Sensor Resource Management: Intelligent Multi-objective Modularized Optimization Methodology and Models

The importance of the optimal Sensor Resource Management (SRM) problem is growing. The number of Radar, EO/IR, Overhead Persistent InfraRed (OPIR), and other sensors with best capabilities, is limited in the stressing tasking environment relative to sensing needs. Sensor assets differ significantly in number, location, and capability over time. To determine on which object a sensor should collect measurements during the next observation period k, the known algorithms favor the object with the expected measurements that would result in the largest gain in relative information. We propose a new tasking paradigm OPTIMA for sensors that goes beyond information gain. It includes Sensor Resource Analyzer, and the Sensor Tasking Algorithm (Tasker). The Tasker maintains timing constraints, resolution, and geometric differences between sensors, relative to the tasking requirements on track quality and the measurements of object characterization quality. The Tasker does this using the computational intelligence approach of multi-objective optimization, which involves evolutionary methods

An evolutionary approach to optimising neural network predictors for passive sonar target tracking

Object tracking is important in autonomous robotics, military applications, financial time-series forecasting, and mobile systems. In order to correctly track through clutter, algorithms which predict the next value in a time series are essential. The competence of standard machine learning techniques to create bearing prediction estimates was examined. The results show that the classification based algorithms produce more accurate estimates than the state-of-the-art statistical models. Artificial Neural Networks (ANNs) and K-Nearest Neighbour were used, demonstrating that this technique is not specific to a single classifier. [Continues.

Robust Multi-sensor Data Fusion for Practical Unmanned Surface Vehicles (USVs) Navigation

The development of practical Unmanned Surface Vehicles (USVs) are attracting increasing attention driven by their assorted military and commercial application potential. However, addressing the uncertainties presented in practical navigational sensor measurements of an USV in maritime environment remain the main challenge of the development. This research aims to develop a multi-sensor data fusion system to autonomously provide an USV reliable navigational information on its own positions and headings as well as to detect dynamic target ships in the surrounding environment in a holistic fashion. A multi-sensor data fusion algorithm based on Unscented Kalman Filter (UKF) has been developed to generate more accurate estimations of USV’s navigational data considering practical environmental disturbances. A novel covariance matching adaptive estimation algorithm has been proposed to deal with the issues caused by unknown and varying sensor noise in practice to improve system robustness. Certain measures have been designed to determine the system reliability numerically, to recover USV trajectory during short term sensor signal loss, and to autonomously detect and discard permanently malfunctioned sensors, and thereby enabling potential sensor faults tolerance. The performance of the algorithms have been assessed by carrying out theoretical simulations as well as using experimental data collected from a real-world USV projected collaborated with Plymouth University. To increase the degree of autonomy of USVs in perceiving surrounding environments, target detection and prediction algorithms using an Automatic Identification System (AIS) in conjunction with a marine radar have been proposed to provide full detections of multiple dynamic targets in a wider coverage range, remedying the narrow detection range and sensor uncertainties of the AIS. The detection algorithms have been validated in simulations using practical environments with water current effects. The performance of developed multi-senor data fusion system in providing reliable navigational data and perceiving surrounding environment for USV navigation have been comprehensively demonstrated

