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NASA Aeronautics Research Institute Biomime’c op’cal sensor for real’me measurement of aircra3 wing deflec’on NASA Aeronau’cs Research Mission Directorate (ARMD) 2014 Seedling Technical Seminar February 19–27, 2014 Susan A. Frost, Ph.D. Intelligent Systems Division NASA Ames Research Center

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Page 1: Bio$mime’c)op’cal)sensor)for) real$’me)measurementof ... · NASA Aeronautics Research Institute Mo’vaon) February)19–27,)2014)) NASA)Aeronau’cs)Research)Mission)Directorate)2014)Seedling)Technical)Seminar))

NASA Aeronautics Research Institute

Bio-­‐mime'c  op'cal  sensor  for  real-­‐'me  measurement  of  aircra3  wing  deflec'on  

NASA  Aeronau'cs  Research  Mission  Directorate  (ARMD)  2014  Seedling  Technical  Seminar    

February  19–27,  2014  

Susan A. Frost, Ph.D. Intelligent Systems Division

NASA Ames Research Center

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NASA Aeronautics Research Institute

Outline  

•  Innova'on  •  Technical  approach  •  Impact  of  the  innova'on  •  Results  of  Seedling  effort  to  date  •  Distribu'on/Dissemina'on  •  Next  steps  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     2  

Collaborators  at  University  of  Wyoming  Prof.  Cameron  H.G.  Wright  (co-­‐PI)  Prof.  Steven  F.  BarreZ      Mr.  Md.  Arif  Khan  Mr.  Robert  W.  Streeter        

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NASA Aeronautics Research Institute

The  Innova'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     3  

Front  view  of  sensor  head  with  U.S.  dime  for  comparison  

Bio-­‐mime'c  sensor  takes  advantage  of  desirable  aspects  of  vision  system  of  Musca  domes+ca,  the  common  house  fly  •  Mo'on  hyperacuity,    e.g.,  

ability  to  track  mo'on  at  extremely  small  increments  

•  Fast  processing  speed  •  Low  power  requirements  •  Lightweight  •  Small  form-­‐factor  

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NASA Aeronautics Research Institute

Mo'va'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     4  

Need  measurement  of  wing  deforma'on  for  next  genera'on  energy  efficient  aircra3  configura'ons1  

MIT  Double  Bubble  

Truss-­‐braced  Wing  Boeing  SUGAR  Ray  

Current  solu'ons:  Strain  gauges,  fiber  op'c  strain  sensors,  accelerometers,  GPS,  tradi'onal  cameras  [1]  hZp://www.aeronau'cs.nasa.gov/  [Accessed  1/27/2014]  

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NASA Aeronautics Research Institute

An  Enabling  Technology  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     5  

“The  [Mishap  Inves'ga'on]  board  determined  that  the  mishap  resulted  from  the  inability  to  predict,  using  available  analysis  methods,  the  aircra3's  increased  sensi'vity  to  atmospheric  disturbances  such  as  turbulence,  following  vehicle  configura'on  changes  […].”1

 

Aerovironment’s  Helios1  

[1]  hZp://www.nasa.gov/centers/dryden/news/ResearchUpdate/Helios/  [Accessed  2/10/2014]  

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NASA Aeronautics Research Institute

Tradi'onal  Cameras  

•  Single-­‐aperture  design  (based  on  anatomy  of  the  human  eye)  

•  High  resolu'on,  large  pixel  array  •  Charge  coupled  device  (CCD)  •  Complementary  metal  oxide  semiconductor  (CMOS)  array  

•  Lens  (or  lenses)  used  for  focusing  image  onto  array  •  Large  data  transfer  required  •  Detec'on  usually  requires  significant  data  processing  •  Target  movement  cannot  be  measured  across  a  pixel  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     6  

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NASA Aeronautics Research Institute

Musca  domes+ca  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     7  

•  Scanning  electron  microscope  image  of  Musca  domes+ca  

•  Depic'on  of  associated  first  layer  neural  “wiring”  

•  Neural  superposi'on    

Image  courtesy  of  M.  Wilcox  Image  courtesy  of  Alex  Wild  www.alexanderwild.com  

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NASA Aeronautics Research Institute

How  does  the  fly  eye  work?  

Simplified  diagram  showing  Gaussian  overlapping  photo-­‐receptor  response  and  neural  superposi'on;  each  hexagonal  shape  in  (a)  delineates  the  cross  sec'on  of  a  structure      called  an  omma'dium.  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     8  

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NASA Aeronautics Research Institute

     Overlapping  Gaussian  Response  

Overlapping  Gaussian  response  similar  to  that  exhibited  by  compound  eye  of  common  house  fly  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     9  

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NASA Aeronautics Research Institute

Sensor  Head  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     10  

Sensor  head  with  lenses  and  fibers  aZached  

•  Machine  milled  aluminum  •  Outer  diameter  is  12  mm  •  Head  height  is  9  mm  •  7  photodarlington  detectors  (IF-­‐D91)  

