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Interactive and cooperative sensing and control for advanced teleoperation

This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decision-making between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. A case study is performed to demonstrate the feasibility of implementing the fundamental theory and system architecture of interactive and cooperative sensing and control, proposed for the new generation of teleoperation.

Lee, Sukhan↗

Quantitative Simulations of MST Visual Receptive Field Properties Using a Template Model of Heading Estimation

We previously developed a template model of primate visual self-motion processing that proposes a specific set of projections from MT-like local motion sensors onto output units to estimate heading and relative depth from optic flow. At the time, we showed that that the model output units have emergent properties similar to those of MSTd neurons, although there was little physiological evidence to test the model more directly. We have now systematically examined the properties of the model using stimulus paradigms used by others in recent single-unit studies of MST: 1) 2-D bell-shaped heading tuning. Most MSTd neurons and model output units show bell-shaped heading tuning. Furthermore, we found that most model output units and the finely-sampled example neuron in the Duffy-Wurtz study are well fit by a 2D gaussian (sigma approx. 35deg, r approx. 0.9). The bandwidth of model and real units can explain why Lappe et al. found apparent sigmoidal tuning using a restricted range of stimuli (+/-40deg). 2) Spiral Tuning and Invariance. Graziano et al. found that many MST neurons appear tuned to a specific combination of rotation and expansion (spiral flow) and that this tuning changes little for approx. 10deg shifts in stimulus placement. Simulations of model output units under the same conditions quantitatively replicate this result. We conclude that a template architecture may underlie MT inputs to MST.

Stone, Leland S.↗

Emulating the Visual Receptive Field Properties of MST Neurons with a Template Model of Heading Estimation

We have previously proposed a computational neural-network model by which the complex patterns of retinal image motion generated during locomotion (optic flow) can be processed by specialized detectors acting as templates for specific instances of self-motion. The detectors in this template model respond to global optic flow by sampling image motion over a large portion of the visual field through networks of local motion sensors with properties similar to neurons found in the middle temporal (MT) area of primate extrastriate visual cortex. The model detectors were designed to extract self-translation (heading), self-rotation, as well as the scene layout (relative distances) ahead of a moving observer, and are arranged in cortical-like heading maps to perform this function. Heading estimation from optic flow has been postulated by some to be implemented within the medial superior temporal (MST) area. Others have questioned whether MST neurons can fulfill this role because some of their receptive-field properties appear inconsistent with a role in heading estimation. To resolve this issue, we systematically compared MST single-unit responses with the outputs of model detectors under matched stimulus conditions. We found that the basic physiological properties of MST neurons can be explained by the template model. We conclude that MST neurons are well suited to support heading estimation and that the template model provides an explicit set of testable hypotheses which can guide future exploration of MST and adjacent areas within the primate superior temporal sulcus.

Perrone, John A.↗

Emulating the visual receptive-field properties of MST neurons with a template model of heading estimation

We have proposed previously a computational neural-network model by which the complex patterns of retinal image motion generated during locomotion (optic flow) can be processed by specialized detectors acting as templates for specific instances of self-motion. The detectors in this template model respond to global optic flow by sampling image motion over a large portion of the visual field through networks of local motion sensors with properties similar to those of neurons found in the middle temporal (MT) area of primate extrastriate visual cortex. These detectors, arranged within cortical-like maps, were designed to extract self-translation (heading) and self-rotation, as well as the scene layout (relative distances) ahead of a moving observer. We then postulated that heading from optic flow is directly encoded by individual neurons acting as heading detectors within the medial superior temporal (MST) area. Others have questioned whether individual MST neurons can perform this function because some of their receptive-field properties seem inconsistent with this role. To resolve this issue, we systematically compared MST responses with those of detectors from two different configurations of the model under matched stimulus conditions. We found that the characteristic physiological properties of MST neurons can be explained by the template model. We conclude that MST neurons are well suited to support self-motion estimation via a direct encoding of heading and that the template model provides an explicit set of testable hypotheses that can guide future exploration of MST and adjacent areas within the superior temporal sulcus.

