The document describes a proposed system for detecting land mines using an unmanned aerial vehicle (UAV) equipped with multiple sensors, including magneto-optic thin-film sensors (MODE sensors) and video cameras. The system would analyze sensor data using pattern recognition software to identify locations of land mines. A key challenge is developing a modular system that can efficiently integrate different sensors onto a small UAV. The document outlines designs for a modular payload assembly and embedded computer system that could process sensor data and transmit it to ground control in real-time. Initial testing of MODE sensors would be conducted on a laboratory workbench to evaluate their effectiveness at detecting ferromagnetic objects like land mines from aerial images.
This document provides an overview of Queensgate, a company that develops nanopositioning systems. Some key points:
- Queensgate was spun off from Imperial College London in 1978 and manufactures precision positioning systems.
- They have worked on numerous space projects including providing sensors for the Canadarm robotic arms on the Space Shuttle and International Space Station.
- Their technologies include high-precision tip/tilt mirrors, piezo actuators, and capacitive sensors designed for applications in space, vacuum environments, and cryogenic conditions.
- Queensgate offers customized solutions and has experience designing products that meet the stringent requirements of applications in labs, manufacturing, and space exploration.
A self deployed multi-channel wireless communications system for subterranean...TanBengSoon2
This document presents a dual-channel wireless communication system for subterranean robots. It describes a system using both 5.8GHz WiFi radios for high-bandwidth communication and 915MHz telemetry modules for low-bandwidth communication. It also details small, lightweight "communication breadcrumbs" that can be dropped by aerial robots to extend the communication range underground. Experimental results from underground exploration missions are presented to evaluate the system.
A COOPERATIVE LOCALIZATION METHOD BASED ON V2I COMMUNICATION AND DISTANCE INF...IJCNCJournal
Relative positions are recent solutions to overcome the limited accuracy of GPS in urban environment.
Vehicle positions obtained using V2I communication are more accurate because the known roadside unit
(RSU) locations help predict errors in measurements over time. The accuracy of vehicle positions depends
more on the number of RSUs; however, the high installation cost limits the use of this approach. It also
depends on nonlinear localization nature. They were neglected in several research papers. In these studies,
the accumulated errors increased with time due to the linearity localization problem. In the present study,
a cooperative localization method based on V2I communication and distance information in vehicular
networks is proposed for improving the estimates of vehicles’ initial positions. This method assumes that
the virtual RSUs based on mobility measurements help reduce installation costs and facilitate in handling
fault environments. The extended Kalman filter algorithm is a well-known estimator in nonlinear problem,
but it requires well initial vehicle position vector and adaptive noise in measurements. Using the proposed
method, vehicles’ initial positions can be estimated accurately. The experimental results confirm that the
proposed method has superior accuracy than existing methods, giving a root mean square error of
approximately 1 m. In addition, it is shown that virtual RSUs can assist in estimating initial positions in
fault environments.
1) Researchers experimentally transmitted two radio signals simultaneously on the same frequency using different orbital angular momentum states, demonstrating the potential to greatly increase channel capacity.
2) They mapped the field of the twisted radio beam and found the vortex singularity was preserved over long distances.
3) In a transmission test between two locations 442 meters apart, they were able to receive and distinguish the two signals based on their different orbital angular momentum phase fingerprints using an interferometric method.
The document discusses the deployment strategy and operations of the GBOS (Genesis and Rapid Intensification Processes field project) field campaign. It describes the instruments and personnel involved, including the MIPS (Mobile Integrated Profiling System), two M-GLASS units, and a possible Mobile Probe vehicle. Optimal experimental configurations are discussed for different weather scenarios like pre-storm environments, bow echoes, mesoscale convective vortices, and large mesoscale convective systems. Communications protocols and procedures are also outlined.
Wss Paper Integrated Underwater Surveillance Systemgamlehaugen
The document summarizes an integrated underwater surveillance system consisting of new active and passive sonar systems. The LASAR 40 active sonar system can detect divers out to 1100 meters, longer than standard diver detection sonars. It operates between 30-45 kHz for optimal performance in ports. The system takes a layered approach to surveillance across multiple zones and can detect and track both divers and marine mammals like dolphins.
The communication systems is an essential component of a mission and its role on scientific instruments.
The evolution of the type of data, their usage since the first Mars missions and their roles on these missions have evolved and will be described during this presentation
The data communication usage, evolution will be presented from a technical and utilization point of view, and what are the advantages and limits of the current systems confronted to the current technological limits
and its usage in a space environments.
Meteorological Technology International, Jan 2010laurajairam
This document discusses advances in satellite sensor technology that enable more accurate climate monitoring from space. Specifically:
1. Prior satellite sensors had limitations like coarse spectral resolution and degrading calibration over time, making it difficult to establish long-term climate trends from space data.
2. New technologies can achieve much greater measurement accuracy, stability over decades, fine spectral resolution, and precise knowledge of spectral response needed for undisputed climate monitoring.
3. Advances like onboard high-accuracy blackbody calibration sources and hyperspectral imaging bring National Institute of Standards and Technology calibration capabilities to satellites. This eliminates prior limitations and allows climate trends to be reliably measured from space.
This document provides an overview of Queensgate, a company that develops nanopositioning systems. Some key points:
- Queensgate was spun off from Imperial College London in 1978 and manufactures precision positioning systems.
- They have worked on numerous space projects including providing sensors for the Canadarm robotic arms on the Space Shuttle and International Space Station.
- Their technologies include high-precision tip/tilt mirrors, piezo actuators, and capacitive sensors designed for applications in space, vacuum environments, and cryogenic conditions.
- Queensgate offers customized solutions and has experience designing products that meet the stringent requirements of applications in labs, manufacturing, and space exploration.
A self deployed multi-channel wireless communications system for subterranean...TanBengSoon2
This document presents a dual-channel wireless communication system for subterranean robots. It describes a system using both 5.8GHz WiFi radios for high-bandwidth communication and 915MHz telemetry modules for low-bandwidth communication. It also details small, lightweight "communication breadcrumbs" that can be dropped by aerial robots to extend the communication range underground. Experimental results from underground exploration missions are presented to evaluate the system.
A COOPERATIVE LOCALIZATION METHOD BASED ON V2I COMMUNICATION AND DISTANCE INF...IJCNCJournal
Relative positions are recent solutions to overcome the limited accuracy of GPS in urban environment.
Vehicle positions obtained using V2I communication are more accurate because the known roadside unit
(RSU) locations help predict errors in measurements over time. The accuracy of vehicle positions depends
more on the number of RSUs; however, the high installation cost limits the use of this approach. It also
depends on nonlinear localization nature. They were neglected in several research papers. In these studies,
the accumulated errors increased with time due to the linearity localization problem. In the present study,
a cooperative localization method based on V2I communication and distance information in vehicular
networks is proposed for improving the estimates of vehicles’ initial positions. This method assumes that
the virtual RSUs based on mobility measurements help reduce installation costs and facilitate in handling
fault environments. The extended Kalman filter algorithm is a well-known estimator in nonlinear problem,
but it requires well initial vehicle position vector and adaptive noise in measurements. Using the proposed
method, vehicles’ initial positions can be estimated accurately. The experimental results confirm that the
proposed method has superior accuracy than existing methods, giving a root mean square error of
approximately 1 m. In addition, it is shown that virtual RSUs can assist in estimating initial positions in
fault environments.
1) Researchers experimentally transmitted two radio signals simultaneously on the same frequency using different orbital angular momentum states, demonstrating the potential to greatly increase channel capacity.
2) They mapped the field of the twisted radio beam and found the vortex singularity was preserved over long distances.
3) In a transmission test between two locations 442 meters apart, they were able to receive and distinguish the two signals based on their different orbital angular momentum phase fingerprints using an interferometric method.
The document discusses the deployment strategy and operations of the GBOS (Genesis and Rapid Intensification Processes field project) field campaign. It describes the instruments and personnel involved, including the MIPS (Mobile Integrated Profiling System), two M-GLASS units, and a possible Mobile Probe vehicle. Optimal experimental configurations are discussed for different weather scenarios like pre-storm environments, bow echoes, mesoscale convective vortices, and large mesoscale convective systems. Communications protocols and procedures are also outlined.
