distributed in-flight sensor control (disco) · 2020. 9. 10. · distributed in-flight sensor...
TRANSCRIPT
REFER TO COVERSHEET NOTICE 3/2/2017
Distributed In-flight Sensor Control (DISCo)
Brendan O’ConnorAustin Ard, Austin Probe, Matthew Ruschmann, Travis Wheatley
AIAA Defense 2018Johns Hopkins University Applied Physics Laboratory, Laurel, Maryland
Distribution Statement “A” (Approved for Public Release, Distribution Unlimited).
The views, opinions and/or findings expressed are those of the author(s) and should not be interpreted as reflecting the official views or policies of the Department of Defense or the U.S. Government.
3/2/2017REFER TO COVERSHEET NOTICE 2
What is DISCo?DARPA SBIR: Software components that enable local and remote sensor
management anddata processing in a multi-platform cluster or on a single platform
Sensorcraft: A new class of minimally capable vehicles
Primary: A highly capable vehicle that manages sensorcraft and may host its own sensor payloads
Ground Station: Controls and interacts with swarm
3/2/2017REFER TO COVERSHEET NOTICE
Fractionated spacecraft
3
DISCo Use Cases
Robot swarming
Expendable robot patrols Sensor networks in the cloud
Ground Station
Sensorcraft-1
Primary
Sensorcraft-1
Sensorcraft-3
Sensorcraft-2Primary-1
Primary
Ground StationSensorcraft-1
Sensorcraft-2
Sensorcraft-2
Primary-2
3/2/2017REFER TO COVERSHEET NOTICE
DISCo Software Components
4
DISCo is made up of three main distributed software components that cooperate to collect and process sensor data
3/2/2017REFER TO COVERSHEET NOTICE
DISCo UAS/UGV Implementation
5
UAS
UGV
DISCo was deployed on a small swarm made up of a pair of UAS and a UGV and deployed to preform a pair of missions:
1. Surveillance and Resonance
2. IED Detection and Avoidance
3/2/2017REFER TO COVERSHEET NOTICE
DISCo UAS/UGV Implementation (cont.)
SAIntSensor
Abstraction Interface
Serial camera
OpenCV camera
Pulse Audio microphone
GPS NMEA receiver
CASMCommon Application
for Sensorcraft Missions
Image processing with OpenCV
Audio processing
GPS NMEA translation
FSWFlight
Software
MAVLink command & telemetry
Autonomous planning
Mock spacecraft flight software
6
3/2/2017REFER TO COVERSHEET NOTICE
DISCo UAS/UGS Demonstration Configuration
7
Backup Control
DISCo Ground Station
RC Control and MavLink Telemetry
SBN TelemetryAnd Data
DISCo System Features:1. Manages sensors
and sensor data2. Handles data
processing and resource use
3. Reconfigurable based on operations
3/2/2017REFER TO COVERSHEET NOTICE
DISCo Surveillance and Reconnaissance
8
1. Reconnaissance 2. ArUco marker(s) detected
3. Surveille noisy marker 4. Failure of sensorcraft
3/2/2017REFER TO COVERSHEET NOTICE
DISCo IED Avoidance
9
Unknown Unknown
UAV in motion to location
Scotty arrived at location
Scotty in motion to location
Clear
UAV ready for sensing
Clear
ArUcomarker found
Clear
1. Send sensorcraft to investigate grid location
2. Acquire sensor data
5. Send rover to adjacent safe location
3. Process sensor data to evaluate dangers
4. Mark safety of location
6. Repeat throughout road
3/2/2017REFER TO COVERSHEET NOTICE
DISCo Recon Video
10
3/2/2017REFER TO COVERSHEET NOTICE
What can DISCo do for You?
11
Enables Sensorcraft
Manages sensors
and data
Independentof the host
System features
Utilizes remote sensors
Reconfigurable during mission Rapidly
Extensible
Future Use
Cases
Dynamic sensor swarms
Single asset supporting
multiple missions
Demonstrations
Spacecraft
Camera sharing
Simulated IED
ClearingReconnaissance and surveillance
Autonomous Robots
DISCo
3/2/2017REFER TO COVERSHEET NOTICE
This research was funded through a DARPA SBIR contract, Lt. Col John Losinski (COTR)
12
Acknowledgements
Distribution Statement “A” (Approved for Public Release, Distribution Unlimited).
The views, opinions and/or findings expressed are those of the author(s) and should not be interpreted as reflecting the official views or policies of the Department of Defense or the U.S. Government.
REFER TO COVERSHEET NOTICE 3/2/2017
Questions?
Distributed In-flight Sensor Control (DISCo)
Impact
1. Allows for a new class of small-satellite mission typesthrough the use of sensorcraft, generally low size,weight, and power (SWaP) vehicles whose sensors canbe accessed through a crosslink with affiliated ground-connected centralized vehicles.
2. Simplifies integration of hosted payloads.3. Can be deployed on unmanned aerial systems (UAS) or
unmanned terrestrial systems for remote sensormanagement and data processing.
Innovations
A software suite that enables remote vehicle (sensorcraft)sensor management and data processing on a primary.
1. Common Application for Sensorcraft Missions (CASM) –An application residing on the primary spacecraft withinput/output access to the sensorcraft via the crosslinkradio; CASM maintains an independent function libraryand access to affiliated applications that can be appliedto sensor data.
2. Sensorcraft Application Interface (SAInt) – Anapplication residing on the adjunct sensorcraft thatreceives and appropriately translates sensor commandsbound for connected hardware and, if desired, flightsoftware, and sends sensor data to CASM instance(s).
Milestones
• 6/2014 Phase 2 Start• 12/2014 Yearly Review• 7/2015 CDR• 1/2016 Yearly Review• 5/2016 SIR• 7/2016 Phase 2 Final Demonstration and CDRLs• 7/2016 Phase 2 Option Research and Development• 1/2017 Yearly Review• 4/2017 Phase 2 Option Final Demonstration• 7/2017 Phase 2 Option CDRLs
DISCo: NASA Core Flight System (cFS) components that provide sensor management, sensorcraft control, and
sensor data processing in flexible configurations