Sensor Path Planning for Emitter Localization

The localization of a radio frequency (RF) emitter is relevant in many military and civilian applications. The recent decade has seen a rapid progress in the development of small and mobile unmanned aerial vehicles (UAVs), which offer a way to perform emitter localization autonomously. The path a UAV travels influences the localization significantly, making path planning an important part of a mobile emitter localization system. The topic of this thesis is path planning for a UAV that uses bearing measurements to localize a stationary emitter. Using a directional antenna, the direction towards the target can be determined by the UAV rotating around its own vertical axis. During this rotation the UAV is required to remain at the same position, which induces a trade-off between movement and measurement that influences the optimal trajectories. This thesis derives a novel path planning algorithm for localizing an emitter with a UAV. It improves the current state of the art by providing a localization with defined accuracy in a shorter amount of time compared to other algorithms in simulations. The algorithm uses the policy rollout principle to perform a nonmyopic planning and to incorporate the uncertainty of the estimation process into its decision. The concept of an action selection algorithm for policy rollout is introduced, which allows the use of existing optimization algorithms to effectively search the action space. Multiple action selection algorithms are compared to optimize the speed of the path planning algorithm. Similarly, to reduce computational demand, an adaptive grid-based localizer has been developed. To evaluate the algorithm an experimental system has been built and the algorithm was tested on this system. Based on initial experiments, the path planning algorithm has been modified, including a minimal distance to the emitter and an outlier detection step. The resulting algorithm shows promising results in experimental flights

Artificial intelligence methods for security and cyber security systems

This research is in threat analysis and countermeasures employing Artificial Intelligence (AI) methods within the civilian domain, where safety and mission-critical aspects are essential. AI has challenges of repeatable determinism and decision explanation. This research proposed methods for dense and convolutional networks that provided repeatable determinism. In dense networks, the proposed alternative method had an equal performance with more structured learnt weights. The proposed method also had earlier learning and higher accuracy in the Convolutional networks. When demonstrated in colour image classification, the accuracy improved in the first epoch to 67%, from 29% in the existing scheme. Examined in transferred learning with the Fast Sign Gradient Method (FSGM) as an analytical method to control distortion of dissimilarity, a finding was that the proposed method had more significant retention of the learnt model, with 31% accuracy instead of 9%. The research also proposed a threat analysis method with set-mappings and first principle analytical steps applied to a Symbolic AI method using an algebraic expert system with virtualized neurons. The neural expert system method demonstrated the infilling of parameters by calculating beamwidths with variations in the uncertainty of the antenna type. When combined with a proposed formula extraction method, it provides the potential for machine learning of new rules as a Neuro-Symbolic AI method. The proposed method uses extra weights allocated to neuron input value ranges as activation strengths. The method simplifies the learnt representation reducing model depth, thus with less significant dropout potential. Finally, an image classification method for emitter identification is proposed with a synthetic dataset generation method and shows the accurate identification between fourteen radar emission modes with high ambiguity between them (and achieved 99.8% accuracy). That method would be a mechanism to recognize non-threat civil radars aimed at threat alert when deviations from those civilian emitters are detected

Autonomous Vehicles an overview on system, cyber security, risks, issues, and a way forward

This chapter explores the complex realm of autonomous cars, analyzing their fundamental components and operational characteristics. The initial phase of the discussion is elucidating the internal mechanics of these automobiles, encompassing the crucial involvement of sensors, artificial intelligence (AI) identification systems, control mechanisms, and their integration with cloud-based servers within the framework of the Internet of Things (IoT). It delves into practical implementations of autonomous cars, emphasizing their utilization in forecasting traffic patterns and transforming the dynamics of transportation. The text also explores the topic of Robotic Process Automation (RPA), illustrating the impact of autonomous cars on different businesses through the automation of tasks. The primary focus of this investigation lies in the realm of cybersecurity, specifically in the context of autonomous vehicles. A comprehensive analysis will be conducted to explore various risk management solutions aimed at protecting these vehicles from potential threats including ethical, environmental, legal, professional, and social dimensions, offering a comprehensive perspective on their societal implications. A strategic plan for addressing the challenges and proposing strategies for effectively traversing the complex terrain of autonomous car systems, cybersecurity, hazards, and other concerns are some resources for acquiring an understanding of the intricate realm of autonomous cars and their ramifications in contemporary society, supported by a comprehensive compilation of resources for additional investigation. Keywords: RPA, Cyber Security, AV, Risk, Smart Car

