analytical measurements.

Global asymptotical ω-periodicity of a fractional-order non-autonomous neural networks.

PubMed

Chen, Boshan; Chen, Jiejie

2015-08-01

We study the global asymptotic ω-periodicity for a fractional-order non-autonomous neural networks. Firstly, based on the Caputo fractional-order derivative it is shown that ω-periodic or autonomous fractional-order neural networks cannot generate exactly ω-periodic signals. Next, by using the contraction mapping principle we discuss the existence and uniqueness of S-asymptotically ω-periodic solution for a class of fractional-order non-autonomous neural networks. Then by using a fractional-order differential and integral inequality technique, we study global Mittag-Leffler stability and global asymptotical periodicity of the fractional-order non-autonomous neural networks, which shows that all paths of the networks, starting from arbitrary points and responding to persistent, nonconstant ω-periodic external inputs, asymptotically converge to the same nonconstant ω-periodic function that may be not a solution. Copyright © 2015 Elsevier Ltd. All rights reserved.

Artificial evolution: a new path for artificial intelligence?

PubMed

Husbands, P; Harvey, I; Cliff, D; Miller, G

1997-06-01

Recently there have been a number of proposals for the use of artificial evolution as a radically new approach to the development of control systems for autonomous robots. This paper explains the artificial evolution approach, using work at Sussex to illustrate it. The paper revolves around a case study on the concurrent evolution of control networks and visual sensor morphologies for a mobile robot. Wider intellectual issues surrounding the work are discussed, as is the use of more abstract evolutionary simulations as a new potentially useful tool in theoretical biology.

Direct Inverse Control using an Artificial Neural Network for the Autonomous Hover of a Helicopter

DTIC Science & Technology

2014-10-05

that if r(t) is the command to hover; the output y(t) will simply track the input command and hold a hover for the helicopter. III. THE X- 4P ...being used to test the DIC techniques to simulate realistic flight conditions. The X- 4P was instrumented with a number of sensors and a data recording...research [1] for system identification. The X- 4P SISO transfer functions were developed by CIFER in order to compare results against the DIC control

MARSnet: Mission-aware Autonomous Radar Sensor Network for Future Combat Systems

DTIC Science & Technology

2008-07-31

Deviation Consider the case of a Gaussian primary MF having a fixed mean, ml, and an uncertain standard deviation that takes on values in [ai, 2]’ i.e...fuzzy set, so thatR k --* AXk (k = 1,... ,p), the upper and lower MFs of Pkk merge into one MF, AXk (Xk), in which case Theorem 1 simplifies to: Corollary...the upper and lower MFs of A k(Xk) merge into one crisp value, namely 1, in which case Theorem 1 simplifies further to: Corollary 2 In a favor weak

ZeroCal: Automatic MAC Protocol Calibration

NASA Astrophysics Data System (ADS)

Meier, Andreas; Woehrle, Matthias; Zimmerling, Marco; Thiele, Lothar

Sensor network MAC protocols are typically configured for an intended deployment scenario once and for all at compile time. This approach, however, leads to suboptimal performance if the network conditions deviate from the expectations. We present ZeroCal, a distributed algorithm that allows nodes to dynamically adapt to variations in traffic volume. Using ZeroCal, each node autonomously configures its MAC protocol at runtime, thereby trying to reduce the maximum energy consumption among all nodes. While the algorithm is readily usable for any asynchronous low-power listening or low-power probing protocol, we validate and demonstrate the effectiveness of ZeroCal on X-MAC. Extensive testbed experiments and simulations indicate that ZeroCal quickly adapts to traffic variations. We further show that ZeroCal extends network lifetime by 50% compared to an optimal configuration with identical and static MAC parameters at all nodes.

Autonomous Robotic Inspection in Tunnels

NASA Astrophysics Data System (ADS)

Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

2016-06-01

In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

Optimal sensor fusion for land vehicle navigation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morrow, J.D.

1990-10-01

Position location is a fundamental requirement in autonomous mobile robots which record and subsequently follow x,y paths. The Dept. of Energy, Office of Safeguards and Security, Robotic Security Vehicle (RSV) program involves the development of an autonomous mobile robot for patrolling a structured exterior environment. A straight-forward method for autonomous path-following has been adopted and requires digitizing'' the desired road network by storing x,y coordinates every 2m along the roads. The position location system used to define the locations consists of a radio beacon system which triangulates position off two known transponders, and dead reckoning with compass and odometer. Thismore » paper addresses the problem of combining these two measurements to arrive at a best estimate of position. Two algorithms are proposed: the optimal'' algorithm treats the measurements as random variables and minimizes the estimate variance, while the average error'' algorithm considers the bias in dead reckoning and attempts to guarantee an average error. Data collected on the algorithms indicate that both work well in practice. 2 refs., 7 figs.« less

Adaptive limited feedback for interference alignment in MIMO interference channels.

PubMed

Zhang, Yang; Zhao, Chenglin; Meng, Juan; Li, Shibao; Li, Li

2016-01-01

It is very important that the radar sensor network has autonomous capabilities such as self-managing, etc. Quite often, MIMO interference channels are applied to radar sensor networks, and for self-managing purpose, interference management in MIMO interference channels is critical. Interference alignment (IA) has the potential to dramatically improve system throughput by effectively mitigating interference in multi-user networks at high signal-to-noise (SNR). However, the implementation of IA predominantly relays on perfect and global channel state information (CSI) at all transceivers. A large amount of CSI has to be fed back to all transmitters, resulting in a proliferation of feedback bits. Thus, IA with limited feedback has been introduced to reduce the sum feedback overhead. In this paper, by exploiting the advantage of heterogeneous path loss, we first investigate the throughput of IA with limited feedback in interference channels while each user transmits multi-streams simultaneously, then we get the upper bound of sum rate in terms of the transmit power and feedback bits. Moreover, we propose a dynamic feedback scheme via bit allocation to reduce the throughput loss due to limited feedback. Simulation results demonstrate that the dynamic feedback scheme achieves better performance in terms of sum rate.

Availability and End-to-end Reliability in Low Duty Cycle Multihop Wireless Sensor Networks.

PubMed

Suhonen, Jukka; Hämäläinen, Timo D; Hännikäinen, Marko

2009-01-01

A wireless sensor network (WSN) is an ad-hoc technology that may even consist of thousands of nodes, which necessitates autonomic, self-organizing and multihop operations. A typical WSN node is battery powered, which makes the network lifetime the primary concern. The highest energy efficiency is achieved with low duty cycle operation, however, this alone is not enough. WSNs are deployed for different uses, each requiring acceptable Quality of Service (QoS). Due to the unique characteristics of WSNs, such as dynamic wireless multihop routing and resource constraints, the legacy QoS metrics are not feasible as such. We give a new definition to measure and implement QoS in low duty cycle WSNs, namely availability and reliability. Then, we analyze the effect of duty cycling for reaching the availability and reliability. The results are obtained by simulations with ZigBee and proprietary TUTWSN protocols. Based on the results, we also propose a data forwarding algorithm suitable for resource constrained WSNs that guarantees end-to-end reliability while adding a small overhead that is relative to the packet error rate (PER). The forwarding algorithm guarantees reliability up to 30% PER.

Towards fenceless boundaries for solar powered insect biobots.

PubMed

Latif, Tahmid; Whitmire, Eric; Novak, Tristan; Bozkurt, Alper

2014-01-01

Demonstration of remote navigation with instrumented insects, such as the Madagascar Hissing Cockroach, Gromphadorhina portentosa, has enabled the concept of biobotic agents for search and rescue missions and environmental monitoring applications. The biobots can form the nodes of a mobile sensor network to be established, for example, in unknown and dynamic environments after natural disasters to pinpoint surviving victims. We demonstrate here, for the first time, the concept of an invisible fence for insect biobots with an ultimate goal of keeping insect biobots within a certain distance of each other or a base station to ensure a reliable wireless network. For extended mission durations, this fenceless boundary would also be used to guide insects towards light sources for autonomous solar charging of their on-board batteries.

Sensor Data Qualification for Autonomous Operation of Space Systems

NASA Technical Reports Server (NTRS)

Maul, William A.; Melcher, Kevin J.; Chicatelli, Amy K.; Sowers, T. Shane

2006-01-01

NASA's new Exploration initiative for both robotic and manned missions will require higher levels of reliability, autonomy and reconfiguration capability to make the missions safe, successful and affordable. Future systems will require diagnostic reasoning to assess the health of the system in order to maintain the system s functionality. The diagnostic reasoning and assessment will involve data qualification, fault detection, fault isolation and remediation control. A team of researchers at the NASA Glenn Research Center is currently working on a Sensor Data Qualification (SDQ) system that will support these critical evaluation processes, for both automated and human-in-the-loop applications. Data qualification is required as a first step so that critical safety and operational decisions are based on good data. The SDQ system would monitor a network of related sensors to determine the health of individual sensors within that network. Various diagnostic systems such as the Caution and Warning System would then use the sensor health information with confidence. The proposed SDQ technology will be demonstrated on a variety of subsystems that are relevant to NASA s Exploration systems, which currently include an electrical power system and a cryogenic fluid management system. The focus of this paper is the development and demonstration of a SDQ application for a prototype power distribution unit that is representative of a Crew Exploration Vehicle electrical power system; this provides a unique and relevant environment in which to demonstrate the feasibility of the SDQ technology.

The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

NASA Astrophysics Data System (ADS)

Li, Yulong; Liu, Rong; Liu, Shujin

2018-01-01

This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehicle to surge, heave, yaw, and pitch. A specialized water sample collection compartment is designed to perform water collection at target locations. The vehicle has a central controller—STM32—and a sub-coordinate controller—Arduino MEGA 2560—that coordinates multiple sensors including an inertial sensor, ultrasonic sensors, etc. Global Navigation Satellite System (GNSS) and the inertial sensor enable the vehicle’s localization. Remote operators monitor and control the vehicle via a host computer system. Operators choose either semi-autonomous mode in which they set target locations or manual mode. The experimental results show that the vehicle is able to perform well in either mode.

Autonomous space target recognition and tracking approach using star sensors based on a Kalman filter.

PubMed

Ye, Tao; Zhou, Fuqiang

2015-04-10

When imaged by detectors, space targets (including satellites and debris) and background stars have similar point-spread functions, and both objects appear to change as detectors track targets. Therefore, traditional tracking methods cannot separate targets from stars and cannot directly recognize targets in 2D images. Consequently, we propose an autonomous space target recognition and tracking approach using a star sensor technique and a Kalman filter (KF). A two-step method for subpixel-scale detection of star objects (including stars and targets) is developed, and the combination of the star sensor technique and a KF is used to track targets. The experimental results show that the proposed method is adequate for autonomously recognizing and tracking space targets.

Miniature, Low-Power, Waveguide Based Infrared Fourier Transform Spectrometer for Spacecraft Remote Sensing

NASA Technical Reports Server (NTRS)

Hewagama, TIlak; Aslam, Shahid; Talabac, Stephen; Allen, John E., Jr.; Annen, John N.; Jennings, Donald E.

2011-01-01

Fourier transform spectrometers have a venerable heritage as flight instruments. However, obtaining an accurate spectrum exacts a penalty in instrument mass and power requirements. Recent advances in a broad class of non-scanning Fourier transform spectrometer (FTS) devices, generally called spatial heterodyne spectrometers, offer distinct advantages as flight optimized systems. We are developing a miniaturized system that employs photonics lightwave circuit principles and functions as an FTS operating in the 7-14 micrometer spectral region. The inteferogram is constructed from an ensemble of Mach-Zehnder interferometers with path length differences calibrated to mimic scan mirror sample positions of a classic Michelson type FTS. One potential long-term application of this technology in low cost planetary missions is the concept of a self-contained sensor system. We are developing a systems architecture concept for wide area in situ and remote monitoring of characteristic properties that are of scientific interest. The system will be based on wavelength- and resolution-independent spectroscopic sensors for studying atmospheric and surface chemistry, physics, and mineralogy. The self-contained sensor network is based on our concept of an Addressable Photonics Cube (APC) which has real-time flexibility and broad science applications. It is envisaged that a spatially distributed autonomous sensor web concept that integrates multiple APCs will be reactive and dynamically driven. The network is designed to respond in an event- or model-driven manner or reconfigured as needed.

An Interference Mitigation Scheme of Device-to-Device Communications for Sensor Networks Underlying LTE-A

PubMed Central

Kim, Jeehyeong; Karim, Nzabanita Abdoul; Cho, Sunghyun

2017-01-01

Device-to-Device (D2D) communication technology has become a key factor in wireless sensor networks to form autonomous communication links among sensor nodes. Many research results for D2D have been presented to resolve different technical issues of D2D. Nevertheless, the previous works have not resolved the shortage of data rate and limited coverage of wireless sensor networks. Due to bandwidth shortages and limited communication coverage, 3rd Generation Partnership Project (3GPP) has introduced a new Device-to-Device (D2D) communication technique underlying cellular networks, which can improve spectral efficiencies by enabling the direct communication of devices in proximity without passing through enhanced-NodeB (eNB). However, to enable D2D communication in a cellular network presents a challenge with regard to radio resource management since D2D links reuse the uplink radio resources of cellular users and it can cause interference to the receiving channels of D2D user equipment (DUE). In this paper, a hybrid mechanism is proposed that uses Fractional Frequency Reuse (FFR) and Almost Blank Sub-frame (ABS) schemes to handle inter-cell interference caused by cellular user equipments (CUEs) to D2D receivers (DUE-Rxs), reusing the same resources at the cell edge area. In our case, DUE-Rxs are considered as victim nodes and CUEs as aggressor nodes, since our primary target is to minimize inter-cell interference in order to increase the signal to interference and noise ratio (SINR) of the target DUE-Rx at the cell edge area. The numerical results show that the interference level of the target D2D receiver (DUE-Rx) decreases significantly compared to the conventional FFR at the cell edge. In addition, the system throughput of the proposed scheme can be increased up to 60% compared to the conventional FFR. PMID:28489064

An Interference Mitigation Scheme of Device-to-Device Communications for Sensor Networks Underlying LTE-A.

PubMed

Kim, Jeehyeong; Karim, Nzabanita Abdoul; Cho, Sunghyun

2017-05-10

Device-to-Device (D2D) communication technology has become a key factor in wireless sensor networks to form autonomous communication links among sensor nodes. Many research results for D2D have been presented to resolve different technical issues of D2D. Nevertheless, the previous works have not resolved the shortage of data rate and limited coverage of wireless sensor networks. Due to bandwidth shortages and limited communication coverage, 3rd Generation Partnership Project (3GPP) has introduced a new Device-to-Device (D2D) communication technique underlying cellular networks, which can improve spectral efficiencies by enabling the direct communication of devices in proximity without passing through enhanced-NodeB (eNB). However, to enable D2D communication in a cellular network presents a challenge with regard to radio resource management since D2D links reuse the uplink radio resources of cellular users and it can cause interference to the receiving channels of D2D user equipment (DUE). In this paper, a hybrid mechanism is proposed that uses Fractional Frequency Reuse (FFR) and Almost Blank Sub-frame (ABS) schemes to handle inter-cell interference caused by cellular user equipments (CUEs) to D2D receivers (DUE-Rxs), reusing the same resources at the cell edge area. In our case, DUE-Rxs are considered as victim nodes and CUEs as aggressor nodes, since our primary target is to minimize inter-cell interference in order to increase the signal to interference and noise ratio (SINR) of the target DUE-Rx at the cell edge area. The numerical results show that the interference level of the target D2D receiver (DUE-Rx) decreases significantly compared to the conventional FFR at the cell edge. In addition, the system throughput of the proposed scheme can be increased up to 60% compared to the conventional FFR.

Results and conclusions: perception sensor study for high speed autonomous operations

NASA Astrophysics Data System (ADS)

Schneider, Anne; LaCelle, Zachary; Lacaze, Alberto; Murphy, Karl; Close, Ryan

2016-05-01

Previous research has presented work on sensor requirements, specifications, and testing, to evaluate the feasibility of increasing autonomous vehicle system speeds. Discussions included the theoretical background for determining sensor requirements, and the basic test setup and evaluation criteria for comparing existing and prototype sensor designs. This paper will present and discuss the continuation of this work. In particular, this paper will focus on analyzing the problem via a real-world comparison of various sensor technology testing results, as opposed to previous work that utilized more of a theoretical approach. LADAR/LIDAR, radar, visual, and infrared sensors are considered in this research. Results are evaluated against the theoretical, desired perception specifications. Conclusions for utilizing a suite of perception sensors, to achieve the goal of doubling ground vehicle speeds, is also discussed.

NY-uHMT: A dense hydro-meteorological network to characterize urban land-atmosphere interactions

NASA Astrophysics Data System (ADS)

Ramamurthy, P.; Lakhankar, T.; Khanbilvardi, R.; Devineni, N.

2016-12-01

Most people in the US live in large Metropolitan areas that have a dense urban core in the center, dominated by built surfaces and surrounded by residential/suburban areas that consist a mix of built, vegetated and permeable surfaces. This creates a gradient in the hydro-meteorological environment giving rise to complex land-atmosphere interactions. Current modeling platforms and observational techniques like tower measurements do not adequately account for the underlying heterogeneity. To address this critical gap in our understanding we have instituted a dense network of sensors in the New York Metropolitan area. This unique urban sensor network consists of instrumentation to monitor soil moisture at multiple depths along with air temperature, relative humidity and precipitation, with room to add additional sensors in the future. The network is autonomous and connected to a centralized server using cellular towers. Apart from describing the spatial variability in hydro-meteorological quantities the network will also aid in conducting high-resolution numerical simulations to study and forecast urban weather and climate. In one such simulation conducted to partition the influence of storage flux, wind pattern and circulation and soil moisture deficit on urban heat island intensity (UHI), we found that the daily variability in UHI in NYC was sensitive to available energy and wind pattern. The long-term trend in UHI was however related to soil moisture deficit. In fact a prolonged heat wave period witnessed during summer 2006 correlated well with an extended dry period and the daily UHI in NYC almost doubled. Moreover, the urban soils also suffered from high degree of dessication, owing to drier urban boundary layer.

Structural health monitoring for bolt loosening via a non-invasive vibro-haptics human-machine cooperative interface

NASA Astrophysics Data System (ADS)

Pekedis, Mahmut; Mascerañas, David; Turan, Gursoy; Ercan, Emre; Farrar, Charles R.; Yildiz, Hasan

2015-08-01

For the last two decades, developments in damage detection algorithms have greatly increased the potential for autonomous decisions about structural health. However, we are still struggling to build autonomous tools that can match the ability of a human to detect and localize the quantity of damage in structures. Therefore, there is a growing interest in merging the computational and cognitive concepts to improve the solution of structural health monitoring (SHM). The main object of this research is to apply the human-machine cooperative approach on a tower structure to detect damage. The cooperation approach includes haptic tools to create an appropriate collaboration between SHM sensor networks, statistical compression techniques and humans. Damage simulation in the structure is conducted by releasing some of the bolt loads. Accelerometers are bonded to various locations of the tower members to acquire the dynamic response of the structure. The obtained accelerometer results are encoded in three different ways to represent them as a haptic stimulus for the human subjects. Then, the participants are subjected to each of these stimuli to detect the bolt loosened damage in the tower. Results obtained from the human-machine cooperation demonstrate that the human subjects were able to recognize the damage with an accuracy of 88 ± 20.21% and response time of 5.87 ± 2.33 s. As a result, it is concluded that the currently developed human-machine cooperation SHM may provide a useful framework to interact with abstract entities such as data from a sensor network.

Monitoring of slope-instabilities and deformations with Micro-Electro-Mechanical-Systems (MEMS) in wireless ad-hoc Sensor Networks

NASA Astrophysics Data System (ADS)

Arnhardt, C.; Fernández-Steeger, T. M.; Azzam, R.

2009-04-01

In most mountainous regions, landslides represent a major threat to human life, properties and infrastructures. Nowadays existing landslide monitoring systems are often characterized by high efforts in terms of purchase, installation, maintenance, manpower and material. In addition (or because of this) only small areas or selective points of the endangered zone can be observed by the system. Therefore the improvement of existing and the development of new monitoring and warning systems are of high relevance. The joint project "Sensor based Landslide Early Warning Systems" (SLEWS) deals with the development of a prototypic Alarm- and Early Warning system (EWS) for different types of landslides using low-cost micro-sensors (MEMS) integrated in a wireless sensor network (WSN). Modern so called Ad-Hoc, Multi-Hop wireless sensor networks (WSN) are characterized by a self organizing and self-healing capacity of the system (autonomous systems). The network consists of numerous individual and own energy-supply operating sensor nodes, that can send data packages from their measuring devices (here: MEMS) over other nodes (Multi-Hop) to a collection point (gateway). The gateway provides the interface to central processing and data retrieval units (PC, Laptop or server) outside the network. In order to detect and monitor the different landslide processes (like fall, topple, spreading or sliding) 3D MEMS capacitive sensors made from single silicon crystals and glass were chosen to measure acceleration, tilting and altitude changes. Based on the so called MEMS (Micro-Electro-Mechanical Systems) technology, the sensors combine very small mechanical and electronic units, sensing elements and transducers on a small microchip. The mass production of such type of sensors allows low cost applications in different areas (like automobile industries, medicine, and automation technology). Apart from the small and so space saving size and the low costs another advantage is the energy efficiency that permits measurements over a long period of time. A special sensor-board that accommodates the measuring sensors and the node of the WSN was developed. The standardized interfaces of the measuring sensors permit an easy interaction with the node and thus enable an uncomplicated data transfer to the gateway. The 3-axis acceleration sensor (measuring range: +/- 2g), the 2-axis inclination sensor (measuring range: +/- 30°) for measuring tilt and the barometric pressure sensor (measuring rang: 30kPa - 120 kPa) for measuring sub-meter height changes (altimeter) are currently integrated into the sensor network and are tested in realistic experiments. In addition sensor nodes with precise potentiometric displacement and linear magnetorestrictive position transducer are used for extension and convergence measurements. According to the accuracy of the first developed test stations, the results of the experiments showed that the selected sensors meet the requirement profile, as the stability is satisfying and the spreading of the data is quite low. Therefore the jet developed sensor boards can be tested in a larger environment of a sensor network. In order to get more information about accuracy in detail, experiments in a new more precise test bed and tests with different sampling rates will follow. Another increasingly important aspect for the future is the fusion of sensor data (i.e. combination and comparison) to identify malfunctions and to reduce false alarm rates, while increasing data quality at the same time. The correlation of different (complementary sensor fusion) but also identical sensor-types (redundant sensor fusion) permits a validation of measuring data. The development of special algorithms allows in a further step to analyze and evaluate the data from all nodes of the network together (sensor node fusion). The sensor fusion contributes to the decision making of alarm and early warning systems and allows a better interpretation of data. The network data are processed outside the network in a service orientated special data infrastructure (SDI) by standardized OGC (open Geospatial Consortium) conformal services and visualized according to the requirements of the end-user. The modular setup of the hardware, combined with standardized interfaces and open services for data processing allows an easy adaption or integration in existing solutions and other networks. The Monitoring system described here is characterized by very flexible structure, cost efficiency and high fail-safe level. The application of WSN in combination with MEMS provides an inexpensive, easy to set up and intelligent monitoring system for spatial data gathering in large areas.

Distributed Underwater Sensing: A Paradigm Change for the Future

NASA Astrophysics Data System (ADS)

Yang, T. C.

Distributed netted underwater sensors (DNUS) present a paradigm change that has generated high interest all over the world. It utilizes many small spatially distributed, inexpensive sensors, and a certain number of mobile nodes, such as autonomous underwater vehicles (AUVs), forming a wireless acoustic network to relate data and provide real time monitoring of the ocean. Distributed underwater sensors can be used for oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention, assisted navigation and tactical surveillance applications over wide areas. These functions were traditionally accomplished by a cabled system, such as an array of sensors deployed from a platform, or a large number of sensors moored on the ocean bottom, connected by a cable. The cabled systems are not only expensive but often require heavy ocean engineering (e.g., equipment to deploy heavy armored cables). In the future, as fabrication technology advances making low cost sensors a reality, DNUS is expected to be affordable and will become the undersea "OceanNet" for the marine industry like the current "internet" on land. This paper gives a layman view of the system concept, the state of the art, and future challenges. One of challenges, of particular interest to this conference, is to develop technologies for miniature-size sensors that are energy efficient, allowing long time deployment in the ocean.

Broadening the Quality and Capabilities of the EarthScope Alaska Transportable Array

NASA Astrophysics Data System (ADS)

Busby, R. W.

