Physical Sciences and Mathematics | Open Access Articles

Relative Vectoring Using Dual Object Detection For Autonomous Aerial Refueling, Derek B. Worth, Jeffrey L. Choate, James Lynch, Scott L. Nykl, Clark N. Taylor

Faculty Publications

Once realized, autonomous aerial refueling will revolutionize unmanned aviation by removing current range and endurance limitations. Previous attempts at establishing vision-based solutions have come close but rely heavily on near perfect extrinsic camera calibrations that often change midflight. In this paper, we propose dual object detection, a technique that overcomes such requirement by transforming aerial refueling imagery directly into receiver aircraft reference frame probe-to-drogue vectors regardless of camera position and orientation. These vectors are precisely what autonomous agents need to successfully maneuver the tanker and receiver aircraft in synchronous flight during refueling operations. Our method follows a common 4-stage process …

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Gnss Software Defined Radio: History, Current Developments, And Standardization Efforts, Thomas Pany, Dennis Akos, Javier Arribas, M. Zahidul H. Bhuiyan, Pau Closas, Fabio Dovis, Ignacio Fernandez-Hernandez, Carles Fernandez-Prades, Sanjeev Gunawardena, Todd Humphreys, Zaher M. Kassas, Jose A. Lopez Salcedo, Mario Nicola, Mario L. Psiaki, Alexander Rugamer, Yong-Jin Song, Jong-Hoon Won

Faculty Publications

Taking the work conducted by the global navigation satellite system (GNSS) software-defined radio (SDR) working group during the last decade as a seed, this contribution summarizes, for the first time, the history of GNSS SDR development. This report highlights selected SDR implementations and achievements that are available to the public or that influenced the general development of SDR. Aspects related to the standardization process of intermediate-frequency sample data and metadata are discussed, and an update of the Institute of Navigation SDR Standard is proposed. This work focuses on GNSS SDR implementations in general-purpose processors and leaves aside developments conducted on …

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An Analysis Of Precision: Occlusion And Perspective Geometry’S Role In 6d Pose Estimation, Jeffrey Choate, Derek Worth, Scott Nykl, Clark N. Taylor, Brett J. Borghetti, Christine M. Schubert Kabban

Faculty Publications

Achieving precise 6 degrees of freedom (6D) pose estimation of rigid objects from color images is a critical challenge with wide-ranging applications in robotics and close-contact aircraft operations. This study investigates key techniques in the application of YOLOv5 object detection convolutional neural network (CNN) for 6D pose localization of aircraft using only color imagery. Traditional object detection labeling methods suffer from inaccuracies due to perspective geometry and being limited to visible key points. This research demonstrates that with precise labeling, a CNN can predict object features with near-pixel accuracy, effectively learning the distinct appearance of the object due to perspective …

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Accurate Covariance Estimation For Pose Data From Iterative Closest Point Algorithm, Rick H. Yuan, Clark N. Taylor, Scott L. Nykl

Faculty Publications

One of the fundamental problems of robotics and navigation is the estimation of the relative pose of an external object with respect to the observer. A common method for computing the relative pose is the iterative closest point (ICP) algorithm, where a reference point cloud of a known object is registered against a sensed point cloud to determine relative pose. To use this computed pose information in downstream processing algorithms, it is necessary to estimate the uncertainty of the ICP output, typically represented as a covariance matrix. In this paper, a novel method for estimating uncertainty from sensed data is …

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Accelerating A Software Defined Satnav Receiver Using Multiple Parallel Processing Schemes, Logan Reich, Sanjeev Gunawardena, Michael Braasch

Faculty Publications

Excerpt: Satnav SDRs present many benefits in terms of flexibility and configurability. However, due to the high bandwidth signals involved in satnav SDR processing, the software must be highly optimized for the host platform in order to achieve acceptable runtimes. Modules such as sample decoding, carrier replica generation, carrier wipeoff, and correlation are computationally intensive components that benefit from accelerations.