Classifying low probability of intercept radar using fuzzy artmap

Electronic Support (ES) operations concern themselves with the ability to search for, intercept, track and classify threat emitters. Modern radar systems in turn aim to operate undetected by intercept receivers. These radar systems maintain Low Probability of Intercept (LPI) by utilizing low power emissions, coded waveforms, wideband operation, narrow beamwidths and evasive scan patterns without compromising accuracy and resolution. The term LPI refers to the small chance or likelihood of intercept actually occurring. The complexity and degrees of freedom available to modern radar place a high demand on ES systems to provide detailed and accurate real-time information. Intercept alone is not sufficient and this study focusses on the detection, feature extraction (parameter estimation) and classification (using Fuzzy ARTMAP), of the Pilot Mk3 LPI radar. Fuzzy ARTMAP is a cognitive neural method combining fuzzy logic and Adaptive Resonance Theory (ART) to create categories of class prototypes to be classified. Fuzzy ARTMAP systems are formed by self-organizing neural architectures that are able to rapidly learn and classify both discreet and continuous input patterns. To evaluate the suitability of a given ES intercept receiver against a particular LPI radar, the LPI performance factor is defined by combining the radar range, intercept receiver range and sensitivity equations. The radar wants to force an opposing intercept receiver into its range envelope. On the contrary, the intercept receiver would ideally want to operate outside the specified radar detection range to avoid being detected by the radar. The Maximum Likelihood (ML) detector developed for this study is capable of detecting the Pilot Mk3 radar, as it allows sufficient integration gain for detection beyond the radar maximum range. The accuracy of parameter estimation in an intercept receiver is of great importance, as it has a direct impact on the accuracy of the classification stage. Among the various potentially useful radar parameters, antenna rotation rate, transmit frequency, frequency sweep and sweep repetition frequency were used to classify the Pilot Mk3 radar. Estimation of these parameters resulted in very clear clustering of parameter data that distinguish the Pilot Mk3 radar. The estimated radar signal parameters are well separated to the point that there is no overlap of features. If the detector is able to detect an intercepted signal it will be able to make accurate estimates of these parameters. The Fuzzy ARTMAP classifier is capable of classifying the radar modes of the Pilot Mk3 LPI radar. Correct Classification Decisions (CCD) of 100% are easily achieved for a variety of classifier configurations. Classifier training is quite efficient as good generalisation between input and output spaces is achieved from a training dataset comprising only 5% of the total dataset. If any radar is LPI, there must be a consideration for the radar as well as the opposing intercept receiver. Calculating the LPI performance factor is a useful tool for such an evaluation. The claim that a particular radar is LPI against any intercept receiver is too broad to be insightful. This also holds for an intercept receiver claiming to have 100% Probability of Intercept (POI) against any radar. AFRIKAANS : Elektroniese ondersteuningsoperasies het ten doel om uitsendings van bedreigings te soek, te onderskep, te volg en ook te klassifiseer. Moderne radarstelsels probeer op hulle beurt