Wss Paper Integrated Underwater Surveillance Systemgamlehaugen
The document summarizes an integrated underwater surveillance system consisting of new active and passive sonar systems. The LASAR 40 active sonar system can detect divers out to 1100 meters, longer than standard diver detection sonars. It operates between 30-45 kHz for optimal performance in ports. The system takes a layered approach to surveillance across multiple zones and can detect and track both divers and marine mammals like dolphins.
The communication systems is an essential component of a mission and its role on scientific instruments.
The evolution of the type of data, their usage since the first Mars missions and their roles on these missions have evolved and will be described during this presentation
The data communication usage, evolution will be presented from a technical and utilization point of view, and what are the advantages and limits of the current systems confronted to the current technological limits
and its usage in a space environments.
Meteorological Technology International, Jan 2010laurajairam
This document discusses advances in satellite sensor technology that enable more accurate climate monitoring from space. Specifically:
1. Prior satellite sensors had limitations like coarse spectral resolution and degrading calibration over time, making it difficult to establish long-term climate trends from space data.
2. New technologies can achieve much greater measurement accuracy, stability over decades, fine spectral resolution, and precise knowledge of spectral response needed for undisputed climate monitoring.
3. Advances like onboard high-accuracy blackbody calibration sources and hyperspectral imaging bring National Institute of Standards and Technology calibration capabilities to satellites. This eliminates prior limitations and allows climate trends to be reliably measured from space.
Current & Future Spaceborne Sar Systemsgpetrie
This document summarizes current and future spaceborne synthetic aperture radar (SAR) systems. It reviews SAR systems by wavelength/frequency used and resulting ground resolution, including X-band, C-band, S-band, and L-band systems. It describes technological developments that have enabled smaller, less expensive SAR satellites. Many countries have recently launched or plan to launch X-band SAR satellites for civil and military use. Continuity of C-band SAR is ensured by Radarsat-2 and upcoming RISAT and Sentinel-1.
An Introduction to Scanning Laser Vibrometry for Non-Contact Vibration Measur...Polytec, Inc.
Learn about Polytec’s non-intrusive and highly productive vibration measurement technology for automated multi-point scanning of structures. The webinar will explain its application to aerospace, automotive, civil, biological, medical and micro- structures.
Topics Include:
- Concept and theory of 1D and 3D scanning vibrometry
- Technical advantages and limitations
- Productivity benefits
- Example applications including FEM validation, modal analysis, acoustics, NVH troubleshooting, automated 3D data acquisition with RoboVib and strain measurement
FR1.L10.5: SMOS SOIL MOISTURE VALIDATION: STATUS AT THE UPPER DANUBE CAL/VAL ...grssieee
This document summarizes the status of soil moisture validation for the Soil Moisture and Ocean Salinity (SMOS) satellite mission at an Upper Danube calibration and validation site in Germany eight months after launch. It describes the calibration and validation approach using in situ soil moisture measurements, land surface modeling, and airborne campaigns to compare SMOS soil moisture and brightness temperature products to ground truth data over the large Upper Danube catchment area and smaller, well-instrumented Vils test site. Preliminary analysis of SMOS data from two airborne campaigns is presented along with plans for continued validation.
This document summarizes the Small Optical User Terminal (SOUT) designed for optical communication between low Earth orbit and geostationary orbit satellites. The SOUT uses lasers for transmission and reception, with integrated transmitters, fine pointing loops to correct for disturbances, and an optical bench. It is compact in size at 200x200x150mm and has the potential to enable high-capacity intersatellite links with advantages over microwave technologies in terms of mass and power consumption.
SAR (Synthetic Aperture Radar) remote sensing was used to detect and monitor potential oil spills in two test areas in the Mediterranean Sea. Over 200 SAR images were analyzed from satellites like ENVISAT and TerraSAR-X. SAR allowed for all-weather monitoring of large areas. Several oil spills were detected in the test sites. However, accurately distinguishing oil spills from look-alikes remains a challenge. Future coordinated use of SAR with aerial surveillance could improve operational oil spill detection capabilities.
This document proposes a technology using magneto-optic thin film sensors to study magnetic fields in deep space through wide-area arrays deployed by spacecraft. Each sensor would measure local magnetic fields and disturbances, with data communicated to reconstruct magnetic activity over large regions. The arrays could also control large space systems through parallel computing principles. The sensors use bismuth-substituted iron-garnet films that respond to magnetic fields through the magneto-optic Faraday effect, providing high sensitivity and domain wall velocity. Deployed arrays would allow unprecedented magnetic mapping beyond spacecraft's direct reach.
This document discusses using k-means clustering to detect minerals from remote sensing images. It begins with an abstract describing using k-means clustering on hyperspectral images to segment and extract features to detect minerals like giacomo. It then provides background on remote sensing, k-means clustering algorithms, and describes the giacomo mineral deposit in Peru that contains silicon dioxide and titanium dioxide. It concludes with discussing using sobel edge detection as part of the mineral detection process from remote sensing images.
This document discusses the development of an unmanned aerial vehicle (UAV) equipped with sensors and algorithms to facilitate high-quality radiation mapping. The UAV would need to fly low, slow, and precisely to map radiation, which current technology cannot do. The project aims to explore creating a UAV that uses ultrasonic, infrared, optical flow, and laser sensors along with obstacle avoidance and radiation mapping applications. Simulations were developed in ROS and Gazebo to test the UAV configuration and obstacle avoidance system. Real UAV experiments mounted a custom laser scanner to provide distance feedback to an operator via Bluetooth and iPhone app. The goal is to combine tools developed in this project to create a radiation mapping UAV that meets initial requirements
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Pennies from Heaven: a retrospective on the use of wireless sensor networks f...M H
Wireless sensor networks are finding many applications in terrestrial sensing. It seems natural to propose their use for planetary exploration. A previous study (the Mars daisy) has put forward a scenario using thousands of millimeter scale wireless sensor nodes to undertake a complete survey of an area of a planet. This paper revisits that scenario, in the light of some of the discussions surrounding its presentation. The practicality of some of the ideas put forward is examined again, and an updated design sketched out. It is concluded that the updated design could be produced using currently available technology.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
This document discusses a novel magneto-optic sensor called the MODE sensor that can be used for non-destructive testing of structural integrity. The MODE sensor uses thin films made of rare earth and transition metal oxides that have high magneto-optic properties, allowing it to detect cracks, fissures, and corrosion in structures. A portable system has been designed using this sensor to allow real-time inspection of bridges, fuel tanks, and other metal structures. The system includes image processing and pattern recognition capabilities to help identify defects.
The document discusses the use of Synthetic Aperture Radar (SAR) and InSAR techniques for monitoring solid earth geophysics hazards. SAR uses microwaves to generate high-resolution images of the Earth's surface independently of solar illumination. InSAR uses multiple SAR images to measure surface changes down to the centimeter scale, such as caused by earthquakes or subsidence. It discusses various InSAR techniques including DifSAR, Persistent Scatterer InSAR, and Corner Reflector InSAR and their applications in oil and gas, mining, infrastructure and hazard monitoring. The document also lists several commercial and open-source InSAR processing software packages.
UAV-Borne LiDAR with MEMS Mirror Based Scanning Capability Ping Hsu
Firstly, we demonstrated a wirelessly controlled MEMS scan module with imaging and laser tracking capability which can be mounted and flown on a small UAV quadcopter. The MEMS scan module was reduced down to a small volume of <90mm><70mm><50g when powered by the UAV‟s battery. The MEMS mirror based LiDAR system allows for ondemand ranging of points or areas within the FoR without altering the UAV‟s position. Increasing the LRF ranging frequency and stabilizing the pointing of the laser beam by utilizing the onboard inertial sensors and the camera are additional goals of the next design. Keywords: MEMS Mirrors, laser tracking, laser imaging, laser range finder, UAV, drone, LiDAR.