NASA Discipline Neuroscience↗

High-Order Finite-Difference Nonlinear Filter Methods for Subsonic Turbulence Simulation with Stochastic Forcing

Numerical stability of high-order filter schemes developed by Yee & Sjogreen is tested on three-dimensional turbulence simulations with stochastic forcing and their performance is compared with that of TVD and WENO schemes. The best­ performing filter method employs an eighth-order central base scheme with the Kennedy & Gruber skew-symmetric splitting of the inviscid flux derivative, a wavelet-based local flow sensor, a nonlinear filter utilizing the dissipative portion of seventh-order \VENO scheme, and an explicit third - or fourth-order Runge­-Kutta time integration. We show that the filter scheme is more computational]y efficient and provides a wider spectral bandwidth compared to the seventh-order WENO scheme. The method also demonstrates robust long-time integration for moderately compressible turbulence. In contrast, the fifth- and seventh­ order WENO schemes show non-trivial evolution of the velocity and density power spectra. over a. few dozen dynamical times, where both TVD and filter schemes recover a so lid statistically stationary turbulent state

Kritsuk, Alexei G.↗

Tele-autonomous control involving contacts: The applications of a high precision laser line range sensor

The object localization algorithm based on line-segment matching is presented. The method is very simple and computationally fast. In most cases, closed-form formulas are used to derive the solution. The method is also quite flexible, because only few surfaces (one or two) need to be accessed (sensed) to gather necessary range data. For example, if the line-segments are extracted from boundaries of a planar surface, only parameters of one surface and two of its boundaries need to be extracted, as compared with traditional point-surface matching or line-surface matching algorithms which need to access at least three surfaces in order to locate a planar object. Therefore, this method is especially suitable for applications when an object is surrounded by many other work pieces and most of the object is very difficult, is not impossible, to be measured; or when not all parts of the object can be reached. The theoretical ground on how to use line range sensor to located an object was laid. Much work has to be done in order to be really useful.

Volz, R. A.↗

Sensor for Monitoring Nanodevice-Fabrication Plasmas

The term plasma process diagnostics (PPD) refers to a spectroscopic technique and sensing hardware that have been proposed for monitoring plasma processes used to fabricate electronic devices that feature sizes as small as several nanometers. Nanometer dimensions are characteristic of the quantum level of miniaturization, where single impurity atoms or molecules can drastically change the local properties of the nanostructures. Such changes may be purposely used in nanoscale design but may also be extremely damaging or cause improper operation of the fabricated devices. Determination of temperature and densities of reactants near the developing features is important, since the structural synthesis is affected by characteristics of the local microenvironment. Consequently, sensors capable of nonintrusive monitoring with high sensitivity and high resolution are essential for real-time atomistic control of reaction kinetics and minimizing trace contamination in plasma processes used to fabricate electronic nanodevices. Such process-monitoring sensors are required to be compact, multiparametric, and immune to the harsh environments of processing plasmas. PPD is intended to satisfy these requirements. The specific technique used to implement plasma diagnostics with a PPD sensor would be an advanced version of continuous-wave cavity-ringdown spectroscopy (CW-CRDS) capable of profiling spectral line broadenings in order to derive both Doppler and Stark components. CRDS is based on measurements of the rate of absorption of laser light in an optical resonator. The ultimate sensitivity results from a very long absorption path length within the cavity and immunity to variations in incident laser intensity. The proposed version of this technique would involve the use of multiplexing tunable laser diodes and an actively modulated high-reflectivity optical resonator, thus offering a synergistic combination of simplicity, compactness, high sensitivity, and high resolution. The multiplexing capabilities of diode lasers could be utilized to make the PPD sensor a single, simple, compact, and inexpensive tool for the acquisition of multiparametric data. A PPD sensor would be capable of continuous measurement of such physical parameters as gas temperature, gas velocity, electron number density, and absolute densities of reacting chemical species. A laser beam can be easily adjusted to analyze the immediate vicinity of the growing nanostructures (or features etched down) in real time. The absorption enhancement in an optical cavity would afford the sensitivity needed for measurement of the temperature and densities of species at concentrations significantly lower than measurable by other nonintrusive techniques. It is anticipated that fully developed PPD sensors would enable simultaneous measurement of local temperature and determination of plasma species responsible for the synthesis and functionalization of nanodevices. These sensors would also enable tracking the pathways and origins of damaging contaminants, thereby providing feedback for adjustment of processes to optimize them and reduce contamination. The PPD sensors should also be useful for optimization of conventional microelectronics manufacturing plasma processes. Going beyond plasma processes for fabrication of electronic devices, PPD sensors could be used for monitoring of atoms, molecules, ions, radicals, clusters, and particles in a variety of other settings, including outer space. Because of their high sensitivity, such sensors could also prove useful for detecting traces of illegal drugs and explosives.

