Dr. Rastko R. Selmic Profile

Dr. Rastko R. Selmic

SDL Author at Louisiana Tech Univ

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Publications (12)

Proceedings Article | 17 May 2013 Paper

Position-adaptive MAV in emitter localization mission using RSSI and path loss exponent metrics

Miguel Gates, Rastko Selmic

Proceedings Volume 8741, 87410J (2013) https://doi.org/10.1117/12.2014048

KEYWORDS: Receivers, Micro unmanned aerial vehicles, Sensors, Received signal strength, Algorithm development, Calibration, Environmental sensing, Detection and tracking algorithms, Computer simulations, Radio propagation

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Proceedings Article | 17 May 2013 Paper

Cooperative mobile agents search using beehive partitioned structure and Tabu Random search algorithm

Saba Ramazani, Delvin Jackson, Rastko Selmic

Proceedings Volume 8741, 874108 (2013) https://doi.org/10.1117/12.2016273

KEYWORDS: Target detection, Detection and tracking algorithms, Sensors, Unmanned aerial vehicles, Computer simulations, Surveillance, Environmental sensing, Lithium, Ions, Received signal strength

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Proceedings Article | 25 May 2012 Paper

UGV navigation in wireless sensor and actuator network environments

Guyu Zhang, Jianfeng Li, Christian Duncan, Jinko Kanno, Rastko Selmic

Proceedings Volume 8387, 83870G (2012) https://doi.org/10.1117/12.918709

KEYWORDS: Sensors, Actuators, Sensor networks, Environmental sensing, Computer simulations, Navigation systems, Ultrasonography, Unmanned ground vehicles, Control systems, Computer programming

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Proceedings Article | 4 May 2012 Paper

Cooperative control of MAVs for a hidden emitter localization

Miguel Gates, Rastko Selmic, Raul Ordonez

Proceedings Volume 8361, 83610I (2012) https://doi.org/10.1117/12.919445

KEYWORDS: Micro unmanned aerial vehicles, Unmanned aerial vehicles, Detection and tracking algorithms, Target detection, Received signal strength, Sensor networks, Sensors, Computer simulations, Algorithm development, Antennas

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Proceedings Article | 21 June 2011 Paper

PADF RF localization criteria for multimodel scattering environments

Miguel Gates, Christopher Barber, Rastko Selmic, Huthaifa Al-Issa, Raul Ordonez, Atindra Mitra

Proceedings Volume 8021, 80210W (2011) https://doi.org/10.1117/12.879760

KEYWORDS: Sensors, Error analysis, Sensor networks, Scattering, Received signal strength, IRIS Consortium, MATLAB, Robotics, Receivers, Transmitters

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Proceedings Article | 20 May 2011 Paper

PADF RF localization experiments with multi-agent caged-MAV platforms

Christopher Barber, Miguel Gates, Rastko Selmic, Huthaifa Al-Issa, Raul Ordonez, Atindra Mitra

Proceedings Volume 8059, 805903 (2011) https://doi.org/10.1117/12.879849

KEYWORDS: Sensors, Sensor networks, Error analysis, Cameras, Unmanned aerial vehicles, Micro unmanned aerial vehicles, Control systems, IRIS Consortium, Antennas, Data acquisition

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This paper provides a summary of preliminary RF direction finding results generated within an AFOSR funded testbed facility recently developed at Louisiana Tech University. This facility, denoted as the Louisiana Tech University Micro- Aerial Vehicle/Wireless Sensor Network (MAVSeN) Laboratory, has recently acquired a number of state-of-the-art MAV platforms that enable us to analyze, design, and test some of our recent results in the area of multiplatform position-adaptive direction finding (PADF) [1] [2] for localization of RF emitters in challenging embedded multipath environments. Discussions within the segmented sections of this paper include a description of the MAVSeN Laboratory and the preliminary results from the implementation of mobile platforms with the PADF algorithm. This novel approach to multi-platform RF direction finding is based on the investigation of iterative path-loss based (i.e. path loss exponent) metrics estimates that are measured across multiple platforms in order to develop a control law that robotically/intelligently positionally adapt (i.e. self-adjust) the location of each distributed/cooperative platform. The body of this paper provides a summary of our recent results on PADF and includes a discussion on state-of-the-art Sensor Mote Technologies as applied towards the development of sensor-integrated caged-MAV platform for PADF applications. Also, a discussion of recent experimental results that incorporate sample approaches to real-time singleplatform data pruning is included as part of a discussion on potential approaches to refining a basic PADF technique in order to integrate and perform distributed self-sensitivity and self-consistency analysis as part of a PADF technique with distributed robotic/intelligent features. These techniques are extracted in analytical form from a parallel study denoted as "PADF RF Localization Criteria for Multi-Model Scattering Environments". The focus here is on developing and reporting specific approaches to self-sensitivity and self-consistency within this experimental PADF framework via the exploitation of specific single-agent caged-MAV trajectories that are unique to this experiment set.