A remote-controlled global navigation satellite system based rover for accur...IJECEIAES
One of the main tasks of a cadastral surveyor is to accurately determine property boundaries by measuring control points and calculating their coordinates. This paper proposes the development of a remotely-controlled tracking system to perform cadastral measurements. A Bluetooth-controlled rover was developed, including a Raspberry Pi Zero W module that acquires position data from a VBOX 3iSR global navigation satellite system (GNSS) receiver, equipped with a specific modem to download real-time kinematic (RTK) corrections from the internet. Besides, the Raspberry board measures the rover speed with a hall sensor mounted on a track, adjusting the acquisition rate to collect data at a fixed distance. Position and inertial data are shared with a cloud platform, enabling their remote monitoring and storing. Besides, the power supply section was designed to power the different components included in the acquisition section, ensuring 2 hours of energy autonomy. Finally, a mobile application was developed to drive the rover and real-time monitor the travelled path. The tests indicated a good agreement between rover measurements and those obtained by a Trimble R10 GNSS receiver (+0.25% mean error) and proved the superiority of the presented system over a traditional metric wheel.
Surface-Embedded Passive RF Exteroception: Kepler, Greed, and Buffon’s NeedleVladimir Kulyukin
Surface-embedded passive radio frequency (PRF) exteroception is a
method whereby an action to be executed by a mobile unit is selected through a
signal received from a surface-embedded external passive RFID transponder. This
paper describes how Kepler’s hexagonal packing pattern is used to embed passive
RFID transponders into a carpet to create PRF surfaces. Proof-of-concepts
experiments are presented that show how such surfaces enable mobile robots to
reliably accomplish point-to-point navigation indoors and outdoors. Two greedy
algorithms are presented for automated design of PRF surfaces. A theoretical extension
of the classic Buffon’s Needle problem from computational geometry is
presented as a possible way to optimize the packing of RF transponders on a
surface.
The document describes a family of microinstruments being developed for use in space missions. The instruments use magneto-optic thin film sensors to perform tasks like non-destructive testing of spacecraft components, detecting electromagnetic fields, monitoring biomagnetic fields, and optical signal processing. Each sensor is based on a proprietary Fe-Ga thin film material and uses polarized light and a spatial light modulator. The sensors can detect magnetic fields as small as 10-7 Oersted and have applications in areas like defect detection, energy generation, medicine, and neural networks. The technology provides advantages over existing non-destructive testing methods by directly imaging defects in real-time with high resolution and low false readings.
The document proposes a space-based solar power system using a 15 km long satellite that focuses sunlight onto a photovoltaic array to generate 3 GW of power. The power would be transmitted to Earth via a microwave beam to a receiving "rectenna". Robots on the satellite would assemble and repair components. Economic analysis suggests generation costs could be less than 5 cents per kWh.
This document discusses various remote sensing platforms and sensors. It provides information on:
1. Airborne platforms like balloons and aircraft that are used to acquire aerial imagery and photographs. Aircraft provide regional coverage and flexibility but are affected by weather.
2. Spaceborne platforms like geo-stationary and sun-synchronous satellites. Geo-stationary satellites like GOES and INSAT are used for weather and communication due to low spatial resolution. Sun-synchronous satellites like LANDSAT, SPOT, and IRS provide global coverage with high resolution for resource surveys.
3. Different types of sensors including passive sensors like photographic and multispectral systems, and active sensors like radar. Advanced sensors include push
Current & Future Spaceborne Sar Systemsgpetrie
This document summarizes current and future spaceborne synthetic aperture radar (SAR) systems. It reviews SAR systems by wavelength/frequency used and resulting ground resolution, including X-band, C-band, S-band, and L-band systems. It describes technological developments that have enabled smaller, less expensive SAR satellites. Many countries have recently launched or plan to launch X-band SAR satellites for civil and military use. Continuity of C-band SAR is ensured by Radarsat-2 and upcoming RISAT and Sentinel-1.
An Introduction to Scanning Laser Vibrometry for Non-Contact Vibration Measur...Polytec, Inc.
Learn about Polytec’s non-intrusive and highly productive vibration measurement technology for automated multi-point scanning of structures. The webinar will explain its application to aerospace, automotive, civil, biological, medical and micro- structures.
Topics Include:
- Concept and theory of 1D and 3D scanning vibrometry
- Technical advantages and limitations
- Productivity benefits
- Example applications including FEM validation, modal analysis, acoustics, NVH troubleshooting, automated 3D data acquisition with RoboVib and strain measurement
FR1.L10.5: SMOS SOIL MOISTURE VALIDATION: STATUS AT THE UPPER DANUBE CAL/VAL ...grssieee
This document summarizes the status of soil moisture validation for the Soil Moisture and Ocean Salinity (SMOS) satellite mission at an Upper Danube calibration and validation site in Germany eight months after launch. It describes the calibration and validation approach using in situ soil moisture measurements, land surface modeling, and airborne campaigns to compare SMOS soil moisture and brightness temperature products to ground truth data over the large Upper Danube catchment area and smaller, well-instrumented Vils test site. Preliminary analysis of SMOS data from two airborne campaigns is presented along with plans for continued validation.
This document summarizes the Small Optical User Terminal (SOUT) designed for optical communication between low Earth orbit and geostationary orbit satellites. The SOUT uses lasers for transmission and reception, with integrated transmitters, fine pointing loops to correct for disturbances, and an optical bench. It is compact in size at 200x200x150mm and has the potential to enable high-capacity intersatellite links with advantages over microwave technologies in terms of mass and power consumption.
SAR (Synthetic Aperture Radar) remote sensing was used to detect and monitor potential oil spills in two test areas in the Mediterranean Sea. Over 200 SAR images were analyzed from satellites like ENVISAT and TerraSAR-X. SAR allowed for all-weather monitoring of large areas. Several oil spills were detected in the test sites. However, accurately distinguishing oil spills from look-alikes remains a challenge. Future coordinated use of SAR with aerial surveillance could improve operational oil spill detection capabilities.
This document proposes a technology using magneto-optic thin film sensors to study magnetic fields in deep space through wide-area arrays deployed by spacecraft. Each sensor would measure local magnetic fields and disturbances, with data communicated to reconstruct magnetic activity over large regions. The arrays could also control large space systems through parallel computing principles. The sensors use bismuth-substituted iron-garnet films that respond to magnetic fields through the magneto-optic Faraday effect, providing high sensitivity and domain wall velocity. Deployed arrays would allow unprecedented magnetic mapping beyond spacecraft's direct reach.
This document discusses using k-means clustering to detect minerals from remote sensing images. It begins with an abstract describing using k-means clustering on hyperspectral images to segment and extract features to detect minerals like giacomo. It then provides background on remote sensing, k-means clustering algorithms, and describes the giacomo mineral deposit in Peru that contains silicon dioxide and titanium dioxide. It concludes with discussing using sobel edge detection as part of the mineral detection process from remote sensing images.
This document discusses the development of an unmanned aerial vehicle (UAV) equipped with sensors and algorithms to facilitate high-quality radiation mapping. The UAV would need to fly low, slow, and precisely to map radiation, which current technology cannot do. The project aims to explore creating a UAV that uses ultrasonic, infrared, optical flow, and laser sensors along with obstacle avoidance and radiation mapping applications. Simulations were developed in ROS and Gazebo to test the UAV configuration and obstacle avoidance system. Real UAV experiments mounted a custom laser scanner to provide distance feedback to an operator via Bluetooth and iPhone app. The goal is to combine tools developed in this project to create a radiation mapping UAV that meets initial requirements
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Pennies from Heaven: a retrospective on the use of wireless sensor networks f...M H
Wireless sensor networks are finding many applications in terrestrial sensing. It seems natural to propose their use for planetary exploration. A previous study (the Mars daisy) has put forward a scenario using thousands of millimeter scale wireless sensor nodes to undertake a complete survey of an area of a planet. This paper revisits that scenario, in the light of some of the discussions surrounding its presentation. The practicality of some of the ideas put forward is examined again, and an updated design sketched out. It is concluded that the updated design could be produced using currently available technology.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
This document discusses a novel magneto-optic sensor called the MODE sensor that can be used for non-destructive testing of structural integrity. The MODE sensor uses thin films made of rare earth and transition metal oxides that have high magneto-optic properties, allowing it to detect cracks, fissures, and corrosion in structures. A portable system has been designed using this sensor to allow real-time inspection of bridges, fuel tanks, and other metal structures. The system includes image processing and pattern recognition capabilities to help identify defects.
