From Sensors to Platforms and Sensing Systems

Transcription

1 Building in Autonomy: From Sensors to Platforms and Sensing Systems Kartik B. Ariyur School of Mechanical Engineering Purdue University Purdue University January 17, 2011

2 Autonomous Navigation: From Sensors to Systems Navigation with natural signals Geo-location and orientation Single and multi-vehicle path planning Laplacian methods Multi-vehicle mission planning Search, surveillance, tracking and hand-off 17 January 2011 PURDUE UNIVERSITY 2

3 3 Navigation with Natural Signals Gautam Sharma MS, January 2011 Objective: Determine if natural fields capable of yielding GPS-INS like localization and orientation? Methodology: Explicit calculation to determine feasibility, and sensing system requirements. Results: Measurement of magnetic field, vector to sun/moon/stars, the gravity vector can give the 3m localization of GPS and <10-3 degree orientation angle errors

4 4 Orientation with Magnetometers Isabelle Laureyns MS, April 2010 Objective: Orient purely with the magnetic field Methodology: Construction of magnetometer system, novel high fidelity calibration measurement, and simulation Results: We can resolve position to approximately within 200m North-South, 600m East-West, and orient under most flight conditions. Exact calibration of 3-axis magnetometer F-16: Straight and level flight at Mach 1

5 5 Positioning with Magnetometers Isabelle Laureyns PhD, starting Summer 2010 Objective: Geo-location purely with the magnetic field Methodology: Measurement and signal processing Results: We can resolve position to approximately within 200m North-South, 600m East-West. Magnetic field intensity measurements overlaid on map Magnetic field intensity measurements

6 6 Accurate Sun-Vector Measurement John Barnes MS, Spring 2011 Objective: Geo-location and orientation from the sun-vector Methodology: Mathematical analysis of sensor and signal processing architectures Results: Three cell phone cameras can be adequate to get the sun-vector with the requisite accuracy for GPS-like geo-location Hemispherical imager for obtaining azimuth A and zenith Z to the sun THREE PIXEL THEOREM Any three pixels uniquely determine the sun vector with zero error, provided that the following conditions are met: 1) The three pixels are each illuminated by the sun's (direct) radiation. 2) No noise or interference sources are present. 3) The orientation vector of each pixel is equal to the normal vector of the hemisphere's surface at each pixel's location. 4) The incident solar radiation at the time is known. 5) The plane containing the three pixels does not intersect the origin of the sensor. This theorem only applies to a hemispherical sensor, but similar results may hold for other geometries.

7 7 Navigation with Lidar Raj Balebail MS, August 2010 Objective: Estimate relative position and orientation with a lidar without the imposition of features on 3D point clouds (raw lidar data) Methodology: Development of correlation based analysis and fast algorithms Results: Precise estimation of rotation and translation is possible under most environmental conditions without the use of features; moreover, the optimization that needs to be solved in the context is convex. Voting mechanism

8 8 Scalable Autonomy for UAVs Sung-Hun Jung MS, November 2010 Objective: Enable a few operators running a large number of UAVs (up to 100) in real-time Methodology: Perform offline calculations using map and UAV performance data to reduce real-time computational complexity of the associated mtsp problem; combine this with feedback during operation to meet mission objectives. Results: Discretization of space, time and prior computation of specific trajectories and plans to solve multi-uav search, surveillance, tracking and handoff problems. Discretization of space Coordinated search by fixed-wing UAVs

9 9 Laplacian Path Planning Fei Yang PhD, Fall 2009 present Objective: Determine when the numerical method provides the no local minima property of Laplace s equation. Methodology: Mathematical analysis and numerical simulations of fast multi-grid methods Results: Fast algorithms for coordinated collision-free motion of multiple vehicles and understanding of biological swarming Laplacian path planning for a single vehicle/fish Swarming behavior: Fish foraging for food

10 10 Other Efforts Tracking filters with Lockheed Martin (NJ) Self calibrating gyro with Jason Clark (ECE), and Thornberry LLC.