2016-12-01

In 2016, the EarthScope Transportable Array (TA) program will have 195 broadband seismic stations operating in Alaska and western Canada. This ambitious project will culminate in a network of 268 new or upgraded real-time seismic stations operating through 2019. The challenging environmental conditions and the remoteness of Alaska have motivated a new method for constructing a high-quality, temporary seismic network. The Alaska TA station design builds on experience of the Lower 48 TA deployment and adds design requirements because most stations are accessible only by helicopter. The stations utilize new high-performance posthole sensors, a specially built hammer/auger drill, and lightweight lithium ion batteries to minimize sling loads. A uniform station design enables a modest crew to build the network on a short timeline and operate them through the difficult conditions of rural Alaska. The Alaska TA deployment has increased the quality of seismic data, with some well-sited 2-3 m posthole stations approaching the performance of permanent Global Seismic Network stations emplaced in 100 m boreholes. The real-time data access, power budget, protective enclosure and remote logistics of these TA stations has attracted collaborations with NASA, NOAA, USGS, AVO and other organizations to add auxiliary sensors to the suite of instruments at many TA stations. Strong motion sensors have been added to (18) stations near the subduction trench to complement SM stations operated by AEC, ANSS and GSN. All TA and most upgraded stations have pressure and infrasound sensors, and 150 TA stations are receiving a Vaisala weather sensor, supplied by the National Weather Service Alaska Region and NASA, capable of measuring temperature, pressure, relative humidity, wind speed/direction, and precipitation intensity. We are also installing about (40) autonomous soil temperature profile kits adjacent to northern stations. While the priority continues to be collecting seismic data, these additional strong motion, atmospheric, and soil temperature sensors may motivate the desire extend the operation of certain stations in cooperation with these organizations. The TA has always been amenable to partnerships in the research and education communities that extend the capabilities and reach of the EarthScope Transportable Array.

2015 Assessment of the Ballistic Missile Defense System (BMDS)

DTIC Science & Technology

2016-04-01

performance and test adequacy of the BMDS, its four autonomous BMDS systems, and its sensor/command and control architecture. The four autonomous BMDS...Patriot. The Command and Control , Battle Management, and Communications (C2BMC) element anchors the sensor/command and control architecture. This...Warfare operations against a cruise missile surrogate. Ground-based Midcourse Defense (GMD). GMD has demonstrated capability against small

Road Lane Detection Robust to Shadows Based on a Fuzzy System Using a Visible Light Camera Sensor.

PubMed

Hoang, Toan Minh; Baek, Na Rae; Cho, Se Woon; Kim, Ki Wan; Park, Kang Ryoung

2017-10-28

Recently, autonomous vehicles, particularly self-driving cars, have received significant attention owing to rapid advancements in sensor and computation technologies. In addition to traffic sign recognition, road lane detection is one of the most important factors used in lane departure warning systems and autonomous vehicles for maintaining the safety of semi-autonomous and fully autonomous systems. Unlike traffic signs, road lanes are easily damaged by both internal and external factors such as road quality, occlusion (traffic on the road), weather conditions, and illumination (shadows from objects such as cars, trees, and buildings). Obtaining clear road lane markings for recognition processing is a difficult challenge. Therefore, we propose a method to overcome various illumination problems, particularly severe shadows, by using fuzzy system and line segment detector algorithms to obtain better results for detecting road lanes by a visible light camera sensor. Experimental results from three open databases, Caltech dataset, Santiago Lanes dataset (SLD), and Road Marking dataset, showed that our method outperformed conventional lane detection methods.

Long-Term, Autonomous Measurement of Atmospheric Carbon Dioxide Using an Ormosil Nanocomposite-Based Optical Sensor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kisholoy Goswami

2005-10-11

The goal of this project is to construct a prototype carbon dioxide sensor that can be commercialized to offer a low-cost, autonomous instrument for long-term, unattended measurements. Currently, a cost-effective CO2 sensor system is not available that can perform cross-platform measurements (ground-based or airborne platforms such as balloon and unmanned aerial vehicle (UAV)) for understanding the carbon sequestration phenomenon. The CO2 sensor would support the research objectives of DOE-sponsored programs such as AmeriFlux and the North American Carbon Program (NACP). Global energy consumption is projected to rise 60% over the next 20 years and use of oil is projected tomore » increase by approximately 40%. The combustion of coal, oil, and natural gas has increased carbon emissions globally from 1.6 billion tons in 1950 to 6.3 billion tons in 2000. This figure is expected to reach 10 billon tons by 2020. It is important to understand the fate of this excess CO2 in the global carbon cycle. The overall goal of the project is to develop an accurate and reliable optical sensor for monitoring carbon dioxide autonomously at least for one year at a point remote from the actual CO2 release site. In Phase I of this project, InnoSense LLC (ISL) demonstrated the feasibility of an ormosil-monolith based Autonomous Sensor for Atmospheric CO2 (ASAC) device. All of the Phase I objectives were successfully met.« less

Neural network regulation driven by autonomous neural firings

NASA Astrophysics Data System (ADS)

Cho, Myoung Won

2016-07-01

Biological neurons naturally fire spontaneously due to the existence of a noisy current. Such autonomous firings may provide a driving force for network formation because synaptic connections can be modified due to neural firings. Here, we study the effect of autonomous firings on network formation. For the temporally asymmetric Hebbian learning, bidirectional connections lose their balance easily and become unidirectional ones. Defining the difference between reciprocal connections as new variables, we could express the learning dynamics as if Ising model spins interact with each other in magnetism. We present a theoretical method to estimate the interaction between the new variables in a neural system. We apply the method to some network systems and find some tendencies of autonomous neural network regulation.

Time and Energy Efficient Relay Transmission for Multi-Hop Wireless Sensor Networks.

PubMed

Kim, Jin-Woo; Barrado, José Ramón Ramos; Jeon, Dong-Keun

2016-06-27

The IEEE 802.15.4 standard is widely recognized as one of the most successful enabling technologies for short range low rate wireless communications and it is used in IoT applications. It covers all the details related to the MAC and PHY layers of the IoT protocol stack. Due to the nature of IoT, the wireless sensor networks are autonomously self-organized networks without infrastructure support. One of the issues in IoT is the network scalability. To address this issue, it is necessary to support the multi-hop topology. The IEEE 802.15.4 network can support a star, peer-to-peer, or cluster-tree topology. One of the IEEE 802.15.4 topologies suited for the high predictability of performance guarantees and energy efficient behavior is a cluster-tree topology where sensor nodes can switch off their transceivers and go into a sleep state to save energy. However, the IEEE 802.15.4 cluster-tree topology may not be able to provide sufficient bandwidth for the increased traffic load and the additional information may not be delivered successfully. The common drawback of the existing approaches is that they do not address the poor bandwidth utilization problem in IEEE 802.15.4 cluster-tree networks, so it is difficult to increase the network performance. Therefore, to solve this problem in this paper we study a relay transmission protocol based on the standard protocol in the IEEE 802.15.4 MAC. In the proposed scheme, the coordinators can relay data frames to their parent devices or their children devices without contention and can provide bandwidth for the increased traffic load or the number of devices. We also evaluate the performance of the proposed scheme through simulation. The simulation results demonstrate that the proposed scheme can improve the reliability, the end-to-end delay, and the energy consumption.

Time and Energy Efficient Relay Transmission for Multi-Hop Wireless Sensor Networks

PubMed Central

Kim, Jin-Woo; Barrado, José Ramón Ramos; Jeon, Dong-Keun

2016-01-01

The IEEE 802.15.4 standard is widely recognized as one of the most successful enabling technologies for short range low rate wireless communications and it is used in IoT applications. It covers all the details related to the MAC and PHY layers of the IoT protocol stack. Due to the nature of IoT, the wireless sensor networks are autonomously self-organized networks without infrastructure support. One of the issues in IoT is the network scalability. To address this issue, it is necessary to support the multi-hop topology. The IEEE 802.15.4 network can support a star, peer-to-peer, or cluster-tree topology. One of the IEEE 802.15.4 topologies suited for the high predictability of performance guarantees and energy efficient behavior is a cluster-tree topology where sensor nodes can switch off their transceivers and go into a sleep state to save energy. However, the IEEE 802.15.4 cluster-tree topology may not be able to provide sufficient bandwidth for the increased traffic load and the additional information may not be delivered successfully. The common drawback of the existing approaches is that they do not address the poor bandwidth utilization problem in IEEE 802.15.4 cluster-tree networks, so it is difficult to increase the network performance. Therefore, to solve this problem in this paper we study a relay transmission protocol based on the standard protocol in the IEEE 802.15.4 MAC. In the proposed scheme, the coordinators can relay data frames to their parent devices or their children devices without contention and can provide bandwidth for the increased traffic load or the number of devices. We also evaluate the performance of the proposed scheme through simulation. The simulation results demonstrate that the proposed scheme can improve the reliability, the end-to-end delay, and the energy consumption. PMID:27355952

The use of multisensor data for robotic applications

NASA Technical Reports Server (NTRS)

Abidi, M. A.; Gonzalez, R. C.

1990-01-01

The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system were performed. Specifically, vision-driven techniques were implemented to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system was also equipped with a force/torque sensor that continuously monitored the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the two experiments were completed successfully and autonomously.

ELIPS: Toward a Sensor Fusion Processor on a Chip

NASA Technical Reports Server (NTRS)

Daud, Taher; Stoica, Adrian; Tyson, Thomas; Li, Wei-te; Fabunmi, James

1998-01-01

The paper presents the concept and initial tests from the hardware implementation of a low-power, high-speed reconfigurable sensor fusion processor. The Extended Logic Intelligent Processing System (ELIPS) processor is developed to seamlessly combine rule-based systems, fuzzy logic, and neural networks to achieve parallel fusion of sensor in compact low power VLSI. The first demonstration of the ELIPS concept targets interceptor functionality; other applications, mainly in robotics and autonomous systems are considered for the future. The main assumption behind ELIPS is that fuzzy, rule-based and neural forms of computation can serve as the main primitives of an "intelligent" processor. Thus, in the same way classic processors are designed to optimize the hardware implementation of a set of fundamental operations, ELIPS is developed as an efficient implementation of computational intelligence primitives, and relies on a set of fuzzy set, fuzzy inference and neural modules, built in programmable analog hardware. The hardware programmability allows the processor to reconfigure into different machines, taking the most efficient hardware implementation during each phase of information processing. Following software demonstrations on several interceptor data, three important ELIPS building blocks (a fuzzy set preprocessor, a rule-based fuzzy system and a neural network) have been fabricated in analog VLSI hardware and demonstrated microsecond-processing times.

Multi-Source Autonomous Response for Targeting and Monitoring of Volcanic Activity

NASA Technical Reports Server (NTRS)

Davies, Ashley G.; Doubleday, Joshua R.; Tran, Daniel Q.

2014-01-01

The study of volcanoes is important for both purely scientific and human survival reasons. From a scientific standpoint, volcanic gas and ash emissions contribute significantly to the terrestrial atmosphere. Ash depositions and lava flows can also greatly affect local environments. From a human survival standpoint, many people live within the reach of active volcanoes, and therefore can be endangered by both atmospheric (ash, debris) toxicity and lava flow. There are many potential information sources that can be used to determine how to best monitor volcanic activity worldwide. These are of varying temporal frequency, spatial regard, method of access, and reliability. The problem is how to incorporate all of these inputs in a general framework to assign/task/reconfigure assets to monitor events in a timely fashion. In situ sensing can provide a valuable range of complementary information such as seismographic, discharge, acoustic, and other data. However, many volcanoes are not instrumented with in situ sensors, and those that have sensor networks are restricted to a relatively small numbers of point sensors. Consequently, ideal volcanic study synergistically combines space and in situ measurements. This work demonstrates an effort to integrate spaceborne sensing from MODIS (Terra and Aqua), ALI (EO-1), Worldview-2, and in situ sensing in an automated scheme to improve global volcano monitoring. Specifically, it is a "sensor web" concept in which a number of volcano monitoring systems are linked together to monitor volcanic activity more accurately, and this activity measurement automatically tasks space assets to acquire further satellite imagery of ongoing volcanic activity. A general framework was developed for evidence combination that accounts for multiple information sources in a scientist-directed fashion to weigh inputs and allocate observations based on the confidence of an events occurrence, rarity of the event at that location, and other scientists' inputs. The software framework uses multiple source languages and is a general framework for combining inputs and incrementally submitting observation requests/reconfigurations, accounting for prior requests. The autonomous aspect of operations is unique, especially in the context of the wide range of inputs that includes manually inputted electronic reports (such as the Air Force Weather Advisories), automated satellite-based detection methods (such as MODVOLC and GOESVOLC), and in situ sensor networks.

Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

2008-01-01

bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

NOA: A Scalable Multi-Parent Clustering Hierarchy for WSNs

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cree, Johnathan V.; Delgado-Frias, Jose; Hughes, Michael A.

2012-08-10

NOA is a multi-parent, N-tiered, hierarchical clustering algorithm that provides a scalable, robust and reliable solution to autonomous configuration of large-scale wireless sensor networks. The novel clustering hierarchy's inherent benefits can be utilized by in-network data processing techniques to provide equally robust, reliable and scalable in-network data processing solutions capable of reducing the amount of data sent to sinks. Utilizing a multi-parent framework, NOA reduces the cost of network setup when compared to hierarchical beaconing solutions by removing the expense of r-hop broadcasting (r is the radius of the cluster) needed to build the network and instead passes network topologymore » information among shared children. NOA2, a two-parent clustering hierarchy solution, and NOA3, the three-parent variant, saw up to an 83% and 72% reduction in overhead, respectively, when compared to performing one round of a one-parent hierarchical beaconing, as well as 92% and 88% less overhead when compared to one round of two- and three-parent hierarchical beaconing hierarchy.« less

Combination of Multi-Agent Systems and Wireless Sensor Networks for the Monitoring of Cattle

PubMed Central

Barriuso, Alberto L.; De Paz, Juan F.; Lozano, Álvaro

2018-01-01

Precision breeding techniques have been widely used to optimize expenses and increase livestock yields. Notwithstanding, the joint use of heterogeneous sensors and artificial intelligence techniques for the simultaneous analysis or detection of different problems that cattle may present has not been addressed. This study arises from the necessity to obtain a technological tool that faces this state of the art limitation. As novelty, this work presents a multi-agent architecture based on virtual organizations which allows to deploy a new embedded agent model in computationally limited autonomous sensors, making use of the Platform for Automatic coNstruction of orGanizations of intElligent Agents (PANGEA). To validate the proposed platform, different studies have been performed, where parameters specific to each animal are studied, such as physical activity, temperature, estrus cycle state and the moment in which the animal goes into labor. In addition, a set of applications that allow farmers to remotely monitor the livestock have been developed. PMID:29301310

A real-time measurement system for long-life flood monitoring and warning applications.

PubMed

Marin-Perez, Rafael; García-Pintado, Javier; Gómez, Antonio Skarmeta

2012-01-01

A flood warning system incorporates telemetered rainfall and flow/water level data measured at various locations in the catchment area. Real-time accurate data collection is required for this use, and sensor networks improve the system capabilities. However, existing sensor nodes struggle to satisfy the hydrological requirements in terms of autonomy, sensor hardware compatibility, reliability and long-range communication. We describe the design and development of a real-time measurement system for flood monitoring, and its deployment in a flash-flood prone 650 km(2) semiarid watershed in Southern Spain. A developed low-power and long-range communication device, so-called DatalogV1, provides automatic data gathering and reliable transmission. DatalogV1 incorporates self-monitoring for adapting measurement schedules for consumption management and to capture events of interest. Two tests are used to assess the success of the development. The results show an autonomous and robust monitoring system for long-term collection of water level data in many sparse locations during flood events.

Combination of Multi-Agent Systems and Wireless Sensor Networks for the Monitoring of Cattle.

PubMed

Barriuso, Alberto L; Villarrubia González, Gabriel; De Paz, Juan F; Lozano, Álvaro; Bajo, Javier

2018-01-02

Precision breeding techniques have been widely used to optimize expenses and increase livestock yields. Notwithstanding, the joint use of heterogeneous sensors and artificial intelligence techniques for the simultaneous analysis or detection of different problems that cattle may present has not been addressed. This study arises from the necessity to obtain a technological tool that faces this state of the art limitation. As novelty, this work presents a multi-agent architecture based on virtual organizations which allows to deploy a new embedded agent model in computationally limited autonomous sensors, making use of the Platform for Automatic coNstruction of orGanizations of intElligent Agents (PANGEA). To validate the proposed platform, different studies have been performed, where parameters specific to each animal are studied, such as physical activity, temperature, estrus cycle state and the moment in which the animal goes into labor. In addition, a set of applications that allow farmers to remotely monitor the livestock have been developed.

A Real-Time Measurement System for Long-Life Flood Monitoring and Warning Applications

PubMed Central

Marin-Perez, Rafael; García-Pintado, Javier; Gómez, Antonio Skarmeta

2012-01-01

A flood warning system incorporates telemetered rainfall and flow/water level data measured at various locations in the catchment area. Real-time accurate data collection is required for this use, and sensor networks improve the system capabilities. However, existing sensor nodes struggle to satisfy the hydrological requirements in terms of autonomy, sensor hardware compatibility, reliability and long-range communication. We describe the design and development of a real-time measurement system for flood monitoring, and its deployment in a flash-flood prone 650 km2 semiarid watershed in Southern Spain. A developed low-power and long-range communication device, so-called DatalogV1, provides automatic data gathering and reliable transmission. DatalogV1 incorporates self-monitoring for adapting measurement schedules for consumption management and to capture events of interest. Two tests are used to assess the success of the development. The results show an autonomous and robust monitoring system for long-term collection of water level data in many sparse locations during flood events. PMID:22666028

Presentation of a complex permittivity-meter with applications for sensing the moisture and salinity of a porous media.

PubMed

Chavanne, Xavier; Frangi, Jean-Pierre

2014-08-26

This paper describes a sensor dedicated to measuring the vertical profile of the complex permittivity and the temperature of any medium in which sensor electrodes are inserted. Potential applications are the estimate of the humidity and salinity in a porous medium, such as a soil. It consists of vertically-stacked capacitors along two conductive parallel cylinders of 5 cm in diameter and at a 10-cm distance to scan a significant volume of the medium (~1 L). It measures their admittances owing to a self-balanced impedance bridge operating at a frequency in the range of 1-20 MHz, possibly 30 MHz. Thanks to accurate design and electronic circuit theory-based modeling, the determination of the admittances takes into account all distortions due to lead and bridge electromagnetic effects inside the sensor when working at high frequencies. Calibration procedures and uncertainties are presented. The article also describes developments to make the present sensor autonomous on digital acquisition, basic data treatment and energy, as well as able to transfer stored data by a radio link. These steps in progress are prerequisites for a wireless network of sensors.

Presentation of a Complex Permittivity-Meter with Applications for Sensing the Moisture and Salinity of a Porous Media

PubMed Central

Chavanne, Xavier; Frangi, Jean-Pierre

2014-01-01

This paper describes a sensor dedicated to measuring the vertical profile of the complex permittivity and the temperature of any medium in which sensor electrodes are inserted. Potential applications are the estimate of the humidity and salinity in a porous medium, such as a soil. It consists of vertically-stacked capacitors along two conductive parallel cylinders of 5 cm in diameter and at a 10-cm distance to scan a significant volume of the medium (∼1 L). It measures their admittances owing to a self-balanced impedance bridge operating at a frequency in the range of 1–20 MHz, possibly 30 MHz. Thanks to accurate design and electronic circuit theory-based modeling, the determination of the admittances takes into account all distortions due to lead and bridge electromagnetic effects inside the sensor when working at high frequencies. Calibration procedures and uncertainties are presented. The article also describes developments to make the present sensor autonomous on digital acquisition, basic data treatment and energy, as well as able to transfer stored data by a radio link. These steps in progress are prerequisites for a wireless network of sensors. PMID:25162233

Improving the knowledge about dissolved oxygen and chlorophyll variability at ESTOC by using autonomous vehicles.

NASA Astrophysics Data System (ADS)

Cianca, A.; Caudet, E.; Vega, D.; Barrera, C.; Hernandez Brito, J.

2016-02-01

The European Station for Time Series in the Ocean, Canary Islands "ESTOC" is located in the Eastern Subtropical North Atlantic Gyre (29'10ºN, 15'30ºW). ESTOC started operations in 1994 based on a monthly ship-based sampling, in addition to hydrographic and sediment trap moorings. Since 2002, ESTOC is part of the European network for deep sea ocean observatories through several projects, among others ANIMATE (Atlantic Network of Interdisciplinary Moorings and Time-series for Europe), EuroSITES (European Ocean Observatory Network) and Fixed point Open Ocean Observatory network (FixO3). The main purpose of these projects was to improve the time-resolution of the biogeochemical measurements through moored biogeochemical sensors. Additionally, ESTOC is included in the Marine-Maritime observational network of the Macaronesian region, which is supported by the European overseas territories programs since 2009. This network aims to increase the quantity and quality of marine environmental observations. The goal is to understand phenomena which impact in the environment, and consequently at the socio-economy of the region to attempt their prediction. With this purpose, ESTOC has included the use of autonomous vehicles "glider" in order to increase the observational resolution and, by comparison with the parallel observational programs, to study the biogeochemical processes at different time scale resolutions. This study investigates the time variability of the dissolved oxygen and chlorophyll distributions in the water column focusing on the diel cycle, looking at the relevance of this variability in the already known seasonal distributions. Our interest is assessing net community production and remineralization rates through the use of oxygen variations, establishing the relationship between the DO anomalies values and those from the chlorophyll distribution in the water column.

Sensor Webs as Virtual Data Systems for Earth Science

NASA Astrophysics Data System (ADS)

Moe, K. L.; Sherwood, R.

2008-05-01

The NASA Earth Science Technology Office established a 3-year Advanced Information Systems Technology (AIST) development program in late 2006 to explore the technical challenges associated with integrating sensors, sensor networks, data assimilation and modeling components into virtual data systems called "sensor webs". The AIST sensor web program was initiated in response to a renewed emphasis on the sensor web concepts. In 2004, NASA proposed an Earth science vision for a more robust Earth observing system, coupled with remote sensing data analysis tools and advances in Earth system models. The AIST program is conducting the research and developing components to explore the technology infrastructure that will enable the visionary goals. A working statement for a NASA Earth science sensor web vision is the following: On-demand sensing of a broad array of environmental and ecological phenomena across a wide range of spatial and temporal scales, from a heterogeneous suite of sensors both in-situ and in orbit. Sensor webs will be dynamically organized to collect data, extract information from it, accept input from other sensor / forecast / tasking systems, interact with the environment based on what they detect or are tasked to perform, and communicate observations and results in real time. The focus on sensor webs is to develop the technology and prototypes to demonstrate the evolving sensor web capabilities. There are 35 AIST projects ranging from 1 to 3 years in duration addressing various aspects of sensor webs involving space sensors such as Earth Observing-1, in situ sensor networks such as the southern California earthquake network, and various modeling and forecasting systems. Some of these projects build on proof-of-concept demonstrations of sensor web capabilities like the EO-1 rapid fire response initially implemented in 2003. Other projects simulate future sensor web configurations to evaluate the effectiveness of sensor-model interactions for producing improved science predictions. Still other projects are maturing technology to support autonomous operations, communications and system interoperability. This paper will highlight lessons learned by various projects during the first half of the AIST program. Several sensor web demonstrations have been implemented and resulting experience with evolving standards, such as the Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) among others, will be featured. The role of sensor webs in support of the intergovernmental Group on Earth Observations' Global Earth Observation System of Systems (GEOSS) will also be discussed. The GEOSS vision is a distributed system of systems that builds on international components to supply observing and processing systems that are, in the whole, comprehensive, coordinated and sustained. Sensor web prototypes are under development to demonstrate how remote sensing satellite data, in situ sensor networks and decision support systems collaborate in applications of interest to GEO, such as flood monitoring. Furthermore, the international Committee on Earth Observation Satellites (CEOS) has stepped up to the challenge to provide the space-based systems component for GEOSS. CEOS has proposed "virtual constellations" to address emerging data gaps in environmental monitoring, avoid overlap among observing systems, and make maximum use of existing space and ground assets. Exploratory applications that support the objectives of virtual constellations will also be discussed as a future role for sensor webs.

High performance monolithic power management system with dynamic maximum power point tracking for microbial fuel cells.

PubMed

Erbay, Celal; Carreon-Bautista, Salvador; Sanchez-Sinencio, Edgar; Han, Arum

2014-12-02

Microbial fuel cell (MFC) that can directly generate electricity from organic waste or biomass is a promising renewable and clean technology. However, low power and low voltage output of MFCs typically do not allow directly operating most electrical applications, whether it is supplementing electricity to wastewater treatment plants or for powering autonomous wireless sensor networks. Power management systems (PMSs) can overcome this limitation by boosting the MFC output voltage and managing the power for maximum efficiency. We present a monolithic low-power-consuming PMS integrated circuit (IC) chip capable of dynamic maximum power point tracking (MPPT) to maximize the extracted power from MFCs, regardless of the power and voltage fluctuations from MFCs over time. The proposed PMS continuously detects the maximum power point (MPP) of the MFC and matches the load impedance of the PMS for maximum efficiency. The system also operates autonomously by directly drawing power from the MFC itself without any external power. The overall system efficiency, defined as the ratio between input energy from the MFC and output energy stored into the supercapacitor of the PMS, was 30%. As a demonstration, the PMS connected to a 240 mL two-chamber MFC (generating 0.4 V and 512 μW at MPP) successfully powered a wireless temperature sensor that requires a voltage of 2.5 V and consumes power of 85 mW each time it transmit the sensor data, and successfully transmitted a sensor reading every 7.5 min. The PMS also efficiently managed the power output of a lower-power producing MFC, demonstrating that the PMS works efficiently at various MFC power output level.

