1. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20021 Santa Fe, NM January 16, 2002 Steve Beck Joe Reynolds Brian Corser Jorgen Harmse Analysis and Applied Research Division 6500 Tracor Lane, MS.1-8 Austin TX 78725 DARPA SenseIT Program Collaborative Signal and Information Processing

2. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20022 Presentation Overview Accomplishments Collaborative System Architecture Sensors and Signal Analysis Collaborative Processing On-Going Work

3. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20023 Accomplishments: March 2001 Successful demonstration at MCAGCC in 29 Palms, CA – Target tracking over a wireless sensor network. – Position estimates used to trigger imager. Implementation on Sensoria WINS 1.0 BAE robust multi-modal detection and Kalman tracker. Penn St. interface code and ISI Directed Diffusion

4. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20024 Major Issues from March Demo Node Time and Node2Node Synchronization Filtered and Accurate GPS Positions Logging Errors, “Event” Messages, Heartbeat Software Setup and Control Mechanisms

5. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20025 Accomplishments: April-Nov. 2001 Translated code from WINS1.0 to WINS2.0 (WinCE on MIPSR4000 to Linux on SH4). Low level processing, improved repositories, APIs. Robust adaptive detection on three sensing modalities. Kalman tracker. Sensor tests and calibration experiments. Radio and multi-node timing tests. Integration and test procedures for CSIP. Participated in both Operational and Developmental SITEX02 experiments at MCAGCC in 29 Palms, CA.

6. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20026 Collaborative System Architecture

7. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20027 Node Software Architecture Robust adaptive multi-modal sensor data processing. Five repositories to support collaboration, dynamic situation awareness, and decentralized data fusion.

8. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20028 Float and Gain Norm Build ArrayHanning FFT A-DET] FFT Rep (float) TS Rep (float) Subscribers Preprocessor Channel 1 Data File in Memory SwitchSwitch High Pass Filter (IIR) Low Level Acoustic Processing BAE SYSTEMS API Services Publish and Subscribe Mechanism to the Data and Information Repositories Consistent with Directed Diffusion. Plug and Play

9. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 20029 Sensors and Signal Analysis Sensors and Signal Analysis

10. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200210 Signal Analysis: PIR Sensor Time Series Record Data File = matlab/wbk/pir_exp/wpirch03.bin Display Program = matlab/wbk/pir_exp/viewpir2.m L2R 2.4 ft/sec R2L 2.8 ft/sec L2R = Right to Left R2L = Right to Left L2R 4.5 ft/sec L2R 5.6 ft/sec L2R 2.1 ft/sec R2L 4.9 ft/sec R2L 5.7 ft/sec R2L 2.8 ft/sec P1 P2 10 ft 3 ft Experimental Set-up L2R 7 ft R2L PIR Passive Infrared Motion Detector Difference Between The Two Beams Beam 1 Beam 2

11. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200211 Input Data x[10] Target Model Feature Extraction Background Model Features Log Likelihood Ratio Test Detection Thresholds Score Normalization Parameters Confidence Binary Detection Time Stamp Detection Latency Heuristics Amplitude Zero Crossing Polarity Direction PIR Detection Processing

12. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200212 Acoustic and Seismic Input Data x[1024] Bandpass Filter Target Model Feature Extraction Log Likelihood Ratio Test Score Normalization Parameters Confidence Binary Detection Time Stamp Detection Latency Heuristics Background Model Features Detection Thresholds Time Stamp Speed and Distance Estimation Speed Distance Developmental

13. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200213 Seismic Acoustic DET Curve PIR Detection for Multi-Modal Sensors Background Target EER Point Legend False Alarm Probability in % Miss Probability in % For SITEX00 data from August 2, 2000 Acoustic EER =.008 per 0.5 seconds. Seismic and PIR EER < 10 -5. Combined sensor detection EER < 10 -5. Robust Likelihood Ratio Test Detection Acoustic

14. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200214 29 Palms Data Collection Acoustic and Acoustic Arrays Seismic and 3-Axis Seismic PIR Accelerometer with multiple ground couplings Micro Radar Magnetometer Complementary Sensing Capabilities Tetrahedron Arrays

15. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200215 Bayesian Conditional Normalization Null Hypothesis (Non-Target) Alt. Hypothesis (Target) The black line = score with the SAME operating conditions as the training set. The green line = score from MISMATCHED operating conditions as the training set. Matched Conditions Mismatched Conditions Adaptive to target and environmental priors Outputs confidence levels conditioned on expectations Empirically sound results - used in forensics.

16. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200216 Collaborative Signal and Information Processing Collaborative Signal and Information Processing

17. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200217 Matching Pursuits - SITEX01/BAE2002 PIR/Magnetometer discriminant function Computational, memory requirements = medium Efective for dynamic or multi-modal signals Classifier design - Families of Basis Functions Target Signal Classification Rational Agent Classifier - BAE2001-2 Dynamic Bayesian belief networks Computational, memory requirements = low Effective for dynamic or multi-modal signals Classifier design - qualitative description sufficient Simple Entropy Classifier - SITEX00 Renya  -entropy discriminant function Computational, memory requirements = low Not effective for dynamic or multi-modal signals Classifier design - data intensive

18. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200218 Hand-Off Tracking Node * * * * * * * * * * * * * * Road Current Tracking Node Z t,s,r * Contains Predicted Arrival Time (PAT), Expected Location (EL), and network Track ID Kalman Tracker Probabilistic Multiple Hypothesis Tracker Decentralized Information Tracker Decentralized Trackers

19. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200219 Tracking System Sensoria Wins2.0 BAE Tracker Cornell Database ISI Diffusion Sensoria Wins2.0 BAE Tracker Cornell Database ISI Diffusion Sensoria Wins2.0 BAE Tracker Cornell Database ISI Diffusion Sensoria Wins2.0 BAE Tracker Cornell Database ISI Diffusion Sensoria Wins2.0 BAE Tracker Cornell Database ISI Diffusion Diffusion over Sensoria Radio iPAQ 802.11 ISI East Display Laptop 802.11 Sensoria Wins2.0 Gateway Cornell Database ISI Diffusion Ethernet Sensoria: Wins2.0 hardware, radio. BAE Austin: Multi-modal signal processing detection, and Kalman tracker. Cornell: Distributed database query. ISI West: Directed diffusion ISI East: Grass display, 802.11 interface. Team Members: Responsibilities

20. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200220 Scientific Team for Operational Multi- Processors Working in the Santa Fe hotel room preparing for the real-time wireless demo. Carl, Brian, Johannes, Joe, Jorgen, and Manuel. Not shown are Steve (taking the pic) and Fabio.

21. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200221 Tracking Results Easting (m) Northing (m) + + Measurement Smoothed Value Prediction Target Moving Southwest January 13, 2002 Austin Test Site Lake Road Errors primarily due to GPS node position errors, and driver speed errors. Real-time Kalman Tracker Results DDF Information Tracker Results

22. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200222 Target Moving Northeast Tracking Results January 13, 2002 Austin Test Site Lake Road + + Measurement Smoothed Value Prediction Easting (m) Northing (m) Errors primarily due to GPS node position errors, and driver speed errors. DDF Information Tracker Results Real-time Kalman Tracker Results

23. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200223 Information Filter * Maintains the same information as a Kalman filter, but in inverse covariance form Update in response to new information is much simpler Y(k+1|k+1) = Y(k+1|k)+I(k+1) Prediction and state estimation are more complicated In distributed data fusion with many nodes, information update is needed much more often than prediction or state estimation * Decentralized Data Fusion Prof Hugh Durrant-Whyte University of Sydney, Australia

24. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200224 On-Going CSIP Development and Testing On-Going CSIP Development and Testing

25. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200225 API Services for Distributed Sensor Networks Operational Functionality and Support Low level signal processing. Repositories for TS, SP, and HL data and information. Robust adaptive detection for multi-modal sensors. Decentralized Kalman tracker. Simple target classifier. Event logging and post analysis Developmental Functionality and Support Bayesian conditional processing. Power Aware detection, Rational agent classifier. Localization using array bearing estimation. PMHT and DIF tracking. Tactical query decision support. Intelligent Surveillance and Reconnaissance Tactical Situation Awareness

26. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200226 BAE Field Test and Demonstration Sites Tracking Environment / Scenarios Unconstrained Intersection Linear Field Configuration Sensing Distance Node Placement Path Options Sensing Environment Grassland Tree Cover Roadway Building Proximity Building Interior Radio & GPS Environment Grassland Tree Cover Roadway Building Proximity Building Interior BAE Austin is starting a series of sensing and tracking exercises. These are targeted at situations not encountered at 29 Palms. They will force evaluation of sensors, algorithms, and systems. Addresses many of Jim Reich’s Challenge Problems

27. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200227 BAE Austin Field Test Site - Aerial Open Roadway Linear Approach Intersection Open Environment Quiet Seismic Building Alcove Flexible Approach Low Buildings People and Vehicles Long Roadway Extended Tracking Time Intersection Tree Line / Open Margin Test Field Unconstrained Approach Flexible Lay-down Grassland Brush Tree grove Flexible Placement Flexible Approach Pavement and Grass Surface Hallways Interior Environment Limited Exposure People

28. BAE Systems Austin, TX Sensor Agent Processing Software (SAPS) Santa Fe, NM.Collaborative Signal Processing, Jan. 16, 200228 Node Setup Along the Road