om hul eie werk te verrig sonder om onderskep te word. Hierdie tipe radarstelsels handhaaf ’n Lae Waarskynlikheid van Onderskepping (LWO) d.m.v. lae senderdrywing, geënkodeerde golfvorms, wyebandfrekwensiegebruik, noue antennabundels en vermydende antennasoekpatrone. Hierdie eienskappe veroorsaak dat ’n LWO radar nie akkuraatheid en resolusie prysgee nie. Die term LWO verwys na die skrale kans of waarskynlikheid van onderskepping deur ’n ontvanger wat die radar se gedrag probeer naspeur. Die komplekse seinomgewing en vele grade van vryheid beskikbaar vir ’n LWO-radar, stel baie hoë eise aan onderskeppingsontvangers om gedetaileerde en akkurate inligting in reële tyd te lewer. Die ondersoek van LWO-radaronderskepping op sy eie is nie voldoende nie. Hierdie studie beskou die deteksie, parameter-estimasie asook klassifikasie (m.b.v. Fuzzy ARTMAP) van die Pilot Mk3 LWO-radar as ’n probleem in die geheel. Fuzzy ARTMAP is ’n kognitiewe neurale metode wat fuzzy-logika en Aanspasbare Resonante Teorie (ART) kombineer om kategorieë of klassifikasieprototipes te vorm en hulle te klassifiseer. Fuzzy ARTMAP stelsels bestaan uit selfvormende neurale komponente wat diskrete asook kontinue insette vinnig kan leer en klassifiseer. Om die geskiktheid van enige onderskeppingsontvanger te bepaal word ’n LWO-werkverrigtingsyfer gedefinieer. Hierdie werkverrigtingsyfer kombineer beide radar- en onderskeppings ontvanger vergelykings vir operasionele reikafstand en sensitiwiteit. Die radar beoog om die onderskeppingsontvanger tot binne sy eie reikafstand in te forseer om die ontvangerplatform op te spoor. Die onderskeppingsontvanger wil daarenteen op ’n veilige afstand (verder as die radarbereik) bly, en nogsteeds die radar se uitsendings onderskep. ’n Maksimale Waarskynlikheid (MW) detektor is ontwikkel wat die Pilot Mk3- radargolfvorms kan opspoor, met voldoende integrasie-aanwins vir betroubare deteksie en wat veel verder strek as die radarreikafstand. Akkurate radarparameterestimasie is ’n baie belangrike funksie in ’n onderskeppingsontvanger aangesien dit ’n direkte implikasie het vir die akkuraatheid van die klassifikasiefunksie. Vanuit ’n wye verskeidenheid van relevante radar parameters word estimasies van antennadraaitempo, senderfrekwensie, frekwensieveegbandwydte en veegherhalingstempo gebruik om die Pilot Mk3-radar te klassifiseer. Die estimasie van hierdie parameters is duidelik gegroepeer met geen oorvleuling om moontlike verwarring te voorkom. Indien die detektor deteksies verklaar, volg die estimasiefunksie met baie akkurate waardes van radarparameters. Die Fuzzy ARTMAP-klassifiseerder wat ontwikkel is vir hierdie studie beskik oor die vermoë om die Pilot Mk3 LWO-radar te klassifiseer. Korrekte Klassifikasiebesluite (KKB) van 100% is moontlik vir ’n verskeidenheid klassifiseerderverstellings. Die klassifiseerder behaal ’n goeie veralgemening van in- en uitset ruimtes, en die leer- (of oefen-) roetines is baie effektief met so min as 5% van die volle datastel. Enige radarstelsel wat roem op LWO moet sowel die radar as ’n moontlike onderskeppingsontvanger in gelyke maat beskou. Die LWO- werkverrigtingsyfer verskaf ’n handige maatstaf vir sulke evaluasies. Om bloot te eis dat ’n radar LWO-eienskappe teenoor enige onderskeppingsontvanger het, is te algemeen en nie insiggewend nie. Dieselfde geld vir ’n onderskeppingsontvanger wat 100% (of totale) onderskepping kan verrig teenoor enige radar. CopyrightDissertation (MEng)--University of Pretoria, 2012.Electrical, Electronic and Computer Engineeringunrestricte