Autonomous Navigation Using Celestial Objects

NASA Technical Reports Server (NTRS)

Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

1999-01-01

In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler measurements from the command link carrier to autonomously estimate the spacecraft's orbit and reference oscillator's frequency. To support autonomous attitude determination and control and maneuver planning and control, the orbit determination accuracy should be on the order of kilometers in position and centimeters per second in velocity. A less accurate solution (one hundred kilometers in position) could be used for acquisition purposes for command and science downloads. This paper provides performance results for both libration point orbiting and high Earth orbiting satellites as a function of sensor measurement accuracy, measurement types, measurement frequency, initial state errors, and dynamic modeling errors.

INTEGRATED MONITORING HARDWARE DEVELOPMENTS AT LOS ALAMOS

DOE Office of Scientific and Technical Information (OSTI.GOV)

R. PARKER; J. HALBIG; ET AL

1999-09-01

The hardware of the integrated monitoring system supports a family of instruments having a common internal architecture and firmware. Instruments can be easily configured from application-specific personality boards combined with common master-processor and high- and low-voltage power supply boards, and basic operating firmware. The instruments are designed to function autonomously to survive power and communication outages and to adapt to changing conditions. The personality boards allow measurement of gross gammas and neutrons, neutron coincidence and multiplicity, and gamma spectra. In addition, the Intelligent Local Node (ILON) provides a moderate-bandwidth network to tie together instruments, sensors, and computers.

Control of autonomous robot using neural networks

NASA Astrophysics Data System (ADS)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs)

DTIC Science & Technology

2007-08-01

An increasing variety of sensors are becoming available for use onboard autonomous vehicles . Given these enhanced sensing capabilities, scientific...and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to

The Wave Glider°: A New Autonomous Surface Vehicle to Augment MBARI's Growing Fleet of Ocean Observing Systems

NASA Astrophysics Data System (ADS)

Tougher, B. B.

2011-12-01

Monterey Bay Aquarium Research Institute's (MBARI) evolving fleet of ocean observing systems has made it possible to collect information and data about a wide variety of ocean parameters, enabling researchers to better understand marine ecosystems. In collaboration with Liquid Robotics Inc, the designer of the Wave Glider autonomous surface vehicle (ASV), MBARI is adding a new capability to its suite of ocean observing tools. This new technology will augment MBARI research programs that use satellites, ships, moorings, drifters, autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) to improve data collection of temporally and spatially variable oceanographic features. The Wave Glider ASV derives its propulsion from wave energy, while sensors and communications are powered through the use of two solar panels and batteries, enabling it to remain at sea indefinitely. Wave Gliders are remotely controlled via real-time Iridium burst communications, which also permit real-time data telemetry. MBARI has developed Ocean Acidification (OA) moorings to continuously monitor the chemical and physical changes occurring in the ocean as a result of increased levels of atmospheric carbon dioxide (CO2). The moorings are spatially restricted by being anchored to the seafloor, so during the summer of 2011 the ocean acidification sensor suite designed for moorings was integrated into a Wave Glider ASV to increase both temporal and spatial ocean observation capabilities. The OA sensor package enables the measurement of parameters essential to better understanding the changing acidity of the ocean, specifically pCO2, pH, oxygen, salinity and temperature. The Wave Glider will also be equipped with a meteorological sensor suite that will measure air temperature, air pressure, and wind speed and direction. The OA sensor integration into a Wave Glider was part of MBARI's 2011 summer internship program. This project involved designing a new layout for the OA sensors within a Wave Glider aft payload dry box. The Wave Glider OA sensor suite includes the addition of a pCO2 standard tank not included within the current OA moorings. Communication links between MBARI electronics and Liquid Robotics Control and Communications were successfully established in the laboratory, however further steps to fully integrate and test the OA system into a Wave Glider ASV are still needed. In the future these ASVs will provide platforms for additional surface and subsurface instrumentation, particularly with MBARI's upcoming Controlled, Agile, and Novel, Observing Network (CANON) projects. The integration of the OA sensor package into a Wave Glider ASV will make it possible to continuously monitor the marine environment during adverse weather conditions which are often difficult to document but scientifically important.

PASTIS 57: Autonomous light sensors for PAI continuous monitoring. Principles, calibration and application to vegetation phenology

NASA Astrophysics Data System (ADS)

Lecerf, R.; Baret, F.; Hanocq, J.; Marloie, O.; Rautiainen, M.; Mottus, M.; Heiskanen, J.; Stenberg, P.

2010-12-01

The LAI (Leaf Area Index) is a key variable to analyze and model vegetation and its interactions with atmosphere and soils. The LAI maps derived from remote sensing images are often validated with non-destructive LAI measures obtained from digital hemispherical photography, LAI-2000 or ceptometer instruments. These methods are expensive and time consuming particularly when human intervention is needed. Consequently it is difficult to acquire overlapping field data and remotely sensed LAI. There is a need of a cheap, autonomous, easy to use ground system to measure foliage development and senescence at least with a daily frequency in order to increase the number of validation sites where vegetation phenology is continuously monitored. A system called PASTIS-57 (PAI Autonomous System from Transmittance Instantaneous Sensors oriented at 57°) devoted to PAI (Plant Area Index) ground measurements was developed to answer this need. PASTIS-57 consists in 6 sensors plugged on one logger that record data with a sampling rate of 1 to few minutes (tunable) with up to 3 months autonomy (energy and data storage). The sensors are plugged to the logger with 2x10m wires, 2x6m wires and 2x2m wires. The distance between each sensor was determined to obtain a representative spatial sampling over a 20m pixel corresponding to an Elementary Sampling Unit (ESU). The PASTIS-57 sensors are made of photodiodes that measure the incoming light in the blue wavelength to maximize the contrast between vegetation and sky and limit multiple scattering effects in the canopy. The diodes are oriented to the north to avoid direct sun light and point to a zenithal angle of 57° to minimize leaf angle distribution and plant clumping effects. The field of view of the diodes was set to ± 20° to take into consideration vegetation cover heterogeneity and to minimize environmental effects. The sensors were calibrated after recording data on a clear view site during a week. After calibration, the sensors were installed on several study sites including a boreal forest in Finland and an agricultural area in southern France. On each study site, several ESUs were equipped with 2 to 4 systems. The sensors were installed along an East-West line and were pointing to the north. A reference system was set up to monitor unobstructed incident radiation field. The results show that the transmitted light recorded by sensors depends on gap fraction and may be used to measure the PAI (Plant Area Index). The time series acquired with the PASTIS-57 show strong correlation with plant phenology. The PAI values were then derived from the measured gap fractions. Advantages and limitations of the system are finally discussed with emphasis on potential operational use within networks of sites.

Procedures for the interpretation and use of elevation scanning laser/multi-sensor data for short range hazard detection and avoidance for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Troiani, N.; Yerazunis, S. W.

1978-01-01

An autonomous roving science vehicle that relies on terrain data acquired by a hierarchy of sensors for navigation was one method of carrying out such a mission. The hierarchy of sensors included a short range sensor with sufficient resolution to detect every possible obstacle and with the ability to make fast and reliable terrain characterizations. A multilaser, multidetector triangulation system was proposed as a short range sensor. The general system was studied to determine its perception capabilities and limitations. A specific rover and low resolution sensor system was then considered. After studying the data obtained, a hazard detection algorithm was developed that accounts for all possible terrains given the sensor resolution. Computer simulation of the rover on various terrains was used to test the entire hazard detection system.

Sensing and data classification for a robotic meteorite search

NASA Astrophysics Data System (ADS)

Pedersen, Liam; Apostolopoulos, Dimi; Whittaker, William L.; Benedix, Gretchen; Rousch, Ted

1999-01-01

Upcoming missions to Mars and the mon call for highly autonomous robots with capability to perform intra-site exploration, reason about their scientific finds, and perform comprehensive on-board analysis of data collected. An ideal case for testing such technologies and robot capabilities is the robotic search for Antarctic meteorites. The successful identification and classification of meteorites depends on sensing modalities and intelligent evaluation of acquired data. Data from color imagery and spectroscopic measurements are used to identify terrestrial rocks and distinguish them from meteorites. However, because of the large number of rocks and the high cost and delay of using some of the sensors, it is necessary to eliminate as many meteorite candidates as possible using cheap long range sensors, such as color cameras. More resource consuming sensor will be held in reserve for the more promising samples only. Bayes networks are used as the formalism for incrementally combing data from multiple sources in a statistically rigorous manner. Furthermore, they can be used to infer the utility of further sensor readings given currently known data. This information, along with cost estimates, in necessary for the sensing system to rationally schedule further sensor reading sand deployments. This paper address issues associated with sensor selection and implementation of an architecture for automatic identification of rocks and meteorites from a mobile robot.

Energy scavenging for long-term deployable wireless sensor networks.

PubMed

Mathúna, Cian O; O'Donnell, Terence; Martinez-Catala, Rafael V; Rohan, James; O'Flynn, Brendan

2008-05-15

The coming decade will see the rapid emergence of low cost, intelligent, wireless sensors and their widespread deployment throughout our environment. While wearable systems will operate over communications ranges of less than a meter, building management systems will operate with inter-node communications ranges of the order of meters to tens of meters and remote environmental monitoring systems will require communications systems and associated energy systems that will allow reliable operation over kilometers. Autonomous power should allow wireless sensor nodes to operate in a "deploy and forget" mode. The use of rechargeable battery technology is problematic due to battery lifetime issues related to node power budget, battery self-discharge, number of recharge cycles and long-term environmental impact. Duty cycling of wireless sensor nodes with long "SLEEP" times minimises energy usage. A case study of a multi-sensor, wireless, building management system operating using the Zigbee protocol demonstrates that, even with a 1 min cycle time for an 864 ms "ACTIVE" mode, the sensor module is already in SLEEP mode for almost 99% of the time. For a 20-min cycle time, the energy utilisation in SLEEP mode exceeds the ACTIVE mode energy by almost a factor of three and thus dominates the module energy utilisation thereby providing the ultimate limit to the power system lifetime. Energy harvesting techniques can deliver energy densities of 7.5 mW/cm(2) from outdoor solar, 100 microW/cm(2) from indoor lighting, 100 microW/cm(3) from vibrational energy and 60 microW/cm(2) from thermal energy typically found in a building environment. A truly autonomous, "deploy and forget" battery-less system can be achieved by scaling the energy harvesting system to provide all the system energy needs. In the building management case study discussed, for duty cycles of less than 0.07% (i.e. in ACTIVE mode for 0.864 s every 20 min), energy harvester device dimensions of approximately 2 cm on a side would be sufficient to supply the complete wireless sensor node energy. Key research challenges to be addressed to deliver future, remote, wireless, chemo-biosensing systems include the development of low cost, low-power sensors, miniaturised fluidic transport systems, anti-bio-fouling sensor surfaces, sensor calibration, reliable and robust system packaging, as well as associated energy delivery systems and energy budget management.

Autonomous Locator of Thermals (ALOFT) Autonomous Soaring Algorithm

DTIC Science & Technology

2015-04-03

estimator used on the NRL CICADA Mk 3 micro air vehicle [13]. An extended Kalman filter (EKF) was designed to estimate the airspeed sensor bias and...Boulder, 2007. ALOFT Autonomous Soaring Algorithm 31 13. A.D. Kahn and D.J. Edwards, “Navigation, Guidance and Control for the CICADA Expendable

Vehicle autonomous localization in local area of coal mine tunnel based on vision sensors and ultrasonic sensors

PubMed Central

Yang, Wei; You, Kaiming; Li, Wei; Kim, Young-il

2017-01-01

This paper presents a vehicle autonomous localization method in local area of coal mine tunnel based on vision sensors and ultrasonic sensors. Barcode tags are deployed in pairs on both sides of the tunnel walls at certain intervals as artificial landmarks. The barcode coding is designed based on UPC-A code. The global coordinates of the upper left inner corner point of the feature frame of each barcode tag deployed in the tunnel are uniquely represented by the barcode. Two on-board vision sensors are used to recognize each pair of barcode tags on both sides of the tunnel walls. The distance between the upper left inner corner point of the feature frame of each barcode tag and the vehicle center point can be determined by using a visual distance projection model. The on-board ultrasonic sensors are used to measure the distance from the vehicle center point to the left side of the tunnel walls. Once the spatial geometric relationship between the barcode tags and the vehicle center point is established, the 3D coordinates of the vehicle center point in the tunnel’s global coordinate system can be calculated. Experiments on a straight corridor and an underground tunnel have shown that the proposed vehicle autonomous localization method is not only able to quickly recognize the barcode tags affixed to the tunnel walls, but also has relatively small average localization errors in the vehicle center point’s plane and vertical coordinates to meet autonomous unmanned vehicle positioning requirements in local area of coal mine tunnel. PMID:28141829

Vehicle autonomous localization in local area of coal mine tunnel based on vision sensors and ultrasonic sensors.

PubMed

Xu, Zirui; Yang, Wei; You, Kaiming; Li, Wei; Kim, Young-Il

2017-01-01

This paper presents a vehicle autonomous localization method in local area of coal mine tunnel based on vision sensors and ultrasonic sensors. Barcode tags are deployed in pairs on both sides of the tunnel walls at certain intervals as artificial landmarks. The barcode coding is designed based on UPC-A code. The global coordinates of the upper left inner corner point of the feature frame of each barcode tag deployed in the tunnel are uniquely represented by the barcode. Two on-board vision sensors are used to recognize each pair of barcode tags on both sides of the tunnel walls. The distance between the upper left inner corner point of the feature frame of each barcode tag and the vehicle center point can be determined by using a visual distance projection model. The on-board ultrasonic sensors are used to measure the distance from the vehicle center point to the left side of the tunnel walls. Once the spatial geometric relationship between the barcode tags and the vehicle center point is established, the 3D coordinates of the vehicle center point in the tunnel's global coordinate system can be calculated. Experiments on a straight corridor and an underground tunnel have shown that the proposed vehicle autonomous localization method is not only able to quickly recognize the barcode tags affixed to the tunnel walls, but also has relatively small average localization errors in the vehicle center point's plane and vertical coordinates to meet autonomous unmanned vehicle positioning requirements in local area of coal mine tunnel.

SED16 autonomous star tracker night sky testing

NASA Astrophysics Data System (ADS)

Foisneau, Thierry; Piriou, Véronique; Perrimon, Nicolas; Jacob, Philippe; Blarre, Ludovic; Vilaire, Didier

2017-11-01

The SED16 is an autonomous multi-missions star tracker which delivers three axis satellite attitude in an inertial reference frame and the satellite angular velocity with no prior information. The qualification process of this star sensor includes five validation steps using optical star simulator, digitized image simulator and a night sky tests setup. The night sky testing was the final step of the qualification process during which all the functions of the star tracker were used in almost nominal conditions : Autonomous Acquisition of the attitude, Autonomous Tracking of ten stars. These tests were performed in Calern in the premises of the OCA (Observatoire de la Cote d'Azur). The test set-up and the test results are described after a brief review of the sensor main characteristics and qualification process.

Vehicle following controller design for autonomous intelligent vehicles

NASA Technical Reports Server (NTRS)

Chien, C. C.; Lai, M. C.; Mayr, R.

1994-01-01

A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

Micro-sensors for in-situ meteorological measurements

NASA Technical Reports Server (NTRS)

Crisp, David; Kaiser, William J.; Vanzandt, Thomas R.; Tillman, James E.

1993-01-01

Improved in-situ meteorological measurements are needed for monitoring the weather and climate of the terrestrial and Martian atmospheres. We have initiated a program to assess the feasibility and utility of micro-sensors for precise in-situ meteorological measurements in these environments. Sensors are being developed for measuring pressure, temperature, wind velocity, humidity, and aerosol amounts. Silicon micro-machining and large scale integration technologies are being used to make sensors that are small, rugged, lightweight, and require very little power. Our long-term goal is to develop very accurate miniaturized sensors that can be incorporated into complete instrument packages or 'micro weather stations,' and deployed on a variety of platforms. If conventional commercially available silicon production techniques can be used to fabricate these sensor packages, it will eventually be possible to mass-produce them at low cost. For studies of the Earth's troposphere and stratosphere, they could be deployed on aircraft, dropsondes, radiosondes, or autonomous surface stations at remote sites. Improved sensor accuracy and reduced sensor cost are the primary challenges for these applications. For studies of the Martian atmosphere, these sensor packages could be incorporated into the small entry probes and surface landers that are being planned for the Mars Environmental SURvey (MESUR) Mission. That decade-long program will deploy a global network of small stations on the Martian surface for monitoring meteorological and geological processes. Low mass, low power, durability, large dynamic range and calibration stability are the principal challenges for this application. Our progress on each of these sensor types is presented.

New Sensor Technologies for Ocean Exploration and Observation

NASA Astrophysics Data System (ADS)

Manley, J. E.

2005-12-01

NOAA's Office of Ocean Exploration (OE) is an active supporter of new ocean technologies. Sensors, in particular, have been a focus of recent investments as have platforms that can support both dedicated voyages of discovery and Integrated Ocean Observing Systems (IOOS). Recent programs sponsored by OE have developed technical solutions that will be of use in sensor networks and in stand-alone ocean research programs. Particular projects include: 1) the Joint Environmental Science Initiative (JESI) a deployment of a highly flexible marine sensing system, in collaboration with NASA, that demonstrated a new paradigm for marine ecosystem monitoring. 2) the development and testing of an in situ marine mass spectrometer, via grant to the Woods Hole Oceanographic Institution (WHOI). This instrument has been designed to function at depths up to 5000 meters. 3) the evolution of glider AUVs for aerial deployment, through a grant to Webb Research Corporation. This program's goal is air certification for gliders, which will allow them to be operationally deployed from NAVOCEANO aircraft. 4) the development of new behaviors for the Autonomous Benthic Explorer (ABE) allowing it to anchor in place and await instructions, through a grant to WHOI. This will support the operational use of AUVs in observing system networks. 5) development of new sensors for AUVs through a National Ocean Partnership Program (NOPP) award to Rutgers Universty. This project will develop a Fluorescence Induction Relaxation (FIRe) System to measure biomass and integrate the instrument into an AUV glider. 6) an SBIR award for the development of anti-fouling technologies for solar panels and in situ sensors. This effort at Nanohmics Inc. is developing natural product antifoulants (NPA) in optical quality hard polymers. The technology and results of each of these projects are one component of OE's overall approach to technology research and development. OE's technology program represents the leading edge of NOAA investment in ocean sensors and tools that eventually will find application in mission areas such as IOOS. This "big picture" provides context for focused information on detailed results of OE investments. As NOAA increases its investments in IOOS, and related technologies, these projects are timely and should be beneficial to the entire environmental sensor network community.

Oceanids command and control (C2) data system - Marine autonomous systems data for vehicle piloting, scientific data users, operational data assimilation, and big data

NASA Astrophysics Data System (ADS)

Buck, J. J. H.; Phillips, A.; Lorenzo, A.; Kokkinaki, A.; Hearn, M.; Gardner, T.; Thorne, K.

2017-12-01

The National Oceanography Centre (NOC) operate a fleet of approximately 36 autonomous marine platforms including submarine gliders, autonomous underwater vehicles, and autonomous surface vehicles. Each platform effectivity has the capability to observe the ocean and collect data akin to a small research vessel. This is creating a growth in data volumes and complexity while the amount of resource available to manage data remains static. The OceanIds Command and Control (C2) project aims to solve these issues by fully automating the data archival, processing and dissemination. The data architecture being implemented jointly by NOC and the Scottish Association for Marine Science (SAMS) includes a single Application Programming Interface (API) gateway to handle authentication, forwarding and delivery of both metadata and data. Technicians and principle investigators will enter expedition data prior to deployment of vehicles enabling automated data processing when vehicles are deployed. The system will support automated metadata acquisition from platforms as this technology moves towards operational implementation. The metadata exposure to the web builds on a prototype developed by the European Commission supported SenseOCEAN project and is via open standards including World Wide Web Consortium (W3C) RDF/XML and the use of the Semantic Sensor Network ontology and Open Geospatial Consortium (OGC) SensorML standard. Data will be delivered in the marine domain Everyone's Glider Observatory (EGO) format and OGC Observations and Measurements. Additional formats will be served by implementation of endpoints such as the NOAA ERDDAP tool. This standardised data delivery via the API gateway enables timely near-real-time data to be served to Oceanids users, BODC users, operational users and big data systems. The use of open standards will also enable web interfaces to be rapidly built on the API gateway and delivery to European research infrastructures that include aligned reference models for data infrastructure.

Road Lane Detection Robust to Shadows Based on a Fuzzy System Using a Visible Light Camera Sensor

PubMed Central

Hoang, Toan Minh; Baek, Na Rae; Cho, Se Woon; Kim, Ki Wan; Park, Kang Ryoung

2017-01-01

Recently, autonomous vehicles, particularly self-driving cars, have received significant attention owing to rapid advancements in sensor and computation technologies. In addition to traffic sign recognition, road lane detection is one of the most important factors used in lane departure warning systems and autonomous vehicles for maintaining the safety of semi-autonomous and fully autonomous systems. Unlike traffic signs, road lanes are easily damaged by both internal and external factors such as road quality, occlusion (traffic on the road), weather conditions, and illumination (shadows from objects such as cars, trees, and buildings). Obtaining clear road lane markings for recognition processing is a difficult challenge. Therefore, we propose a method to overcome various illumination problems, particularly severe shadows, by using fuzzy system and line segment detector algorithms to obtain better results for detecting road lanes by a visible light camera sensor. Experimental results from three open databases, Caltech dataset, Santiago Lanes dataset (SLD), and Road Marking dataset, showed that our method outperformed conventional lane detection methods. PMID:29143764

Cloud2IR: Infrared thermography and environmental sensors integrated in an autonomoussystem for long term monitoring of structures

NASA Astrophysics Data System (ADS)

Crinière, Antoine; Dumoulin, Jean; Mevel, Laurent; Andrade-Barroso, Guillermo

2016-04-01

Since late 2014, the project Cloud2SM aims to develop a robust information system able to assess the long term monitoring of civil engineering structures as well as interfacing various sensors and data. Cloud2SM address three main goals, the management of distributed data and sensors network, the asynchronous processing of the data through network and the local management of the sensors themselves [1]. Integrated to this project Cloud2IR is an autonomous sensor system dedicated to the long term monitoring of infrastructures. Past experimentations have shown the need as well as usefulness of such system [2]. Before Cloud2IR an initially laboratory oriented system was used, which implied heavy operating system to be used [3]. Based on such system Cloud2IR has benefited of the experimental knowledge acquired to redefine a lighter architecture based on generics standards, more appropriated to autonomous operations on field and which can be later included in a wide distributed architecture such as Cloud2SM. The sensor system can be divided in two parts. The sensor side, this part is mainly composed by the various sensors drivers themselves as the infrared camera, the weather station or the pyranometers and their different fixed configurations. In our case, as infrared camera are slightly different than other kind of sensors, the system implement in addition an RTSP server which can be used to set up the FOV as well as other measurement parameter considerations. The second part can be seen as the data side, which is common to all sensors. It instantiate through a generic interface all the sensors and control the data access loop (not the requesting). This side of the system is weakly coupled (see data coupling) with the sensor side. It can be seen as a general framework able to aggregate any sensor data, type or size and automatically encapsulate them in various generic data format as HDF5 or cloud data as OGC SWE standard. This whole part is also responsible of the acquisition scenario the local storage management and the network management through SFTP or SOAP for the OGC frame. The data side only need an XML configuration file and if a configuration change occurs in time the system is automatically restarted with the new value. Cloud2IR has been deployed on field since several Monthat the SenseCity outdoor test bed in Marne La Vallée (France)[4]. The next step will be the full standardisation of the system and possibly the full separation between the sensor side and the data side which can be seen at term as an external framework. References: [1] A Crinière, J Dumoulin, L Mevel, G Andrade-Barosso, M Simonin. The Cloud2SM Project.European Geosciences Union General Assembly (EGU2015), Apr 2015, Vienne, Austria. 2015. [2] J Dumoulin, A Criniere, and R Averty. The detection and thermal characterization of the inner structure of the 'musmeci' bridge deck by infrared thermography monitoring. Journal Of Geophysics And Engineering doi:10.1088/1742-2132/10/6/064003, Vol 10, 2013. [3] J Dumoulin, R Averty. Development of an infrared system coupled with a weather station for real time atmospheric corrections using GPU computing: Application to bridge monitoring, in Proc of 11 th International Conference on Quantitative InfraRed Thermography, Naples Italy, 2012. [4] F Derkx, B Lebental, T Bourouina, Frédéric B, C Cojocaru, and al..The Sense-City project.XVIIIth Symposium on Vibrations, Shocks and Noise, Jul 2012, France. 9p, 2012.

Security-Enhanced Autonomous Network Management

NASA Technical Reports Server (NTRS)

Zeng, Hui

2015-01-01

Ensuring reliable communication in next-generation space networks requires a novel network management system to support greater levels of autonomy and greater awareness of the environment and assets. Intelligent Automation, Inc., has developed a security-enhanced autonomous network management (SEANM) approach for space networks through cross-layer negotiation and network monitoring, analysis, and adaptation. The underlying technology is bundle-based delay/disruption-tolerant networking (DTN). The SEANM scheme allows a system to adaptively reconfigure its network elements based on awareness of network conditions, policies, and mission requirements. Although SEANM is generically applicable to any radio network, for validation purposes it has been prototyped and evaluated on two specific networks: a commercial off-the-shelf hardware test-bed using Institute of Electrical Engineers (IEEE) 802.11 Wi-Fi devices and a military hardware test-bed using AN/PRC-154 Rifleman Radio platforms. Testing has demonstrated that SEANM provides autonomous network management resulting in reliable communications in delay/disruptive-prone environments.

