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Intelligent Instruments

Intelligent Instruments. Kevin H. Knuth Department of Physics University at Albany. 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. Remote Science.

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Intelligent Instruments

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  1. Intelligent Instruments Kevin H. Knuth Department of Physics University at Albany

  2. 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

  3. Remote Science More and more are our instruments required to perform science operations further from the intervention of humans. Opportunity on Mars Dust devils whip across Gusev Crater on Mars Dr. Kevin H. Knuth MAXENT 2007

  4. Intelligent Autonomous Instruments • Require: • Stability Control • Instrument Health Monitoring • Automated Calibration • Accurate Onboard Data Analysis • Adequate Data Coverage • Ability to Actively Seek Data Dr. Kevin H. Knuth MAXENT 2007

  5. 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 Dr. Kevin H. Knuth MAXENT 2007

  6. 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. Dr. Kevin H. Knuth MAXENT 2007

  7. Body and Brain form a Symbiotic Unit Dr. Kevin H. Knuth MAXENT 2007

  8. Instruments and Data Analysis are Disjoint Dr. Kevin H. Knuth MAXENT 2007

  9. The Basic Components Dr. Kevin H. Knuth MAXENT 2007

  10. Intelligent InstrumentTest Bed

  11. NASA Funded Research Intelligent Symbiotic Instrument Analysis Systems Dr. Kevin H. Knuth MAXENT 2007

  12. The Dispersed Fourier Transform Spectrometer Courtesy: Dr. Arsen Hajian Dr. Kevin H. Knuth MAXENT 2007

  13. 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. Dr. Kevin H. Knuth MAXENT 2007

  14. Auto-Alignment and Stabilization • We can align dFTS from anywhere in the world • Alignment required 5 minutes on 2005-02-23 • Code 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 Dr. Kevin H. Knuth MAXENT 2007

  15. 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 Dr. Kevin H. Knuth MAXENT 2007

  16. The LEGO Mindstorms NXT System The NXT Brick is the brain of the system. 1 2 Touch Sensor 3 Microphone 4 Light Sensor UltrasonicRangefinder 5 Servo Motors 6 Dr. Kevin H. Knuth MAXENT 2007

  17. Lego teams with HiTecnic NEW! PrototypeBoard Accelerometer Color Sensor Digital Compass Sensor and Motor Multiplexers Dr. Kevin H. Knuth MAXENT 2007

  18. NXT Communicates with Laptop Software Hardware SYMBIOTIC! Dr. Kevin H. Knuth MAXENT 2007

  19. LDRAW (Lego Cad System) Dr. Kevin H. Knuth MAXENT 2007

  20. Rendering and Animating Designs Created by Kevin Knuth 2007 with LDraw and POVRay Dr. Kevin H. Knuth MAXENT 2007

  21. 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 the robot’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. Dr. Kevin H. Knuth MAXENT 2007

  22. BAYES IN ACTION !

  23. Characterization with a Light Sensor GOAL: Characterize the circle: {x, y, r} with as few measurements as possible CONSTRAINT: Only point measurements are allowed Dr. Kevin H. Knuth MAXENT 2007

  24. 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 Dr. Kevin H. Knuth MAXENT 2007

  25. 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. Dr. Kevin H. Knuth MAXENT 2007

  26. NXT • Steps

  27. Measure Acoustic Radiation Pattern http://personal.cityu.edu.hk/~bsapplec/transmis1.htm http://www.kef.com/technology/new_uniq/wave.htm Dr. Kevin H. Knuth MAXENT 2007

  28. Laser Scanner Dr. Kevin H. Knuth MAXENT 2007

  29. Which Experiment? In the future, he won’t need help from humans to determine the best experiment to perform. He’ll decide for himself. Dr. Kevin H. Knuth MAXENT 2007

  30. Acknowledgements: NASA SISM IS Program (Knuth) SIM Preparatory Science Program (NRA 98-OSS-07) (Hajian) Thanks Arsen Hajian USNO J. Pat Castle EA/NASA Ames Nikolay Lvov QSS/NASA Ames John Stutz NASA Ames Dogan Timucin NASA Ames Kevin Wheeler NASA Ames Brian Pohl UNC Chapel Hill J. Thomas Armstrong NRL David Mozurkewich NRL Robert B. Hindsley NRL Christopher Tycner Univ. of Toronto Robert Olling USNO P.S. There is nothing wrong with human intervention Dr. Kevin H. Knuth MAXENT 2007

  31. Dr. Kevin H. Knuth MAXENT 2007

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