The document discusses the use of Synthetic Aperture Radar (SAR) and InSAR techniques for monitoring solid earth geophysics hazards. SAR uses microwaves to generate high-resolution images of the Earth's surface independently of solar illumination. InSAR uses multiple SAR images to measure surface changes down to the centimeter scale, such as caused by earthquakes or subsidence. It discusses various InSAR techniques including DifSAR, Persistent Scatterer InSAR, and Corner Reflector InSAR and their applications in oil and gas, mining, infrastructure and hazard monitoring. The document also lists several commercial and open-source InSAR processing software packages.
UAV-Borne LiDAR with MEMS Mirror Based Scanning Capability Ping Hsu
Firstly, we demonstrated a wirelessly controlled MEMS scan module with imaging and laser tracking capability which can be mounted and flown on a small UAV quadcopter. The MEMS scan module was reduced down to a small volume of <90mm><70mm><50g when powered by the UAV‟s battery. The MEMS mirror based LiDAR system allows for ondemand ranging of points or areas within the FoR without altering the UAV‟s position. Increasing the LRF ranging frequency and stabilizing the pointing of the laser beam by utilizing the onboard inertial sensors and the camera are additional goals of the next design. Keywords: MEMS Mirrors, laser tracking, laser imaging, laser range finder, UAV, drone, LiDAR.
A remote-controlled global navigation satellite system based rover for accur...IJECEIAES
One of the main tasks of a cadastral surveyor is to accurately determine property boundaries by measuring control points and calculating their coordinates. This paper proposes the development of a remotely-controlled tracking system to perform cadastral measurements. A Bluetooth-controlled rover was developed, including a Raspberry Pi Zero W module that acquires position data from a VBOX 3iSR global navigation satellite system (GNSS) receiver, equipped with a specific modem to download real-time kinematic (RTK) corrections from the internet. Besides, the Raspberry board measures the rover speed with a hall sensor mounted on a track, adjusting the acquisition rate to collect data at a fixed distance. Position and inertial data are shared with a cloud platform, enabling their remote monitoring and storing. Besides, the power supply section was designed to power the different components included in the acquisition section, ensuring 2 hours of energy autonomy. Finally, a mobile application was developed to drive the rover and real-time monitor the travelled path. The tests indicated a good agreement between rover measurements and those obtained by a Trimble R10 GNSS receiver (+0.25% mean error) and proved the superiority of the presented system over a traditional metric wheel.
Surface-Embedded Passive RF Exteroception: Kepler, Greed, and Buffon’s NeedleVladimir Kulyukin
Surface-embedded passive radio frequency (PRF) exteroception is a
method whereby an action to be executed by a mobile unit is selected through a
signal received from a surface-embedded external passive RFID transponder. This
paper describes how Kepler’s hexagonal packing pattern is used to embed passive
RFID transponders into a carpet to create PRF surfaces. Proof-of-concepts
experiments are presented that show how such surfaces enable mobile robots to
reliably accomplish point-to-point navigation indoors and outdoors. Two greedy
algorithms are presented for automated design of PRF surfaces. A theoretical extension
of the classic Buffon’s Needle problem from computational geometry is
presented as a possible way to optimize the packing of RF transponders on a
surface.
The document describes a family of microinstruments being developed for use in space missions. The instruments use magneto-optic thin film sensors to perform tasks like non-destructive testing of spacecraft components, detecting electromagnetic fields, monitoring biomagnetic fields, and optical signal processing. Each sensor is based on a proprietary Fe-Ga thin film material and uses polarized light and a spatial light modulator. The sensors can detect magnetic fields as small as 10-7 Oersted and have applications in areas like defect detection, energy generation, medicine, and neural networks. The technology provides advantages over existing non-destructive testing methods by directly imaging defects in real-time with high resolution and low false readings.
The document proposes a space-based solar power system using a 15 km long satellite that focuses sunlight onto a photovoltaic array to generate 3 GW of power. The power would be transmitted to Earth via a microwave beam to a receiving "rectenna". Robots on the satellite would assemble and repair components. Economic analysis suggests generation costs could be less than 5 cents per kWh.
This document discusses various remote sensing platforms and sensors. It provides information on:
1. Airborne platforms like balloons and aircraft that are used to acquire aerial imagery and photographs. Aircraft provide regional coverage and flexibility but are affected by weather.
2. Spaceborne platforms like geo-stationary and sun-synchronous satellites. Geo-stationary satellites like GOES and INSAT are used for weather and communication due to low spatial resolution. Sun-synchronous satellites like LANDSAT, SPOT, and IRS provide global coverage with high resolution for resource surveys.
3. Different types of sensors including passive sensors like photographic and multispectral systems, and active sensors like radar. Advanced sensors include push
Automatic target detection and localization using ultra-wideband radarIJECEIAES
The pulse ultra-wide band (UWB) radar consists of switching of energy of very short duration in an ultra-broadband emission chain, and the UWB signal emitted is an ultrashort pulse, of the order of nanoseconds, without a carrier. These systems can indicate the presence and distances of a distant object, call a target, and determine its size, shape, speed, and trajectory. In this paper, we present a UWB radar system allowing the detection of the presence of a target and its localization in a road environment based on the principle of correlation of the reflected signal with the reference and the determination of its correlation peak.
CANYVAL-X is a CubeSat mission with the goal of demonstrating technologies that allow two spacecraft to precisely align along an inertial line of sight. The George Washington University developed thruster hardware, Yonsei University built and tested the 1U and 2U spacecraft, and NASA provided a sun sensor and thruster flight electronics. The two CubeSats, a passive 1U and actively controlled 2U, will fly in formation to test precision alignment within 10 meters of each other to an accuracy of degrees. If successful, this demonstration could enable future virtual space telescope missions for astronomy and heliophysics science.
August 2022 - Top 5 Cited Articles in Microwave engineering jmicro
International Journal of Microwave Engineering (JMICRO) is a peer-reviewed, open access journal which invites high quality manuscripts that focuses on Engineering and theory associated with microwave / millimeter-wave technology, guided wave structures, electromagnetic theory and implementation. Authors are invited to submit original research works that stimulate the development of latest technology in industry and academia. Good quality review papers and short communications are also acceptable.
International Journal of Engineering and Science Invention (IJESI) is an international journal intended for professionals and researchers in all fields of computer science and electronics. IJESI publishes research articles and reviews within the whole field Engineering Science and Technology, new teaching methods, assessment, validation and the impact of new technologies and it will continue to provide information on the latest trends and developments in this ever-expanding subject. The publications of papers are selected through double peer reviewed to ensure originality, relevance, and readability. The articles published in our journal can be accessed online.
This document provides an annotated list of presentations, courses, seminars, and workshops by MJD and TETRAD related to topics like disaster management, biothreat detection, counterterrorism, and humanitarian applications of science and technology. It describes formal courses taught at universities, as well as presentations given at conferences on subjects such as border security, emergency response, and connecting dots to locate terrorist operations. The document aims to provide information for organizing future training opportunities on issues covered in the materials listed.
Coordinated And Unified Responses To Unpredictable And Widespread Biothreatsmartindudziak
Intelligent and rapid dissemination of information is essential for responding to CBRN threats but has been missing from most response plans. The CUBIT system provides a solution with its coordinated and unified approach. CUBIT uses sensors, analytics, diagnostics, treatments, and population control protocols incorporated as scalable and modular components that can dynamically interact. It employs principles of "plug and play" and adaptability to respond to unpredictable biothreats affecting populations when infrastructure is damaged.
This document summarizes research on using magneto-optic imaging for non-destructive testing of metal structures. It describes developing new thin-film sensors with improved sensitivity, integrating the sensors and image recognition algorithms into a portable system, and applying a neural network algorithm called SONON to enhance defect detection in images. Laboratory experiments demonstrated the new sensors could detect smaller defects than previous methods. The overall aim is more accurate, automated inspections using portable, wearable equipment.