Emerging Methods and Systems for Observing Life in the Sea

NASA Astrophysics Data System (ADS)

Chavez, F.; Pearlman, J.; Simmons, S. E.

2016-12-01

There is a growing need for observations of life in the sea at time and space scales consistent with those made for physical and chemical parameters. International programs such as the Global Ocean Observing System (GOOS) and Marine Biodiversity Observation Networks (MBON) are making the case for expanded biological observations and working diligently to prioritize essential variables. Here we review past, present and emerging systems and methods for observing life in the sea from the perspective of maintaining continuous observations over long time periods. Methods that rely on ships with instrumentation and over-the-side sample collections will need to be supplemented and eventually replaced with those based from autonomous platforms. Ship-based optical and acoustic instruments are being reduced in size and power for deployment on moorings and autonomous vehicles. In parallel a new generation of low power, improved resolution sensors are being developed. Animal bio-logging is evolving with new, smaller and more sophisticated tags being developed. New genomic methods, capable of assessing multiple trophic levels from a single water sample, are emerging. Autonomous devices for genomic sample collection are being miniaturized and adapted to autonomous vehicles. The required processing schemes and methods for these emerging data collections are being developed in parallel with the instrumentation. An evolving challenge will be the integration of information from these disparate methods given that each provides their own unique view of life in the sea.

Performance Evaluation of Energy-Autonomous Sensors Using Power-Harvesting Beacons for Environmental Monitoring in Internet of Things (IoT).

PubMed

Moiş, George Dan; Sanislav, Teodora; Folea, Silviu Corneliu; Zeadally, Sherali

2018-05-25

Environmental conditions and air quality monitoring have become crucial today due to the undeniable changes of the climate and accelerated urbanization. To efficiently monitor environmental parameters such as temperature, humidity, and the levels of pollutants, such as fine particulate matter (PM2.5) and volatile organic compounds (VOCs) in the air, and to collect data covering vast geographical areas, the development of cheap energy-autonomous sensors for large scale deployment and fine-grained data acquisition is required. Rapid advances in electronics and communication technologies along with the emergence of paradigms such as Cyber-Physical Systems (CPSs) and the Internet of Things (IoT) have led to the development of low-cost sensor devices that can operate unattended for long periods of time and communicate using wired or wireless connections through the Internet. We investigate the energy efficiency of an environmental monitoring system based on Bluetooth Low Energy (BLE) beacons that operate in the IoT environment. The beacons developed measure the temperature, the relative humidity, the light intensity, and the CO₂ and VOC levels in the air. Based on our analysis we have developed efficient sleep scheduling algorithms that allow the sensor nodes developed to operate autonomously without requiring the replacement of the power supply. The experimental results show that low-power sensors communicating using BLE technology can operate autonomously (from the energy perspective) in applications that monitor the environment or the air quality in indoor or outdoor settings.

A photovoltaic-driven and energy-autonomous CMOS implantable sensor.

PubMed

Ayazian, Sahar; Akhavan, Vahid A; Soenen, Eric; Hassibi, Arjang

2012-08-01

An energy-autonomous, photovoltaic (PV)-driven and MRI-compatible CMOS implantable sensor is presented. On-chip P+/N-well diode arrays are used as CMOS-compatible PV cells to harvest μW's of power from the light that penetrates into the tissue. In this 2.5 mm × 2.5 mm sub-μW integrated system, the in-vivo physiological signals are first measured by using a subthreshold ring oscillator-based sensor, the acquired data is then modulated into a frequency-shift keying (FSK) signal, and finally transmitted neuromorphically to the skin surface by using a pair of polarized electrodes.

Sensor Fusion of Position- and Micro-Sensors (MEMS) integrated in a Wireless Sensor Network for movement detection in landslide areas

NASA Astrophysics Data System (ADS)

Arnhardt, Christian; Fernández-Steeger, Tomas; Azzam, Rafig

2010-05-01

Monitoring systems in landslide areas are important elements of effective Early Warning structures. Data acquisition and retrieval allows the detection of movement processes and thus is essential to generate warnings in time. Apart from the precise measurement, the reliability of data is fundamental, because outliers can trigger false alarms and leads to the loss of acceptance of such systems. For the monitoring of mass movements and their risk it is important to know, if there is movement, how fast it is and how trustworthy is the information. The joint project "Sensorbased landslide early warning system" (SLEWS) deals with these questions, and tries to improve data quality and to reduce false alarm rates, due to the combination of sensor date (sensor fusion). The project concentrates on the development of a prototypic Alarm- and Early Warning system (EWS) for different types of landslides by using various low-cost sensors, integrated in a wireless sensor network (WSN). The network consists of numerous connection points (nodes) that transfer data directly or over other nodes (Multi-Hop) in real-time to a data collection point (gateway). From there all the data packages are transmitted to a spatial data infrastructure (SDI) for further processing, analyzing and visualizing with respect to end-user specifications. The ad-hoc characteristic of the network allows the autonomous crosslinking of the nodes according to existing connections and communication strength. Due to the independent finding of new or more stable connections (self healing) a breakdown of the whole system is avoided. The bidirectional data stream enables the receiving of data from the network but also allows the transfer of commands and pointed requests into the WSN. For the detection of surface deformations in landslide areas small low-cost Micro-Electro-Mechanical-Systems (MEMS) and positionsensors from the automobile industries, different industrial applications and from other measurement technologies were chosen. The MEMS-Sensors are acceleration-, tilt- and barometric pressure sensors. The positionsensors are draw wire and linear displacement transducers. In first laboratory tests the accuracy and resolution were investigated. The tests showed good results for all sensors. For example tilt-movements can be monitored with an accuracy of +/- 0,06° and a resolution of 0,1°. With the displacement transducer change in length of >0,1mm is possible. Apart from laboratory tests, field tests in South France and Germany were done to prove data stability and movement detection under real conditions. The results obtained were very satisfying, too. In the next step the combination of numerous sensors (sensor fusion) of the same type (redundancy) or different types (complementary) was researched. Different experiments showed that there is a high concordance between identical sensor-types. According to different sensor parameters (sensitivity, accuracy, resolution) some sensor-types can identify changes earlier. Taking this into consideration, good correlations between different kinds of sensors were achieved, too. Thus the experiments showed that combination of sensors is possible and this could improve the detection of movement and movement rate but also outliers. Based on this results various algorithms were setup that include different statistical methods (outlier tests, testing of hypotheses) and procedures from decision theories (Hurwicz-criteria). These calculation formulas will be implemented in the spatial data infrastructure (SDI) for the further data processing and validation. In comparison with today existing mainly punctually working monitoring systems, the application of wireless sensor networks in combination with low-cost, but precise micro-sensors provides an inexpensive and easy to set up monitoring system also in large areas. The correlation of same but also different sensor-types permits a good data control. Thus the sensor fusion is a promising tool to detect movement more reliable and thus contributes essential to the improvement of Early Warning Systems.

GEODIS: A Portable Ocean Bottom Very Broadband Seismic Station

NASA Astrophysics Data System (ADS)

KARCZEWSKI, J.; MONTAGNER, J.; BEGUERY, L.; STUTZMANN, E.; ROULT, G.; LOGNONNE, P.; CACHO, S.; KOENIG, J.; SAVARY, J.

2001-12-01

The last ten years have seen the simultaneous development of a global seismic network coordinated through the FDSN (Federation of Digital Seismograph Networks) and of portable broadband seismic arrays. The same approach can be followed for improving our scientific understanding of the Earth processes below oceanic areas. Both components of ocean bottom geophysical networks, will be coordinated by ION (international Ocean Network). They are complementary since they enable to investigate the Earth structure and processes at different spatial and temporal scales. Geophysical Ocean bottom observatories (hereafter referred as GOBO) and portable seismic stations are sharing common technological problems. However, the issues of power supply and real-time data transmission are more crucial for a GOBO than for a portable temporary station. Since 1999, our group is developing a new "portable" geophysical ocean bottom autonomous station, named GEODIS. This station might be a basic element for a GOBO. It relies on the use of adapted VBB sensors issued from space experiments and technology and on improved electronics compared with previous ocean bottom experiments (SISMOBS/OFM 1992; MOISE 1997). The main characteristics of GEODIS are the following: - 3 axes VBB seismic sensors with a classical flat velocity response 360-0.2s. at 2500V/m/s (intrinsic noise level smaller than LNM). - Automatic (under software control) installation, levelling, centring of the 3 component seismic sensors. - 24 bit digitiser recording at 20sps, 3 seismic component and 1 infrasonic sensor. - Recording by a 16 bit converter at 1sps of the sea temperature in the vicinity of the instrument and housekeeping parameters (temperature, inclinations, power,...). - 1 year autonomy by using Lithium batteries. - Storage of data on Flash card and recording on hard disk every day. - Weight of GEODIS: 186kg in air and 110kg in water. - Overall dimensions: 930 x 930 x 440 mm. GEODIS can be easily installed by a small oceanographic vessel. Therefore, GEODIS has been designed in order to be reliable, with a low power consumption, to be financially affordable, to have excellent performances of sensors, to be easy to install and to recover.

Equipment Proposal for the Autonomous Vehicle Systems Laboratory at UIW

DTIC Science & Technology

2015-04-29

testing, 5) 38 Lego Mindstorm EV3 and Hitechnic Sensors for use in feedback control and autonomous systems for STEM undergraduate and High School...autonomous robots using the Lego Mindstorm EV3. This robotics workshop will be used as a pilot study for next summer when more High School students

Integrating Multiple Autonomous Underwater Vessels, Surface Vessels and Aircraft into Oceanographic Research Vessel Operations

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Martins, R.; Rajan, K.

2012-12-01

Autonomous platforms are increasingly used as components of Integrated Ocean Observing Systems and oceanographic research cruises. Systems deployed can include gliders or propeller-driven autonomous underwater vessels (AUVs), autonomous surface vessels (ASVs), and unmanned aircraft systems (UAS). Prior field campaigns have demonstrated successful communication, sensor data fusion and visualization for studies using gliders and AUVs. However, additional requirements exist for incorporating ASVs and UASs into ship operations. For these systems to be optimally integrated into research vessel data management and operational planning systems involves addressing three key issues: real-time field data availability, platform coordination, and data archiving for later analysis. A fleet of AUVs, ASVs and UAS deployed from a research vessel is best operated as a system integrated with the ship, provided communications among them can be sustained. For this purpose, Disruptive Tolerant Networking (DTN) software protocols for operation in communication-challenged environments help ensure reliable high-bandwidth communications. Additionally, system components need to have considerable onboard autonomy, namely adaptive sampling capabilities using their own onboard sensor data stream analysis. We discuss Oceanographic Decision Support System (ODSS) software currently used for situational awareness and planning onshore, and in the near future event detection and response will be coordinated among multiple vehicles. Results from recent field studies from oceanographic research vessels using AUVs, ASVs and UAS, including the Rapid Environmental Picture (REP-12) cruise, are presented describing methods and results for use of multi-vehicle communication and deliberative control networks, adaptive sampling with single and multiple platforms, issues relating to data management and archiving, and finally challenges that remain in addressing these technological issues. Significantly, the use of UAS on oceanographic research vessels is just beginning. We report on several initial field efforts which demonstrated that UAS improve spatial and temporal mapping of ocean features, as well as monitoring marine mammal populations, ocean color, sea ice and wave fields and air-sea gas exchange. These studies however also confirm the challenges for shipboard computer systems ingesting and archiving UAS high resolution video, SAR and lidar data. We describe the successful inclusion of DTN communications for: 1) passing video data between two UAS or a UAS and ship; 2) for inclusion of ASVs as communication nodes for AUVs; as well as, 3) enabling extension of adaptive sampling software from AUVs and ASVs to include UAS. In conclusion, we describe how autonomous sampling systems may be best integrated into shipboard oceanographic vessel research to provide new and more comprehensive time-space ocean and atmospheric data collection that is important not only for scientific study, but also for sustainable ocean management, including emergency response capabilities. The recent examples of such integrated studies highlighted confirm ocean and atmospheric studies can more cost-effectively pursued, and in some cases only accomplished, by combining underwater, surface and aircraft autonomous systems with research vessel operations.

Communication and Control for Fleets of Autonomous Underwater Vehicles

DTIC Science & Technology

2006-10-30

Washington State University (WSU) on fuzzy logic control systems [2-4] and autonomous vehicles [5-10]. The ALWSE-MC program developed at NAVSEA CSS was...rotating head sonar on crawlers as an additional sensor for navigation. We have previously investigated the use of video cameras on autonomous vehicles for...simulates autonomous vehicles performing mine reconnaissance/mapping, clearance, and surveillance in a littoral region. Three simulations were preformed

Object recognition for autonomous robot utilizing distributed knowledge database

NASA Astrophysics Data System (ADS)

Takatori, Jiro; Suzuki, Kenji; Hartono, Pitoyo; Hashimoto, Shuji

2003-10-01

In this paper we present a novel method of object recognition utilizing a remote knowledge database for an autonomous robot. The developed robot has three robot arms with different sensors; two CCD cameras and haptic sensors. It can see, touch and move the target object from different directions. Referring to remote knowledge database of geometry and material, the robot observes and handles the objects to understand them including their physical characteristics.

Towards an Autonomous Vision-Based Unmanned Aerial System against Wildlife Poachers

PubMed Central

Olivares-Mendez, Miguel A.; Fu, Changhong; Ludivig, Philippe; Bissyandé, Tegawendé F.; Kannan, Somasundar; Zurad, Maciej; Annaiyan, Arun; Voos, Holger; Campoy, Pascual

2015-01-01

Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $213 billion every year, which is even helping to fund armed conflicts. Poaching activities around the world are further pushing many animal species on the brink of extinction. Unfortunately, the traditional methods to fight against poachers are not enough, hence the new demands for more efficient approaches. In this context, the use of new technologies on sensors and algorithms, as well as aerial platforms is crucial to face the high increase of poaching activities in the last few years. Our work is focused on the use of vision sensors on UAVs for the detection and tracking of animals and poachers, as well as the use of such sensors to control quadrotors during autonomous vehicle following and autonomous landing. PMID:26703597

Towards an Autonomous Vision-Based Unmanned Aerial System against Wildlife Poachers.

PubMed

Olivares-Mendez, Miguel A; Fu, Changhong; Ludivig, Philippe; Bissyandé, Tegawendé F; Kannan, Somasundar; Zurad, Maciej; Annaiyan, Arun; Voos, Holger; Campoy, Pascual

2015-12-12

Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $ 213 billion every year, which is even helping to fund armed conflicts. Poaching activities around the world are further pushing many animal species on the brink of extinction. Unfortunately, the traditional methods to fight against poachers are not enough, hence the new demands for more efficient approaches. In this context, the use of new technologies on sensors and algorithms, as well as aerial platforms is crucial to face the high increase of poaching activities in the last few years. Our work is focused on the use of vision sensors on UAVs for the detection and tracking of animals and poachers, as well as the use of such sensors to control quadrotors during autonomous vehicle following and autonomous landing.

Autonomous Data Collection Using a Self-Organizing Map.

PubMed

Faigl, Jan; Hollinger, Geoffrey A

2018-05-01

The self-organizing map (SOM) is an unsupervised learning technique providing a transformation of a high-dimensional input space into a lower dimensional output space. In this paper, we utilize the SOM for the traveling salesman problem (TSP) to develop a solution to autonomous data collection. Autonomous data collection requires gathering data from predeployed sensors by moving within a limited communication radius. We propose a new growing SOM that adapts the number of neurons during learning, which also allows our approach to apply in cases where some sensors can be ignored due to a lower priority. Based on a comparison with available combinatorial heuristic algorithms for relevant variants of the TSP, the proposed approach demonstrates improved results, while also being less computationally demanding. Moreover, the proposed learning procedure can be extended to cases where particular sensors have varying communication radii, and it can also be extended to multivehicle planning.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

Towards an autonomous sensor architecture for persistent area protection

NASA Astrophysics Data System (ADS)

Thomas, Paul A.; Marshall, Gillian F.; Stubbins, Daniel J.; Faulkner, David A.

2016-10-01

The majority of sensor installations for area protection (e.g. critical national infrastructure, military forward operating bases, etc.) make use of banks of screens each containing one or more sensor feeds, such that the burden of combining data from the various sources, understanding the situation, and controlling the sensors all lies with the human operator. Any automation in the system is generally heavily bespoke for the particular installation, leading to an inflexible system which is difficult to change or upgrade. We have developed a modular system architecture consisting of intelligent autonomous sensor modules, a high level decision making module, a middleware integration layer and an end-user GUI. The modules are all effectively "plug and play", and we have demonstrated that it is relatively simple to incorporate legacy sensors into the architecture. We have extended our previously-reported SAPIENT demonstration system to operate with a larger number and variety of sensor modules, over an extended area, detecting and classifying a wider variety of "threat activities", both vehicular and pedestrian. We report the results of a demonstration of the SAPIENT system containing multiple autonomous sensor modules with a range of modalities including laser scanners, radar, TI, EO, acoustic and seismic sensors. They operate from a combination of mains, generator and battery power, and communicate with the central "hub" over Ethernet, point-to-point wireless links and Wi-Fi. The system has been configured to protect an extended area in a complex semi-urban environment. We discuss the operation of the SAPIENT system in a realistic demonstration environment (which included significant activity not under trial control), showing sensor cueing, multi-modal sensor fusion, threat prioritisation and target hand-off.

Stabilizing Motifs in Autonomous Boolean Networks and the Yeast Cell Cycle Oscillator

NASA Astrophysics Data System (ADS)

Sevim, Volkan; Gong, Xinwei; Socolar, Joshua

2009-03-01

Synchronously updated Boolean networks are widely used to model gene regulation. Some properties of these model networks are known to be artifacts of the clocking in the update scheme. Autonomous updating is a less artificial scheme that allows one to introduce small timing perturbations and study stability of the attractors. We argue that the stabilization of a limit cycle in an autonomous Boolean network requires a combination of motifs such as feed-forward loops and auto-repressive links that can correct small fluctuations in the timing of switching events. A recently published model of the transcriptional cell-cycle oscillator in yeast contains the motifs necessary for stability under autonomous updating [1]. [1] D. A. Orlando, et al. Nature (London), 4530 (7197):0 944--947, 2008.

DualTrust: A Trust Management Model for Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.

Trust management techniques must be adapted to the unique needs of the application architectures and problem domains to which they are applied. For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, certain characteristics of the mobile agent ant swarm -- their lightweight, ephemeral nature and indirect communication -- make this adaptation especially challenging. This thesis looks at the trust issues and opportunities in swarm-based autonomic computing systems and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and stillmore » serves to protect the swarm. After analyzing the applicability of trust management research as it has been applied to architectures with similar characteristics, this thesis specifies the required characteristics for trust management mechanisms used to monitor the trustworthiness of entities in a swarm-based autonomic computing system and describes a trust model that meets these requirements.« less

Odor source identification by grounding linguistic descriptions in an artificial nose

NASA Astrophysics Data System (ADS)

Loutfi, Amy; Coradeschi, Silvia; Duckett, Tom; Wide, Peter

2001-03-01

This paper addresses the problem of enabling autonomous agents (e.g., robots) to carry out human oriented tasks using an electronic nose. The nose consists of a combination of passive gas sensors with different selectivity, the outputs of which are fused together with an artificial neural network in order to recognize various human-determined odors. The basic idea is to ground human-provided linguistic descriptions of these odors in the actual sensory perceptions of the nose through a process of supervised learning. Analogous to the human nose, the paper explains a method by which an electronic nose can be used for substance identification. First, the receptors of the nose are exposed to a substance by means of inhalation with an electric pump. Then a chemical reaction takes place in the gas sensors over a period of time and an artificial neural network processes the resulting sensor patterns. This network was trained to recognize a basic set of pure substances such as vanilla, lavender and yogurt under controlled laboratory conditions. The complete system was then validated through a series of experiments on various combinations of the basic substances. First, we showed that the nose was able to consistently recognize unseen samples of the same substances on which it had been trained. In addition, we presented some first results where the nose was tested on novel combinations of substances on which it had not been trained by combining the learned descriptions - for example, it could distinguish lavender yogurt as a combination of lavender and yogurt.

Autonomous sensor particle for parameter tracking in large vessels

NASA Astrophysics Data System (ADS)

Thiele, Sebastian; Da Silva, Marco Jose; Hampel, Uwe

2010-08-01

A self-powered and neutrally buoyant sensor particle has been developed for the long-term measurement of spatially distributed process parameters in the chemically harsh environments of large vessels. One intended application is the measurement of flow parameters in stirred fermentation biogas reactors. The prototype sensor particle is a robust and neutrally buoyant capsule, which allows free movement with the flow. It contains measurement devices that log the temperature, absolute pressure (immersion depth) and 3D-acceleration data. A careful calibration including an uncertainty analysis has been performed. Furthermore, autonomous operation of the developed prototype was successfully proven in a flow experiment in a stirred reactor model. It showed that the sensor particle is feasible for future application in fermentation reactors and other industrial processes.

Sloped terrain segmentation for autonomous drive using sparse 3D point cloud.

PubMed

Cho, Seoungjae; Kim, Jonghyun; Ikram, Warda; Cho, Kyungeun; Jeong, Young-Sik; Um, Kyhyun; Sim, Sungdae

2014-01-01

A ubiquitous environment for road travel that uses wireless networks requires the minimization of data exchange between vehicles. An algorithm that can segment the ground in real time is necessary to obtain location data between vehicles simultaneously executing autonomous drive. This paper proposes a framework for segmenting the ground in real time using a sparse three-dimensional (3D) point cloud acquired from undulating terrain. A sparse 3D point cloud can be acquired by scanning the geography using light detection and ranging (LiDAR) sensors. For efficient ground segmentation, 3D point clouds are quantized in units of volume pixels (voxels) and overlapping data is eliminated. We reduce nonoverlapping voxels to two dimensions by implementing a lowermost heightmap. The ground area is determined on the basis of the number of voxels in each voxel group. We execute ground segmentation in real time by proposing an approach to minimize the comparison between neighboring voxels. Furthermore, we experimentally verify that ground segmentation can be executed at about 19.31 ms per frame.

A self-pumping lab-on-a-chip for rapid detection of botulinum toxin.

PubMed

Lillehoj, Peter B; Wei, Fang; Ho, Chih-Ming

2010-09-07

A robust poly(dimethylsiloxane) (PDMS) surface treatment was utilized for the development of a self-pumping lab-on-a-chip (LOC) to rapidly detect minute quantities of toxic substances. One such toxin, botulinum neurotoxin (BoNT), is an extremely lethal substance, which has the potential to cause hundreds of thousands of fatalities if as little as a few grams are released into the environment. To prevent such an outcome, a quick (<45 min) and sensitive detection format is needed. We have developed a self-pumping LOC that can sense down to 1 pg of BoNT type A (in a 1 microL sample) within 15 min in an autonomous manner. The key technologies enabling for such a device are a sensitive electrochemical sensor, an optimized fluidic network and a robust hydrophilic PDMS coating, thereby facilitating autonomous delivery of liquid samples for rapid detection. The stability, simplicity and portability of this device make possible for a storable and distributable system for monitoring bioterrorist attacks.

Net community production from autonomous oxygen observations in the Sargasso Sea

NASA Astrophysics Data System (ADS)

Feen, M.; Estapa, M. L.

2016-02-01

Optical sensors on autonomous floats provide high-resolution profiles of oxygen concentration over time. Improved spatiotemporal resolution in our measurements of oxygen will allow for better estimates of net community production and a greater understanding of the biological pump. Two autonomous profiling floats (NAVIS BGCi, Sea-Bird) equipped with SBE-63 optodes to measure dissolved oxygen were deployed in the Sargasso Sea on a series of five Bermuda Atlantic Time-series Study (BATS) cruises from July 2013 to April 2014. In situ calibration of the oxygen sensors to Winkler titration bottle samples at BATS did not show systematic drift in the oxygen sensors over time. Calibrations were applied to determine oxygen concentrations in profiles collected in the Sargasso Sea at 1.5 to 2.5 day intervals over a year. Oxygen concentrations were used to quantify sub-mixed layer net community production. Changes in production rates from this study were compared with upper water column biology and particle flux measurements obtained independently from optical sensors on the profiling floats, allowing us to examine processes controlling carbon export into the deep ocean.

Millimeter wave radar for automobile crash avoidance systems

NASA Astrophysics Data System (ADS)

Huguenin, G. Richard

1994-08-01

Low cost, millimeter wave, forward looking radar sensors for applications in Autonomous Collision Warning and Autonomous Intelligent Cruise Control systems will be described. These safety related systems promise the largest payoff in preventing highway crashes.

Autonomous Flight Safety System

NASA Technical Reports Server (NTRS)

Simpson, James

2010-01-01

The Autonomous Flight Safety System (AFSS) is an independent self-contained subsystem mounted onboard a launch vehicle. AFSS has been developed by and is owned by the US Government. Autonomously makes flight termination/destruct decisions using configurable software-based rules implemented on redundant flight processors using data from redundant GPS/IMU navigation sensors. AFSS implements rules determined by the appropriate Range Safety officials.