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Delaunay Walk For Fast Nearest Neighbor: Accelerating Correspondence Matching For Icp, James D. Anderson, Ryan M. Raettig, Joshua Larson, Clark N. Taylor, Thomas Wischgoll

Faculty Publications

Point set registration algorithms such as Iterative Closest Point (ICP) are commonly utilized in time-constrained environments like robotics. Finding the nearest neighbor of a point in a reference 3D point set is a common operation in ICP and frequently consumes at least 90% of the computation time. We introduce a novel approach to performing the distance-based nearest neighbor step based on Delaunay triangulation. This greedy algorithm finds the nearest neighbor of a query point by traversing the edges of the Delaunay triangulation created from a reference 3D point set. Our work integrates the Delaunay traversal into the correspondences search of …

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Robust Error Estimation Based On Factor-Graph Models For Non-Line-Of-Sight Localization, O. Arda Vanli, Clark N. Taylor

Faculty Publications

This paper presents a method to estimate the covariances of the inputs in a factor-graph formulation for localization under non-line-of-sight conditions. A general solution based on covariance estimation and M-estimators in linear regression problems, is presented that is shown to give unbiased estimators of multiple variances and are robust against outliers. An iteratively re-weighted least squares algorithm is proposed to jointly compute the proposed variance estimators and the state estimates for the nonlinear factor graph optimization. The efficacy of the method is illustrated in a simulation study using a robot localization problem under various process and measurement models and measurement …

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Multi-Objective Database Queries In Combined Knapsack And Set Covering Problem Domains, Sean A. Mochocki, Gary B. Lamont, Robert C. Leishman, Kyle J. Kauffman

Faculty Publications

Database queries are one of the most important functions of a relational database. Users are interested in viewing a variety of data representations, and this may vary based on database purpose and the nature of the stored data. The Air Force Institute of Technology has approximately 100 data logs which will be converted to the standardized Scorpion Data Model format. A relational database is designed to house this data and its associated sensor and non-sensor metadata. Deterministic polynomial-time queries were used to test the performance of this schema against two other schemas, with databases of 100 and 1000 logs of …

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Cyberspace Odyssey: A Competitive Team-Oriented Serious Game In Computer Networking, Kendra Graham [I], James Anderson [I], Conrad Rife [I], Bryce Heitmeyer [I], Pranav R. Patel [*], Scott L. Nykl, Alan C. Lin, Laurence D. Merkle

Faculty Publications

Cyber Space Odyssey (CSO) is a novel serious game supporting computer networking education by engaging students in a race to successfully perform various cybersecurity tasks in order to collect clues and solve a puzzle in virtual near-Earth 3D space. Each team interacts with the game server through a dedicated client presenting a multimodal interface, using a game controller for navigation and various desktop computer networking tools of the trade for cybersecurity tasks on the game's physical network. Specifically, teams connect to wireless access points, use packet monitors to intercept network traffic, decrypt and reverse engineer that traffic, craft well-formed and …

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Learning Set Representations For Lwir In-Scene Atmospheric Compensation, Nicholas M. Westing [*], Kevin C. Gross, Brett J. Borghetti, Jacob A. Martin, Joseph Meola

Faculty Publications

Atmospheric compensation of long-wave infrared (LWIR) hyperspectral imagery is investigated in this article using set representations learned by a neural network. This approach relies on synthetic at-sensor radiance data derived from collected radiosondes and a diverse database of measured emissivity spectra sampled at a range of surface temperatures. The network loss function relies on LWIR radiative transfer equations to update model parameters. Atmospheric predictions are made on a set of diverse pixels extracted from the scene, without knowledge of blackbody pixels or pixel temperatures. The network architecture utilizes permutation-invariant layers to predict a set representation, similar to the work performed …

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Monte Carlo And Experimental Analysis Of A Novel Directional Rotating Scatter Mask Gamma Detection System, Julie V. Logan, Darren E. Holland, Larry W. Burggraf, Justin A. Clinton, Buckley E. O'Day Iii

Faculty Publications

Excerpt: This work demonstrates successful experimental operation of a prototype system to identify source direction which was modeled using a library of signals simulated using GEANT and a novel algorithm....

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Ion Software-Defined Radio Metadata Standard Final Report, Sanjeev Gunawardena, Alexander Rugamer, Muhammad Subhan Hameed, Markel Arizabaleta, Thomas Pany, Javier Arribas

Faculty Publications

The ION GNSS SDR Metadata Standard describes the formatting and other essential PNT-related parameters of sampled data streams and files. This allows processors to seamlessly consume such data without the need to input these parameters manually. The technical development phase of the initial version of the standard has now been deemed complete and is currently undergoing the last remaining procedural steps towards adoption as a formal standard by the Institute of Navigation. This paper reports on the activities of the working group since September 2018 and summarizes the final products of the standard. It also reports on examples of early …

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Fast And Effective Techniques For Lwir Radiative Transfer Modeling: A Dimension-Reduction Approach, Nicholas M. Westing [*], Brett J. Borghetti, Kevin C. Gross

Faculty Publications

The increasing spatial and spectral resolution of hyperspectral imagers yields detailed spectroscopy measurements from both space-based and airborne platforms. These detailed measurements allow for material classification, with many recent advancements from the fields of machine learning and deep learning. In many scenarios, the hyperspectral image must first be corrected or compensated for atmospheric effects. Radiative Transfer (RT) computations can provide look up tables (LUTs) to support these corrections. This research investigates a dimension-reduction approach using machine learning methods to create an effective sensor-specific long-wave infrared (LWIR) RT model.

