Collaborative Allocation and Optimization of Path Planning for Static and Mobile Sensors in Hybrid Sensor Networks for Environment Monitoring and Anomaly Search
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Yanjie Guo↗
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Results for “sensor allocation”
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Frequency band justifications for passive sensors, 1 to 10 GHz
Remote sensor systems operating in the microwave region of the frequency spectrum provide information unobtainable with basic imaging techniques such as photography, television, or multispectral imaging. The frequency allocation requirements for passive microwave sensors used in the earth exploration satellite and space research services are presented for: (1) agriculture, forestry, and range resources; (2) land use survey and mapping: (3) water resources; (4) weather and climate; (5) environmental quality; and (6) marine resources, estuarine and oceans. Because measurements are required simultaneously in multiple frequency bands to adequately determine values of some phenomena, the relationships between frequency bands are discussed. The various measurement accuracies, dynamic range, resolutions and frequency needs are examined. A band-by-band summary of requirements, unique aspects, and sharing analyses of the required frequency bands is included.
Source record↗
Smart Sensor Demonstration Payload
Sensors are a critical element to any monitoring, control, and evaluation processes such as those needed to support ground based testing for rocket engine test. Sensor applications involve tens to thousands of sensors; their reliable performance is critical to achieving overall system goals. Many figures of merit are used to describe and evaluate sensor characteristics; for example, sensitivity and linearity. In addition, sensor selection must satisfy many trade-offs among system engineering (SE) requirements to best integrate sensors into complex systems [1]. These SE trades include the familiar constraints of power, signal conditioning, cabling, reliability, and mass, and now include considerations such as spectrum allocation and interference for wireless sensors. Our group at NASA s John C. Stennis Space Center (SSC) works in the broad area of integrated systems health management (ISHM). Core ISHM technologies include smart and intelligent sensors, anomaly detection, root cause analysis, prognosis, and interfaces to operators and other system elements [2]. Sensor technologies are the base fabric that feed data and health information to higher layers. Cost-effective operation of the complement of test stands benefits from technologies and methodologies that contribute to reductions in labor costs, improvements in efficiency, reductions in turn-around times, improved reliability, and other measures. ISHM is an active area of development at SSC because it offers the potential to achieve many of those operational goals [3-5].
Schmalzel, John↗
Active microwave and millimeter wave SAR remote sensing
This paper presents the performance and interference criteria for spaceborne active sensors, interference mitigation techniques, and allocation considerations for certain frequency bands for the upcoming WRC 2003.
interference studies frequency compatibility studi↗
Planning for execution monitoring on a planetary rover
A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.
Gat, Erann↗
Investigation of Optimal Control Allocation for Gust Load Alleviation in Flight Control
Advances in sensors and avionics computation power suggest real-time structural load measurements could be used in flight control systems for improved safety and performance. A conventional transport flight control system determines the moments necessary to meet the pilot's command, while rejecting disturbances and maintaining stability of the aircraft. Control allocation is the problem of converting these desired moments into control effector commands. In this paper, a framework is proposed to incorporate real-time structural load feedback and structural load constraints in the control allocator. Constrained optimal control allocation can be used to achieve desired moments without exceeding specified limits on monitored load points. Minimization of structural loads by the control allocator is used to alleviate gust loads. The framework to incorporate structural loads in the flight control system and an optimal control allocation algorithm will be described and then demonstrated on a nonlinear simulation of a generic transport aircraft with flight dynamics and static structural loads.
Frost, Susan A.↗
Active-Pixel Image Sensor With Analog-To-Digital Converters
Proposed single-chip integrated-circuit image sensor contains 128 x 128 array of active pixel sensors at 50-micrometer pitch. Output terminals of all pixels in each given column connected to analog-to-digital (A/D) converter located at bottom of column. Pixels scanned in semiparallel fashion, one row at time; during time allocated to scanning row, outputs of all active pixel sensors in row fed to respective A/D converters. Design of chip based on complementary metal oxide semiconductor (CMOS) technology, and individual circuit elements fabricated according to 2-micrometer CMOS design rules. Active pixel sensors designed to operate at video rate of 30 frames/second, even at low light levels. A/D scheme based on first-order Sigma-Delta modulation.