Intelligent electrical outlet for collective load control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lentine, Anthony L.; Ford, Justin R.; Spires, Shannon V.

Various technologies described herein pertain to an electrical outlet that autonomously manages loads in a microgrid. The electrical outlet can provide autonomous load control in response to variations in electrical power generation supply in the microgrid. The electrical outlet includes a receptacle, a sensor operably coupled to the receptacle, and an actuator configured to selectively actuate the receptacle. The sensor measures electrical parameters at the receptacle. Further, a processor autonomously controls the actuator based at least in part on the electrical parameters measured at the receptacle, electrical parameters from one or more disparate electrical outlets in the microgrid, and amore » supply of generated electric power in the microgrid at a given time.« less

Autonomous On-Board Calibration of Attitude Sensors and Gyros

NASA Technical Reports Server (NTRS)

Pittelkau, Mark E.

2007-01-01

This paper presents the state of the art and future prospects for autonomous real-time on-orbit calibration of gyros and attitude sensors. The current practice in ground-based calibration is presented briefly to contrast it with on-orbit calibration. The technical and economic benefits of on-orbit calibration are discussed. Various algorithms for on-orbit calibration are evaluated, including some that are already operating on board spacecraft. Because Redundant Inertial Measurement Units (RIMUs, which are IMUs that have more than three sense axes) are almost ubiquitous on spacecraft, special attention will be given to calibration of RIMUs. In addition, we discuss autonomous on board calibration and how it may be implemented.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-04

AND MULTI-BODY DYNAMICS Jayakumar , Smith, Ross, Jategaonkar, Konarzewski 4 August 2011 UNCLASSIFIED: Distribution Statement A. Approved for public...Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Cannot neglect vehicle dynamics 4 August 2011 3 UNCLASSIFIED Importance of Simulation Fidelity • Performance evaluation requires entire system

Hyperspectral Polymer Solar Cells, Integrated Power for Microsystems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stiebitz, Paul

2014-05-27

The purpose of this research is to address a critical technology barrier to the deployment of next generation autonomous microsystems – the availability of efficient and reliable power sources. The vast majority of research on microsystems has been directed toward the development and miniaturization of sensors and other devices that enhance their intelligence, physical, and networking capabilities. However, the research into power generating and power storage technologies has not keep pace with this development. This research leveraged the capabilities of RIT’s NanoPower Research Laboratories (NPRL) in materials for advanced lithium ion batteries, nanostructured photovoltaics, and hybrid betavoltaics to develop reliablemore » power sources for microsystems.« less

Development of the NASA MCAT Auxiliary Telescope for Orbital Debris Research

NASA Technical Reports Server (NTRS)

Frith, James; Lederer, Susan; Cowardin, Heather; Buckalew, Brent; Hickson, Paul; Anz-Meador, Phillip

2016-01-01

The National Aeronautical and Space Administration (NASA) has recently deployed the Meter Class Autonomous Telescope (MCAT) to Ascension Island. MCAT will provide NASA with a dedicated optical sensor for observations of orbital debris with the goal of statistically sampling the orbital and photometric characteristics of the population from low Earth to Geosynchronous orbits. Additionally, a small auxiliary telescope, co-located with MCAT, is being deployed to augment its observations by providing near-simultaneous photometry and astrometry, as well as offloading low priority targets from MCAT's observing queue. It will also be available to provide observational measurements to the Space Surveillance Network for the United States Air Force.

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

PubMed

Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

2017-08-12

In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

PubMed Central

Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

2017-01-01

In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

An ultra low-power and traffic-adaptive medium access control protocol for wireless body area network.

PubMed

Ullah, Sana; Kwak, Kyung Sup

2012-06-01

Wireless Body Area Network (WBAN) consists of low-power, miniaturized, and autonomous wireless sensor nodes that enable physicians to remotely monitor vital signs of patients and provide real-time feedback with medical diagnosis and consultations. It is the most reliable and cheaper way to take care of patients suffering from chronic diseases such as asthma, diabetes and cardiovascular diseases. Some of the most important attributes of WBAN is low-power consumption and delay. This can be achieved by introducing flexible duty cycling techniques on the energy constraint sensor nodes. Stated otherwise, low duty cycle nodes should not receive frequent synchronization and control packets if they have no data to send/receive. In this paper, we introduce a Traffic-adaptive MAC protocol (TaMAC) by taking into account the traffic information of the sensor nodes. The protocol dynamically adjusts the duty cycle of the sensor nodes according to their traffic-patterns, thus solving the idle listening and overhearing problems. The traffic-patterns of all sensor nodes are organized and maintained by the coordinator. The TaMAC protocol is supported by a wakeup radio that is used to accommodate emergency and on-demand events in a reliable manner. The wakeup radio uses a separate control channel along with the data channel and therefore it has considerably low power consumption requirements. Analytical expressions are derived to analyze and compare the performance of the TaMAC protocol with the well-known beacon-enabled IEEE 802.15.4 MAC, WiseMAC, and SMAC protocols. The analytical derivations are further validated by simulation results. It is shown that the TaMAC protocol outperforms all other protocols in terms of power consumption and delay.

Autonomous satellite navigation using starlight refraction angle measurements

NASA Astrophysics Data System (ADS)

Ning, Xiaolin; Wang, Longhua; Bai, Xinbei; Fang, Jiancheng

2013-05-01

An on-board autonomous navigation capability is required to reduce the operation costs and enhance the navigation performance of future satellites. Autonomous navigation by stellar refraction is a type of autonomous celestial navigation method that uses high-accuracy star sensors instead of Earth sensors to provide information regarding Earth's horizon. In previous studies, the refraction apparent height has typically been used for such navigation. However, the apparent height cannot be measured directly by a star sensor and can only be calculated by the refraction angle and an atmospheric refraction model. Therefore, additional errors are introduced by the uncertainty and nonlinearity of atmospheric refraction models, which result in reduced navigation accuracy and reliability. A new navigation method based on the direct measurement of the refraction angle is proposed to solve this problem. Techniques for the determination of the refraction angle are introduced, and a measurement model for the refraction angle is established. The method is tested and validated by simulations. When the starlight refraction height ranges from 20 to 50 km, a positioning accuracy of better than 100 m can be achieved for a low-Earth-orbit (LEO) satellite using the refraction angle, while the positioning accuracy of the traditional method using the apparent height is worse than 500 m under the same conditions. Furthermore, an analysis of the factors that affect navigation accuracy, including the measurement accuracy of the refraction angle, the number of visible refracted stars per orbit and the installation azimuth of star sensor, is presented. This method is highly recommended for small satellites in particular, as no additional hardware besides two star sensors is required.

The Role of Energy Reservoirs in Distributed Computing: Manufacturing, Implementing, and Optimizing Energy Storage in Energy-Autonomous Sensor Nodes

NASA Astrophysics Data System (ADS)

Cowell, Martin Andrew

The world already hosts more internet connected devices than people, and that ratio is only increasing. These devices seamlessly integrate with peoples lives to collect rich data and give immediate feedback about complex systems from business, health care, transportation, and security. As every aspect of global economies integrate distributed computing into their industrial systems and these systems benefit from rich datasets. Managing the power demands of these distributed computers will be paramount to ensure the continued operation of these networks, and is elegantly addressed by including local energy harvesting and storage on a per-node basis. By replacing non-rechargeable batteries with energy harvesting, wireless sensor nodes will increase their lifetimes by an order of magnitude. This work investigates the coupling of high power energy storage with energy harvesting technologies to power wireless sensor nodes; with sections covering device manufacturing, system integration, and mathematical modeling. First we consider the energy storage mechanism of supercapacitors and batteries, and identify favorable characteristics in both reservoir types. We then discuss experimental methods used to manufacture high power supercapacitors in our labs. We go on to detail the integration of our fabricated devices with collaborating labs to create functional sensor node demonstrations. With the practical knowledge gained through in-lab manufacturing and system integration, we build mathematical models to aid in device and system design. First, we model the mechanism of energy storage in porous graphene supercapacitors to aid in component architecture optimization. We then model the operation of entire sensor nodes for the purpose of optimally sizing the energy harvesting and energy reservoir components. In consideration of deploying these sensor nodes in real-world environments, we model the operation of our energy harvesting and power management systems subject to spatially and temporally varying energy availability in order to understand sensor node reliability. Looking to the future, we see an opportunity for further research to implement machine learning algorithms to control the energy resources of distributed computing networks.

SCHeMA web-based observation data information system

NASA Astrophysics Data System (ADS)

Novellino, Antonio; Benedetti, Giacomo; D'Angelo, Paolo; Confalonieri, Fabio; Massa, Francesco; Povero, Paolo; Tercier-Waeber, Marie-Louise

2016-04-01

It is well recognized that the need of sharing ocean data among non-specialized users is constantly increasing. Initiatives that are built upon international standards will contribute to simplify data processing and dissemination, improve user-accessibility also through web browsers, facilitate the sharing of information across the integrated network of ocean observing systems; and ultimately provide a better understanding of the ocean functioning. The SCHeMA (Integrated in Situ Chemical MApping probe) Project is developing an open and modular sensing solution for autonomous in situ high resolution mapping of a wide range of anthropogenic and natural chemical compounds coupled to master bio-physicochemical parameters (www.schema-ocean.eu). The SCHeMA web system is designed to ensure user-friendly data discovery, access and download as well as interoperability with other projects through a dedicated interface that implements the Global Earth Observation System of Systems - Common Infrastructure (GCI) recommendations and the international Open Geospatial Consortium - Sensor Web Enablement (OGC-SWE) standards. This approach will insure data accessibility in compliance with major European Directives and recommendations. Being modular, the system allows the plug-and-play of commercially available probes as well as new sensor probess under development within the project. The access to the network of monitoring probes is provided via a web-based system interface that, being implemented as a SOS (Sensor Observation Service), is providing standard interoperability and access tosensor observations systems through O&M standard - as well as sensor descriptions - encoded in Sensor Model Language (SensorML). The use of common vocabularies in all metadatabases and data formats, to describe data in an already harmonized and common standard is a prerequisite towards consistency and interoperability. Therefore, the SCHeMA SOS has adopted the SeaVox common vocabularies populated by SeaDataNet network of National Oceanographic Data Centres. The SCHeMA presentation layer, a fundamental part of the software architecture, offers to the user a bidirectional interaction with the integrated system allowing to manage and configure the sensor probes; view the stored observations and metadata, and handle alarms. The overall structure of the web portal developed within the SCHeMA initiative (Sensor Configuration, development of Core Profile interface for data access via OGC standard, external services such as web services, WMS, WFS; and Data download and query manager) will be presented and illustrated with examples of ongoing tests in costal and open sea.

Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

NASA Astrophysics Data System (ADS)

Özgüner, Ümit; Redmill, Keith

One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

Localization system for use in GPS denied environments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Trueblood, J. J.

The military uses to autonomous platforms to complete missions to provide standoff for the warfighters. However autonomous platforms rely on GPS to provide their global position. In many missions spaces the autonomous platforms may encounter GPS denied environments which limits where the platform operates and requires the warfighters to takes its place. GPS denied environments can occur due to tall building, trees, canyon wall blocking the GPS satellite signals or a lack of coverage. An Inertial Navigation System (INS) uses sensors to detect the vehicle movement and direction its traveling to calculate the vehicle. One of biggest challenges with anmore » INS system is the accuracy and accumulation of errors over time of the sensors. If these challenges can be overcome the INS would provide accurate positioning information to the autonomous vehicle in GPS denied environments and allow them to provide the desired standoff for the warfighters.« less

Interference Effects Redress over Power-Efficient Wireless-Friendly Mesh Networks for Ubiquitous Sensor Communications across Smart Cities.

PubMed

Santana, Jose; Marrero, Domingo; Macías, Elsa; Mena, Vicente; Suárez, Álvaro

2017-07-21

Ubiquitous sensing allows smart cities to take control of many parameters (e.g., road traffic, air or noise pollution levels, etc.). An inexpensive Wireless Mesh Network can be used as an efficient way to transport sensed data. When that mesh is autonomously powered (e.g., solar powered), it constitutes an ideal portable network system which can be deployed when needed. Nevertheless, its power consumption must be restrained to extend its operational cycle and for preserving the environment. To this end, our strategy fosters wireless interface deactivation among nodes which do not participate in any route. As we show, this contributes to a significant power saving for the mesh. Furthermore, our strategy is wireless-friendly, meaning that it gives priority to deactivation of nodes receiving (and also causing) interferences from (to) the rest of the smart city. We also show that a routing protocol can adapt to this strategy in which certain nodes deactivate their own wireless interfaces.

Interference Effects Redress over Power-Efficient Wireless-Friendly Mesh Networks for Ubiquitous Sensor Communications across Smart Cities

PubMed Central

Marrero, Domingo; Macías, Elsa; Mena, Vicente

2017-01-01

Ubiquitous sensing allows smart cities to take control of many parameters (e.g., road traffic, air or noise pollution levels, etc.). An inexpensive Wireless Mesh Network can be used as an efficient way to transport sensed data. When that mesh is autonomously powered (e.g., solar powered), it constitutes an ideal portable network system which can be deployed when needed. Nevertheless, its power consumption must be restrained to extend its operational cycle and for preserving the environment. To this end, our strategy fosters wireless interface deactivation among nodes which do not participate in any route. As we show, this contributes to a significant power saving for the mesh. Furthermore, our strategy is wireless-friendly, meaning that it gives priority to deactivation of nodes receiving (and also causing) interferences from (to) the rest of the smart city. We also show that a routing protocol can adapt to this strategy in which certain nodes deactivate their own wireless interfaces. PMID:28754013

Advanced Video Guidance Sensor and next-generation autonomous docking sensors

NASA Astrophysics Data System (ADS)

Granade, Stephen R.

2004-09-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Advanced Video Guidance Sensor and Next Generation Autonomous Docking Sensors

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

ISFET sensor evaluation and modification for seawater pH measurement

NASA Astrophysics Data System (ADS)

Martz, T. R.; Johnson, K. S.; Jannasch, H.; Coletti, L.; Barry, J.; Lovera, C.

2008-12-01

In the future, short-term cycles (daily to subannual) and long-term trends (annual and greater) in the carbonate system will be observed by autonomous sensors operating from a variety of platforms (e.g., moorings, profiling floats, AUVs, etc.). Of the four carbonate parameters, pH measurement has the longest history of development - yet robust autonomous sensing techniques remain elusive due to a catalog of technical challenges. Existing commercial sensor technologies generally do not meet the stringent demands of accuracy, long-term stability, low power, pressure tolerance, resistance to biofouling, and ease of use required by the oceanographic community. We report here on some recent advances in Ion Sensitive Field Effect Transistor (ISFET) technology that may open the door for more widespread autonomous seawater pH measurements. Much of our work has focused on applications of the Honeywell Durafet pH sensor, a product designed for industrial process control. Initial results from laboratory testing and deployments in the MBARI test tank and near shore moorings will be presented. Sensor calibration techniques will be addressed. Applications of now-available off-the-shelf sensors including shipboard underway measurement, shallow water mooring deployment, and a gas controlled seawater aquarium for pH perturbation experiments will be discussed. We hope that an ongoing collaboration between MBARI and Honeywell will result in a commercially available product, designed specifically for oceanographic applications, within the next several years.

Supervised autonomous rendezvous and docking system technology evaluation

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.

1991-01-01

Technology for manned space flight is mature and has an extensive history of the use of man-in-the-loop rendezvous and docking, but there is no history of automated rendezvous and docking. Sensors exist that can operate in the space environment. The Shuttle radar can be used for ranges down to 30 meters, Japan and France are developing laser rangers, and considerable work is going on in the U.S. However, there is a need to validate a flight qualified sensor for the range of 30 meters to contact. The number of targets and illumination patterns should be minimized to reduce operation constraints with one or more sensors integrated into a robust system for autonomous operation. To achieve system redundancy, it is worthwhile to follow a parallel development of qualifying and extending the range of the 0-12 meter MSFC sensor and to simultaneously qualify the 0-30(+) meter JPL laser ranging system as an additional sensor with overlapping capabilities. Such an approach offers a redundant sensor suite for autonomous rendezvous and docking. The development should include the optimization of integrated sensory systems, packaging, mission envelopes, and computer image processing to mimic brain perception and real-time response. The benefits of the Global Positioning System in providing real-time positioning data of high accuracy must be incorporated into the design. The use of GPS-derived attitude data should be investigated further and validated.

Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer

PubMed Central

Macharet, Douglas G.; Perez-Imaz, Héctor I. A.; Rezeck, Paulo A. F.; Potje, Guilherme A.; Benyosef, Luiz C. C.; Wiermann, André; Freitas, Gustavo M.; Garcia, Luis G. U.; Campos, Mario F. M.

2016-01-01

Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly. PMID:27999307

Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer.

PubMed

Macharet, Douglas G; Perez-Imaz, Héctor I A; Rezeck, Paulo A F; Potje, Guilherme A; Benyosef, Luiz C C; Wiermann, André; Freitas, Gustavo M; Garcia, Luis G U; Campos, Mario F M

2016-12-17

Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly.

Autonomous control of production networks using a pheromone approach

NASA Astrophysics Data System (ADS)

Armbruster, D.; de Beer, C.; Freitag, M.; Jagalski, T.; Ringhofer, C.

2006-04-01

The flow of parts through a production network is usually pre-planned by a central control system. Such central control fails in presence of highly fluctuating demand and/or unforeseen disturbances. To manage such dynamic networks according to low work-in-progress and short throughput times, an autonomous control approach is proposed. Autonomous control means a decentralized routing of the autonomous parts themselves. The parts’ decisions base on backward propagated information about the throughput times of finished parts for different routes. So, routes with shorter throughput times attract parts to use this route again. This process can be compared to ants leaving pheromones on their way to communicate with following ants. The paper focuses on a mathematical description of such autonomously controlled production networks. A fluid model with limited service rates in a general network topology is derived and compared to a discrete-event simulation model. Whereas the discrete-event simulation of production networks is straightforward, the formulation of the addressed scenario in terms of a fluid model is challenging. Here it is shown, how several problems in a fluid model formulation (e.g. discontinuities) can be handled mathematically. Finally, some simulation results for the pheromone-based control with both the discrete-event simulation model and the fluid model are presented for a time-dependent influx.

NASA Spacecraft Watches as Eruption Reshapes African Volcano

NASA Image and Video Library

2017-02-23

On Jan. 24, 2017, the Hyperion Imager on NASA's Earth Observing 1 (EO-1) spacecraft observed a new eruption at Erta'Ale volcano, Ethiopia, from an altitude of 438 miles (705 kilometers). Data were collected at a resolution of 98 feet (30 meters) per pixel at different visible and infrared wavelengths and were combined to create these images. A visible-wavelength image is on the left. An infrared image is shown on the right. The infrared image emphasizes the hottest areas and reveals a spectacular rift eruption, where a crack opens and lava gushes forth, fountaining into the air. The lava flows spread away from the crack. Erta'Ale is the location of a long-lived lava lake, and it remains to be seen if this survives this new eruption. The observation was scheduled via the Volcano Sensor Web, a network of sensors linked by artificial intelligence software to create an autonomous global monitoring program of satellite observations of volcanoes. The Volcano Sensor Web was alerted to this new activity by data from another spacecraft. http://photojournal.jpl.nasa.gov/catalog/PIA11239

Leveraging knowledge from physiological data: on-body heat stress risk prediction with sensor networks.

PubMed

Gaura, Elena; Kemp, John; Brusey, James

2013-12-01

The paper demonstrates that wearable sensor systems, coupled with real-time on-body processing and actuation, can enhance safety for wearers of heavy protective equipment who are subjected to harsh thermal environments by reducing risk of Uncompensable Heat Stress (UHS). The work focuses on Explosive Ordnance Disposal operatives and shows that predictions of UHS risk can be performed in real-time with sufficient accuracy for real-world use. Furthermore, it is shown that the required sensory input for such algorithms can be obtained with wearable, non-intrusive sensors. Two algorithms, one based on Bayesian nets and another on decision trees, are presented for determining the heat stress risk, considering the mean skin temperature prediction as a proxy. The algorithms are trained on empirical data and have accuracies of 92.1±2.9% and 94.4±2.1%, respectively when tested using leave-one-subject-out cross-validation. In applications such as Explosive Ordnance Disposal operative monitoring, such prediction algorithms can enable autonomous actuation of cooling systems and haptic alerts to minimize casualties.

Grading smart sensors: Performance assessment and ranking using familiar scores like A+ to D-

NASA Astrophysics Data System (ADS)

Kessel, Ronald T.

2005-03-01

Starting with the supposition that the product of smart sensors - whether autonomous, networked, or fused - is in all cases information, it is shown here using information theory how a metric Q, ranging between 0 and 100%, can be derived to assess the quality of the information provided. The analogy with student grades is immediately evident and elaborated. As with student grades, numerical percentages suggest more precision than can be justified, so a conversion to letter grades A+ to D- is desirable. Owing to the close analogy with familiar academic grades, moreover, the new grade is a measure of effectiveness (MOE) that commanders and decision makers should immediately appreciate and find quite natural, even if they do not care to follow the methodology behind the performance test, as they focus on higher-level strategic matters of sensor deployment or procurement. The metric is illustrated by translating three specialist performance tests - the Receiver Operating Characteristic (ROC) curve, the Constant False Alarm Rate (CFAR) approach, and confusion matrices - into letter grades for use then by strategists. Actual military and security systems are included among the examples.

Hardware platform for multiple mobile robots

NASA Astrophysics Data System (ADS)

Parzhuber, Otto; Dolinsky, D.

2004-12-01

This work is concerned with software and communications architectures that might facilitate the operation of several mobile robots. The vehicles should be remotely piloted or tele-operated via a wireless link between the operator and the vehicles. The wireless link will carry control commands from the operator to the vehicle, telemetry data from the vehicle back to the operator and frequently also a real-time video stream from an on board camera. For autonomous driving the link will carry commands and data between the vehicles. For this purpose we have developed a hardware platform which consists of a powerful microprocessor, different sensors, stereo- camera and Wireless Local Area Network (WLAN) for communication. The adoption of IEEE802.11 standard for the physical and access layer protocols allow a straightforward integration with the internet protocols TCP/IP. For the inspection of the environment the robots are equipped with a wide variety of sensors like ultrasonic, infrared proximity sensors and a small inertial measurement unit. Stereo cameras give the feasibility of the detection of obstacles, measurement of distance and creation of a map of the room.

Autonomous Multi-Sensor Coordination: The Science Goal Monitor

NASA Technical Reports Server (NTRS)

Koratkar, Anuradha; Grosvenor, Sandy; Jung, John; Hess, Melissa; Jones, Jeremy

2004-01-01

Many dramatic earth phenomena are dynamic and coupled. In order to fully understand them, we need to obtain timely coordinated multi-sensor observations from widely dispersed instruments. Such a dynamic observing system must include the ability to Schedule flexibly and react autonomously to sciencehser driven events; Understand higher-level goals of a sciencehser defined campaign; Coordinate various space-based and ground-based resources/sensors effectively and efficiently to achieve goals. In order to capture transient events, such a 'sensor web' system must have an automated reactive capability built into its scientific operations. To do this, we must overcome a number of challenges inherent in infusing autonomy. The Science Goal Monitor (SGM) is a prototype software tool being developed to explore the nature of automation necessary to enable dynamic observing. The tools being developed in SGM improve our ability to autonomously monitor multiple independent sensors and coordinate reactions to better observe dynamic phenomena. The SGM system enables users to specify what to look for and how to react in descriptive rather than technical terms. The system monitors streams of data to identify occurrences of the key events previously specified by the scientisther. When an event occurs, the system autonomously coordinates the execution of the users' desired reactions between different sensors. The information can be used to rapidly respond to a variety of fast temporal events. Investigators will no longer have to rely on after-the-fact data analysis to determine what happened. Our paper describes a series of prototype demonstrations that we have developed using SGM and NASA's Earth Observing-1 (EO-1) satellite and Earth Observing Systems' Aqua/Terra spacecrafts' MODIS instrument. Our demonstrations show the promise of coordinating data from different sources, analyzing the data for a relevant event, autonomously updating and rapidly obtaining a follow-on relevant image. SGM was used to investigate forest fires, floods and volcanic eruptions. We are now identifying new Earth science scenarios that will have more complex SGM reasoning. By developing and testing a prototype in an operational environment, we are also establishing and gathering metrics to gauge the success of automating science campaigns.

VIDANA: Data Management System for Nano Satellites

NASA Astrophysics Data System (ADS)

Montenegro, Sergio; Walter, Thomas; Dilger, Erik

2013-08-01

A Vidana data management system is a network of software and hardware components. This implies a software network, a hardware network and a smooth connection between both of them. Our strategy is based on our innovative middleware. A reliable interconnection network (SW & HW) which can interconnect many unreliable redundant components such as sensors, actuators, communication devices, computers, and storage elements,... and software components! Component failures are detected, the affected device is disabled and its function is taken over by a redundant component. Our middleware doesn't connect only software, but also devices and software together. Software and hardware communicate with each other without having to distinguish which functions are in software and which are implemented in hardware. Components may be turned on and off at any time, and the whole system will autonomously adapt to its new configuration in order to continue fulfilling its task. In VIDANA we aim dynamic adaptability (run tine), static adaptability (tailoring), and unified HW/SW communication protocols. For many of these aspects we use "learn from the nature" where we can find astonishing reference implementations.