Trailgazers: A Scoping Study of Footfall Sensors to Aid Tourist Trail Management in Ireland and Other Atlantic Areas of Europe

This paper examines the current state of the art of commercially available outdoor footfall sensor technologies and defines individually tailored solutions for the walking trails involved in an ongoing research project. Effective implementation of footfall sensors can facilitate quantitative analysis of user patterns, inform maintenance schedules and assist in achieving management objectives, such as identifying future user trends like cyclo-tourism. This paper is informed by primary research conducted for the EU funded project TrailGazersBid (hereafter referred to as TrailGazers), led by Donegal County Council, and has Sligo County Council and Causeway Coast and Glens Council (NI) among the 10 project partners. The project involves three trails in Ireland and five other trails from Europe for comparison. It incorporates the footfall capture and management experiences of trail management within the EU Atlantic area and desk-based research on current footfall technologies and data capture strategies. We have examined 6 individual types of sensor and discuss the advantages and disadvantages of each. We provide key learnings and insights that can help to inform trail managers on sensor options, along with a decision-making tool based on the key factors of the power source and mounting method. The research findings can also be applied to other outdoor footfall monitoring scenarios

Multi-Object Tracking System based on LiDAR and RADAR for Intelligent Vehicles applications

El presente Trabajo Fin de Grado tiene como objetivo el desarrollo de un Sistema de Detección y Multi-Object Tracking 3D basado en la fusión sensorial de LiDAR y RADAR para aplicaciones de conducción autónoma basándose en algoritmos tradicionales de Machine Learning. La implementación realizada está basada en Python, ROS y cumple requerimientos de tiempo real. En la etapa de detección de objetos se utiliza el algoritmo de segmentación del plano RANSAC, para una posterior extracción de Bounding Boxes mediante DBSCAN. Una Late Sensor Fusion mediante Intersection over Union 3D y un sistema de tracking BEV-SORT completan la arquitectura propuesta.This Final Degree Project aims to develop a 3D Multi-Object Tracking and Detection System based on the Sensor Fusion of LiDAR and RADAR for autonomous driving applications based on traditional Machine Learning algorithms. The implementation is based on Python, ROS and complies with real-time requirements. In the Object Detection stage, the RANSAC plane segmentation algorithm is used, for a subsequent extraction of Bounding Boxes using DBSCAN. A Late Sensor Fusion using Intersection over Union 3D and a BEV-SORT tracking system complete the proposed architecture.Grado en Ingeniería en Electrónica y Automática Industria

Artificial Intelligence and Machine Learning: A Perspective on Integrated Systems Opportunities and Challenges for Multi-Domain Operations

This paper provides a perspective on historical background, innovation and applications of Artificial Intelligence (AI) and Machine Learning (ML), data successes and systems challenges, national security interests, and mission opportunities for system problems. AI and ML today are used interchangeably, or together as AI/ML, and are ubiquitous among many industries and applications. The recent explosion, based on a confluence of new ML algorithms, large data sets, and fast and cheap computing, has demonstrated impressive results in classification and regression and used for prediction, and decision-making. Yet, AI/ML today lacks a precise definition, and as a technical discipline, it has grown beyond its origins in computer science. Even though there are impressive feats, primarily of ML, there still is much work needed in order to see the systems benefits of AI, such as perception, reasoning, planning, acting, learning, communicating, and abstraction. Recent national security interests in AI/ML have focused on problems including multidomain operations (MDO), and this has renewed the focus on a systems view of AI/ML. This paper will address the solutions for systems from an AI/ML perspective and that these solutions will draw from methods in AI and ML, as well as computational methods in control, estimation, communication, and information theory, as in the early days of cybernetics. Along with the focus on developing technology, this paper will also address the challenges of integrating these AI/ML systems for warfare