1. The document discusses scanning probe microscopy (SPM) techniques such as atomic force microscopy (AFM) and their applications in biomedical research.
2. SPM allows high-resolution imaging of surfaces and can be used to study cell topology, structures like cytoskeletons and membranes, and how electromagnetic fields impact cells.
3. Experiments aim to use AFM to image living cells over time and study phenomena like solitons and fractals at the microscopic level to gain insights into cell behavior and pathology.
This document proposes an Intelligent Data Entry and Acquisition (IDEA) system to help with on-site highway maintenance and construction. It describes an architecture using wearable computers and sensors to collect asset data in the field, process it using pattern recognition, and upload it to centralized databases. Field workers could use tools like digital notepads, cameras, and GPS to gather location-tagged images, notes and condition reports on assets, which the IDEA system would then analyze and integrate into maintenance planning databases back at the office. The goal is to streamline data collection and improve safety, productivity and data quality for tasks like infrastructure inspections.
This document outlines a proposal for a 6-month, $150,000 project to develop concepts of operations (CONOPS) for a Regional Environmental Biothreat Detection Network (REDBIONET). The network would integrate existing biodefense sensing systems and new diagnostic tools to enable early detection of biothreats through wildlife monitoring. Key components include adapting the RODS predictive system and integrating it with GITI's knowledge management tools. The proposal also describes integrating rapid diagnostic technologies, evaluating sensor placement options, and demonstrating a field-ready prototype to identify and respond to biothreats. Personnel are identified with relevant experience in pattern recognition, bioinformatics, and emergency response networks.
The document discusses a proposed mobile early warning system called Nomad EyesTM to detect and prevent nuclear terrorism. It argues that terrorism relies on networks and readily available technology. Radiation attacks are attractive due to their ability to cause social and economic disruption even without loss of life. The system would use mobile and wireless sensors to detect suspicious movements and shipments of radioactive and conventional materials. Data would be analyzed using various techniques like sensor fusion, graph theory, and gaming to identify potential threats while also providing emergency response capabilities. The goal is to develop a flexible, low-cost, and disruptive counterterrorism system.
This document discusses the Nomad Eyes project, which aims to use a network of mobile sensors and the general public to detect and prevent nuclear terrorism through early warning. The project would distribute radiation sensors that can attach to mobile phones to collect and transmit data. Games and advertising would encourage public participation. Collected data would be analyzed using graph theory and Bayesian methods to identify potential terrorist planning and threats. In the event of an attack, the network could quickly notify the public and route them to safety. The current status describes sensor prototypes, public engagement design, and network/database software development. The goal is to move terrorism prevention and response capabilities out of secure facilities and into the hands of the general public.
Global InfoTek will develop concepts of operations (CONOPS) for an Emergency Mobile Phone Incident Reporting System (EMPIRES) that leverages mobile phones and infrastructure to collect and share situational data from citizens during crises. The 6-month project will cost $90,000. Global InfoTek will conceptualize a system using mobile phones to collect incident reports, environmental effects data, and real-time audio/video from citizens. They will integrate existing programs and technologies to disseminate this data to emergency responders through an integrated display. Global InfoTek will focus on communication challenges faced by responders during crises when infrastructure may be unavailable and develop solutions using emerging technologies like sensors and GPS on mobile
The document describes the I3BAT and Nomad Eyes systems, which are designed to incorporate terrorist thinking and tactics to help prevent terrorist attacks. Nomad Eyes would involve widely distributing sensors and collecting data using mobile phones and other devices. This data would then be analyzed using statistical and mathematical models to identify patterns that could link people, objects, and events and help forecast terrorist plans and activities. The goal is for the general public to help detect threats through passive and anonymous data collection using everyday devices to supplement formal security and law enforcement efforts.
This document discusses the concept of ecosymbiotics, which aims to integrate economic profitability with environmental and social sustainability. It argues that education, basic research, environmental protection, and economic development are interdependent and should be viewed holistically. Ecosymbiotics proposes developing commercial innovations through collaborative, interdisciplinary research that also benefits education and future generations. The goal is to move beyond dependence on non-profit funding and directly link basic scientific progress with business and capital growth in a mutually sustainable way.
The document outlines a seminar on how quantum events may play a role in coherent biomolecular systems. It discusses several topics: (1) introducing motivations around reconciling quantum mechanics and relativity in biological systems; (2) exploring quantum network dynamics and structures like solitons that could provide stability; and (3) investigating chiral and tensegrity-stable solitons in higher dimensions that may model quantum networks sustaining topological identities. The goal is to better understand intracellular control and signaling at the quantum scale.
The document outlines a theory of topological process dynamics and its applications to biosystems. It discusses how a stable spacetime emerges from a quantum process flux described as a "spin glass" of topological 3-surface regions. Below certain length scales, p-adic numbers and an ultrametric topology are hypothesized to apply, with favored p-adic primes corresponding to physically important length scales like those seen in biological structures. The length scale hypothesis proposes lengths scales of L(p) = sqrt(p) * L0 that match observations of elementary particles, cells, viruses, and nanobacteria. P-adic topology is proposed below these scales with continuous classical spacetime emerging at larger scales.
This document summarizes a study on pattern recognition and learning in networks of coupled bistable units. The network is composed of N oscillators moving in a double-well potential, with pair-wise interactions between all elements. Two methods are used for training the network: (1) constructing the coupling matrix using Hebb's rule based on stored patterns, and (2) iteratively updating the matrix to minimize error between applied and desired patterns. Graphs show the learning rate converges as mean squared error and coupling strengths decrease over iterations.
This document discusses a hypothesis that molecular dynamics across neural membranes and cytoskeletal structures provide a matrix for self-organized behavior and information processing in the brain. Specifically:
1) Patterns of molecular activity may form stable solitons or "chaotons" capable of storing information over time, providing a basis for learning, memory, and consciousness.
2) These solitons could behave in a self-similar way across complexes of neurons operating within synapto-dendritic field activity.
3) Atomic force microscopy may help experimentally confirm theoretical models of these solitons and emergent structures in subcellular processes.
Evolutionary IED Prevention 09 2006 Updated W Comments Jan2010martindudziak
The document provides an overview of a presentation given at a 2006 conference on evolutionary detection and prevention of improvised explosive devices (IEDs) and related terrorist weapons. The presentation discusses the need for detection systems that can (1) think ahead of terrorists rather than just react, (2) detect multiple substances in diverse environments, and (3) be usable by non-technical users. It also examines challenges like evolving weapon technologies and effectiveness. The presentation proposes solutions like a single, reconfigurable detection technology that can integrate with existing systems.
The document discusses applying geospatial representation and forecasting models to improve chemical, biological, radiological, nuclear and explosive (CBRNE) defense. It proposes integrating CBRNE prediction, detection, and countermeasures with geospatial analysis. This would allow incorporation of mobile, wireless, and portable technologies. The goal is a smooth transition between combat, post-combat and civilian CBRNE situations. Challenges include differences between field and domestic environments and issues with sensors. The document outlines several proposed technologies, including the Nomad Eyes architecture for distributed sensor deployment using inverse modeling. It also discusses the ADaM software for real-time data processing and sensor devices like the portable OPA for chemical detection.
Increased Vulnerability To Nuclear Terrorist Actions 20july07martindudziak
This document discusses the increased vulnerability of the continental United States to nuclear terrorism. It outlines three types of potential nuclear terrorist attacks: 1) an atomic bomb, 2) a dirty bomb using conventional explosives to disperse radioactive material, and 3) a passive radiation exposure device to contaminate areas without explosives. It argues that current container scanning methods are ineffective and may unintentionally aid terrorists. A recent assassination using polonium-210 demonstrated how easily radiation can spread, and terrorists could replicate this on a larger scale. The supply chain for nuclear materials is more accessible than assumed, as terrorist groups do not need state-level resources and can learn from incidents like the assassination. Overall, the document warns that the US remains vulnerable to nuclear
The document proposes a community program called SAFETY NET that utilizes cell phones and civilian awareness to more quickly detect and respond to emerging crisis situations through basic data collection and analysis, with the goal of preventing violence, abuse, and crime. The program could be implemented at nearly no cost while providing benefits to both community users and service providers. It aims to address issues like domestic abuse, gang activity, and terrorism by getting to the root causes within families and communities.
