Vision based strategies for implementing Sense and Avoid capabilities onboard Unmanned Aerial Systems

Current research activities are worked out to develop fully autonomous unmanned platform systems, provided with Sense and Avoid technologies in order to achieve the access to the National Airspace System (NAS), flying with manned airplanes. The TECVOl project is set in this framework, aiming at developing an autonomous prototypal Unmanned Aerial Vehicle which performs Detect Sense and Avoid functionalities, by means of an integrated sensors package, composed by a pulsed radar and four electro-optical cameras, two visible and two Infra-Red. This project is carried out by the Italian Aerospace Research Center in collaboration with the Department of Aerospace Engineering of the University of Naples “Federico II”, which has been involved in the developing of the Obstacle Detection and IDentification system. Thus, this thesis concerns the image processing technique customized for the Sense and Avoid applications in the TECVOL project, where the EO system has an auxiliary role to radar, which is the main sensor. In particular, the panchromatic camera performs the aiding function of object detection, in order to increase accuracy and data rate performance of radar system. Therefore, the thesis describes the implemented steps to evaluate the most suitable panchromatic camera image processing technique for our applications, the test strategies adopted to study its performance and the analysis conducted to optimize it in terms of false alarms, missed detections and detection range. Finally, results from the tests will be explained, and they will demonstrate that the Electro-Optical sensor is beneficial to the overall Detect Sense and Avoid system; in fact it is able to improve upon it, in terms of object detection and tracking performance

Taming and Leveraging Directionality and Blockage in Millimeter Wave Communications

To cope with the challenge for high-rate data transmission, Millimeter Wave(mmWave) is one potential solution. The short wavelength unlatched the era of directional mobile communication. The semi-optical communication requires revolutionary thinking. To assist the research and evaluate various algorithms, we build a motion-sensitive mmWave testbed with two degrees of freedom for environmental sensing and general wireless communication.The first part of this thesis contains two approaches to maintain the connection in mmWave mobile communication. The first one seeks to solve the beam tracking problem using motion sensor within the mobile device. A tracking algorithm is given and integrated into the tracking protocol. Detailed experiments and numerical simulations compared several compensation schemes with optical benchmark and demonstrated the efficiency of overhead reduction. The second strategy attempts to mitigate intermittent connections during roaming is multi-connectivity. Taking advantage of properties of rateless erasure code, a fountain code type multi-connectivity mechanism is proposed to increase the link reliability with simplified backhaul mechanism. The simulation demonstrates the efficiency and robustness of our system design with a multi-link channel record.The second topic in this thesis explores various techniques in blockage mitigation. A fast hear-beat like channel with heavy blockage loss is identified in the mmWave Unmanned Aerial Vehicle (UAV) communication experiment due to the propeller blockage. These blockage patterns are detected through Holm\u27s procedure as a problem of multi-time series edge detection. To reduce the blockage effect, an adaptive modulation and coding scheme is designed. The simulation results show that it could greatly improve the throughput given appropriately predicted patterns. The last but not the least, the blockage of directional communication also appears as a blessing because the geometrical information and blockage event of ancillary signal paths can be utilized to predict the blockage timing for the current transmission path. A geometrical model and prediction algorithm are derived to resolve the blockage time and initiate active handovers. An experiment provides solid proof of multi-paths properties and the numeral simulation demonstrates the efficiency of the proposed algorithm

A novel satellite mission concept for upper air water vapour, aerosol and cloud observations using integrated path differential absorption LiDAR limb sounding

We propose a new satellite mission to deliver high quality measurements of upper air water vapour. The concept centres around a LiDAR in limb sounding by occultation geometry, designed to operate as a very long path system for differential absorption measurements. We present a preliminary performance analysis with a system sized to send 75 mJ pulses at 25 Hz at four wavelengths close to 935 nm, to up to 5 microsatellites in a counter-rotating orbit, carrying retroreflectors characterized by a reflected beam divergence of roughly twice the emitted laser beam divergence of 15 µrad. This provides water vapour profiles with a vertical sampling of 110 m; preliminary calculations suggest that the system could detect concentrations of less than 5 ppm. A secondary payload of a fairly conventional medium resolution multispectral radiometer allows wide-swath cloud and aerosol imaging. The total weight and power of the system are estimated at 3 tons and 2,700 W respectively. This novel concept presents significant challenges, including the performance of the lasers in space, the tracking between the main spacecraft and the retroreflectors, the refractive effects of turbulence, and the design of the telescopes to achieve a high signal-to-noise ratio for the high precision measurements. The mission concept was conceived at the Alpbach Summer School 2010

Application of advanced technology to space automation

Automated operations in space provide the key to optimized mission design and data acquisition at minimum cost for the future. The results of this study strongly accentuate this statement and should provide further incentive for immediate development of specific automtion technology as defined herein. Essential automation technology requirements were identified for future programs. The study was undertaken to address the future role of automation in the space program, the potential benefits to be derived, and the technology efforts that should be directed toward obtaining these benefits

Space science/space station attached payload pointing accommodation study: Technology assessment white paper

Technology assessment is performed for pointing systems that accommodate payloads of large mass and large dimensions. Related technology areas are also examined. These related areas include active thermal lines or power cables across gimbals, new materials for increased passive damping, tethered pointing, and inertially reacting pointing systems. Conclusions, issues and concerns, and recommendations regarding the status and development of large pointing systems for space applications are made based on the performed assessments

Analysis of Polarimetric Synthetic Aperture Radar and Passive Visible Light Polarimetric Imaging Data Fusion for Remote Sensing Applications