Fossum, Eric R.↗
Optimal spatial sampling techniques for ground truth data in microwave remote sensing of soil moisture
The paper examines optimal sampling techniques for obtaining accurate spatial averages of soil moisture, at various depths and for cell sizes in the range 2.5-40 acres, with a minimum number of samples. Both simple random sampling and stratified sampling procedures are used to reach a set of recommended sample sizes for each depth and for each cell size. Major conclusions from statistical sampling test results are that (1) the number of samples required decreases with increasing depth; (2) when the total number of samples cannot be prespecified or the moisture in only one single layer is of interest, then a simple random sample procedure should be used which is based on the observed mean and SD for data from a single field; (3) when the total number of samples can be prespecified and the objective is to measure the soil moisture profile with depth, then stratified random sampling based on optimal allocation should be used; and (4) decreasing the sensor resolution cell size leads to fairly large decreases in samples sizes with stratified sampling procedures, whereas only a moderate decrease is obtained in simple random sampling procedures.
Rao, R. G. S.↗
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition
Multi-robot systems are uniquely well-suited to perform complex tasks such as patrolling and tracking, infor- mation gathering, and pick-up and delivery problems, offering significantly higher performance than single-robot systems. A fundamental building block in most multi-robot systems is dynamic task allocation: assigning robots to tasks (e.g., patrolling an area, or servicing a transportation request) as they appear based on the robots’ states to maximize reward. In many practical situations, the allocation must account for potentially heteroge- neous capabilities (e.g., availability of appropriate sensors or actuators) to ensure the feasibility of execution, and exploit predictive information concerning the likelihood of future tasks to promote a higher reward over a long time horizon. To this end, we present an efficient algorithm for predictive heterogeneous task- allocation achieving an approximation factor of at least 1/2 of the optimal reward. Our approach demonstrates that the problem can be decomposed into several homogeneous subproblems that can be solved efficiently using min-cost flow. Through simulation experiments, we show that our algorithm is faster by several orders of magnitude than a MILP-based approach.
Pavone, Marco↗
Science requirements for passive microwave sensors on earth science geostationary platforms
It is suggested that the science requirements for passive geostationary microwave observations be met by near- and far-term sensors for each of two overlapping bands, with each band covering no more than a decade in frequency. The low-frequency band includes channels near 6, 10, 18, 22, 31 to 37, and possibly 50 to 60 GHz. The high-frequency band includes channels near 220 to 230, 183, 166, 118, 90 to 110, and possibly 50 to 60 and 31 to 37 GHz. The precise channel specifications will have to comply with international frequency allocations. The near-term goal is a high-frequency sensor based on a filled-aperture solid reflector antenna, which should rely on currently existing technology. The most critical issues for the near-term sensor are momentum compensation and the design of the feed assembly; these issues are coupled through the desired scan rate. The successful demonstration of the near-term (high-frequency) sensor will be essential for the continued development of far-term sensors satisfying the ideal science requirements. The far-term goal includes both a high-frequency sensor which meets the ideal science requirements, and a low-frequency sensor whose design will depend on advances in large antenna technology. The low-frequency (far-term) sensor might be based on one of several concepts: a deployable mesh reflector antenna of diameter at least 20 m, which shows promise for use at frequencies up to 30-GHz, a synthetic aperture interferometer of maximum baseline from 100 to 300 m, or a deployable phased-array bootlace lens, of diameter from 100 to 300 m. The first of these, a deployable mesh reflector antenna, will satisfy only the adequate spatial resolution requirements. The last two concepts meet the ideal spatial resolution science requirements, although they present significant structural and meteorological challenges.
Gasiewski, A. J.↗
Lunar Navigation Performance Using the Deep Space Network and Alternate Solutions to Support Precision Landing
As human exploration once again targets the surface of the Moon, questions continue to emerge regarding the necessity of Earth-based tracking systems, such as the Deep Space Network, for spacecraft navigation in support of lunar descent and landing. This paper will derive an extensive Deep Space Network sensor model for use in linear covariance analysis and demonstrate the resulting trajectory dispersions and navigation performance in comparison with alternate solutions, such as terrain relative navigation. An in-depth trade study with considerations for various trajectory profiles, time allocated to ground tracking, number of active ground stations, and interaction with other sensors will be conducted to shed significant insight into sensor suite requirements to ensure safe and precise landing on the Moon.