This document proposes using mutual information techniques in a hierarchical, staged approach to improve deformable registration of medical images for clinical applications. It involves pairing different object models corresponding to image components and measuring their mutual agreement through deformations to maximize mutual information at each stage. Overcoming failures at one stage involves introducing another level based on results from previous pairings. The goal is to leverage established algorithms and databases to improve registration accuracy and utility for clinicians without overcomplicating protocols.
1. MULTI-UNIT AIRBORNE DETECTION patterns that are repetitive, detected within a given
AND MAPPING OF LAND MINES area, and which match previous compiled
INCORPORATING MAGNETIC AND characteristics that indicate mine placements. At the
NON-MAGNETIC SENSORS heart of this approach is a pattern recognition
developed for processing large sets of association pairs
of image and texture data.
M. Dudziak (MODIS Corporation (USA) and
Moscow State University)
A. Chervonenkis (MODIS Corporation (USA) and
1. INTRODUCTION
Russian Academy of Sciences, Moscow)
In developing a novel approach to the detection of
We describe an architecture for detecting and
abandoned and unexploded land mines the initial
predicting likely land mine configurations and
impetus was to devise a method to employ high-
locations using two new technology developments, one
sensitivity magneto-optic thin-film devices. These
being an advanced airborne RPV capable of auto-
have shown great promise in other areas and
piloted and manual maneuvers and the other
applications of magnetic-field measurement and the
component being an integrated magneto-optic based
intent has been to integrate this technology with other
sensor and videocamera.
sensor types into a platform that could be readily
adapted and maintained for field applications. MODE
The Hornet RPV and its successors the Ascend-I and
(Magneto-Optic Detection and Encoding) thin film
Falcon are ultra-light helicopter units controlled by RF
sensors 1 are Fe-Ga substrates epitaxially grown with
links to ground-based navigators with capabilities for
Bi and rare earth substitutions and have sensitivities of
onboard Auto-Pilot and Mission Control units.
Currently the Hornet, with a low-end airframe saturation magnetisation µMo = 0 … 1000 G, specific
weighing 12.5 lbs. and capable of carrying a 13 lb. Faraday rotation ΘF = 2.3 grad/µm, absorption
payload, is operable with a stabilization augmentation coefficient α = 0.35 … 0.40 dB/µm, MO figure of
gyro system and is being tested with an AutoPilot merit Ψ = 2ΘF/α > 10 grad/dB, domain wall velocity
enabling semi-autonomous programmable flight. 200 … 2800 m/s, and coercivity < 0.1 Oe. 2 The role of
Bi substitution is critical for a high Faraday effect and
The modular, quick-load payload assembly designed increased transparency, aiding in creation of high-
for the Ascend-I RPV enables deployment of a variety contrast domain structure patterns caused by domain
of sensors including multiple video and also highly wall shifts due to external magnetic fields normal to
sensitive magneto-optic thin-film devices. The latter, the FVF plane. Incorporated into data acquisition
known as MODE (Magneto-Optic Detection and devices that employ polarized light delivered via fiber
Encoding) are Fe-Ga substrates. optic cables to the Fe-Ga sensor for realization of the
Faraday effect and a CCD camera, these compact
The Hornet RPV is capable of fine-tuned movements sensors are, in a synchronized array, capable of
to within a meter or less from the surface and is also registering variations that indicate the presence of
capable of maintaining both the low speed and localized ferromagnetic structures from a few meters
occasional stabilization in situ required for operation of distance. The videocamera units that are directed
the sensors. Ascend-I will operate with the same toward purely optical photography of the terrain over
accuracy but with the option of either manual or which the helicopter operates produce an image stream
automatic control. Falcon is essentially the same as that is then input into a pattern detection engine for
Ascend-I but fitted and programmed for UAV-to-UAV tracking likely mine locations.
communication and coordination.
However, it was recognized that there are many
Data collected from the sensors is fed into an limitations not the least of which is the prevalence of
embedded microprocessor equipped with pattern land mines that do not contain any or sufficient
recognition hardware and software, and the results are ferromagnetic components that can be detected even by
transmitted to the control station which may be very sensitive apparatus such as the MODE sensor.
anywhere from several tens of meters to a kilometer or The challenge was to devise a system whereby multiple
more distant from the RPV. sensors such as possible future ultra-compact versions
1
Non-magnetic, plastic land mine detection is an order Randoshkin, V. V., Chervonenkis, A. Ya., “Applied
of magnitude more difficult and the MODE sensors Magnetooptics”, Energoatomizdat, Moscow , 1990 (in
will not detect such mines. However, an approach is Russian)
2
underway to study the utility of the RPV platform for Chervonenkis, A. Ya., Kirukhin, N. N., Randoshkin,
obtaining terrain mappings using the combination of V. V., Ayrapetov, A. A., “High Speed Magnetooptical
optical and magneto-optic inputs. This method Spatial Light Modulators”, Proc 2nd Int. Symp.
analyzes data for indicators of surface disturbance Magneto-Optics, Fiz. Nizk. Temp., Vol. 18,
Supplement, No. S1 (1992), pp. 435-38
M. Dudziak, A. Chervonenkis: MODIS Corp., 3413 Hawthorne Ave., Richmond, VA 23222-1821 USA
mdudziak@silicond.com, arsen4@orc.ru
2. of Nuclear Quadropole Resonance (NQR) 3 and enables a modular compartment (E-PAC) to be quickly
Microwave Impulse Radar 4 could be incorporated and easily loaded or unloaded.
along with a MODE sensor and video units. However,
there are important benefits to having a detection
system as light and maneuverable as a 20-25 lb. UAV. 2. MODULAR INSTRUMENTATION
Significant issues abound with respect to weight,
power consumption, aerodynamic stability, and real-
time communications, as well as effectiveness in The design of the E-PAC equipment module is integral
correlating the UAV flight patterns (current and to the efficient use of the Hornet/Ascend for such an
recorded in the past) with exact GIS maps. The present operation as mine detection. It enables the Falcon to
study is a very preliminary first step in addressing the be used for multiple tasks with rapid changeover of
major points of these issues. If it is determined that an equipment, thereby eliminating the need for a heavy,
ultra-light UAV solution is feasible for such a multi- bulky, less maneuverable UAV. The use of snap-down
sensor array, then the consideration of using such a velcro strips on both sides of the unit and the cage
system for detecting abandoned mines as well as mines allows for lightweight but strong retention of the pack
that are in use during active combat or other forms of in flight and reduces vibration from other vehicle
low-intensity conflict can be explored further with an substructures.
actual deployment.
The current E-PAC design will measure 22cm x 22cm
A major design concern is how to incorporate multiple by 22cm and each E-PAC module is a same dimension
devices that require electrical, optical, and data of 18cm x 18cm x 18cm, the cage and module shell to
connectivity, particularly additional battery capability, be constructed of molded high-strength plastic. There
and to do so in such a way as to allow rapid and are four tracks, two on the top and one on each side,
efficient changes of inspection equipment, as well as into which the E-PAC slides and over which the velcro
appropriate communications with a ground control strips are placed. The front and rear of the E-PAC is
station. This problem has been addressed through the completely open for freedom of line of sight for
design of a modular equipment case and interfaces to cameras. Figure 5 illustrates the basic E-PAC design.
enable an operator to rapidly exchange one module for
another without a large amount of manual intervention. While the components contained within the E-PAC
may vary, there is a uniform external interface
The Falcon and Ascend-I UAV designs, based on the provided from the E-PAC to all other subsystems that
Hornet, offer the framework for making such an may require onboard real-time communications and
approach feasible. The Hornet is shown in flight this is positioned on the top surface of the E-PAC
within Figure 1 below. A comparable system (the AC- module. There is also a uniform internal interface for
100F Orion) is illustrated in Figure 2 and the subsystems contained within the E-PAC. The
Hummingbird from Aerobotics Corporation in Figure redundancy of these hardware interfaces is offset by
3, 5 also suited for the addition of an equipment module the convenience in designing instrumentation
in the lower forward carriage of the helicopter. By applications to be packaged in the E-PAC. Figure 6
customized replacement and re-machining of the shows the layout of these interfaces.
airframe, the Hornet is significantly lighter and
equipped with a slide-/snap plastic cartridge frame that While most of the interface components are standard
PC industry protocols, four fiber optic connectors are
3
NQR research has been advanced for explosives also included, two for input and two for output. These
detection and is the subject of work sponsored by the are not data lines but strictly for transmission of
U.S. Defense Advanced Research Projects Agency polarized light for use in the MODE sensor or for other
(DARPA), the U.S. Army, and Oak Ridge National devices that may be included in an E-PAC module.
