Kevin H. Knuth Department of Physics University at Albany Intelligent Instruments.
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Transcript of Kevin H. Knuth Department of Physics University at Albany Intelligent Instruments.
Kevin H. KnuthKevin H. KnuthDepartment of PhysicsDepartment of Physics
University at AlbanyUniversity at Albany
Intelligent InstrumentsIntelligent Instruments
Where is the wisdom we have lost in knowledge?Where is the knowledge we have lost in information?
From "The Rock" by T.S. Elliot
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
More and more are our instruments required to perform science operations further from the intervention of humans.
Remote Science
Dust devils whip across Gusev Crater on Mars
Opportunity on Mars
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Intelligent Autonomous Instruments
Require:
Stability Control
Instrument Health Monitoring
Automated Calibration
Accurate Onboard Data Analysis
Adequate Data Coverage
Ability to Actively Seek Data
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Novel Instrument Design
To accomplish these goals, these novel instruments must
Monitor their own state (health and calibration) Infer their state from self-sensing Be equipped with dense sensor networks Infer calibration parameters
Learn from data Make inferences from data Perform hypothesis testing
Ask new questions Actively seek new data Select optimal experiments
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Sound Familiar?
Your frontal lobes carry a model of yourself that is continually updated from data received from a dense sensor network. This implements both ‘Instrument Health Monitoring’ and ‘Calibration’
You learn from new data by updating your model of the world.
You actively seek new data by asking relevant questions.
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Body and Brain form a Symbiotic Unit
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Instruments and Data Analysis are Disjoint
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
The Basic Components
Intelligent InstrumentTest Bed
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
NASA Funded Research
Intelligent Symbiotic Instrument Analysis Systems
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
The Dispersed Fourier Transform Spectrometer
Courtesy: Dr. Arsen Hajian
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
The Alignment Schematic
Light (blue) enters the spectrometer through a fiber optic launcher.
A laser beam (red) is injected into the system for metrology. It is filtered out of the results with optical notch filters.
Cameras C1-8 collect data for the auto-alignment system.
Barriers B1-6 can be introduced via auto-alignment system to test various sub-systems.
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Auto-Alignment and Stabilization
We can align dFTS from anywhere in the worldAlignment required 5 minutes on 2005-02-23Code in Java (cross-platform)
Modified our full-aperture metrology system to create an active compensation system
• Compute f(t) with respect to f(to) using lock-in-amp (SR830)• Feed error signal back to delay line (Parker)
Refine results with further Bayesian calibration
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Problems and Solutions
Problem: Collaborator afraid we would steal the design ofhis instrument.
Solution: Design and Construct our own Instrument
Problem 1: Collaborator concerned about having automated software run his expensive instrument.
Solution: Instrument must be inexpensive in the event of a catastrophe
Problem 2: NASA management confused… “instrument already takes data in an automated fashion”.
Solution 1: New management
Solution 2: Instrument must be OBVIOUSLY Intelligent.
Problem: NASA cuts funding to entire program
Solution: Instrument must be inexpensive Solution: Secure funding from alternate sources
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
The LEGO Mindstorms NXT System
1 The NXT Brick is the brain of the system.
2 Touch Sensor
3
4
5
6
Microphone
Light Sensor
UltrasonicRangefinder
Servo Motors
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Lego teams with HiTecnic
AccelerometerNEW!
Color Sensor
Digital Compass
PrototypeBoard
Sensor and Motor Multiplexers
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
NXT Communicates with Laptop
SYMBIOTIC!
Hardware
Software
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
LDRAW (Lego Cad System)
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Rendering and Animating Designs
Created by Kevin Knuth 2007 with LDraw and POVRay
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Advantages of Lego NXT
1. Cost: One NXT Robotics Kit = $250
2. Design: Robot Bodies are not constrained
3. Construction: Robots can be built in a matter of hours
4. Documentation: LDraw software allows one to thoroughly document therobot’s construction. One can generate Parts Lists, Keep design or send to many others.
5. Brick: The Brick is programmable, but can also be set up to talk to a computer. This enables complex software to effectively run in reasonable times for Real Time adventures.
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Characterization with a Light Sensor
GOAL: Characterize the circle: {x, y, r}with as few measurements as possible
CONSTRAINT: Only point measurements are allowed
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Sample from the Posterior
After several measurements, the posterior in {x, y, r}-space becomes well-localized.
Here are possible solutions sampled from the posterior using nested sampling
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Sample from the Posterior
By querying each sampled circle, we can obtain a set of hypothesized measurements for each possible measurement location.
From this we create an entropy map, which tells us where we can expect to obtain the greatest amount of information.
NXTSteps
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Measure Acoustic Radiation Pattern
http://www.kef.com/technology/new_uniq/wave.htmhttp://personal.cityu.edu.hk/~bsapplec/transmis1.htm
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Laser Scanner
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Which Experiment?
In the future, he won’t need help from humans to determine the best experiment to perform.
He’ll decide for himself.
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007
Acknowledgements:NASA SISM IS Program (Knuth)SIM Preparatory Science Program (NRA 98-OSS-07) (Hajian)
ThanksArsen Hajian USNOJ. Pat Castle EA/NASA AmesNikolay Lvov QSS/NASA AmesJohn Stutz NASA AmesDogan Timucin NASA AmesKevin Wheeler NASA AmesBrian Pohl UNC Chapel HillJ. Thomas Armstrong NRLDavid Mozurkewich NRLRobert B. Hindsley NRLChristopher Tycner Univ. of TorontoRobert Olling USNO
P.S. There is nothing wrong with human intervention
13 July 2007 Dr. Kevin H. KnuthMAXENT 2007