Proceedings Article | 13 May 2010 Paper

Unmanned vehicle technology for networked non-line-of-sight sensing applications

Miguel Gates, Gary Pepper, Atindra Mitra, Colin Hu, Saleh Zein-Sabatto, Tamara Rogers, Rastko Selmic, Elrasheed Hamdan, Mohan Malkani

Proceedings Volume 7694, 76940V (2010) https://doi.org/10.1117/12.844891

KEYWORDS: Sensors, Unmanned aerial vehicles, Cameras, Robotics, Sensor networks, Video, Visualization, Prototyping, Surveillance, Interfaces

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We discuss the development, design, implementation, and demonstration of a robotic UGV (Unmanned Ground Vehicle) system for networked and non-line-of-sight sensing applications. Our development team is comprised of AFRL Summer Interns, University Faculty, and Personnel from AFRL. The system concept is based on a previously published technique known as "Dual-UAV Tandems for Indirect Operator-Assisted Control" [1]. This architecture is based on simulating a Mini-UAV Helicopter with a building-mounted camera and simulating a low-flying QuadRotor Helicopter with a Robotics UGV. The Robotics UGV is fitted with a custom-designed sensor boom and a surrogate chem/bio (Carbon Monoxide) PCB sensor extracted from a COTS (Commercial-Off-The-Shelf) product. The CO Sensor apparatus is co-designed with the sensor boom and is fitted with a transparent covering for protection and to promote CO (surrogate chem/bio) flow onto the sensor. The philosophy behind this non-line-of-sight system is to relay video of the UGV to an Operator station for purposes of investigating "Indirect Operator-Assisted Control" of the UGV via observation of the relayed EO video at the operator station. This would serve as a sensor fusion, giving the operator visual cues of the chemical under detection, enabling him to position the UGV in areas of higher concentration. We recorded this data, and analyzed the best approach given a test matrix of multiple scenarios, with the goal of determining the feasibility of using this layered sensing approach and the system accuracy in open field tests. For purposes of collecting scientific data with this system, we developed a Test (data collection) Matrix with following three parameters: 1. Chem/Bio detection level with side-looking sensor boom and slowly traversing UGV; 2. Chem/Bio detection level with panning sensor boom and slowly traversing UGV; 3. Chem/Bio detection level with forward-looking sensor boom and operator-assisted steering based on onboard wind vane readings of UGV display that is overlayed onto relayed video. In addition to reporting the trends and results of analysis with regard to data collected with this Test Matrix, we discuss potential approaches to upgrading our networked robotics UGV system and also introduce the concept of "swapping sensors" with this low-cost networked sensor concept.

Proceedings Article | 15 April 2010 Paper

Sensor agnostics for networked MAV applications

Atindra Mitra, Miguel Gates, Chris Barber, Thomas Goodwin, Rastko Selmic, Raul Ordonez, Ali Sekman, Mohan Malkani

Proceedings Volume 7704, 77040R (2010) https://doi.org/10.1117/12.850379

KEYWORDS: Sensors, Sensor networks, Micro unmanned aerial vehicles, Sensor technology, Satellites, Unmanned aerial vehicles, Signal detection, Control systems, Network architectures, Video

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Proceedings Article | 20 May 2009 Paper

Decentralized detection and patching of coverage holes in wireless sensor networks

