PHALANX: Expendable Projectile Sensor Networks for Planetary Exploration

Technologies enabling long-term, wide-ranging measurement in hard-to-reach areas are a critical need for planetary science inquiry. Phenomena of interest include flows or variations in volatiles, gas composition or concentration, particulate density, or even simply temperature. Improved measurement of these processes enables understanding of exotic geologies and distributions or correlating indicators of trapped water or biological activity. However, such data is often needed in unsafe areas such as caves, lava tubes, or steep ravines not easily reached by current spacecraft and planetary robots. To address this capability gap, we have developed miniaturized, expendable sensors which can be ballistically lobbed from a robotic rover or static lander - or even dropped during a flyover. These projectiles can perform sensing during flight and after anchoring to terrain features. By augmenting exploration systems with these sensors, we can extend situational awareness, perform long-duration monitoring, and reduce utilization of primary mobility resources, all of which are crucial in surface missions. We call the integrated payload that includes a cold gas launcher, smart projectiles, planning software, network discovery, and science sensing: PHALANX. In this paper, we introduce the mission architecture for PHALANX and describe an exploration concept that pairs projectile sensors with a rover mothership. Science use cases explored include reconnaissance using ballistic cameras, volatiles detection, and building timelapse maps of temperature and illumination conditions. Strategies to autonomously coordinate constellations of deployed sensors to self-discover and localize with peer ranging (i.e. a local GPS) are summarized, thus providing communications infrastructure beyond-line-of-sight (BLOS) of the rover. Capabilities were demonstrated through both simulation and physical testing with a terrestrial prototype. The approach to developing a terrestrial prototype is discussed, including design of the launching mechanism, projectile optimization, micro-electronics fabrication, and sensor selection. Results from early testing and characterization of commercial-off-the-shelf (COTS) components are reported. Nodes were subjected to successful burn-in tests over 48 hours at full logging duty cycle. Integrated field tests were conducted in the Roverscape, a half-acre planetary analog environment at NASA Ames, where we tested up to 10 sensor nodes simultaneously coordinating with an exploration rover. Ranging accuracy has been demonstrated to be within +/-10cm over 20m using commodity radios when compared to high-resolution laser scanner ground truthing. Evolution of the design, including progressive miniaturization of the electronics and iterated modifications of the enclosure housing for streamlining and optimized radio performance are described. Finally, lessons learned to date, gaps toward eventual flight mission implementation, and continuing future development plans are discussed

Design and evaluation of wireless dense networks : application to in-flight entertainment systems

Le réseau sans fil est l'un des domaines de réseautage les plus prometteurs avec des caractéristiques uniques qui peuvent fournir la connectivité dans les situations où il est difficile d'utiliser un réseau filaire, ou lorsque la mobilité des nœuds est nécessaire. Cependant, le milieu de travail impose généralement diverses contraintes, où les appareils sans fil font face à différents défis lors du partage des moyens de communication. De plus, le problème s'aggrave avec l'augmentation du nombre de nœuds. Différentes solutions ont été introduites pour faire face aux réseaux très denses. D'autre part, un nœud avec une densité très faible peut créer un problème de connectivité et peut conduire à l'optension de nœuds isolés et non connectes au réseau. La densité d'un réseau est définit en fonction du nombre de nœuds voisins directs au sein de la portée de transmission du nœud. Cependant, nous croyons que ces métriques ne sont pas suffisants et nous proposons une nouvelle mesure qui considère le nombre de voisins directs et la performance du réseau. Ainsi, la réponse du réseau, respectant l'augmentation du nombre de nœuds, est considérée lors du choix du niveau de la densité. Nous avons défini deux termes: l'auto-organisation et l'auto-configuration, qui sont généralement utilisés de façon interchangeable dans la littérature en mettant en relief la différence entre eux. Nous estimons qu'une définition claire de la terminologie peut éliminer beaucoup d'ambiguïté et aider à présenter les concepts de recherche plus clairement. Certaines applications, telles que Ies systèmes "In-Flight Entertainment (IFE)" qui se trouvent à l'intérieur des cabines d'avions, peuveut être considérées comme des systèmes sans fil de haute densité, même si peu de nœuds sont relativement présents. Pour résoudre ce problème, nous proposons une architecture hétérogène de différentes technologies à fin de surmonter les contraintes spécifiques de l'intérieur de la cabine. Chaque technologie vise à résoudre une partie du problème. Nous avons réalisé diverses expérimentations et simulations pour montrer la faisabilité de l'architecture proposée. Nous avons introduit un nouveau protocole d'auto-organisation qui utilise des antennes intelligentes pour aider certains composants du système IFE; à savoir les unités d'affichage et leurs systèmes de commande, à s'identifier les uns les autres sans aucune configuration préliminaire. Le protocole a été conçu et vérifié en utilisant le langage UML, puis, un module de NS2 a été créé pour tester les différents scénarios.Wireless networking is one of the most challenging networking domains with unique features that can provide connectivity in situations where it is difficult to use wired networking, or when ! node mobility is required. However, the working environment us! ually im poses various constrains, where wireless devices face various challenges when sharing the communication media. Furthermore, the problem becomes worse when the number of nodes increase. Different solutions were introduced to cope with highly dense networks. On the other hand, a very low density can create a poor connectivity problem and may lead to have isolated nodes with no connection to the network. It is common to define network density according to the number of direct neighboring nodes within the node transmission range. However, we believe that such metric is not enough. Thus, we propose a new metric that encompasses the number of direct neighbors and the network performance. In this way, the network response, due to the increasing number of nodes, is considered when deciding the density level. Moreover, we defined two terms, self-organization and self-configuration, which are usually used interchangeably in the literature through highlighting the difference ! between them. We believe that having a clear definition for terminology can eliminate a lot of ambiguity and help to present the research concepts more clearly. Some applications, such as In-Flight Entertainment (IFE) systems inside the aircraft cabin, can be considered as wirelessly high dense even if relatively few nodes are present. To solve this problem, we propose a heterogeneous architecture of different technologies to overcome the inherited constrains inside the cabin. Each technology aims at solving a part of the problem. We held various experimentation and simulations to show the feasibility of the proposed architecture