Laboratory (ORNL). Cf. http://www.ic.ornl.gov/rd- The polarized light source is locatable outside the E-
groups/amg/mine_nqr.html which refers to work PAC on the Falcon airframe, powered off the
conducted by the Advanced Methods Group at ORNL alternator.
and Quantum Magnetics, Inc. of San Diego, CA.
4
Cf. http://www.llnl.gov/str/News796.html and also There is a standardized male and female unit for each
http://lasers.llnl.gov/lasers/idp/mir/overview.html interface assembly, so that any E-PAC assembly can be
which describes MIR research at Lawrence Livermore simply and efficiently, even in the dark, snapped into
Labs, and refs. 2 and 3. place with a minimum of handling and manipulation.
5
Hummingbird Unmanned Air Vehicle. Cf. and therefore with a minimum of potential damage by
http://mcwl- mishandling. This is a human factors issue often
www.cwlmain.org/mcwl/pa/facts/hbird.htm. “The overlooked in systems design but very important for an
Hummingbird is a small suitcase portable, helicopter apparatus such as FALCON used in landmine detection
unmanned aerial vehicle (UAV). It has an onboard to be useable in the real world, outside the laboratory
intelligent flight control.” Manufactured by Aerobotics setting.
Corp.
3. 3. A MULTI-SENSOR ARCHITECTURE editing applications can be performed by an operator in
the field when the FALCON is on the ground. In the
air the range of capability is limited, but by having the
Figure 7 illustrates the fundamental system architecture full internet capability onboard, FALCON operations
devised to provide for multi-sensor mapping of regions are simplified and a great deal of custom software
where there are suspected to be land mines dispersed in engineering is eliminated. From a systems engineering
either a regular or random pattern. The primary and management perspective, this is a major advantage
component is a compact Pentium-based computer that and it also affects the performance and analysis of
is a customized version of the ViA Flexible PC, tracking and sensing data including pattern recognition
normally a beltpack wearable PC with an optional programs that can be run on optical and magneto-optic
docking station. This commercial, off-the-shelf design image data streams. Results can be processed and
was chosen because of its lightweight component transmitted from the FALCON, potentially even while
design, low power consumption, and ruggedized in flight (although this feature has not yet been
construction, as well as its ready adaptation for use designed) and certainly while the UAV is on the
with high-density, low-size peripherals and optional ground.
software components such as a complete speech-to-
data and GPS system that can enable a user to With the onboard processing capability, it is possible to
communicate via voice commands with the UAV while handle the dual video stream input from the standard
it is airborne. While the choice of a full-featured PC downward-view videocam and the MODE sensor
model may seem unusual in favor of a strictly videocam. The standard image stream is controllable
embedded architecture, the ViA model give s the by user software parameters, adjustable in real-time
advantage of enabling many future user interface during flight, to enable capturing and sending data
functions and can be adapted, by some modification to either at n frames/sec. where n varies 1:15, MPEG
the E-PAC module, for in-field “docking station” use compressed, or at standard intervals based upon GPS
by a member of the Falcon operations team, in keeping readings that are supplied to the E-PAC computer from
with the “double duty, multi-function” systems design the GPS receiver attached to the UAV in its aft section.
philosophy. Alternative compression besides MPEG is enabled by
the Falcon’s onboard computer. In this latter mode, the
The E-PAC processing unit occupies a volume mission might stipulate one frame every 100’ of
comprised of two sections each approximately 4.5” x motion in a linear direction.
3” x 1” . The main processing element is a Cyrix
MediaGX and 5520 chipset running at 180 MHz, and For purposes of the initial system design the MODE
there is 32MB DRAM upgradeable to 64MB. A 30 sensor was the only other sensor considered besides the
watt-hour battery weighing 11 oz. or a 48 watt-hour standard videocam and the GPS. A BW video stream
battery weighing 16 oz. are the two options for onboard is produced at 15 fps and stored on the hard drive after
power – the maximum duration is approx. 4 hours. passing through a filter function designed to remove
any frames in which there was not an indicated
For onboard hard disk capacity there is a minimal 1.6 presence of a magnetic aberration above a minimal
GB unit but a 3.2GB unit can be accommodated by the threshold. In this was excessive amounts of video
system. There are two PCMCIA expansion slots and frame storage is eliminated. With the availability of
the following I/O and peripheral capabilities: multi-gigabyte disk storage onboard the UAV, it is
more practical to reserve most image processing, such
Input / Output: as edge detection and enhancement, for post-
Full-duplex audio for advanced speech interface processing on a standard workstation.
VGA support for resolutions up to 1280 x 1024
Flat-panel support for resolutions up to 800 x 600 Currently being investigated is the use of wireless
Digital display interface (PanelLink) internet communications in order to transmit from
Two RS-232 serial communication interfaces onboard the UAV image data while sensor data is
Two Universal Serial Bus (USB) interfaces being acquired and stored. The current processor and
Mouse and keyboard ports memory speeds now support this design and will
Peripherals: enable the E-PAC system to operate in effect as an
VGA Display including either onboard internet server. A secondary PC unit co-
flat panel or head-mounted located on the UAV is a preferred solution but the
Keyboard: PS/2 compatible demands of weight and power consumption are
Pointing devices: pen, touch (display) undesirable. A compromise solution that should meet
Audio headsets (mic/speaker) most mission requirements is to allow, by software
control, the transmission to the ground station of every
The advantage of having such a full-featured PC in the nth frame captured. Image clipping prior to
E-PAC unit is that virtually any type of application that transmission can remove unnecessary image portions
can be run on a standard PC including any number of that do not include the actual sensor field of vision.
internet, communications, database, and even text
4. 4. THE UAV PLATFORM
6. MODE DEVELOPMENT AND TESTING
PLATFORM
The Falcon UAV is very similar in basic construction
and design to the Hornet and Ascend-I. The basic
specifications are: It was necessary to design a laboratory workbench
experimental system in order to test the effectiveness
Length: 66 in. of different types of MODE thin films for magnetic
Width: fuselage: 12 in. fields of varying strength and domain structure and to
Rotor diameter: 68 in. simulate physically the performance of different thin
Frame construction: aluminum, graphite, plastic film compositions for airborne use at varying distances
Weight: 12.5 lb. base unit, 23 lbs. full load from ferromagnetic sources and in the (shielded)
Maximum weight: 25 lbs. presence of EM noise produced by the UAV. In order
Cruise Airspeed: 45 - 50 Kts to create a practical apparatus that would allow for a
Maximum Airspeed: 65 Kts relatively high degree of accuracy in measurement as
Range: 24 nautical miles well as comparison between different experiments, the
Maximum Altitude: 5,000 feet MagVision Development Platform was designed and is
Flight Time: 30 – 60 min. (fuel/load dependent) currently in the process of being fabricated. An
illustration of the basic design is provided in Figure 9
Unlike Hornet, Ascend-I and many other models, some below. This is a laboratory workbench which is not a
of which are illustrated in figures 1-3, Falcon’s frame part of the UAV or the E-PAC module.
assembly and all hardware have been refined for
minimum weight. This requires a high level of
precision individual parts machining on a custom basis 6. VIDEO MAPPING
although in a production environment this would be
provided through the parts manufacturers.