•  1  mm  mul'-­‐modal,  single-­‐fiber  op'cal  light  guides  

•  3  mm  lenses  

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NASA Aeronautics Research Institute

Sensor  Head  Housing  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     11  

Sensor  head  housing  (SolidWorks™  drawing)  

 Sensor  housing  designed  to:    •  Incorporate  mul'-­‐aperture  nature  of  Musca  domes+ca  eye  

•  Facilitate  stable  packaging  of  sensors  on  a  spherical  surface    

•  Be  small  and  rugged   Sensor  housing  op'mized  for:  

•  Response  •  Mo'on  acuity  •  Scalability  for  commercial  produc'on  

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NASA Aeronautics Research Institute

Photo  Receptors  Alignment  

Detail  of  two  photo  receptors  in  sensor  head  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     12  

w ≡ distance  between  lens  and  image  plane  (2.4  mm  for  pre-­‐blurring)  

Δφ ≡ angle  between  two  lenses  (7.5  deg  for  50%  overlap)  

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NASA Aeronautics Research Institute

Detectors  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     13  

Photodarlington  detectors  (IF-­‐D91)  :    • Semiconduc've  devices  • Output  a  current  propor'onal  to  number  of  photons  impinging  on  element  • Current  is  small  (0.1  μA  to  10  mA)    

Photodetector Optical fiber

IF-D91 Fiber optic detector www.i-fiberoptics.com

Output (mA)

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NASA Aeronautics Research Institute

Sensor  Func'onality  

Block  diagram  of  sensor  func'onality  through  a  single  channel    

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     14  

Sensor PCB (i  ≡  current,  v  ≡  voltage)  

Photodarlington Input Analog

Outputs (VDC)

Power (±15 VDC)

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NASA Aeronautics Research Institute

Logarithmic  Compression  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     15  

Logarithmic  Compression  Circuit:  •  Current-­‐to-­‐voltage  conversion  •  Logarithmic  amplifica'on  to  achieve  increased  dynamic  range  

•  Enables  use  of  sensor  in  wide  variety  of  ambient  ligh'ng  condi'ons  (e.g.,  from  dim  light  to  extremely  bright  condi'ons)  

•  Ensures  adequate  image  contrast  for  detec'on  purposes  

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NASA Aeronautics Research Institute

Filtering  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     16  

Filtering  Circuit:  •  Ac've  filters  for  noise  removal,  including  flicker  from  interior  ligh'ng  

•  4th-­‐order  BuZerworth  low-­‐pass  filter  with  a  50  Hz  cutoff  frequency    

•  Notch  filter  centered  at  60  Hz  •  Inexpensive  •  Small  number  of  components  

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NASA Aeronautics Research Institute

Light  Adapta'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     17  

Light  Adapta'on  Circuit:  •  Sensor  can  adapt  to  different  levels  of  ambient  ligh'ng  • Makes  use  of  average  value  of  ambient  ligh'ng  •  Computed  average  is  filtered  to  near  DC  using  ac've  filter,  reducing  oscilla'ons  caused  by  detected  mo'on  

•  Average  is  subtracted  from  each  of  the  7  signals  independently  

•  Delay  is  added  so  light  adapta'on  circuit  does  not  react  instantaneously  (sample  and  hold  circuit  with  a  'mer)  

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NASA Aeronautics Research Institute

Sensor  Summary  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     18  

Benefits:  •  Small  form  factor,  light  weight  •  Very  low  power  requirements  •  Hyperacuity  to  mo'on  •  Extremely  fast  response  •  Excellent  signal  to  noise  •  Ambient  light  adapta'on  •  Adjustable  bandwidth  depending  on  applica'on  Parameter   Min   Typical   Max  Output  [V]   ~0.0   0.49   0.72  Opera'ng  Range  [cm]   25.4   ~130-­‐150  Weight  (sensor,  PCB,  cables)  [g]   135  Input  Illuminance  [lx]   1   520   36,000  Power  Consump'on  [W]   3.3  

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NASA Aeronautics Research Institute

Test  Set-­‐up  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     19  

Sensor head mounted in test box with target and light panel

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NASA Aeronautics Research Institute

Target  Mo'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     20  

Image of target used for testing

Alignment of sensor's primary axis and motion axis of target (Target not to scale)

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NASA Aeronautics Research Institute

Noise  Removal  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     21  

Quantitative noise comparison of scaled TOP signal and difference signal (TOP minus BOTTOM)

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NASA Aeronautics Research Institute

Posi'on  Reconstruc'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     22  

Position reconstruction with smoothing for target oscillating at 0.2 Hz (solid line) and position truth (dashed line)

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NASA Aeronautics Research Institute

No  Smoothing  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     23  

Position reconstruction with no smoothing for target oscillating at 0.2 Hz (solid line) and position truth (dashed line)

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NASA Aeronautics Research Institute

Shi3ed  Reconstruc'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     24  

Parameter   Value  

Mean  squared  error   0.0049  

Root  mean  squared  error   0.0697  

Maximum  error   0.1161  

Average  error   0.0624  

Shifted and smoothed position reconstruction for target oscillating at 0.2 Hz (solid line) and position truth (dashed line)