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Improving Optimization Of Convolutional Neural Networks Through Parameter Fine-Tuning, Nicholas C. Becherer, John M. Pecarina, Scott L. Nykl, Kenneth M. Hopkinson

Faculty Publications

In recent years, convolutional neural networks have achieved state-of-the-art performance in a number of computer vision problems such as image classification. Prior research has shown that a transfer learning technique known as parameter fine-tuning wherein a network is pre-trained on a different dataset can boost the performance of these networks. However, the topic of identifying the best source dataset and learning strategy for a given target domain is largely unexplored. Thus, this research presents and evaluates various transfer learning methods for fine-grained image classification as well as the effect on ensemble networks. The results clearly demonstrate the effectiveness of parameter …

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Full-Text Articles in Physical Sciences and Mathematics

Relative Vectoring Using Dual Object Detection For Autonomous Aerial Refueling, Derek B. Worth, Jeffrey L. Choate, James Lynch, Scott L. Nykl, Clark N. Taylor

Faculty Publications

Faculty Publications

An Analysis Of Precision: Occlusion And Perspective Geometry’S Role In 6d Pose Estimation, Jeffrey Choate, Derek Worth, Scott Nykl, Clark N. Taylor, Brett J. Borghetti, Christine M. Schubert Kabban

Faculty Publications

Accurate Covariance Estimation For Pose Data From Iterative Closest Point Algorithm, Rick H. Yuan, Clark N. Taylor, Scott L. Nykl

Faculty Publications

Accelerating A Software Defined Satnav Receiver Using Multiple Parallel Processing Schemes, Logan Reich, Sanjeev Gunawardena, Michael Braasch

Faculty Publications

Delaunay Walk For Fast Nearest Neighbor: Accelerating Correspondence Matching For Icp, James D. Anderson, Ryan M. Raettig, Joshua Larson, Clark N. Taylor, Thomas Wischgoll

Faculty Publications

Robust Error Estimation Based On Factor-Graph Models For Non-Line-Of-Sight Localization, O. Arda Vanli, Clark N. Taylor

Faculty Publications

Multi-Objective Database Queries In Combined Knapsack And Set Covering Problem Domains, Sean A. Mochocki, Gary B. Lamont, Robert C. Leishman, Kyle J. Kauffman

Faculty Publications

Cyberspace Odyssey: A Competitive Team-Oriented Serious Game In Computer Networking, Kendra Graham [I], James Anderson [I], Conrad Rife [I], Bryce Heitmeyer [I], Pranav R. Patel [*], Scott L. Nykl, Alan C. Lin, Laurence D. Merkle

Faculty Publications

Learning Set Representations For Lwir In-Scene Atmospheric Compensation, Nicholas M. Westing [*], Kevin C. Gross, Brett J. Borghetti, Jacob A. Martin, Joseph Meola

Faculty Publications

Monte Carlo And Experimental Analysis Of A Novel Directional Rotating Scatter Mask Gamma Detection System, Julie V. Logan, Darren E. Holland, Larry W. Burggraf, Justin A. Clinton, Buckley E. O'Day Iii

Faculty Publications

Ion Software-Defined Radio Metadata Standard Final Report, Sanjeev Gunawardena, Alexander Rugamer, Muhammad Subhan Hameed, Markel Arizabaleta, Thomas Pany, Javier Arribas

Faculty Publications

Fast And Effective Techniques For Lwir Radiative Transfer Modeling: A Dimension-Reduction Approach, Nicholas M. Westing [*], Brett J. Borghetti, Kevin C. Gross

Faculty Publications

Improving Optimization Of Convolutional Neural Networks Through Parameter Fine-Tuning, Nicholas C. Becherer, John M. Pecarina, Scott L. Nykl, Kenneth M. Hopkinson

Faculty Publications