Modeled somewhat after the use of video imagery to
The capacity of Falcon to carry a load approximately acquire data on pavement and highway assets and
equal to its base unit weight is one of the remarkable conditions, 6 the video mapping process consists of
strong points of this particular design and enables the acquiring sufficient images to produce a quilt-like
entire E-PAC instrumentation concept to be a realistic panorama of the surveillance area, stored in a relational
undertaking. database structure on a post-processing workstation
after download from the Falcon’s E-PAC computer.
The use of the video map is to provide a second and
5. MODE SENSORS critical stream of data to merge with the MODE image
stream for feature extraction and correlation as part of a
pattern detection operation. The goal is to isolate
The magneto-optic sensor unit consists of a 9cm x 3cm characteristic textural variations in the terrain features
wafer section of the MODE Fe-Ga crystal secured with that are visually detectable which may be correlated to
a retaining clamp in the base of a plexiglas frame. A magnetic readings from the MODE data stream, or
piezo-controlled actuator moves the CCD video unit in which by themselves can stand alone as evidence of
a cycle of snapshots of four areas on the sensor probable disturbance patterns in the earth surface.
surface. The polarized light source is input in-plane
with the sensor. As the video captures a frame of one Creating a full-surface video mapping of the
quadrant, magnified at a user-controllable scale from surveillance area is aided by the tagging of each video
1x to 10x, by software control of the videocam unit, the frame with a GPS identifier that is used by post-
light passes through the sensor and generates output processing software to control the proper fitting and
which, in the presence of a magnetic field of sufficient trimming of images. A smoothness evaluation of each
strength, manifests the Faraday Effect, visible as a frame for which there are redundant areas covered by
modulation of the grayscale image field. other frames is used to aid in selecting which of several
redundant frames should be saved or rejected. In this
The basic architecture is similar to that of sensors used manner the frames of best resolution are used. Because
in the detection of magnetic fields in currency and of the higher number of variables (UAV speed,
other forms of secure paper, an initial application of the altitude, pitch, roll, raw, etc.) there is a significant
MODE technology and the MagVision sensor/scanner amount of normalization required in order to fit the
product. A laboratory image of an image made with a image stream together in such a way as to have a
MODE sensor (size 12mm x 3mm) scanning a test reasonably uniform scale and “flow” from one image
magnetic strip is shown in Figure 8 below. The image
was produced using a Winnov Videum-AV processor 6
Cf. Roadware Corporation and the ARAN and
card (ISA interface) on a Pentium-200MHz PC. WiseCrax data collection technology for highway
management; web site @ www.roadware.com
5. to the next in both the x and y axes. This critical stage landmines indicated over the background video map
of image processing is necessary in order for both the produced from the Falcon video coverage. Each such
video images and the MODE sensor data synchronized tentative landmine element will act as a “hot” graphical
for post-processing pattern detection. link that an operator can use to bring up in tabular
form, with associated video and MODE image detail,
all the source features pertaining to that region of the
7. PATTERN DETECTION surveyed landscape, using a standard browser-type
graphical user interface.
There are three stages to the pattern detection process
applied to the results of a Falcon flight. The first stage This work has been supported by MODIS Corporation
is mapping and feature detection. A grid is graphically and Silicon Dominion Computing, Inc.
superimposed upon the video data collected and each
crosspoint has a specific spatial coordinate originating
from the GPS record. A sequence of image 8. REFERENCES
transformations is applied to the video map on an
interactive display during which process the operator 1. M. Dudziak and A. Chervonenkis, 1998, “Design of
can identify and mark particular features that are Magneto-Optic Wide-Area Arrays for Deep-Space
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the MODE data with the feature database. Each
MODE frame has GPS coordinates and following a 3. J. E. Mast and E. M. Johansson, 1994, “Three-
battery of thresholding and convolution steps to isolate dimensional ground penetrating radar imaging using
potential magnetic features a new feature histogram is multi-frequency diffraction tomography”, SPIE JEM
constructed for each element of interest. This Conference ’94
histogram has the following characteristics:
4. A. Chervonenkis, N. Kiryukhin, and V. Nikerov,
feature diameter 1991, “High-speed coherent optical correlator based on
feature area two MOSLMs”, SPIE Vol. 1614 (1991), 206-209
maximum density
average density 5. V. Nikerov, Yu. Polyakova, and A. Chervonenkis,
characteristic polygon 1991, “Double MOSLM neural-like coherent optical
maximum brightness processor for distorted image recognition”, SPIE Vol.
average brightness 1614 (1991), 210-215
refractivity index
number of near neighbors} multiple 6. V. Nikerov, N. Kiryukhin, Yu. Polyakova, A.
directions of near neighbors} multiple Chervonenkis, and A. Ayrapetov, 1992, “Spatial
distance of near neighbors} multiple filtering on the base of two magnetooptic SLMs”, Adv.
in Magneto-optics II, Proc. 2nd Int. Symp. Magneto-
The third stage consists of creating an association pair Optics, Vol. 18, Supplement, No. S1 (1992), 449-452
database in ascii tabular format that is used as input to
a software-based pattern recognition engine known as 7. M. Dudziak, A. Chervonenkis, and M. Pitkanen,
HAL (Holographic Associative Learning). The 1998, “A family of microinstruments for incorporation
algorithms in HAL are derived in part from into smart materials, energy management, and
[Sutherland, 1990] and related work in applying digital biomedicine for space missions”, NanoSpace ’98
holographic models to statistical clustering techniques (preprint available)
and unsupervised neural networks. The HAL
introduces the role of external pilot training signals to 8. A. Chervonenkis and M. Dudziak, 1998, “High
enhance synchronization among oscillating clusters Sensitivity Magneto-Optic Devices for Weak Magnetic
where each cluster is a grouping of associated feature Field Measurements and Localization”, 2nd Magneto-
elements and categorizations, in this case types of Optics Conference and Workshop, Moscow State
known landmine features, geographic elements, or University (preprint available)
probable image noise. The pattern detection process is
an element of research currently in progress. The 9. J. Sutherland, 1990, “A Holographic Model of
output of the detector software is a modified ArcView Memory, Learning, and Expression”, Intl. J. of Neural
type graphical map with the tentative locations of Systems, Vol. 1, No. 3 (1990), 259-67
6.
7. FIG. 1 --- Hornet UAV in flight (Virginia, 1997) with Canon 8mm videocam and RF control mounted
(courtesy Bert Wagner Air Platforms Unlimited)
FIG. 2 --- ACF-100F Orion (courtesy Orion Systems) FIG. 3 --- Hummingbird UAV (courtesy Aerobotics Corp.)
FIGURE 4 --- Highway accident scene filmed by Hornet UAV (Bert Wagner of Air Platforms Unlimited)
8. Runners attached to Tracks or guardrails
E-PAC module shell and on E-PAC cage
running through tracks built-in to forward
on top and sides of frame of UAV
module
Open equipment area for attaching electronics and sensing
apparatus. All connectivity is via E-PAC interfaces and
communicates with processor onboard or at ground station(s).
Open bay for sensor access. Entire E-
PAC bottom is open, as are front and
rear panels.
FIG. 5 --- Basic schematic of E-PAC module and cage assembly for FALCON modified UAV
PWR GND
PARALLEL
SERIAL2 SERIAL2
MVIDOUT
SVIDOUT
FOPTIN1 FOPTIN2 FOPTOUT1 FOPTOUT2
FIG. 6 --- Basic schematic of E-PAC module and cage assembly for FALCON modified UAV
9. UAV
Main
GPS Polarize Battery
Receiver Voice link Data link from
from groundstation d light
(serial out) source
E-PAC
Module
ViA Pentium PC main system
EM shield housing
3.2GB disk drive
Enhancing
Perm-Magnet
30 watt-
hour Canon Canon MODE Sensor
Battery Videocam Videocam (B/W)
(Color)
FIGURE 7 --- Basic system architecture for MODE + Video Mapping of suspected Minefield areas
FIG. 8 --- Laboratory image (magnified 10x) of test high-coercivity magnetic strip
Scanner Rails
Adjustable Rail
SampleRetainer Scanner Spacers Sample Bed
Drive
Assembly
Motor
Drive Chain
Chain
Sample Retainer
Retainer/Pulley Scanner I/O Cable Drive Control
Cable
FIG. 9 --- MODE Development Workbench Schematic Diagram