Bolshakov, Alexander↗

Phase Contrast Wavefront Sensing for Adaptive Optics

Most ground-based adaptive optics systems use one of a small number of wavefront sensor technologies, notably (for relatively high-order systems) the Shack-Hartmann sensor, which provides local measurements of the phase slope (first-derivative) at a number of regularly-spaced points across the telescope pupil. The curvature sensor, with response proportional to the second derivative of the phase, is also sometimes used, but has undesirable noise propagation properties during wavefront reconstruction as the number of actuators becomes large. It is interesting to consider the use for astronomical adaptive optics of the "phase contrast" technique, originally developed for microscopy by Zemike to allow convenient viewing of phase objects. In this technique, the wavefront sensor provides a direct measurement of the local value of phase in each sub-aperture of the pupil. This approach has some obvious disadvantages compared to Shack-Hartmann wavefront sensing, but has some less obvious but substantial advantages as well. Here we evaluate the relative merits in a practical ground-based adaptive optics system.

adaptive optics↗

The zeroes of controlled structures - Sensor/actuator attributes and structural modelling

The effects of sensor/actuator design and modeling decisions on the zero frequencies of single input single output structural systems are explored. A zero definition based on the high gain closed loop character of the poles of a system is used to study parametrically zeroes as a function of sensor and actuator location. An infinite order model is adopted so that the effects of finite order modeling are removed. Examples focus on point or localized actuators and sensors and simple uniform structures. The sensitivity of the zero frequencies to changes in the sensor and actuator location for both collocated and non-collocated cases are presented. Non-minimum phase behavior is visible in only certain non-collocated situations. In addition to the sensor/actuator attributes, the zeroes are shown to be a function of the truncation and discretization used to model the structural response for collocated and dual systems. Methods for improving the zero predictions in the control bandwidth are suggested.

Fleming, Farla M.↗

Compact Optoelectronic Compass

A compact optoelectronic sensor unit measures the apparent motion of the Sun across the sky. The data acquired by this chip are processed in an external processor to estimate the relative orientation of the axis of rotation of the Earth. Hence, the combination of this chip and the external processor finds the direction of true North relative to the chip: in other words, the combination acts as a solar compass. If the compass is further combined with a clock, then the combination can be used to establish a threeaxis inertial coordinate system. If, in addition, an auxiliary sensor measures the local vertical direction, then the resulting system can determine the geographic position. This chip and the software used in the processor are based mostly on the same design and operation as those of the unit described in Micro Sun Sensor for Spacecraft (NPO-30867) elsewhere in this issue of NASA Tech Briefs. Like the unit described in that article, this unit includes a small multiple-pinhole camera comprising a micromachined mask containing a rectangular array of microscopic pinholes mounted a short distance in front of an image detector of the active-pixel sensor (APS) type (see figure). Further as in the other unit, the digitized output of the APS in this chip is processed to compute the centroids of the pinhole Sun images on the APS. Then the direction to the Sun, relative to the compass chip, is computed from the positions of the centroids (just like a sundial). In the operation of this chip, one is interested not only in the instantaneous direction to the Sun but also in the apparent path traced out by the direction to the Sun as a result of rotation of the Earth during an observation interval (during which the Sun sensor must remain stationary with respect to the Earth). The apparent path of the Sun across the sky is projected on a sphere. The axis of rotation of the Earth lies at the center of the projected circle on the sphere surface. Hence, true North (not magnetic North), relative to the chip, can be estimated from paths of the Sun images across the APS. In a test, this solar compass has been found to yield a coarse estimate of the North (within tens of degrees) in an observation time of about ten minutes. As expected, the accuracy was found to increase with observation time: after a few hours, the estimated direction of the rotation axis becomes accurate to within a small fraction of a degree.