Algorithms for sensor validation and multisensor fusion

Existing techniques for sensor validation and sensor fusion are often based on analytical sensor models. Such models can be arbitrarily complex and consequently Gaussian distributions are often assumed, generally with a detrimental effect on overall system performance. A holistic approach has therefore been adopted in order to develop two novel and complementary approaches to sensor validation and fusion based on empirical data. The first uses the Nadaraya-Watson kernel estimator to provide competitive sensor fusion. The new algorithm is shown to reliably detect and compensate for bias errors, spike errors, hardover faults, drift faults and erratic operation, affecting up to three of the five sensors in the array. The inherent smoothing action of the kernel estimator provides effective noise cancellation and the fused result is more accurate than the single 'best sensor'. A Genetic Algorithm has been used to optimise the Nadaraya-Watson fuser design. The second approach uses analytical redundancy to provide the on-line sensor status output μH∈[0,1], where μH=1 indicates the sensor output is valid and μH=0 when the sensor has failed. This fuzzy measure is derived from change detection parameters based on spectral analysis of the sensor output signal. The validation scheme can reliably detect a wide range of sensor fault conditions. An appropriate context dependent fusion operator can then be used to perform competitive, cooperative or complementary sensor fusion, with a status output from the fuser providing a useful qualitative indication of the status of the sensors used to derive the fused result. The operation of both schemes is illustrated using data obtained from an array of thick film metal oxide pH sensor electrodes. An ideal pH electrode will sense only the activity of hydrogen ions, however the selectivity of the metal oxide device is worse than the conventional glass electrode. The use of sensor fusion can therefore reduce measurement uncertainty by combining readings from multiple pH sensors having complementary responses. The array can be conveniently fabricated by screen printing sensors using different metal oxides onto a single substrate

Fuzzy region assignment for visual tracking

In this work we propose a new approach based on fuzzy concepts and heuristic reasoning to deal with the visual data association problem in real time, considering the particular conditions of the visual data segmented from images, and the integration of higher-level information in the tracking process such as trajectory smoothness, consistency of information, and protection against predictable interactions such as overlap/occlusion, etc. The objects' features are estimated from the segmented images using a Bayesian formulation, and the regions assigned to update the tracks are computed through a fuzzy system to integrate all the information. The algorithm is scalable, requiring linear computing resources with respect to the complexity of scenarios, and shows competitive performance with respect to other classical methods in which the number of evaluated alternatives grows exponentially with the number of objects.Research supported by projects CICYT TIN2008-06742-C02-02/TSI, CICYT TEC2008-06732-C02-02/TEC, SINPROB and CAM MADRINET S-0505/TIC/0255.publicad

AN INTELLIGENT NAVIGATION SYSTEM FOR AN AUTONOMOUS UNDERWATER VEHICLE

The work in this thesis concerns with the development of a novel multisensor data fusion (MSDF) technique, which combines synergistically Kalman filtering, fuzzy logic and genetic algorithm approaches, aimed to enhance the accuracy of an autonomous underwater vehicle (AUV) navigation system, formed by an integration of global positioning system and inertial navigation system (GPS/INS). The Kalman filter has been a popular method for integrating the data produced by the GPS and INS to provide optimal estimates of AUVs position and attitude. In this thesis, a sequential use of a linear Kalman filter and extended Kalman filter is proposed. The former is used to fuse the data from a variety of INS sensors whose output is used as an input to the later where integration with GPS data takes place. The use of an adaptation scheme based on fuzzy logic approaches to cope with the divergence problem caused by the insufficiently known a priori filter statistics is also explored. The choice of fuzzy membership functions for the adaptation scheme is first carried out using a heuristic approach. Single objective and multiobjective genetic algorithm techniques are then used to optimize the parameters of the membership functions with respect to a certain performance criteria in order to improve the overall accuracy of the integrated navigation system. Results are presented that show that the proposed algorithms can provide a significant improvement in the overall navigation performance of an autonomous underwater vehicle navigation. The proposed technique is known to be the first method used in relation to AUV navigation technology and is thus considered as a major contribution thereof.J&S Marine Ltd., Qinetiq, Subsea 7 and South West Water PL

Classifying multisensor remote sensing data : Concepts, Algorithms and Applications