VisNAV 100: a robust, compact imaging sensor for enabling autonomous air-to-air refueling of aircraft and unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Katake, Anup; Choi, Heeyoul

2010-01-01

To enable autonomous air-to-refueling of manned and unmanned vehicles a robust high speed relative navigation sensor capable of proving high accuracy 3DOF information in diverse operating conditions is required. To help address this problem, StarVision Technologies Inc. has been developing a compact, high update rate (100Hz), wide field-of-view (90deg) direction and range estimation imaging sensor called VisNAV 100. The sensor is fully autonomous requiring no communication from the tanker aircraft and contains high reliability embedded avionics to provide range, azimuth, elevation (3 degrees of freedom solution 3DOF) and closing speed relative to the tanker aircraft. The sensor is capable of providing 3DOF with an error of 1% in range and 0.1deg in azimuth/elevation up to a range of 30m and 1 deg error in direction for ranges up to 200m at 100Hz update rates. In this paper we will discuss the algorithms that were developed in-house to enable robust beacon pattern detection, outlier rejection and 3DOF estimation in adverse conditions and present the results of several outdoor tests. Results from the long range single beacon detection tests will also be discussed.

Cyber-Physical System Security With Deceptive Virtual Hosts for Industrial Control Networks

DOE PAGES

Vollmer, Todd; Manic, Milos

2014-05-01

A challenge facing industrial control network administrators is protecting the typically large number of connected assets for which they are responsible. These cyber devices may be tightly coupled with the physical processes they control and human induced failures risk dire real-world consequences. Dynamic virtual honeypots are effective tools for observing and attracting network intruder activity. This paper presents a design and implementation for self-configuring honeypots that passively examine control system network traffic and actively adapt to the observed environment. In contrast to prior work in the field, six tools were analyzed for suitability of network entity information gathering. Ettercap, anmore » established network security tool not commonly used in this capacity, outperformed the other tools and was chosen for implementation. Utilizing Ettercap XML output, a novel four-step algorithm was developed for autonomous creation and update of a Honeyd configuration. This algorithm was tested on an existing small campus grid and sensor network by execution of a collaborative usage scenario. Automatically created virtual hosts were deployed in concert with an anomaly behavior (AB) system in an attack scenario. Virtual hosts were automatically configured with unique emulated network stack behaviors for 92% of the targeted devices. The AB system alerted on 100% of the monitored emulated devices.« less

Autonomous execution of the Precision Immobilization Technique

NASA Astrophysics Data System (ADS)

Mascareñas, David D. L.; Stull, Christopher J.; Farrar, Charles R.

2017-03-01

Over the course of the last decade great advances have been made in autonomously driving cars. The technology has advanced to the point that driverless car technology is currently being tested on publicly accessed roadways. The introduction of these technologies onto publicly accessed roadways not only raises questions of safety, but also security. Autonomously driving cars are inherently cyber-physical systems and as such will have novel security vulnerabilities that couple both the cyber aspects of the vehicle including the on-board computing and any network data it makes use of, with the physical nature of the vehicle including its sensors, actuators, and the vehicle chassis. Widespread implementation of driverless car technology will require that both the cyber, as well as physical security concerns surrounding these vehicles are addressed. In this work, we specifically developed a control policy to autonomously execute the Precision Immobilization Technique, a.k.a. the PIT maneuver. The PIT maneuver was originally developed by law enforcement to end high-speed vehicular pursuits in a quasi-safe manner. However, there is still a risk of damage/roll-over to both the vehicle executing the PIT maneuver as well as to the vehicle subject to the PIT maneuver. In law enforcement applications, it would be preferable to execute the PIT maneuver using an autonomous vehicle, thus removing the danger to law-enforcement officers. Furthermore, it is entirely possible that unscrupulous individuals could inject code into an autonomously-driving car to use the PIT maneuver to immobilize other vehicles while maintaining anonymity. For these reasons it is useful to know how the PIT maneuver can be implemented on an autonomous car. In this work a simple control policy based on velocity pursuit was developed to autonomously execute the PIT maneuver using only a vision and range measurements that are both commonly collected by contemporary driverless cars. The ability of this control policy to execute the PIT maneuver was demonstrated both in simulation and experimentally. The results of this work can help inform the design of autonomous car with regards to ensuring their cyber-physical security.

An Efficient Reachability Analysis Algorithm

NASA Technical Reports Server (NTRS)

Vatan, Farrokh; Fijany, Amir

2008-01-01

A document discusses a new algorithm for generating higher-order dependencies for diagnostic and sensor placement analysis when a system is described with a causal modeling framework. This innovation will be used in diagnostic and sensor optimization and analysis tools. Fault detection, diagnosis, and prognosis are essential tasks in the operation of autonomous spacecraft, instruments, and in-situ platforms. This algorithm will serve as a power tool for technologies that satisfy a key requirement of autonomous spacecraft, including science instruments and in-situ missions.

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

NASA Technical Reports Server (NTRS)

Regalado Reyes, Bjorn Constant

2015-01-01

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

Compact autonomous navigation system (CANS)

NASA Astrophysics Data System (ADS)

Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

Autonomous navigation accuracy using simulated horizon sensor and sun sensor observations

NASA Technical Reports Server (NTRS)

Pease, G. E.; Hendrickson, H. T.

1980-01-01

A relatively simple autonomous system which would use horizon crossing indicators, a sun sensor, a quartz oscillator, and a microprogrammed computer is discussed. The sensor combination is required only to effectively measure the angle between the centers of the Earth and the Sun. Simulations for a particular orbit indicate that 2 km r.m.s. orbit determination uncertainties may be expected from a system with 0.06 deg measurement uncertainty. A key finding is that knowledge of the satellite orbit plane orientation can be maintained to this level because of the annual motion of the Sun and the predictable effects of Earth oblateness. The basic system described can be updated periodically by transits of the Moon through the IR horizon crossing indicator fields of view.

ePave: A Self-Powered Wireless Sensor for Smart and Autonomous Pavement.

PubMed

Xiao, Jian; Zou, Xiang; Xu, Wenyao

2017-09-26

"Smart Pavement" is an emerging infrastructure for various on-road applications in transportation and road engineering. However, existing road monitoring solutions demand a certain periodic maintenance effort due to battery life limits in the sensor systems. To this end, we present an end-to-end self-powered wireless sensor-ePave-to facilitate smart and autonomous pavements. The ePave system includes a self-power module, an ultra-low-power sensor system, a wireless transmission module and a built-in power management module. First, we performed an empirical study to characterize the piezoelectric module in order to optimize energy-harvesting efficiency. Second, we developed an integrated sensor system with the optimized energy harvester. An adaptive power knob is designated to adjust the power consumption according to energy budgeting. Finally, we intensively evaluated the ePave system in real-world applications to examine the system's performance and explore the trade-off.

Precision Formation Keeping at L2 Using the Autonomous Formation Flying Sensor

NASA Technical Reports Server (NTRS)

McLoughlin, Terence H.; Campbell, Mark

2004-01-01

Recent advances in formation keeping for large numbers of spacecraft using the Autonomous Formation Flying are presented. This sensor, currently under development at JPL, has been identified as a key component in future formation flying spacecraft missions. The sensor provides accurate range and bearing measurements between pairs of spacecraft using GPS technology. Previous theoretical work by the authors has focused on developing a decentralized scheduling algorithm to control the tasking of such a sensor between the relative range and bearing measurements to each node in the formation. The resulting algorithm has been modified to include switching constraints in the sensor. This paper also presents a testbed for real time validation of a sixteen-node formation based on the Stellar Imager mission. Key aspects of the simulation include minimum fuel maneuvers based on free-body dynamics and a three body propagator for simulating the formation at L2.

Real time health monitoring and control system methodology for flexible space structures

NASA Astrophysics Data System (ADS)

Jayaram, Sanjay

This dissertation is concerned with the Near Real-time Autonomous Health Monitoring of Flexible Space Structures. The dynamics of multi-body flexible systems is uncertain due to factors such as high non-linearity, consideration of higher modal frequencies, high dimensionality, multiple inputs and outputs, operational constraints, as well as unexpected failures of sensors and/or actuators. Hence a systematic framework of developing a high fidelity, dynamic model of a flexible structural system needs to be understood. The fault detection mechanism that will be an integrated part of an autonomous health monitoring system comprises the detection of abnormalities in the sensors and/or actuators and correcting these detected faults (if possible). Applying the robust control law and the robust measures that are capable of detecting and recovering/replacing the actuators rectifies the actuator faults. The fault tolerant concept applied to the sensors will be in the form of an Extended Kalman Filter (EKF). The EKF is going to weigh the information coming from multiple sensors (redundant sensors used to measure the same information) and automatically identify the faulty sensors and weigh the best estimate from the remaining sensors. The mechanization is comprised of instrumenting flexible deployable panels (solar array) with multiple angular position and rate sensors connected to the data acquisition system. The sensors will give position and rate information of the solar panel in all three axes (i.e. roll, pitch and yaw). The position data corresponds to the steady state response and the rate data will give better insight on the transient response of the system. This is a critical factor for real-time autonomous health monitoring. MATLAB (and/or C++) software will be used for high fidelity modeling and fault tolerant mechanism.

A hybrid protection approaches for denial of service (DoS) attacks in wireless sensor networks

NASA Astrophysics Data System (ADS)

Gunasekaran, Mahalakshmi; Periakaruppan, Subathra

2017-06-01

Wireless sensor network (WSN) contains the distributed autonomous devices with the sensing capability of physical and environmental conditions. During the clustering operation, the consumption of more energy causes the draining in battery power that leads to minimum network lifetime. Hence, the WSN devices are initially operated on low-power sleep mode to maximise the lifetime. But, the attacks arrival cause the disruption in low-power operating called denial of service (DoS) attacks. The conventional intrusion detection (ID) approaches such as rule-based and anomaly-based methods effectively detect the DoS attacks. But, the energy consumption and false detection rate are more. The absence of attack information and broadcast of its impact to the other cluster head (CH) leads to easy DoS attacks arrival. This article combines the isolation and routing tables to detect the attack in the specific cluster and broadcasts the information to other CH. The intercommunication between the CHs prevents the DoS attacks effectively. In addition, the swarm-based defence approach is proposed to migrate the fault channel to normal operating channel through frequency hop approaches. The comparative analysis between the proposed table-based intrusion detection systems (IDSs) and swarm-based defence approaches with the traditional IDS regarding the parameters of transmission overhead/efficiency, energy consumption, and false positive/negative rates proves the capability of DoS prediction/prevention in WSN.

Probabilistic Neighborhood-Based Data Collection Algorithms for 3D Underwater Acoustic Sensor Networks.

PubMed

Han, Guangjie; Li, Shanshan; Zhu, Chunsheng; Jiang, Jinfang; Zhang, Wenbo

2017-02-08

Marine environmental monitoring provides crucial information and support for the exploitation, utilization, and protection of marine resources. With the rapid development of information technology, the development of three-dimensional underwater acoustic sensor networks (3D UASNs) provides a novel strategy to acquire marine environment information conveniently, efficiently and accurately. However, the specific propagation effects of acoustic communication channel lead to decreased successful information delivery probability with increased distance. Therefore, we investigate two probabilistic neighborhood-based data collection algorithms for 3D UASNs which are based on a probabilistic acoustic communication model instead of the traditional deterministic acoustic communication model. An autonomous underwater vehicle (AUV) is employed to traverse along the designed path to collect data from neighborhoods. For 3D UASNs without prior deployment knowledge, partitioning the network into grids can allow the AUV to visit the central location of each grid for data collection. For 3D UASNs in which the deployment knowledge is known in advance, the AUV only needs to visit several selected locations by constructing a minimum probabilistic neighborhood covering set to reduce data latency. Otherwise, by increasing the transmission rounds, our proposed algorithms can provide a tradeoff between data collection latency and information gain. These algorithms are compared with basic Nearest-neighbor Heuristic algorithm via simulations. Simulation analyses show that our proposed algorithms can efficiently reduce the average data collection completion time, corresponding to a decrease of data latency.

Ka-Band Autonomous Formation Flying Sensor

NASA Technical Reports Server (NTRS)

Tien, Jeffrey; Purcell, George, Jr.; Srinivasan, Jeffrey; Ciminera, Michael; Srinivasan, Meera; Meehan, Thomas; Young, Lawrence; Aung, MiMi; Amaro, Luis; Chong, Yong;

An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

NASA Astrophysics Data System (ADS)

Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

Development of Autonomous Aerobraking - Phase 2

NASA Technical Reports Server (NTRS)

Murri, Daniel G.

2013-01-01

Phase 1 of the Development of Autonomous Aerobraking (AA) Assessment investigated the technical capability of transferring the processes of aerobraking maneuver (ABM) decision-making (currently performed on the ground by an extensive workforce and communicated to the spacecraft via the deep space network) to an efficient flight software algorithm onboard the spacecraft. This document describes Phase 2 of this study, which was a 12-month effort to improve and rigorously test the AA Development Software developed in Phase 1. Aerobraking maneuver; Autonomous Aerobraking; Autonomous Aerobraking Development Software; Deep Space Network; NASA Engineering and Safety Center

Efforts toward an autonomous wheelchair - biomed 2011.

PubMed

Barrett, Steven; Streeter, Robert

2011-01-01

An autonomous wheelchair is in development to provide mobility to those with significant physical challenges. The overall goal of the project is to develop a wheelchair that is fully autonomous with the ability to navigate about an environment and negotiate obstacles. As a starting point for the project, we have reversed engineered the joystick control system of an off-the-shelf commercially available wheelchair. The joystick control has been replaced with a microcontroller based system. The microcontroller has the capability to interface with a number of subsystems currently under development including wheel odometers, obstacle avoidance sensors, and ultrasonic-based wall sensors. This paper will discuss the microcontroller based system and provide a detailed system description. Results of this study may be adapted to commercial or military robot control.

Close-range sensors for small unmanned bottom vehicles: update

NASA Astrophysics Data System (ADS)

Bernstein, Charles L.

2000-07-01

The Surf Zone Reconnaissance Project is developing sensors for small, autonomous, Underwater Bottom-crawling Vehicles. The objective is to enable small, crawling robots to autonomously detect and classify mines and obstacles on the ocean bottom in depths between 0 and 10 feet. We have identified a promising set of techniques that will exploit the electromagnetic, shape, texture, image, and vibratory- modal features of this images. During FY99 and FY00 we have worked toward refining these techniques. Signature data sets have been collected for a standard target set to facilitate the development of sensor fusion and target detection and classification algorithms. Specific behaviors, termed microbehaviors, are developed to utilize the robot's mobility to position and operate the sensors. A first generation, close-range sensor suite, composed of 5 sensors, will be completed and tested on a crawling platform in FY00, and will be further refined and demonstrated in FY01 as part of the Mine Countermeasures 6.3 core program sponsored by the Office of Naval Research.

Integrating small satellite communication in an autonomous vehicle network: A case for oceanography

NASA Astrophysics Data System (ADS)

Guerra, André G. C.; Ferreira, António Sérgio; Costa, Maria; Nodar-López, Diego; Aguado Agelet, Fernando

2018-04-01

Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been built, with decreasing costs and form-factor payloads. Here we focus on combining these two multifaceted assets in an incremental way, with an ultimate goal of alleviating the logistical expenses in remote oceanographic operations. The first goal is to create a highly reliable and constantly available communication link for a network of autonomous vehicles, taking advantage of the small satellite lower cost, with respect to conventional spacecraft, and its higher flexibility. We have developed a test platform as a proving ground for this network, by integrating a satellite software defined radio on an unmanned air vehicle, creating a system of systems, and several tests have been run successfully, over land. As soon as the satellite is fully operational, we will start to move towards a cooperative network of autonomous vehicles and small satellites, with application in maritime operations, both in-situ and remote sensing.

A reconfigurable computing platform for plume tracking with mobile sensor networks

NASA Astrophysics Data System (ADS)

Kim, Byung Hwa; D'Souza, Colin; Voyles, Richard M.; Hesch, Joel; Roumeliotis, Stergios I.

2006-05-01

Much work has been undertaken recently toward the development of low-power, high-performance sensor networks. There are many static remote sensing applications for which this is appropriate. The focus of this development effort is applications that require higher performance computation, but still involve severe constraints on power and other resources. Toward that end, we are developing a reconfigurable computing platform for miniature robotic and human-deployed sensor systems composed of several mobile nodes. The system provides static and dynamic reconfigurability for both software and hardware by the combination of CPU (central processing unit) and FPGA (field-programmable gate array) allowing on-the-fly reprogrammability. Static reconfigurability of the hardware manifests itself in the form of a "morphing bus" architecture that permits the modular connection of various sensors with no bus interface logic. Dynamic hardware reconfigurability provides for the reallocation of hardware resources at run-time as the mobile, resource-constrained nodes encounter unknown environmental conditions that render various sensors ineffective. This computing platform will be described in the context of work on chemical/biological/radiological plume tracking using a distributed team of mobile sensors. The objective for a dispersed team of ground and/or aerial autonomous vehicles (or hand-carried sensors) is to acquire measurements of the concentration of the chemical agent from optimal locations and estimate its source and spread. This requires appropriate distribution, coordination and communication within the team members across a potentially unknown environment. The key problem is to determine the parameters of the distribution of the harmful agent so as to use these values for determining its source and predicting its spread. The accuracy and convergence rate of this estimation process depend not only on the number and accuracy of the sensor measurements but also on their spatial distribution over time (the sampling strategy). For the safety of a human-deployed distribution of sensors, optimized trajectories to minimize human exposure are also of importance. The systems described in this paper are currently being developed. Parts of the system are already in existence and some results from these are described.

Estimation and Control for Autonomous Coring from a Rover Manipulator

NASA Technical Reports Server (NTRS)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Self-organizing network services with evolutionary adaptation.

PubMed

Nakano, Tadashi; Suda, Tatsuya

2005-09-01

This paper proposes a novel framework for developing adaptive and scalable network services. In the proposed framework, a network service is implemented as a group of autonomous agents that interact in the network environment. Agents in the proposed framework are autonomous and capable of simple behaviors (e.g., replication, migration, and death). In this paper, an evolutionary adaptation mechanism is designed using genetic algorithms (GAs) for agents to evolve their behaviors and improve their fitness values (e.g., response time to a service request) to the environment. The proposed framework is evaluated through simulations, and the simulation results demonstrate the ability of autonomous agents to adapt to the network environment. The proposed framework may be suitable for disseminating network services in dynamic and large-scale networks where a large number of data and services need to be replicated, moved, and deleted in a decentralized manner.

Sensor Management for Applied Research Technologies (SMART)-On Demand Modeling (ODM) Project

NASA Technical Reports Server (NTRS)

Goodman, M.; Blakeslee, R.; Hood, R.; Jedlovec, G.; Botts, M.; Li, X.

2006-01-01

NASA requires timely on-demand data and analysis capabilities to enable practical benefits of Earth science observations. However, a significant challenge exists in accessing and integrating data from multiple sensors or platforms to address Earth science problems because of the large data volumes, varying sensor scan characteristics, unique orbital coverage, and the steep learning curve associated with each sensor and data type. The development of sensor web capabilities to autonomously process these data streams (whether real-time or archived) provides an opportunity to overcome these obstacles and facilitate the integration and synthesis of Earth science data and weather model output. A three year project, entitled Sensor Management for Applied Research Technologies (SMART) - On Demand Modeling (ODM), will develop and demonstrate the readiness of Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) capabilities that integrate both Earth observations and forecast model output into new data acquisition and assimilation strategies. The advancement of SWE-enabled systems (i.e., use of SensorML, sensor planning services - SPS, sensor observation services - SOS, sensor alert services - SAS and common observation model protocols) will have practical and efficient uses in the Earth science community for enhanced data set generation, real-time data assimilation with operational applications, and for autonomous sensor tasking for unique data collection.

Real-time sensor validation and fusion for distributed autonomous sensors

NASA Astrophysics Data System (ADS)

Yuan, Xiaojing; Li, Xiangshang; Buckles, Bill P.

2004-04-01

Multi-sensor data fusion has found widespread applications in industrial and research sectors. The purpose of real time multi-sensor data fusion is to dynamically estimate an improved system model from a set of different data sources, i.e., sensors. This paper presented a systematic and unified real time sensor validation and fusion framework (RTSVFF) based on distributed autonomous sensors. The RTSVFF is an open architecture which consists of four layers - the transaction layer, the process fusion layer, the control layer, and the planning layer. This paradigm facilitates distribution of intelligence to the sensor level and sharing of information among sensors, controllers, and other devices in the system. The openness of the architecture also provides a platform to test different sensor validation and fusion algorithms and thus facilitates the selection of near optimal algorithms for specific sensor fusion application. In the version of the model presented in this paper, confidence weighted averaging is employed to address the dynamic system state issue noted above. The state is computed using an adaptive estimator and dynamic validation curve for numeric data fusion and a robust diagnostic map for decision level qualitative fusion. The framework is then applied to automatic monitoring of a gas-turbine engine, including a performance comparison of the proposed real-time sensor fusion algorithms and a traditional numerical weighted average.

Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

NASA Astrophysics Data System (ADS)

Raimalwala, K.; Faragalli, M.; Reid, E.

2018-04-01

The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

Lunar Relay Satellite Network for Space Exploration: Architecture, Technologies and Challenges

NASA Technical Reports Server (NTRS)

Bhasin, Kul B.; Hackenberg, Anthony W.; Slywczak, Richard A.; Bose, Prasanta; Bergamo, Marcos; Hayden, Jeffrey L.

2006-01-01

NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of these missions is to grow, through a series of launches, a system of systems infrastructure with the capability for safe and sustainable autonomous operations at minimum cost while maximizing the exploration capabilities and science return. An incremental implementation process will enable a buildup of the communication, navigation, networking, computing, and informatics architectures to support human exploration missions in the vicinities and on the surfaces of the Moon and Mars. These architectures will support all space and surface nodes, including other orbiters, lander vehicles, humans in spacesuits, robots, rovers, human habitats, and pressurized vehicles. This paper describes the integration of an innovative MAC and networking technology with an equally innovative position-dependent, data routing, network technology. The MAC technology provides the relay spacecraft with the capability to autonomously discover neighbor spacecraft and surface nodes, establish variable-rate links and communicate simultaneously with multiple in-space and surface clients at varying and rapidly changing distances while making optimum use of the available power. The networking technology uses attitude sensors, a time synchronization protocol and occasional orbit-corrections to maintain awareness of its instantaneous position and attitude in space as well as the orbital or surface location of its communication clients. A position-dependent data routing capability is used in the communication relay satellites to handle the movement of data among any of multiple clients (including Earth) that may be simultaneously in view; and if not in view, the relay will temporarily store the data from a client source and download it when the destination client comes into view. The integration of the MAC and data routing networking technologies would enable a relay satellite system to provide end-to-end communication services for robotic and human missions in the vicinity, or on the surface of the Moon with a minimum of Earth-based operational support.

A Forest Fire Sensor Web Concept with UAVSAR

NASA Astrophysics Data System (ADS)

Lou, Y.; Chien, S.; Clark, D.; Doubleday, J.; Muellerschoen, R.; Zheng, Y.

2008-12-01

We developed a forest fire sensor web concept with a UAVSAR-based smart sensor and onboard automated response capability that will allow us to monitor fire progression based on coarse initial information provided by an external source. This autonomous disturbance detection and monitoring system combines the unique capabilities of imaging radar with high throughput onboard processing technology and onboard automated response capability based on specific science algorithms. In this forest fire sensor web scenario, a fire is initially located by MODIS/RapidFire or a ground-based fire observer. This information is transmitted to the UAVSAR onboard automated response system (CASPER). CASPER generates a flight plan to cover the alerted fire area and executes the flight plan. The onboard processor generates the fuel load map from raw radar data, used with wind and elevation information, predicts the likely fire progression. CASPER then autonomously alters the flight plan to track the fire progression, providing this information to the fire fighting team on the ground. We can also relay the precise fire location to other remote sensing assets with autonomous response capability such as Earth Observation-1 (EO-1)'s hyper-spectral imager to acquire the fire data.

Human care system for heart-rate and human-movement trajectory in home and its application to detect mental disease

NASA Astrophysics Data System (ADS)

Hata, Yutaka; Kanazawa, Seigo; Endo, Maki; Tsuchiya, Naoki; Nakajima, Hiroshi

2012-06-01

This paper proposes a heart rate monitoring system for detecting autonomic nervous system by the heart rate variability using an air pressure sensor to diagnose mental disease. Moreover, we propose a human behavior monitoring system for detecting the human trajectory in home by an infrared camera. In day and night times, the human behavior monitoring system detects the human movement in home. The heart rate monitoring system detects the heart rate in bed in night time. The air pressure sensor consists of a rubber tube, cushion cover and pressure sensor, and it detects the heart rate by setting it to bed. It unconstraintly detects the RR-intervals; thereby the autonomic nervous system can be assessed. The autonomic nervous system analysis can examine the mental disease. While, the human behavior monitoring system obtains distance distribution image by an infrared camera. It classifies adult, child and the other object from distance distribution obtained by the camera, and records their trajectories. This behavior, i.e., trajectory in home, strongly corresponds to cognitive disorders. Thus, the total system can detect mental disease and cognitive disorders by uncontacted sensors to human body.