An investigation of the microwave upset of avionic circuitry

Circuit technology of the 1970-90 era appears fairly resilient to microwave radio frequency interference, with few reported occurrences of interference. However, a proposition has been developed which substantiates fears that new technologies, with their extremely high packing densities, small device p-n junctions and very high clock rates, will be very susceptible to interference throughout the microwave band It has been postulated that the mechanism for this upset is demodulation and that it will come about by either the predicted changes in the microwave RF environment by the year 2000, or by a suitable choice of phasing and frequency at high power. The postulation is studied by developing an overall ingress equation, relating incident power density at the aircraft to the load voltage at an avionic circuit component. The equation's terms are investigated to quantif' their contribution to the likelihood of interference. The operational RF environment for aircraft is studied and predictions of the current and maximum future environments are made. A practical investigation of 2-18 GH.z airframe shielding is described, with comparison of the results with those from a number of other aircraft and helicopter types. A study of ingress into avionic boxes is presented and is followed by the results of an investigation of energy coupling via the cables and connectors, including the development and practical examination of a coupling model based on transmission line theory. A study is then presented of circuit technology developments, electronic component interference and damage mechanisms, and evidence of upset of electronic equipment is given. Investigations show that there is more 1-18 GHz upset of electronic equipment than originally thought and data suggest that thermal damage of active devices may dominate over-voltage stressing of p-n junctions. Aircraft investigations have shown that incident microwave radiation is attenuated approximately 20 dB by the airframe, in a complex fashion which does not lend itself to being modelled easily. Under some conditions this value of airframe attenuation is seen to approach zero, removing any shielding of avionics by the airframe for these cases. A predictor for airframe shielding independent of air vehicle type has been developed, based on cumulative density ftrnctions of all data from each of the aircraft types examined. The cable coupling model gives good agreement with measured data except for the dependency of load voltage on cable length and illuminating antenna position along the cable, for which an empirical equation has been developed. Computer power limitations and significant variations of most of the parameters in the overall ingress equation suggest that modelling of the complex innards of aircraft and avionics at these frequencies will remain impractical for the foreseeable future and that probabilistic models are the only achievable goal. It is concluded that all avionic circuit technologies may well be upset as postulated above or by speculative High Power Microwave weapons, but that careful use of existing aircraft and equipment design methodologies can offer adequate protection. An improved protection regime is proposed for future aircraft and a number of fUture research areas are identified to enable better understanding of the microwave hazard to aircraft. The three areas which will add most to this understanding are modelling of the precise microwave environment to be encountered, further airframe shielding measurements and analyses, from all incidence angles and on different aircraft types, and the construction and cumulative probability fUnction analyses of electronic component and equipment upset databases

Bayesian Non-parametric Hidden Markov Model for Agile Radar Pulse Sequences Streaming Analysis

Multi-function radars (MFRs) are sophisticated types of sensors with the capabilities of complex agile inter-pulse modulation implementation and dynamic work mode scheduling. The developments in MFRs pose great challenges to modern electronic reconnaissance systems or radar warning receivers for recognition and inference of MFR work modes. To address this issue, this paper proposes an online processing framework for parameter estimation and change point detection of MFR work modes. At first, this paper designed a fully-conjugate Bayesian non-parametric hidden Markov model with a designed prior distribution (agile BNP-HMM) to represent the MFR pulse agility characteristics. The proposed model allows fully-variational Bayesian inference. Then, the proposed framework is constructed by two main parts. The first part is the agile BNP-HMM model for automatically inferring the number of HMM hidden states and emission distribution of the corresponding hidden states. An estimation error lower bound on performance is derived and the proposed algorithm is shown to be close to the bound. The second part utilizes the streaming Bayesian updating to facilitate computation, and designed an online work mode change detection framework based upon a weighted sequential probability ratio test. We demonstrate that the proposed framework is consistently highly effective and robust to baseline methods on diverse simulated data-sets.Comment: 15 pages, 10 figures, submitted to IEEE transactions on signal processin