Christian, Carl↗

The INSTEP Monitoring Network: Merging High-and-Low Cost Measurements to Characterize California Wildfires

Despite challenges with data quality and scope, low-cost sensor networks have skyrocketed in popularity over the last 15 years, making air quality data available on refined spatial scales. More recently, studies have leveraged both high and low-quality instruments to create stronger “hybrid” models, with most studies focusing on particulate matter. Low-cost measurements typically represent ground-level emissions only, providing context for human health issues from climate change-driven events such as wildfires. Since low-cost sensors’ capabilities are localized, daily events and microclimates tend to dominate the data rather than larger regional or atmospheric trends. Likewise, their low cost explains their high uncertainty. In contrast, some regulatory-grade instruments produce column measurements as well, providing reliable information on a broader scope. To bridge this gap while expanding into gas-phase measurements, we deployed 12 air quality sensor packages in California, USA during the 2022 wildfire season. These INSTEP (Inexpensive Network Sensor Technology Exploring Pollution) monitors measure carbon monoxide (CO), carbon dioxide (CO2), ozone (O3), nitrogen dioxide (NO2), and several hydrocarbons including methane (CH4) and formaldehyde (HCHO). Half of the monitors were co-located with remote sensing spectrometers: NASA Pandora and Total Column Carbon Observing Network (TCCON). The overlap in pollutants includes NO2, O3, and HCHO between the INSTEP monitors and the Pandora column measurements. TCCON covers column CO, CO2, and CH4, rounding out our comparison. Most of the monitors were distributed throughout the San Francisco Bay area, and an additional three were located within 100 km of Los Angeles. The sites ranged in geographic and population characteristics, including desert, mountainous, coastal, and urban locations. Since varying environmental conditions such as temperature and pressure are known to challenge sensor performance, we will apply newer sensor “calibration” techniques meant to combat this. We will normalize our sensor signals by z-scoring them prior to applying a single calibration model in the form of multivariate linear regression or an artificial neural network. While this technique has been validated for the hydrocarbon and ozone sensor types (metal oxide), it has not yet been tested on electrochemical and non-dispersive infrared sensors, which are also used in the INSTEP monitors. This will serve as a test to see if this normalization technique – or another – is most effective in accounting for environmental differences among sensors. Related data analysis efforts have found success with a variety of geospatial analysis techniques, including weighted network models in which high-quality instruments are given higher weights than their low-cost counterparts. Our preliminary analysis will focus on kriging, which uses a Gaussian algorithm to assign weights, providing estimated pollution levels at locations between monitors. Smoke trajectory and evolution will also be considered using both measurement types. We also aim to baseline subtract our emission estimates from each region to determine which portion of emissions are regional and local, further characterizing burn differences in northern and southern California fires. Future directions include using INSTEP jointly with TEMPO satellite data, and mobile deployments on aircraft and uncrewed aerial vehicles (UAV).

Low-cost sensors↗

Distributed Transforms for Efficient Data Gathering in Sensor Networks

Devices, systems, and techniques for data collecting network such as wireless sensors are disclosed. A described technique includes detecting one or more remote nodes included in the wireless sensor network using a local power level that controls a radio range of the local node. The technique includes transmitting a local outdegree. The local outdegree can be based on a quantity of the one or more remote nodes. The technique includes receiving one or more remote outdegrees from the one or more remote nodes. The technique includes determining a local node type of the local node based on detecting a node type of the one or more remote nodes, using the one or more remote outdegrees, and using the local outdegree. The technique includes adjusting characteristics, including an energy usage characteristic and a data compression characteristic, of the wireless sensor network by selectively modifying the local power level and selectively changing the local node type.

Ortega, Antonio↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

Relevant environment testing↗

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

Relevant environment testing↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