Navigation↗
Integrated Control with Structural Feedback to Enable Lightweight Aircraft
This presentation for the Fundamental Aeronautics Program Technical Conference covers the benefits of active structural control, related research areas, and focuses on the use of optimal control allocation for the prevention of critical loads. Active control of lightweight structures has the potential to reduce aircraft weight and fuel burn. Sensor, control law, materials, control effector, and system level research will be necessary to enable active control of lightweight structures. Optimal control allocation with structural feedback has been shown in simulation to be feasible in preventing critical loads and is one example of a control law to enable future lightweight aircraft.
Taylor, Brian R.↗
Intelligent neuroprocessors for in-situ launch vehicle propulsion systems health management
Efficacy of existing on-board propulsion systems health management systems (HMS) are severely impacted by computational limitations (e.g., low sampling rates); paradigmatic limitations (e.g., low-fidelity logic/parameter redlining only, false alarms due to noisy/corrupted sensor signatures, preprogrammed diagnostics only); and telemetry bandwidth limitations on space/ground interactions. Ultra-compact/light, adaptive neural networks with massively parallel, asynchronous, fast reconfigurable and fault-tolerant information processing properties have already demonstrated significant potential for inflight diagnostic analyses and resource allocation with reduced ground dependence. In particular, they can automatically exploit correlation effects across multiple sensor streams (plume analyzer, flow meters, vibration detectors, etc.) so as to detect anomaly signatures that cannot be determined from the exploitation of single sensor. Furthermore, neural networks have already demonstrated the potential for impacting real-time fault recovery in vehicle subsystems by adaptively regulating combustion mixture/power subsystems and optimizing resource utilization under degraded conditions. A class of high-performance neuroprocessors, developed at JPL, that have demonstrated potential for next-generation HMS for a family of space transportation vehicles envisioned for the next few decades, including HLLV, NLS, and space shuttle is presented. Of fundamental interest are intelligent neuroprocessors for real-time plume analysis, optimizing combustion mixture-ratio, and feedback to hydraulic, pneumatic control systems. This class includes concurrently asynchronous reprogrammable, nonvolatile, analog neural processors with high speed, high bandwidth electronic/optical I/O interfaced, with special emphasis on NASA's unique requirements in terms of performance, reliability, ultra-high density ultra-compactness, ultra-light weight devices, radiation hardened devices, power stringency, and long life terms.
Gulati, S.↗
Inversion Method for Early Detection of ARES-1 Case Breach Failure
A document describes research into the problem of detecting a case breach formation at an early stage of a rocket flight. An inversion algorithm for case breach allocation is proposed and analyzed. It is shown how the case breach can be allocated at an early stage of its development by using the rocket sensor data and the output data from the control block of the rocket navigation system. The results are simulated with MATLAB/Simulink software. The efficiency of an inversion algorithm for a case breach location is discussed. The research was devoted to the analysis of the ARES-l flight during the first 120 seconds after the launch and early prediction of case breach failure. During this time, the rocket is propelled by its first-stage Solid Rocket Booster (SRB). If a breach appears in SRB case, the gases escaping through it will produce the (side) thrust directed perpendicular to the rocket axis. The side thrust creates torque influencing the rocket attitude. The ARES-l control system will compensate for the side thrust until it reaches some critical value, after which the flight will be uncontrollable. The objective of this work was to obtain the start time of case breach development and its location using the rocket inertial navigation sensors and GNC data. The algorithm was effective for the detection and location of a breach in an SRB field joint at an early stage of its development.