Semantic Likelihood Models for Bayesian Inference in Human-Robot Interaction

NASA Astrophysics Data System (ADS)

Sweet, Nicholas

Autonomous systems, particularly unmanned aerial systems (UAS), remain limited in au- tonomous capabilities largely due to a poor understanding of their environment. Current sensors simply do not match human perceptive capabilities, impeding progress towards full autonomy. Recent work has shown the value of humans as sources of information within a human-robot team; in target applications, communicating human-generated 'soft data' to autonomous systems enables higher levels of autonomy through large, efficient information gains. This requires development of a 'human sensor model' that allows soft data fusion through Bayesian inference to update the probabilistic belief representations maintained by autonomous systems. Current human sensor models that capture linguistic inputs as semantic information are limited in their ability to generalize likelihood functions for semantic statements: they may be learned from dense data; they do not exploit the contextual information embedded within groundings; and they often limit human input to restrictive and simplistic interfaces. This work provides mechanisms to synthesize human sensor models from constraints based on easily attainable a priori knowledge, develops compression techniques to capture information-dense semantics, and investigates the problem of capturing and fusing semantic information contained within unstructured natural language. A robotic experimental testbed is also developed to validate the above contributions.

Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

NASA Technical Reports Server (NTRS)

Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

1990-01-01

Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

Autonomous Flight Safety System

NASA Technical Reports Server (NTRS)

Ferrell, Bob; Santuro, Steve; Simpson, James; Zoerner, Roger; Bull, Barton; Lanzi, Jim

2004-01-01

Autonomous Flight Safety System (AFSS) is an independent flight safety system designed for small to medium sized expendable launch vehicles launching from or needing range safety protection while overlying relatively remote locations. AFSS replaces the need for a man-in-the-loop to make decisions for flight termination. AFSS could also serve as the prototype for an autonomous manned flight crew escape advisory system. AFSS utilizes onboard sensors and processors to emulate the human decision-making process using rule-based software logic and can dramatically reduce safety response time during critical launch phases. The Range Safety flight path nominal trajectory, its deviation allowances, limit zones and other flight safety rules are stored in the onboard computers. Position, velocity and attitude data obtained from onboard global positioning system (GPS) and inertial navigation system (INS) sensors are compared with these rules to determine the appropriate action to ensure that people and property are not jeopardized. The final system will be fully redundant and independent with multiple processors, sensors, and dead man switches to prevent inadvertent flight termination. AFSS is currently in Phase III which includes updated algorithms, integrated GPS/INS sensors, large scale simulation testing and initial aircraft flight testing.

Towards an Autonomous Space In-Situ Marine Sensorweb

NASA Technical Reports Server (NTRS)

Chien, S.; Doubleday, J.; Tran, D.; Thompson, D.; Mahoney, G.; Chao, Y.; Castano, R.; Ryan, J.; Kudela, R.; Palacios, S.;

Modeling the Internet of Things, Self-Organizing and Other Complex Adaptive Communication Networks: A Cognitive Agent-Based Computing Approach.

PubMed

Laghari, Samreen; Niazi, Muaz A

2016-01-01

Computer Networks have a tendency to grow at an unprecedented scale. Modern networks involve not only computers but also a wide variety of other interconnected devices ranging from mobile phones to other household items fitted with sensors. This vision of the "Internet of Things" (IoT) implies an inherent difficulty in modeling problems. It is practically impossible to implement and test all scenarios for large-scale and complex adaptive communication networks as part of Complex Adaptive Communication Networks and Environments (CACOONS). The goal of this study is to explore the use of Agent-based Modeling as part of the Cognitive Agent-based Computing (CABC) framework to model a Complex communication network problem. We use Exploratory Agent-based Modeling (EABM), as part of the CABC framework, to develop an autonomous multi-agent architecture for managing carbon footprint in a corporate network. To evaluate the application of complexity in practical scenarios, we have also introduced a company-defined computer usage policy. The conducted experiments demonstrated two important results: Primarily CABC-based modeling approach such as using Agent-based Modeling can be an effective approach to modeling complex problems in the domain of IoT. Secondly, the specific problem of managing the Carbon footprint can be solved using a multiagent system approach.

A mobile and self-sufficient lab for high frequency measurements of stable water isotopes and chemistry of multiple water sources

NASA Astrophysics Data System (ADS)

Windhorst, David; Kraft, Philipp; Holly, Hartmut; Sahraei, Amir; Breuer, Lutz

2017-04-01

Technical advances over the last years have made instruments for stable water isotope and water chemistry measurements smaller, more durable and energy efficient. It is nowadays feasible to deploy such instruments in situ during field campaigns. Coupled to an automated sample delivery system, high temporal resolution online measurements of various sources are within the bounds of economic and technical possibility. However, the day to day operation of such equipment still requires either a lot of man power and infrastructure or the implementation of a quasi-self-sufficient system. The challenge remains on how to facilitate and remotely operate such a system. We present the design and implementation of the Water Analysis Trailer for Environmental Research (WATER), an autonomous platform consisting of instruments for stable water isotope and water chemistry analysis. The system takes and measures samples in high temporal resolution (<15 min) of up to 12 sources. To ensure an unmanned operation of up to one week several issues need to be addressed. The essential topics are: - self-sufficient power supply, - automated sample delivery and preparation, and - autonomous measurements and management interfacing all instruments. In addition to the basic requirements we implemented: - communication of all system states, alarm messages and measurement results to an internal as well as an external database via cellular telemetry, - automated storage of up to 300 frozen reference samples (100 mL, stored at -18°C), - climate control for temperature sensitive equipment (±1°C), - a local and remote (up to 20 km using radio telemetry) sensor network (i.e. to record states of the hydrological system and climate and soil conditions), also suitable to trigger specific measurements - automatic fire suppression and security system. The initial instrumentation includes a UV spectrometer (ProPs, Trios GmBH, Germany) to measure NO3-, COD, TOC and total suspended sediments, multiparameter water quality probe (YSI600R, YSI, USA) to measure electrical conductivity and pH, and a stable water isotope analyzer (L2130-i, Picarro, USA) coupled to a continuous water sampler (A0217, Picarro, USA). Fourty soil moisture, temperature and electrical conductivity sensors (5TE, Decagon, USA) are connect to the remote sensor network (A850, Adcon, Austria) and rain gauges and a climate station (WXT520, Vaisala, Finland) are connected to the local sensor network via SDI-12. In a first field trial starting in March 2017 the mobile laboratory will be used to study the hydrological processes in the developed landscape of the Schwingbach catchment (Germany). We are confident, that the unprecedented degree in detail, the measurements promise, will further accelerate our hydrological understanding and the interaction of various discharge generating sources.

Distributed Autonomous Control Action Based on Sensor and Mission Fusion

DTIC Science & Technology

2005-09-01

programmable control algorithm driven by the readings of two pressure switch sensors located on either side of the valve unit. Thus, a micro-controller...and Characterization The process of leak detection and characterization must be accomplished with a set of pressure switch sensors. This sensor...economically supplementing existing widely used pressure switch type sensors which are characterized by prohibitively long inertial lag responses

Amplifying human ability through autonomics and machine learning in IMPACT

NASA Astrophysics Data System (ADS)

Dzieciuch, Iryna; Reeder, John; Gutzwiller, Robert; Gustafson, Eric; Coronado, Braulio; Martinez, Luis; Croft, Bryan; Lange, Douglas S.

2017-05-01

Amplifying human ability for controlling complex environments featuring autonomous units can be aided by learned models of human and system performance. In developing a command and control system that allows a small number of people to control a large number of autonomous teams, we employ an autonomics framework to manage the networks that represent mission plans and the networks that are composed of human controllers and their autonomous assistants. Machine learning allows us to build models of human and system performance useful for monitoring plans and managing human attention and task loads. Machine learning also aids in the development of tactics that human supervisors can successfully monitor through the command and control system.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Astrophysics Data System (ADS)

Alhorn, Dean C.

2005-02-01

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete sub-systems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Technical Reports Server (NTRS)

Alhorn, Dean C.

2005-01-01

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete subsystems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Altered Behavioral and Autonomic Pain Responses in Alzheimer’s Disease Are Associated with Dysfunctional Affective, Self-Reflective and Salience Network Resting-State Connectivity

PubMed Central

Beach, Paul A.; Huck, Jonathan T.; Zhu, David C.; Bozoki, Andrea C.

2017-01-01

While pain behaviors are increased in Alzheimer’s disease (AD) patients compared to healthy seniors (HS) across multiple disease stages, autonomic responses are reduced with advancing AD. To better understand the neural mechanisms underlying these phenomena, we undertook a controlled cross-sectional study examining behavioral (Pain Assessment in Advanced Dementia, PAINAD scores) and autonomic (heart rate, HR) pain responses in 24 HS and 20 AD subjects using acute pressure stimuli. Resting-state fMRI was utilized to investigate how group connectivity differences were related to altered pain responses. Pain behaviors (slope of PAINAD score change and mean PAINAD score) were increased in patients vs. controls. Autonomic measures (HR change intercept and mean HR change) were reduced in severe vs. mildly affected AD patients. Group functional connectivity differences associated with greater pain behavior reactivity in patients included: connectivity within a temporal limbic network (TLN) and between the TLN and ventromedial prefrontal cortex (vmPFC); between default mode network (DMN) subcomponents; between the DMN and ventral salience network (vSN). Reduced HR responses within the AD group were associated with connectivity changes within the DMN and vSN—specifically the precuneus and vmPFC. Discriminant classification indicated HR-related connectivity within the vSN to the vmPFC best distinguished AD severity. Thus, altered behavioral and autonomic pain responses in AD reflects dysfunction of networks and structures subserving affective, self-reflective, salience and autonomic regulation. PMID:28959201

Energy-autonomous wireless sensor nodes for automotive applications, powered by thermoelectric energy harvesting

NASA Astrophysics Data System (ADS)

Mehne, P.; Lickert, F.; Bäumker, E.; Kroener, M.; Woias, P.

2016-11-01

In this paper we will first present the measurement of temperatures on different positions at a diesel-powered car. As a result, several locations are identified as suitable to implement a wireless sensor node powered by thermal energy harvesting. Based on the data gained a thermoelectric generator (TEG) has been selected, and measurements of energy generation have been performed. Further, a complete energy-autonomous wireless sensor node was designed, including the TEG with its mounting bracket, an electronic power management, and a Bluetooth Low Energy (BLE) sensor node. Based on temperature differences from -10 K up to 75.3 K occurring in test drives, a low power set up was chosen to achieve a system startup time below 10 minutes and to ensure service even under difficult ambient conditions, like high ambient temperatures or a slow movement of the car in stocking traffic. 2 minutes after starting the engine a power about of 10 mW is available from the chosen TEG, and in peak the power exceeds 1 W. In a 50 minute test drive it was possible to generate 650 J of energy. This information was used to develop the complete system, demonstrating the opportunity to deploy energy-autonomous wireless sensor nodes in a car, e.g. for exhaust gas monitoring. The system is used to gather sensor data, like temperature and humidity, and transmits data successfully via BLE to a prepared main node based on a Raspberry Pi.

Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control.

PubMed

Kember, Guy; Ardell, Jeffrey L; Shivkumar, Kalyanam; Armour, J Andrew

2017-01-01

The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as 'free-floating' in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease.

Software for autonomous astronomical observatories: challenges and opportunities in the age of big data

NASA Astrophysics Data System (ADS)

Sybilski, Piotr W.; Pawłaszek, Rafał; Kozłowski, Stanisław K.; Konacki, Maciej; Ratajczak, Milena; Hełminiak, Krzysztof G.

2014-07-01

We present the software solution developed for a network of autonomous telescopes, deployed and tested in Solaris Project. The software aims to fulfil the contemporary needs of distributed autonomous observatories housing medium sized telescopes: ergonomics, availability, security and reusability. The datafication of such facilities seems inevitable and we give a preliminary study of the challenges and opportunities waiting for software developers. Project Solaris is a global network of four 0.5 m autonomous telescopes conducting a survey of eclipsing binaries in the Southern Hemisphere. The Project's goal is to detect and characterise circumbinary planets using the eclipse timing method. The observatories are located on three continents, and the headquarters coordinating and monitoring the network is in Poland. All four are operational as of December 2013.

In-situ Chemical Exploration and Mapping using an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Bingham, B. S.; Jakuba, M.; Whelan, J.; Singh, H.; Whiticar, M.

2004-12-01

Recent advances in in-situ chemical sensing have emphasized several issues associated with making reliable chemical measurements in the ocean. Such measurements are often aliased temporally and or spatially, and may suffer from instrumentation artifacts, such as slow response time, limited dynamic range, hysteresis, and environmental sensitivities (eg., temperature and pressure). We focus on the in-situ measurement of light hydrocarbons. Specifically we examine data collected using a number of methods including: a vertical profiler, autonomous underwater vehicles (AUV) surveys, and adaptive spatio-temporal survey techniques. We present data collected using a commercial METS sensor on a vertical profiler to identify and map structures associated with ocean bottom methane sources in the Saanich inlet off Vancouver, Canada. This sensor was deployed in parallel with a submersible mass spectrometer and a shipboard equilibrator-gas chromatograph. Our results illustrate that spatial offsets as small as centimeters can produce significant differences in measured concentration. In addition, differences in response times between instruments can also alias the measurements. The results of this preliminary experiment underscore the challenges of quantifying ocean chemical processes with small-scale spatial variability and temporal variability that is often faster than the response times of many available instruments. We explore the capabilities and current limitations of autonomous underwater vehicles for extending the spatial coverage of new in-situ sensor technologies. We present data collected from deployments of Seabed, a passively stable, hover capable AUV, at large-scale gas blowout features located along the U.S. Atlantic margin. Although these deployments successfully revealed previously unobservable oceanographic processes, temporal aliasing caused by sensor response as well as tidal variability manifests itself, illustrating the possibilities for misinterpretation of localized periodic anomalies. Finally we present results of recent experimental chemical plume mapping surveys that were conducted off the coast of Massachusetts using adaptive behaviors that allow the AUV to optimize its mission plan to autonomously search for chemical anomalies. This adaptive operation is based on coupling the chemical sensor payload within a closed-loop architecture with the vehicle's navigation control system for real-time autonomous data assimilation and decision making processes. This allows the vehicle to autonomously refine the search strategy, thereby improving feature localization capabilities and enabling surveys at an appropriate temporal and spatial resolution.

Cyberinfrastructure (CI) for Interactive Ocean Observatories: LOOKING Ahead

NASA Astrophysics Data System (ADS)

Orcutt, J.; Abbott, M.; Bellingham, J.; Chave, A.; Delaney, J.; Johnson, R.; Lazowska, E.; Moline, M.; Smarr, L.

2004-12-01

Investments in next-generation facilities to achieve a permanent, interactive telepresence throughout remote or hostile environments can empower a broad spectrum of autonomous sensornet facilities through the NSF Major Research Equipment and Facililties Construction Ocean Observatories Initiative (OOI). These systems must involve powerful suites of generic cyberinfrastructure tools designed to optimize access and benefits to a large academic and public user base. Many future research and educational efforts focused throughout the ocean basins, especially within heavily populated coastal regions, will be empowered by these new systems. Our project LOOKING (Laboratory for the Ocean Observatory Knowledge Integration Grid) is developing prototype CI for the OOI to achieve these goals. In the case of ocean observatory networks, it is essential to establish powerful network infrastructures linking the wet or subsea portion, with a host of shore station facilities. These components in turn must seamlessly communicate with an ensemble of data repositories, and relevant computer and visualization resources designed to serve a widely diverse ocean science community with real time, broadband access to all observatory system data, products, and metadata. This infrastructure must be secure, reliable, and resilient. It must meet the potentially ambitious latency, bandwidth, and performance requirements demanded by a set of evolving autonomous sensor platforms over a period of decades. This Grid environment must seamlessly interconnect all relevant national and international research and education nets accessible through high speed, next generation communication networks. The primary components of LOOKING are remote services that fulfill the CI needs of the ocean observatory community. These services arise from overarching science and education requirements: 1) Instrument Services operate at the sensor end of an ocean observatory, and are dominantly but not exclusively wet. 2) Infrastructure Services operate within the ocean observatory itself, providing data, time distribution, and power functions to instruments; 3) Data Services interface the ocean observatory to users, whether human beings or modeling programs. In an appropriately designed and functioning system, none can stand alone, nor can they be developed in isolation. These services and associated middleware layers must be designed from the outset to interact seamlessly and transparently.

Towards autonomous environmental monitoring systems.

PubMed

Sequeira, Margaret; Bowden, Michaela; Minogue, Edel; Diamond, Dermot

2002-02-11

The concept of micro total analysis systems (muTAS) or Lab-on-a-chip is based on the twin strategies of integration and miniaturisation that have been so successful in the electronics industry. This paper will look at the materials issues, particularly with respect to the new polymeric materials that are becoming available, and strategies for integrating optical (colorimetric) detection. The influence of breakthroughs in apparently unrelated areas on the range of chemistries that can be applied will be illustrated. For environmental monitoring, the further integration of wireless communications with micro-dimensioned analytical instruments and sensors will become the ultimate driving force. The emergence of these compact, self-sustaining, networked instruments will have enormous impact on all field-based environmental measurements.

INS integrated motion analysis for autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Roberts, Barry; Bazakos, Mike

1991-01-01

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Evaluating reliability of WSN with sleep/wake-up interfering nodes

NASA Astrophysics Data System (ADS)

Distefano, Salvatore

2013-10-01

A wireless sensor network (WSN) (singular and plural of acronyms are spelled the same) is a distributed system composed of autonomous sensor nodes wireless connected and randomly scattered into a geographical area to cooperatively monitor physical or environmental conditions. Adequate techniques and strategies are required to manage a WSN so that it works properly, observing specific quantities and metrics to evaluate the WSN operational conditions. Among them, one of the most important is the reliability. Considering a WSN as a system composed of sensor nodes the system reliability approach can be applied, thus expressing the WSN reliability in terms of its nodes' reliability. More specifically, since often standby power management policies are applied at node level and interferences among nodes may arise, a WSN can be considered as a dynamic system. In this article we therefore consider the WSN reliability evaluation problem from the dynamic system reliability perspective. Static-structural interactions are specified by the WSN topology. Sleep/wake-up standby policies and interferences due to wireless communications can be instead considered as dynamic aspects. Thus, in order to represent and to evaluate the WSN reliability, we use dynamic reliability block diagrams and Petri nets. The proposed technique allows to overcome the limits of Markov models when considering non-linear discharge processes, since they cannot adequately represent the aging processes. In order to demonstrate the effectiveness of the technique, we investigate some specific WSN network topologies, providing guidelines for their representation and evaluation.

Learning for Autonomous Navigation

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

Design of a Vision-Based Sensor for Autonomous Pig House Cleaning

NASA Astrophysics Data System (ADS)

Braithwaite, Ian; Blanke, Mogens; Zhang, Guo-Qiang; Carstensen, Jens Michael

2005-12-01

Current pig house cleaning procedures are hazardous to the health of farm workers, and yet necessary if the spread of disease between batches of animals is to be satisfactorily controlled. Autonomous cleaning using robot technology offers salient benefits. This paper addresses the feasibility of designing a vision-based system to locate dirty areas and subsequently direct a cleaning robot to remove dirt. Novel results include the characterisation of the spectral properties of real surfaces and dirt in a pig house and the design of illumination to obtain discrimination of clean from dirty areas with a low probability of misclassification. A Bayesian discriminator is shown to be efficient in this context and implementation of a prototype tool demonstrates the feasibility of designing a low-cost vision-based sensor for autonomous cleaning.

Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles

NASA Technical Reports Server (NTRS)

Brockers, Roland; Ma, Jeremy C.; Matthies, Larry H.; Bouffard, Patrick

2012-01-01

Micro aerial vehicles have limited sensor suites and computational power. For reconnaissance tasks and to conserve energy, these systems need the ability to autonomously land at vantage points or enter buildings (ingress). But for autonomous navigation, information is needed to identify and guide the vehicle to the target. Vision algorithms can provide egomotion estimation and target detection using input from cameras that are easy to include in miniature systems.

Automation of Armored Four Wheel Counter Steer Vehicles

DTIC Science & Technology

2015-08-28

designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation. Automation...Public Release The U.S. Army’s efforts in vehicle auto- mation are designed in part to protect soldiers in the field as they traverse poten- tially...System (AMAS) convoy autonomy, sensor, and drive-by-wire kits, to ground-up autonomous vehicle designs , such as TARDEC’s Autonomous Platform

Recent Advances in Bathymetric Surveying of Continental Shelf Regions Using Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.; Slocum, D.

2016-02-01

Obtaining bathymetric observations within the continental shelf in areas closer to the shore is often time consuming and dangerous, especially when uncharted shoals and rocks present safety concerns to survey ships and launches. However, surveys in these regions are critically important to numerical simulation of oceanographic processes, as bathymetry serves as the bottom boundary condition in operational forecasting models. We will present recent progress in bathymetric surveying using both traditional vessels retrofitted for autonomous operations and relatively inexpensive, small team deployable, Autonomous Underwater Vehicles (AUV). Both systems include either high-resolution multibeam echo sounders or interferometric sidescan sonar sensors with integrated inertial navigation system capabilities consistent with present commercial-grade survey operations. The advantages and limitations of these two configurations employing both unmanned and autonomous strategies are compared using results from several recent survey operations. We will demonstrate how sensor data collected from unmanned platforms can augment or even replace traditional data collection technologies. Oceanographic observations (e.g., sound speed, temperature and currents) collected simultaneously with bathymetry using autonomous technologies provide additional opportunities for advanced data assimilation in numerical forecasts. Discussion focuses on our vision for unmanned and autonomous systems working in conjunction with manned or in-situ systems to optimally and simultaneously collect data in environmentally hostile or difficult to reach areas.

Autonomous docking system for space structures and satellites

NASA Astrophysics Data System (ADS)

Prasad, Guru; Tajudeen, Eddie; Spenser, James

2005-05-01

Aximetric proposes Distributed Command and Control (C2) architecture for autonomous on-orbit assembly in space with our unique vision and sensor driven docking mechanism. Aximetric is currently working on ip based distributed control strategies, docking/mating plate, alignment and latching mechanism, umbilical structure/cord designs, and hardware/software in a closed loop architecture for smart autonomous demonstration utilizing proven developments in sensor and docking technology. These technologies can be effectively applied to many transferring/conveying and on-orbit servicing applications to include the capturing and coupling of space bound vehicles and components. The autonomous system will be a "smart" system that will incorporate a vision system used for identifying, tracking, locating and mating the transferring device to the receiving device. A robustly designed coupler for the transfer of the fuel will be integrated. Advanced sealing technology will be utilized for isolation and purging of resulting cavities from the mating process and/or from the incorporation of other electrical and data acquisition devices used as part of the overall smart system.

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

EISLER, G. RICHARD

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstratemore » the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.« less

Cooperative Learning for Distributed In-Network Traffic Classification

NASA Astrophysics Data System (ADS)

Joseph, S. B.; Loo, H. R.; Ismail, I.; Andromeda, T.; Marsono, M. N.

2017-04-01

Inspired by the concept of autonomic distributed/decentralized network management schemes, we consider the issue of information exchange among distributed network nodes to network performance and promote scalability for in-network monitoring. In this paper, we propose a cooperative learning algorithm for propagation and synchronization of network information among autonomic distributed network nodes for online traffic classification. The results show that network nodes with sharing capability perform better with a higher average accuracy of 89.21% (sharing data) and 88.37% (sharing clusters) compared to 88.06% for nodes without cooperative learning capability. The overall performance indicates that cooperative learning is promising for distributed in-network traffic classification.

The Advanced Video Guidance Sensor: Orbital Express and the Next Generation

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Heaton, Andrew F.; Pinson, Robin M.; Carrington, Connie L.; Lee, James E.; Bryan, Thomas C.; Robertson, Bryan A.; Spencer, Susan H.; Johnson, Jimmie E.

2008-01-01

The Orbital Express (OE) mission performed the first autonomous rendezvous and docking in the history of the United States on May 5-6, 2007 with the Advanced Video Guidance Sensor (AVGS) acting as one of the primary docking sensors. Since that event, the OE spacecraft performed four more rendezvous and docking maneuvers, each time using the AVGS as one of the docking sensors. The Marshall Space Flight Center's (MSFC's) AVGS is a nearfield proximity operations sensor that was integrated into the Autonomous Rendezvous and Capture Sensor System (ARCSS) on OE. The ARCSS provided the relative state knowledge to allow the OE spacecraft to rendezvous and dock. The AVGS is a mature sensor technology designed to support Automated Rendezvous and Docking (AR&D) operations. It is a video-based laser-illuminated sensor that can determine the relative position and attitude between itself and its target. Due to parts obsolescence, the AVGS that was flown on OE can no longer be manufactured. MSFC has been working on the next generation of AVGS for application to future Constellation missions. This paper provides an overview of the performance of the AVGS on Orbital Express and discusses the work on the Next Generation AVGS (NGAVGS).

High temperature energy harvesters utilizing ALN/3C-SiC composite diaphragms

NASA Astrophysics Data System (ADS)

Lai, Yun-Ju; Li, Wei-Chang; Felmetsger, Valery V.; Senesky, Debbie G.; Pisano, Albert P.