11 11 Building Autonomy into the Smart Grid SADDLE-POINT SOLUTION OF A DIFFERENTIAL GAME UTILITY SEEKS TO MAXIMIZE PROFIT CONSUMER SEEKS TO MINIMIZE PRICE 6 Consumer avoids price-upside uncertainty Producer avoids profit-downside uncertainty

12 12 Motivating the Consumer Determine conditions where local sources can both lower environmental impact and cut power costs. Reduce resistance to Real Time Pricing (RTP) through showing how power bills and their uncertainty can be reduced in an RTP regime If local source generation can track local consumption as with cogeneration in winter and solar in summer, we can end up with a stabler grid. The inclusion of financial considerations into engineering optimization has a greater potential to reduce costs than simplification of the engineering for financial optimization.

13 Asymmetry of Information Available With a smart grid, the UTILITY Has access to current consumption and consumption history throughout the grid Can calculate the cost of power production under various circumstances and charge the consumer for it Reduces wastage through using base-load plants fully With a smart meter, the CONSUMER Knows his own consumption and consumption history Can estimate his own future consumption using history and weather estimates Minimizes cost through moving consumption to lower cost hours and reducing waste 17 January 2011 PURDUE UNIVERSITY 13

14 Strategic Constraints The Utility Cost of new plant construction is far higher than full utilization of existing plants. Data gathering is prone to leaks and litigation The utility has to share some information and permit consumer hedging to enable RTP The Consumer Cannot predict price or consumption always Stretched to debt limits; cannot buy new equipment The Government Governments do not have the money for subsidies Local/state tax/regulation exemptions are negotiable 17 January 2011 PURDUE UNIVERSITY 14

15 15 Combining Hedging+Renewables Qi Luo PhD, Fall 2009 present Commercial facility data from Terrafore Inc. Discussions with Anoop Mathur, CTO of Terrafore. Real Time Prices of electricity from Con Edison Inc. Solar radiation data from National Solar Radiation Data Base Natural gas price data from Energy Information Administration

16 16 Using a Simple Futures Contract buyback units Get consumers to buy into RTP.

17 17 Hedging with Cogeneration Get RTP buy-in from large facilities first Winter months; average consumption 2MW

18 18 Hedging with CSP Hedging increases the financial viability of CSP

19 What Have we Shown? There is promise in combining hedging, local power generation and active energy management Facility energy bills can be reduced by up to 30% Bill variation can be reduced by up to 80% With the implementation of smart grid functionality, several performance improvements and cost savings could be realized using these ideas Large commercial facilities would be able to set up local generation capacities that will minimize their costs Residential customers using smart appliances can cut the uncertainty in their bills further through hedging Utilities benefit from less wear to their system as grid fluctuations are reduced Finally, this aligns business with environmental considerations leading to a lower carbon footprint under a simple regime of feed-in tariffs. 17 January 2011 PURDUE UNIVERSITY 19

20 Work in Progress From smart meter data, Estimate consumption in big ticket items those correlated with weather (AC, Refrigerator, Water Heater) From substation data in a given area Estimate precise statistics of consumption to help run base load/peaker plants. Use weather correlation for precise prediction in conjunction with meter data (e.g., Kalman filter/particle filter). Determine consumer demand response under TOU/RTP 17 January 2011 PURDUE UNIVERSITY 20

21 The Past University of California, San Diego United Technologies Research Center, East Hartford Qualcomm Inc., San Diego Honeywell Labs, Minneapolis

22 Control of Pulsed Detonation Engines Hybrid system safety verification Adaptive Filtering on all CDMA chipsets Gas turbine health monitoring on most airplanes around the world, on JSF Helicopter BVI noise reduction Dynamic ground effect modeling Laplacian Path planning for UAVs and UGVs LAAS receiver threshold setting (will be in airports through most of the world) GPS receivers, analysis and design Vision aided navigation Distributed power control Wireless network modeling and parameter adaptation Hybrid nonlinear filter for asynchronous sensor fusion (can make military ad hoc sensor networks feasible) integrated surveillance systems