Mackey, Ryan M.↗
Collaborative Communications Between a Human and a Resilient Safety Support System
Successful introductory UAM integration into the NAS will be contingent on resilient safety systems that support reduced-crew flight operations. In this paper, we present a system that performs three functions: 1) monitors an operator’s physiological state; 2) assesses when the operator is experiencing anomalous states; and 3) mitigates risks by a combination of dynamic, context-based unilateral or collaborative dynamic function allocation of operational tasks. The monitoring process receives high data-rate sensor values from eye-tracking and electrocardiogram sensors. The assessment process takes these values and performs a classification that was developed using machine learning algorithms. The mitigation process invokes a collaboration protocol called DFACC to which, based on context, performs vehicle operations that the operator would otherwise routinely execute. This system has been demonstrated in a UAM flight simulator for an operator incapacitation scenario. The methods and initial results as well as relevant UAM and AAM scenarios will be described.
Advanced Air Mobility,↗
Collaborative Communications Between A Human and A Resilient Safety Support System
Successful introductory UAM integration into the NAS will be contingent on resilient safety systems that support reduced-crew flight operations. In this paper, we present a system that performs three functions: 1) monitors an operator’s physiological state; 2) assesses when the operator is experiencing anomalous states; and 3) mitigates risks by a combination of dynamic, context-based unilateral or collaborative dynamic function allocation of operational tasks. The monitoring process receives high data-rate sensor values from eye-tracking and electrocardiogram sensors. The assessment process takes these values and performs a classification that was developed using machine learning algorithms. The mitigation process invokes a collaboration protocol called DFACCto which, based on context, performs vehicle operations that the operator would otherwise routinely execute. This system has been demonstrated in a UAM flight simulator for an operator incapacitation scenario. The methods and initial results as well as relevant UAM and AAM scenarios will be described.
Advanced air mobility↗
Adaptive Management of Computing and Network Resources for Spacecraft Systems
It is likely that NASA's future spacecraft systems will consist of distributed processes which will handle dynamically varying workloads in response to perceived scientific events, the spacecraft environment, spacecraft anomalies and user commands. Since all situations and possible uses of sensors cannot be anticipated during pre-deployment phases, an approach for dynamically adapting the allocation of distributed computational and communication resources is needed. To address this, we are evolving the DeSiDeRaTa adaptive resource management approach to enable reconfigurable ground and space information systems. The DeSiDeRaTa approach embodies a set of middleware mechanisms for adapting resource allocations, and a framework for reasoning about the real-time performance of distributed application systems. The framework and middleware will be extended to accommodate (1) the dynamic aspects of intra-constellation network topologies, and (2) the complete real-time path from the instrument to the user. We are developing a ground-based testbed that will enable NASA to perform early evaluation of adaptive resource management techniques without the expense of first deploying them in space. The benefits of the proposed effort are numerous, including the ability to use sensors in new ways not anticipated at design time; the production of information technology that ties the sensor web together; the accommodation of greater numbers of missions with fewer resources; and the opportunity to leverage the DeSiDeRaTa project's expertise, infrastructure and models for adaptive resource management for distributed real-time systems.
Pfarr, Barbara↗
Shifting the Inertial Navigation Paradigm with MEMS Technology
Why don t you use MEMS? is one of the most common questions posed to navigation systems engineers designing inertial navigation solutions in the modern era. The question stems from a general understanding that great strides have been made in terrestrial MEMS accelerometers and attitude rate sensors in terms of accuracy, mass, and power. Yet, when compared on a unit-to-unit basis, MEMS devices do not provide comparable performance (accuracy) to navigation grade sensors. This paper will propose a paradigm shift where the comparison in performance is between multiple MEMS devices and a single navigation grade sensor. The concept is that systematically, a sufficient number of MEMS sensors may mathematically provide comparable performance to a single navigation grade device and be competitive in terms power and mass allocations when viewed on a systems level. The implication is that both inertial navigation system design and fault detection, identification, and recovery could benefit from a system of MEMS devices in the same way that swarm sensing has benefited Earth observation and astronomy. A survey of the state of the art in inertial sensor accuracy scaled by mass and power will be provided to show the specific error in MEMS and navigation graded devices, a mathematical comparison of multi-unit to single-unit sensor errors will be developed, and preliminary applications to Constellation vehicles will be explored.
Crain, Timothy↗