2014-06-01

Microelectromechanical systems (MEMS) energy harvesting devices aiming at powering wireless sensor systems for structural health monitoring in harsh environments are presented. For harsh environment wireless sensor systems, sensor modules are required to operate at elevated temperatures (> 250°C) with capabilities to resist harsh chemical conditions, thereby the use of battery-based power sources becomes challenging and not economically efficient if considering the required maintenance efforts. To address this issue, energy harvesting technology is proposed to replace batteries and provide a sustainable power source for the sensor systems towards autonomous harsh environment wireless sensor networks. In particular, this work demonstrates a micromachined aluminum nitride/cubic silicon carbide (AlN/3C-SiC) composite diaphragm energy harvester, which enables high temperature energy harvesting from ambient pulsed pressure sources. The fabricated device yields an output power density of 87 μW/cm2 under 1.48-psi pressure pulses at 1 kHz while connected to a 14.6-kΩ load resistor. The effects of pulse profile on output voltage have been studied, showing that the output voltage can be maximized by optimizing the diaphragm resonance frequency based on specific pulse characteristics. In addition, temperature dependence of the diaphragm resonance frequency over the range of 20°C to 600°C has been investigated and the device operation at temperatures as high as 600°C has been verified.

Improving the Forecast Accuracy of an Ocean Observation and Prediction System by Adaptive Control of the Sensor Network

NASA Astrophysics Data System (ADS)

Talukder, A.; Panangadan, A. V.; Blumberg, A. F.; Herrington, T.; Georgas, N.

2008-12-01

The New York Harbor Observation and Prediction System (NYHOPS) is a real-time, estuarine and coastal ocean observing and modeling system for the New York Harbor and surrounding waters. Real-time measurements from in-situ mobile and stationary sensors in the NYHOPS networks are assimilated into marine forecasts in order to reduce the discrepancy with ground truth. The forecasts are obtained from the ECOMSED hydrodynamic model, a shallow water derivative of the Princeton Ocean Model. Currently, all sensors in the NYHOPS system are operated in a fixed mode with uniform sampling rates. This technology infusion effort demonstrates the use of Model Predictive Control (MPC) to autonomously adapt the operation of both mobile and stationary sensors in response to changing events that are -automatically detected from the ECOMSED forecasts. The controller focuses sensing resources on those regions that are expected to be impacted by the detected events. The MPC approach involves formulating the problem of calculating the optimal sensor parameters as a constrained multi-objective optimization problem. We have developed an objective function that takes into account the spatiotemporal relationship of the in-situ sensor locations and the locations of events detected by the model. Experiments in simulation were carried out using data collected during a freshwater flooding event. The location of the resulting freshwater plume was calculated from the corresponding model forecasts and was used by the MPC controller to derive control parameters for the sensing assets. The operational parameters that are controlled include the sampling rates of stationary sensors, paths of unmanned underwater vehicles (UUVs), and data transfer routes between sensors and the central modeling computer. The simulation experiments show that MPC-based sensor control reduces the RMS error in the forecast by a factor of 380% as compared to uniform sampling. The paths of multiple UUVs were simultaneously calculated such that measurements from on-board sensors would lead to maximal reduction in the forecast error after data assimilation. The MPC controller also reduces the consumption of system resources such as energy expended in sampling and wireless communication. The MPC-based control approach can be generalized to accept data from remote sensing satellites. This will enable in-situ sensors to be regulated using forecasts generated by assimilating local high resolution in-situ measurements with wide-area observations from remote sensing satellites.

Development of Lidar Sensor Systems for Autonomous Safe Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierottet, Diego F.; Petway, Larry B.; Vanek, Michael D.

2010-01-01

Lidar has been identified by NASA as a key technology for enabling autonomous safe landing of future robotic and crewed lunar landing vehicles. NASA LaRC has been developing three laser/lidar sensor systems under the ALHAT project. The capabilities of these Lidar sensor systems were evaluated through a series of static tests using a calibrated target and through dynamic tests aboard helicopters and a fixed wing aircraft. The airborne tests were performed over Moon-like terrain in the California and Nevada deserts. These tests provided the necessary data for the development of signal processing software, and algorithms for hazard detection and navigation. The tests helped identify technology areas needing improvement and will also help guide future technology advancement activities.

Autonomous microsystems for ground observation (AMIGO)

NASA Astrophysics Data System (ADS)

Laou, Philips

2005-05-01

This paper reports the development of a prototype autonomous surveillance microsystem AMIGO that can be used for remote surveillance. Each AMIGO unit is equipped with various sensors and electronics. These include passive infrared motion sensor, acoustic sensor, uncooled IR camera, electronic compass, global positioning system (GPS), and spread spectrum wireless transceiver. The AMIGO unit was configured to multipoint (AMIGO units) to point (base station) communication mode. In addition, field trials were conducted with AMIGO in various scenarios. These scenarios include personnel and vehicle intrusion detection (motion or sound) and target imaging; determination of target GPS position by triangulation; GPS position real time tracking; entrance event counting; indoor surveillance; and aerial surveillance on a radio controlled model plane. The architecture and test results of AMIGO will be presented.

Autonomous Congestion Control in Delay-Tolerant Networks

NASA Technical Reports Server (NTRS)

Burleigh, Scott C.; Jennings, Esther H.

2005-01-01

Congestion control is an important feature that directly affects network performance. Network congestion may cause loss of data or long delays. Although this problem has been studied extensively in the Internet, the solutions for Internet congestion control do not apply readily to challenged network environments such as Delay Tolerant Networks (DTN) where end-to-end connectivity may not exist continuously and latency can be high. In DTN, end-to-end rate control is not feasible. This calls for congestion control mechanisms where the decisions can be made autonomously with local information only. We use an economic pricing model and propose a rule-based congestion control mechanism where each router can autonomously decide on whether to accept a bundle (data) based on local information such as available storage and the value and risk of accepting the bundle (derived from historical statistics).

Hydra multiple head star sensor and its in-flight self-calibration of optical heads alignment

NASA Astrophysics Data System (ADS)

Majewski, L.; Blarre, L.; Perrimon, N.; Kocher, Y.; Martinez, P. E.; Dussy, S.

2017-11-01

HYDRA is EADS SODERN new product line of APS-based autonomous star trackers. The baseline is a multiple head sensor made of three separated optical heads and one electronic unit. Actually the concept which was chosen offers more than three single-head star trackers working independently. Since HYDRA merges all fields of view the result is a more accurate, more robust and completely autonomous multiple-head sensor, releasing the AOCS from the need to manage the outputs of independent single-head star trackers. Specific to the multiple head architecture and the underlying data fusion, is the calibration of the relative alignments between the sensor optical heads. The performance of the sensor is related to its estimation of such alignments. HYDRA design is first reminded in this paper along with simplification it can bring at system level (AOCS). Then self-calibration of optical heads alignment is highlighted through descriptions and simulation results, thus demonstrating the performances of a key part of HYDRA multiple-head concept.

Sensor Webs: Autonomous Rapid Response to Monitor Transient Science Events

NASA Technical Reports Server (NTRS)

Mandl, Dan; Grosvenor, Sandra; Frye, Stu; Sherwood, Robert; Chien, Steve; Davies, Ashley; Cichy, Ben; Ingram, Mary Ann; Langley, John; Miranda, Felix

2005-01-01

To better understand how physical phenomena, such as volcanic eruptions, evolve over time, multiple sensor observations over the duration of the event are required. Using sensor web approaches that integrate original detections by in-situ sensors and global-coverage, lower-resolution, on-orbit assets with automated rapid response observations from high resolution sensors, more observations of significant events can be made with increased temporal, spatial, and spectral resolution. This paper describes experiments using Earth Observing 1 (EO-1) along with other space and ground assets to implement progressive mission autonomy to identify, locate and image with high resolution instruments phenomena such as wildfires, volcanoes, floods and ice breakup. The software that plans, schedules and controls the various satellite assets are used to form ad hoc constellations which enable collaborative autonomous image collections triggered by transient phenomena. This software is both flight and ground based and works in concert to run all of the required assets cohesively and includes software that is model-based, artificial intelligence software.

Distributed Learning and Information Dynamics In Networked Autonomous Systems

DTIC Science & Technology

2015-11-20

2009 to June 30, 2015 4. TITLE AND SUBTITLE DISTRIBUTED LEARNING AND INFORMATION DYNAMICS IN NETWORKED AUTONOMOUS SYSTEMS 5a. CONTRACT NUMBER 5b...AUTONOMOUS SYSTEMS AFOSR Grant #FA9550–09–1–0538 PI: Eric Feron (current) Jeff S. Shamma (former) Georgia Institute of Technology Atlanta, GA 30332 1...Control. Design of event-based optimal remote estimation systems : We have proposed two new for- mulations to study the design of optimal remote

Increasing Mission Science Return Through Use of Spacecraft Autonomy and Sensor Webs: A Volcanology Example

NASA Astrophysics Data System (ADS)

Davies, A. G.; Chien, S. A.; Castano, R.; Tran, D. Q.; Scharenbroich, L. J.

2006-12-01

Mission science return is increased through use of onboard autonomy, and using disparate assets integrated into an autonomously-operating sensor web that can re-task these assets to rapidly obtain additional data. Software on spacecraft has been used to analyse data to detect dynamic events of high interest, such as on- going volcanic activity. This capability has been successfully demonstrated by the NASA New Millennium Program Autonomous Sciencecraft Experiment (ASE), on the Earth Observing 1 spacecraft in Earth-orbit [1-2]. The potential now exists for eruption parameters to be quantified onboard a spacecraft, using models that relate thermal emission to volumetric eruption rate. This promises a notification not only of on-going activity, but also the magnitude of the event, within a few hours of the original observation, a process that normally takes weeks. ASE/EO-1 is part of the JPL Volcano Sensor Web [3]. This autonomous system collates information of volcanic activity from numerous assets and retasks EO-1 to obtain observations as soon as practicable. The use of a ground-based planner allows rapid insertion or replacement of new observations, with no human intervention. Endusers are notified automatically by email. Spacecraft autonomy, involving automatic fault detection and mitigation, onboard processing of data, and replanning of observations, allows mission operations to break free from pre-ordained operations sequencing, necessary for studying dynamic volcanic processes on other bodies in the Solar System (e.g., Io and Enceladus). Onboard processing allows quantification of dynamic processes, improving both science content per returned byte and optimization of subsequent resource use. This work was carried out at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA. [1] Chien, S. et al. (2004) The EO-1 Autonomous Science Agent, Proceedings of the 2004 Conferences on Autonomous Agents and Multi-agent Systems (AAMAS), New York City, USA, July 2004. [2] Davies, A. G. et al. (2006) Monitoring active volcanism with the Autonomous Sciencecraft Experiment (ASE) on EO-1, RSE, 101, 427-446. [3] Davies, A. G. et al., (2006) Sensor Web enables rapid response to volcanic activity, Eos, 87, 1, 1&5.

Real-time method for establishing a detection map for a network of sensors

DOEpatents

Nguyen, Hung D; Koch, Mark W; Giron, Casey; Rondeau, Daniel M; Russell, John L

2012-09-11

A method for establishing a detection map of a dynamically configurable sensor network. This method determines an appropriate set of locations for a plurality of sensor units of a sensor network and establishes a detection map for the network of sensors while the network is being set up; the detection map includes the effects of the local terrain and individual sensor performance. Sensor performance is characterized during the placement of the sensor units, which enables dynamic adjustment or reconfiguration of the placement of individual elements of the sensor network during network set-up to accommodate variations in local terrain and individual sensor performance. The reconfiguration of the network during initial set-up to accommodate deviations from idealized individual sensor detection zones improves the effectiveness of the sensor network in detecting activities at a detection perimeter and can provide the desired sensor coverage of an area while minimizing unintentional gaps in coverage.

Sloped Terrain Segmentation for Autonomous Drive Using Sparse 3D Point Cloud

PubMed Central

Cho, Seoungjae; Kim, Jonghyun; Ikram, Warda; Cho, Kyungeun; Sim, Sungdae

2014-01-01

A ubiquitous environment for road travel that uses wireless networks requires the minimization of data exchange between vehicles. An algorithm that can segment the ground in real time is necessary to obtain location data between vehicles simultaneously executing autonomous drive. This paper proposes a framework for segmenting the ground in real time using a sparse three-dimensional (3D) point cloud acquired from undulating terrain. A sparse 3D point cloud can be acquired by scanning the geography using light detection and ranging (LiDAR) sensors. For efficient ground segmentation, 3D point clouds are quantized in units of volume pixels (voxels) and overlapping data is eliminated. We reduce nonoverlapping voxels to two dimensions by implementing a lowermost heightmap. The ground area is determined on the basis of the number of voxels in each voxel group. We execute ground segmentation in real time by proposing an approach to minimize the comparison between neighboring voxels. Furthermore, we experimentally verify that ground segmentation can be executed at about 19.31 ms per frame. PMID:25093204

Autonomous Field Measurements of CO2 in the Atmospheric Column with the Miniaturized Laser Heterodyne Radiometer (Mini-LHR)

NASA Technical Reports Server (NTRS)

Melroy, H. R.; Wilson, E. L.; Clarke, G. B.; Ott, L. E.; Mao, J.; Ramanathan, A. K.; McLinden, M. L.

2015-01-01

We present column CO2 measurements taken by the passive Miniaturized Laser Heterodyne Radiometer (Mini-LHR) at 1611.51 nm at the Mauna Loa Observatory (MLO) in Hawaii. The Mini-LHR was operated autonomously, during the month of May 2013 at this site, working in tandem with an AERONET sun photometer that measures aerosol optical depth at 15 minute intervals during daylight hours. Laser Heterodyne Radiometry has been used since the 1970s to measure atmospheric gases such as ozone, water vapor, methane, ammonia, chlorine monoxide, and nitrous oxide. This iteration of the technology utilizes distributed feedback lasers to produce a low-cost, small, portable sensor that has potential for global deployment. Applications of this instrument include supplementation of existing monitoring networks to provide denser global coverage, providing validation for larger satellite missions, and targeting regions of carbon flux uncertainty. Also presented here is a preliminary retrieval analysis and the performance analysis that demonstrates that the Mini-LHR responds extremely well to changes in the atmospheric absorption.

Asynchronous Cholinergic Drive Correlates with Excitation-Inhibition Imbalance via a Neuronal Ca2+ Sensor Protein.

PubMed

Zhou, Keming; Cherra, Salvatore J; Goncharov, Alexandr; Jin, Yishi

2017-05-09

Excitation-inhibition imbalance in neural networks is widely linked to neurological and neuropsychiatric disorders. However, how genetic factors alter neuronal activity, leading to excitation-inhibition imbalance, remains unclear. Here, using the C. elegans locomotor circuit, we examine how altering neuronal activity for varying time periods affects synaptic release pattern and animal behavior. We show that while short-duration activation of excitatory cholinergic neurons elicits a reversible enhancement of presynaptic strength, persistent activation results to asynchronous and reduced cholinergic drive, inducing imbalance between endogenous excitation and inhibition. We find that the neuronal calcium sensor protein NCS-2 is required for asynchronous cholinergic release in an activity-dependent manner and dampens excitability of inhibitory neurons non-cell autonomously. The function of NCS-2 requires its Ca 2+ binding and membrane association domains. These results reveal a synaptic mechanism implicating asynchronous release in regulation of excitation-inhibition balance. Copyright © 2017 The Author(s). Published by Elsevier Inc. All rights reserved.

Neuro-inspired smart image sensor: analog Hmax implementation

NASA Astrophysics Data System (ADS)

Paindavoine, Michel; Dubois, Jérôme; Musa, Purnawarman

2015-03-01

Neuro-Inspired Vision approach, based on models from biology, allows to reduce the computational complexity. One of these models - The Hmax model - shows that the recognition of an object in the visual cortex mobilizes V1, V2 and V4 areas. From the computational point of view, V1 corresponds to the area of the directional filters (for example Sobel filters, Gabor filters or wavelet filters). This information is then processed in the area V2 in order to obtain local maxima. This new information is then sent to an artificial neural network. This neural processing module corresponds to area V4 of the visual cortex and is intended to categorize objects present in the scene. In order to realize autonomous vision systems (consumption of a few milliwatts) with such treatments inside, we studied and realized in 0.35μm CMOS technology prototypes of two image sensors in order to achieve the V1 and V2 processing of Hmax model.

A quadcopter with heterogeneous sensors for autonomous bridge inspection.

DOT National Transportation Integrated Search

2014-02-01

Continuously monitoring a bridges health by sensor technologies has been widely used to maintain the operation of : a : roadwork while protecting public users safety. However, monitoring and inspecting numerous bridges in a state is a labor : -...

Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor

NASA Astrophysics Data System (ADS)

Kang, Hee-Jun; Jeong, Jeong-Woo; Shin, Sung-Weon; Suh, Young-Soo; Ro, Young-Schick

This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The data collected by changing robot configuration and measuring the intersection points are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

ePave: A Self-Powered Wireless Sensor for Smart and Autonomous Pavement

PubMed Central

Xiao, Jian; Zou, Xiang

2017-01-01

“Smart Pavement” is an emerging infrastructure for various on-road applications in transportation and road engineering. However, existing road monitoring solutions demand a certain periodic maintenance effort due to battery life limits in the sensor systems. To this end, we present an end-to-end self-powered wireless sensor—ePave—to facilitate smart and autonomous pavements. The ePave system includes a self-power module, an ultra-low-power sensor system, a wireless transmission module and a built-in power management module. First, we performed an empirical study to characterize the piezoelectric module in order to optimize energy-harvesting efficiency. Second, we developed an integrated sensor system with the optimized energy harvester. An adaptive power knob is designated to adjust the power consumption according to energy budgeting. Finally, we intensively evaluated the ePave system in real-world applications to examine the system’s performance and explore the trade-off. PMID:28954430

The 2008 North Atlantic Spring Bloom Experiment I: Overview and Strategy

NASA Astrophysics Data System (ADS)

D'Asaro, E. A.; Lee, C.; Perry, M.; Fennel, K.; Rehm, E.; Gray, A.; Briggs, N.; Gudmundsson, K.

2008-12-01

The 2008 North Atlantic Spring Bloom Experiment (NAB08) aimed to understand carbon export from this globally important event by combining a new generation of autonomous floats and gliders equipped with a new generation of sensors, and traditional and modern shipboard observational methods. Measurements were made from early April to late June 2008 in a region southeast of Iceland near the JGOFS and MLML sites. Although Sverdrup's classical explanation for the bloom is probably broadly correct, previous observations have revealed a large degree of spatial and temporal variability, often on scales of a few kilometers, which have made detailed tests of Sverdrup's hypothesis difficult. The experiment was designed to continuously sample the bloom and its temporal and spatial 'patchiness' from the pre-bloom, wintertime conditions through the Spring and early Summer. The spatial scales were sampled by 4 Seagliders operating together as a mobile array. Measurements were made in a Lagrangian, water-following coordinate system which minimized the effects of horizontal advection and most clearly separated temporal and spatial scales. The coordinate system was defined by two Lagrangian Floats, one of which was chosen as the center of the Seaglider array. Proper measurement of the bloom by the autonomous vehicles required a robust and redundant array of sensors measuring key physical, chemical and biological variables including temperature, salinity, spectral light, oxygen, multiple optical proxies for carbon (chlorophyll fluorescence, beam-c attenuation and optical backscatter coefficients) and nitrate. Redundant measurements were made whenever possible, with nearly identical sensors on many platforms and multiple sensors measuring similar quantities on the same platform. Such care is clearly necessary, since the current generation of biogeochemical sensor require considerable efforts in calibration and interpretation. The autonomous platforms provided good coverage in space and time, but could not sample the entire range of processes that control the bloom. More detailed measurements and multiple calibrations of the autonomous platforms were made on 4 cruises, particularly a 21-day Knorr cruise in May 2008 that included collaborators from five US and five international institutions. These measurements included nutrients; particulate organic carbon and nitrogen; characterization of plankton composition and physiology by size, imaging, genomics, HPLC pigments, absorption spectra, 14C-primary productivity, and variable fluorescence; particle flux from floating sediment traps; and ADCP and CTD measurements. The experiment clearly demonstrated the ability of autonomous platforms to make biogeochemically relevant measurements of blooms. Its success, however, required intensive shipboard support for sensor calibration and interpretation. Further development of sensor technology, validation protocols, and understanding is clearly required if these measurements are to made routinely and easily.

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Lightweight, Wearable, Metal Rubber Sensor

NASA Technical Reports Server (NTRS)

Hill, Andrea

2015-01-01

For autonomous health monitoring. NanoSonic, Inc., has developed comfortable garments with multiple integrated sensors designed to monitor astronaut health throughout long-duration space missions. The combined high electrical conductivity, low mechanical modulus, and environmental robustness of the sensors make them an effective, lightweight, and comfortable alternative to conventional use of metal wiring and cabling.

Field testing of lake water chemistry with a portable and an AUV-based mass spectrometer.

PubMed

Hemond, Harry F; Mueller, Amy V; Hemond, Michael

2008-10-01

Two mass spectrometers (MS) are tested for the measurement of volatile substances, such as hydrocarbons and metabolic gases, in natural waters. KOALA is a backpackable MS operated from above the water surface, in which samples are pumped through a flow cell using a syringe. NEREUS is an underwater instrument hosted by an autonomous underwater vehicle (AUV) that is linked to a communications network to provide chemical data in real time. The mass analyzers of the two MS are nearly identical cycloids, and both use flat-plate membrane inlets. Testing took place in an eutrophic, thermally stratified lake exhibiting steep chemical gradients and significant levels of methane. KOALA provided rapid multispecies analysis of dissolved gases, with a detection limit for methane of 0.1 ppm (readily extendable to 0.01 ppm) and savings of time of at least a factor of 10 compared to that of conventional analysis. The AUV-mounted NEREUS additionally provided rapid spatial coverage and the capability of performing chemical surveys autonomously. Tests demonstrated the need for temperature control of a membrane inlet when steep thermal gradients are present in a water body, as well as the benefits of co-locating all sensors on the AUV to avoid interference from chemically different waters entering and draining from the free-flooding outer hull. The ability to measure dissolved volatiles provided by MS offers potential for complementarity with ionic sensors in the study of natural waters, such as in the case of the carbonate system.

Autonomous self-powered structural health monitoring system

NASA Astrophysics Data System (ADS)

Qing, Xinlin P.; Anton, Steven R.; Zhang, David; Kumar, Amrita; Inman, Daniel J.; Ooi, Teng K.

2010-03-01

Structural health monitoring technology is perceived as a revolutionary method of determining the integrity of structures involving the use of multidisciplinary fields including sensors, materials, system integration, signal processing and interpretation. The core of the technology is the development of self-sufficient systems for the continuous monitoring, inspection and damage detection of structures with minimal labor involvement. A major drawback of the existing technology for real-time structural health monitoring is the requirement for external electrical power input. For some applications, such as missiles or combat vehicles in the field, this factor can drastically limit the use of the technology. Having an on-board electrical power source that is independent of the vehicle power system can greatly enhance the SHM system and make it a completely self-contained system. In this paper, using the SMART layer technology as a basis, an Autonomous Self-powered (ASP) Structural Health Monitoring (SHM) system has been developed to solve the major challenge facing the transition of SHM systems into field applications. The architecture of the self-powered SHM system was first designed. There are four major components included in the SHM system: SMART Layer with sensor network, low power consumption diagnostic hardware, rechargeable battery with energy harvesting device, and host computer with supporting software. A prototype of the integrated self-powered active SHM system was built for performance and functionality testing. Results from the evaluation tests demonstrated that a fully charged battery system is capable of powering the SHM system for active scanning up to 10 hours.

Autonomous bio-chemical decontaminator (ABCD) against weapons of mass destruction

NASA Astrophysics Data System (ADS)

Hyacinthe, Berg P.

2006-05-01

The proliferation of weapons of mass destruction (WMD) and the use of such elements pose an eminent asymmetric threat with disastrous consequences to the national security of any nation. In particular, the use of biochemical warfare agents against civilians and unprotected troops in international conflicts or by terrorists against civilians is considered as a very peculiar threat. Accordingly, taking a quarantine-before-inhalation approach to biochemical warfare, the author introduces the notion of autonomous biochemical decontamination against WMD. In the unfortunate event of a biochemical attack, the apparatus proposed herein is intended to automatically detect, identify, and more importantly neutralize a biochemical threat. Along with warnings concerning a cyber-WMD nexus, various sections cover discussions on human senses and computer sensors, corroborating evidence related to detection and neutralization of chemical toxins, and cyber-assisted olfaction in stand alone, peer-to-peer, and network settings. In essence, the apparatus can be used in aviation and mass transit security to initiate mass decontamination by dispersing a decontaminant aerosol or to protect the public water supply against a potential bioterrorist attack. Future effort may involve a system-on-chip (SoC) embodiment of this apparatus that allows a safer environment for the emerging phenomenon of cyber-assisted olfaction and morph cell phones into ubiquitous sensors/decontaminators. Although this paper covers mechanisms and protocols to avail a neutralizing substance, further research will need to explore the substance's various pharmacological profiles and potential side effects.

Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

NASA Astrophysics Data System (ADS)

Panomruttanarug, Benjamas; Higuchi, Kohji

This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.