The recent launch of spaceborne (TerraSAR-X, RADARSAT-2, ALOS-PALSAR, RISAT) and airborne (SIRC, AIRSAR, UAVSAR, PISAR) polarimetric radar sensors, with capability of imaging through day and night in almost all weather conditions, has made polarimetric synthetic aperture radar (PolSAR) image interpretation and analysis an active area of research. PolSAR image classification is sensitive to object orientation and scattering properties. In recent years, significant work has been done in many areas including agriculture, forestry, oceanography, geology, terrain analysis. Visible light passive polarimetric imaging has also emerged as a powerful tool in remote sensing for enhanced information extraction. The intensity image provides information on materials in the scene while polarization measurements capture surface features, roughness, and shading, often uncorrelated with the intensity image. Advantages of visible light polarimetric imaging include high dynamic range of polarimetric signatures and being comparatively straightforward to build and calibrate. This research is about characterization and analysis of the basic scattering mechanisms for information fusion between PolSAR and passive visible light polarimetric imaging. Relationships between these two modes of imaging are established using laboratory measurements and image simulations using the Digital Image and Remote Sensing Image Generation (DIRSIG) tool. A novel low cost laboratory based S-band (2.4GHz) PolSAR instrument is developed that is capable of capturing 4 channel fully polarimetric SAR image data. Simple radar targets are formed and system calibration is performed in terms of radar cross-section. Experimental measurements are done using combination of the PolSAR instrument with visible light polarimetric imager for scenes capturing basic scattering mechanisms for phenomenology studies. The three major scattering mechanisms studied in this research include single, double and multiple bounce. Single bounce occurs from flat surfaces like lakes, rivers, bare soil, and oceans. Double bounce can be observed from two adjacent surfaces where one horizontal flat surface is near a vertical surface such as buildings and other vertical structures. Randomly oriented scatters in homogeneous media produce a multiple bounce scattering effect which occurs in forest canopies and vegetated areas. Relationships between Pauli color components from PolSAR and Degree of Linear Polarization (DOLP) from passive visible light polarimetric imaging are established using real measurements. Results show higher values of the red channel in Pauli color image (|HH-VV|) correspond to high DOLP from double bounce effect. A novel information fusion technique is applied to combine information from the two modes. In this research, it is demonstrated that the Degree of Linear Polarization (DOLP) from passive visible light polarimetric imaging can be used for separation of the classes in terms of scattering mechanisms from the PolSAR data. The separation of these three classes in terms of the scattering mechanisms has its application in the area of land cover classification and anomaly detection. The fusion of information from these particular two modes of imaging, i.e. PolSAR and passive visible light polarimetric imaging, is a largely unexplored area in remote sensing and the main challenge in this research is to identify areas and scenarios where information fusion between the two modes is advantageous for separation of the classes in terms of scattering mechanisms relative to separation achieved with only PolSAR

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Performance Analysis of Bearings-only Tracking Problems for Maneuvering Target and Heterogeneous Sensor Applications

State estimation, i.e. determining the trajectory, of a maneuvering target from noisy measurements collected by a single or multiple passive sensors (e.g. passive sonar and radar) has wide civil and military applications, for example underwater surveillance, air defence, wireless communications, and self-protection of military vehicles. These passive sensors are listening to target emitted signals without emitting signals themselves which give them concealing properties. Tactical scenarios exists where the own position shall not be revealed, e.g. for tracking submarines with passive sonar or tracking an aerial target by means of electro-optic image sensors like infrared sensors. This estimation process is widely known as bearings-only tracking. On the one hand, a challenge is the high degree of nonlinearity in the estimation process caused by the nonlinear relation of angular measurements to the Cartesian state. On the other hand, passive sensors cannot provide direct target location measurements, so bearings-only tracking suffers from poor target trajectory estimation accuracy due to marginal observability from sensor measurements. In order to achieve observability, that means to be able to estimate the complete target state, multiple passive sensor measurements must be fused. The measurements can be recorded spatially distributed by multiple dislocated sensor platforms or temporally distributed by a single, moving sensor platform. Furthermore, an extended case of bearings-only tracking is given if heterogeneous measurements from targets emitting different types of signals, are involved. With this, observability can also be achieved on a single, not necessarily moving platform. In this work, a performance bound for complex motion models, i.e. piecewisely maneuvering targets with unknown maneuver change times, by means of bearings-only measurements from a single, moving sensor platform is derived and an efficient estimator is implemented and analyzed. Furthermore, an observability analysis is carried out for targets emitting acoustic and electromagnetic signals. Here, the different signal propagation velocities can be exploited to ensure observability on a single, not necessarily moving platform. Based on the theoretical performance and observability analyses a distributed fusion system has been realized by means of heterogeneous sensors, which shall detect an event and localize a threat. This is performed by a microphone array to detect sound waves emitted by the threat as well as a radar detector that detects electromagnetic emissions from the threat. Since multiple platforms are involved to provide increased observability and also redundancy against possible breakdowns, a WiFi mobile ad hoc network is used for communications. In order to keep up the network in a breakdown OLSR (optimized link state routing) routing approach is employed

Pathfinder autonomous rendezvous and docking project

Capabilities are being developed and demonstrated to support manned and unmanned vehicle operations in lunar and planetary orbits. In this initial phase, primary emphasis is placed on definition of the system requirements for candidate Pathfinder mission applications and correlation of these system-level requirements with specific requirements. The FY-89 activities detailed are best characterized as foundation building. The majority of the efforts were dedicated to assessing the current state of the art, identifying desired elaborations and expansions to this level of development and charting a course that will realize the desired objectives in the future. Efforts are detailed across all work packages in developing those requirements and tools needed to test, refine, and validate basic autonomous rendezvous and docking elements