Today, a large quantity of the Earth’s land surface has been affected by human induced land cover changes. Detailed knowledge of the land cover is elementary for several decision support and monitoring systems. Earth-observation (EO) systems have the potential to frequently provide information on land cover. Thus many land cover classifications are performed based on remotely sensed EO data. In this context, it has been shown that the performance of remote sensing applications is further improved by multisensor data sets, such as combinations of synthetic aperture radar (SAR) and multispectral imagery. The two systems operate in different wavelength domains and therefore provide different yet complementary information on land cover. Considering the increase in revisit times and better spatial resolutions of recent and upcoming systems like TerraSAR-X (11 days; up to1 m), Radarsat-2 (24 days; up to 3 m), or RapidEye constellation (up to 1 day; 5 m), multisensor approaches become even more promising. However, these data sets with high spatial and temporal resolution might become very large and complex. Commonly used statistical pattern recognition methods are usually not appropriate for the classification of multisensor data sets. Hence, one of the greatest challenges in remote sensing might be the development of adequate concepts for classifying multisensor imagery. The presented study aims at an adequate classification of multisensor data sets, including SAR data and multispectral images. Different conventional classifiers and recent developments are used, such as support vector machines (SVM) and random forests (RF), which are well known in the field of machine learning and pattern recognition. Furthermore, the impact of image segmentation on the classification accuracy is investigated and the value of a multilevel concept is discussed. To increase the performance of the algorithms in terms of classification accuracy, the concept of SVM is modified and combined with RF for optimized decision making. The results clearly demonstrate that the use of multisensor imagery is worthwhile. Irrespective of the classification method used, classification accuracies increase by combining SAR and multispectral imagery. Nevertheless, SVM and RF are more adequate for classifying multisensor data sets and significantly outperform conventional classifier algorithms in terms of accuracy. The finally introduced multisensor-multilevel classification strategy, which is based on the sequential use of SVM and RF, outperforms all other approaches. The proposed concept achieves an accuracy of 84.9%. This is significantly higher than all single-source results and also better than those achieved on any other combination of data. Both aspects, i.e. the fusion of SAR and multispectral data as well as the integration of multiple segmentation scales, improve the results. Contrary to the high accuracy value by the proposed concept, the pixel-based classification on single-source data sets achieves a maximal accuracy of 65% (SAR) and 69.8% (multispectral) respectively. The findings and good performance of the presented strategy are underlined by the successful application of the approach to data sets from a second year. Based on the results from this work it can be concluded that the suggested strategy is particularly interesting with regard to recent and future satellite missions

Filtering based multi-sensor data fusion algorithm for a reliable unmanned surface vehicle navigation

When considering the working conditions under which an unmanned surface vehicle (USV) operates, the navigational sensors, which already have inherent uncertainties, are subjected to environment influences that can affect the accuracy, security and reliability of USV navigation. To combat this, multi-sensor data fusion algorithms will be developed in this paper to deal with the raw sensor measurements from three kinds of commonly used sensors and calculate improved navigational data for USV operation in a practical environment. Unscented Kalman Filter, as an advanced filtering technology dedicated to dealing with non-linear systems, has been adopted as the underlying algorithm with the performance validated within various computer-based simulations where practical, dynamic navigational influences, such as ocean currents, provide force against the vessel’s structure, are to be considered

Application of data fusion techniques and technologies for wearable health monitoring

Technological advances in sensors and communications have enabled discrete integration into everyday objects, both in the home and about the person. Information gathered by monitoring physiological, behavioural, and social aspects of our lives, can be used to achieve a positive impact on quality of life, health, and well-being. Wearable sensors are at the cusp of becoming truly pervasive, and could be woven into the clothes and accessories that we wear such that they become ubiquitous and transparent. To interpret the complex multidimensional information provided by these sensors, data fusion techniques are employed to provide a meaningful representation of the sensor outputs. This paper is intended to provide a short overview of data fusion techniques and algorithms that can be used to interpret wearable sensor data in the context of health monitoring applications. The application of these techniques are then described in the context of healthcare including activity and ambulatory monitoring, gait analysis, fall detection, and biometric monitoring. A snap-shot of current commercially available sensors is also provided, focusing on their sensing capability, and a commentary on the gaps that need to be bridged to bring research to market