Analysis, Modeling and Testing of a Multi-Receiver Wireless System for Telemetry Applications

This thesis investigates the potential value of multiple co-located receiver units for telemetry applications. In this thesis, a test board based on the NRF24L01 RF chip produced by Nordic Semiconductor was tested. Testing consisted of sending pseudo-random test data over a link between two test boards at progressive distances. Packet loss rate was identified as the dominant failure mode of the chip, and was used to determine performance increase. A parametric model of the chip performance was developed based on coherent and noncoherent FSK detectors and curve fit to the experimental data to model the performance of a single GFSK receiver with unknown parameters. The chip exhibited an estimated 10 fold improvement in bit error performance at short range, with the performance improvement dropping off as distance increased. This result implies that there may be significant utility to using multiple receiver systems when traditional methods of improving performance such as amplifiers and antennas do not provide the necessary benefit

ReSCon '09, Research Student Conference: Book of Abstracts

The second SED Research Student Conference (ReSCon2009) was hosted over three days, 22-24 June 2009, in the Lecture Centre at Brunel University. The conference consisted of technical presentations, a poster session and social events. The abstracts and presentations were the result of ongoing research by postgraduate research students from the School of Engineering and Design at Brunel University. The conference is held annually, and ReSCon plays a key role in contributing to research and innovations within the School

A survey of localization in wireless sensor network

Localization is one of the key techniques in wireless sensor network. The location estimation methods can be classified into target/source localization and node self-localization. In target localization, we mainly introduce the energy-based method. Then we investigate the node self-localization methods. Since the widespread adoption of the wireless sensor network, the localization methods are different in various applications. And there are several challenges in some special scenarios. In this paper, we present a comprehensive survey of these challenges: localization in non-line-of-sight, node selection criteria for localization in energy-constrained network, scheduling the sensor node to optimize the tradeoff between localization performance and energy consumption, cooperative node localization, and localization algorithm in heterogeneous network. Finally, we introduce the evaluation criteria for localization in wireless sensor network

INTELLIGENT ENVIRONMENTAL SENSING WITH AN UNMANNED AERIAL SYSTEM IN A WIRELESS SENSOR NETWORK

This paper proposes a novel environmental monitoring mechanism to integrate recentlyestablished development of an Unmanned Aerial System (UAS) with WSNs for remote monitoring. The high mobility of UASs can solve the limitations associated with using WSNs in hazardous areas. In this paper, the WSN node, the Wireless Environmental Monitoring Station (WEMS), is based on ZigBee protocol for long-duration monitoring. Furthermore, to ensure the integrity of collected environmental data, an algorithm is designed in WEMS for verification. Finally, a detailed analysis of packet transmission efficiency based on ranges of flight distance is proposed to examine the effect of environmental monitoring