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NASA Aeronautics Research Institute

Sensor  Simula'on  

Matlab™  simula'on  of  sensor  was  developed  •  Target  shape  and  size  can  be  modified  •  Target  movement  can  be  controlled  •  Target-­‐background  contrast  can  be  changed  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     25  

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NASA Aeronautics Research Institute

Simulated  Sensor  Response  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     26  

Contour  plot  of  sensor  response  Response  of  adjacent  pixels  when  a  ver'cal  line  is  scanned  

D1

D7

D4

Sensor diodes

Target position

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NASA Aeronautics Research Institute

Simula'on  Studies  •  Edge  localiza'on  is  independent  of  target-­‐background  contrast  •  Inves'ga'on  of  zero  crossing  of  difference  between  two  

adjacent  pixels  (commonly  used  for  edge  detec'on)  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     27  

Target  located  at  different  distances    (d=250,  300,  350  mm)  from  sensor  

Target  shi3ed  to  right  by  different  distances  (s=0,  64,  128  mm)  

D1

D7

D4

Sensor diodes

Target motion Zero crossing changes

Zero crossing invariant

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NASA Aeronautics Research Institute

Target direction of travel (offset = 90 deg)

Simulated  Target  Mo'on  

Zero  crossing  is  affected  by  change  in  direc'on  of  target  mo'on  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     28  

Target  located  at  different  offset  angles  from  horizontal  axis  (offset=90,  115,  135  deg)  

Zero crossing changes

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NASA Aeronautics Research Institute

Results  of  Seedling  Effort    2  Sensors  designed,  built,  tested,  and  opera'onal    Algorithms  developed  for  real-­‐'me  target  tracking    Sensor  simula'on  developed  and  verified    Testbed  constructed    Provisional  U.S.  Patent  Applica'on  filed  02/25/14    Publica'ons  

•  SPIE  Smart  Structures/NDE  Conference,  San  Diego,  CA,  March  2014,  1  paper.  

•  Rocky  Mountain  Bioengineering  Symposium,  Denver,  CO,  April  2014,  3  papers.  

•  M.S.  Thesis  successfully  defended,  University  of  Wyoming,  Dept.  of  Electrical  and  Computer  Engineering  

 February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     29  

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NASA Aeronautics Research Institute

Distribu'on/Dissemina'on  •  Frost,  S.A.,  Wright,  C.H.G,  Streeter,  R.W.,  BarreZ,  S.F.,  and  Khan,  M.A.,  

“Bio-­‐mime'c  op'cal  sensor  for  structural  deflec'on  measurement,”  to  appear  SPIE  Smart  Structures/NDE  Conference,  San  Diego,  CA,  March  2014.    

•  Khan,  M.A.,  Streeter,  R.W.,  Wright,  C.H.G,  BarreZ,  S.F.,  and  Frost,  S.A.,  “Localiza'on  of  a  Moving  Target  using  a  Fly  Eye  Sensor,” to  appear  Rocky  Mountain  Bioengineering  Symposium,  Denver,  CO,  April  2014.  

•  Khan,  M.A.,  Streeter,  R.W.,  Wright,  C.H.G,  BarreZ,  S.F.,  and  Frost,  S.A.,  “Effect  of  Sensor-­‐Target-­‐Background  Distance  on  Target  Tracking  using  a  Fly  Eye  Sensor,” to  appear  Rocky  Mountain  Bioengineering  Symposium,  Denver,  CO,  April  2014.  

•  Streeter,  R.W.,  Khan,  M.A.,  BarreZ,  S.F.,  Wright,  C.H.G,  Frost,  S.A.,  “Results  of  Target  Tracking  with  a  Musca  domes+ca  Inspired  Sensor,” to  appear  Rocky  Mountain  Bioengineering  Symposium,  Denver,  CO,  April  2014.  

•  Streeter,  R.W.,  “Target  tracking  with  a  Musca  domes+ca  based  sensor  plauorm,”  M.S.  thesis,  University  of  Wyoming,  2013.    

February  19–27,  2014    

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NASA Aeronautics Research Institute

Next  steps  

•  Phase  2  Proposal  •  Build  test  environment  that  enables  target  tracking  in  3  dimensions  

• Develop  FPGA  sensor  board  for  real-­‐'me  implementa'on  

•  Improve  target  tracking  algorithms  •  Integrate  sensor  on  UAV  •  Perform  flight  test  on  UAV  •  Inves'gate  use  of  ac've  targets  (LED)  

February  19–27,  2014    

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NASA Aeronautics Research Institute

Ques'ons?  

February  19–27,  2014    

NASA  Aeronau'cs  Research  Mission  Directorate  2014  Seedling  Technical  Seminar     32  

Thank  you  to  my  collaborators  at    University  of  Wyoming  

Laramie,  WY    

Prof.  Cameron  H.G.  Wright  Prof.  Steven  F.  BarreZ  Mr.  Robert  W.  Streeter  Mr.  Md.  Arif  Khan  


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