Jixing Yao, Guyu Zhang, Jinko Kanno, Rastko Selmic

Proceedings Volume 7352, 73520V (2009) https://doi.org/10.1117/12.819294

KEYWORDS: Sensor networks, Sensors, Detection and tracking algorithms, Algorithm development, Computer simulations, Information security, Network security, Quality measurement, Data processing, Binary data

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Proceedings Article | 30 April 2009 Paper

Coupled sensor/platform control design for low-level chemical detection with position-adaptive micro-UAVs

Thomas Goodwin, Ryan Carr, Atindra Mitra, Rastko Selmic

Proceedings Volume 7347, 734710 (2009) https://doi.org/10.1117/12.815253

KEYWORDS: Sensors, Micro unmanned aerial vehicles, Unmanned aerial vehicles, Algorithm development, Chemical fiber sensors, Fluctuations and noise, Sensor networks, Cameras, LabVIEW, Carbon monoxide

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We discuss the development of Position-Adaptive Sensors [1] for purposes for detecting embedded chemical substances in challenging environments. This concept is a generalization of patented Position-Adaptive Radar Concepts developed at AFRL for challenging conditions such as urban environments. For purposes of investigating the detection of chemical substances using multiple MAV (Micro-UAV) platforms, we have designed and implemented an experimental testbed with sample structures such as wooden carts that contain controlled leakage points. Under this general concept, some of the members of a MAV swarm can serve as external position-adaptive "transmitters" by blowing air over the cart and some of the members of a MAV swarm can serve as external position-adaptive "receivers" that are equipped with chemical or biological (chem/bio) sensors that function as "electronic noses". The objective can be defined as improving the particle count of chem/bio concentrations that impinge on a MAV-based position-adaptive sensor that surrounds a chemical repository, such as a cart, via the development of intelligent position-adaptive control algorithms. The overall effect is to improve the detection and false-alarm statistics of the overall system. Within the major sections of this paper, we discuss a number of different aspects of developing our initial MAV-Based Sensor Testbed. This testbed includes blowers to simulate position-adaptive excitations and a MAV from Draganfly Innovations Inc. with stable design modifications to accommodate our chem/bio sensor boom design. We include details with respect to several critical phases of the development effort including development of the wireless sensor network and experimental apparatus, development of the stable sensor boom for the MAV, integration of chem/bio sensors and sensor node onto the MAV and boom, development of position-adaptive control algorithms and initial tests at IDCAST (Institute for the Development and Commercialization of Advanced Sensor Technologies), and autonomous positionadaptive chem/bio tests and demos in the MAV Lab at AFRL Air Vehicles Directorate. For this particular MAV implementation of chem/bio sensors, we selected miniature Methane, Nitrogen Dioxide, and Carbon Monoxide sensors. To safely simulate the behavior of chem/bio substances in our laboratory environment, we used either cigarette smoke or incense. We present a set of concise parametric results along with visual demonstration of our new position-adaptive sensor capability. Two types of experiments were conducted: with sensor nodes screening the chemical contaminant (cigarette smoke or incense) without MAVs, and with a sensor node integrated with the MAV. It was shown that the MOS-based chemical sensors could be used for chemical leakage detection, as well as for position-adaptive sensors on air/ground vehicles as sniffers for chemical contaminants.

Proceedings Article | 15 April 2008 Paper

Position-adaptive explosive detection concepts for swarming micro-UAVs

Rastko Selmic, Atindra Mitra

Proceedings Volume 6961, 696106 (2008) https://doi.org/10.1117/12.778997

KEYWORDS: Particles, Sensors, Explosives, Fluctuations and noise, Unmanned aerial vehicles, Explosives detection, Algorithm development, Actuators, Fluid dynamics, Computational fluid dynamics

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We have formulated a series of position-adaptive sensor concepts for explosive detection applications using swarms of micro-UAV's. These concepts are a generalization of position-adaptive radar concepts developed for challenging conditions such as urban environments. For radar applications, this concept is developed with platforms within a UAV swarm that spatially-adapt to signal leakage points on the perimeter of complex clutter environments to collect information on embedded objects-of-interest. The concept is generalized for additional sensors applications by, for example, considering a wooden cart that contains explosives. We can formulate system-of-systems concepts for a swarm of micro-UAV's in an effort to detect whether or not a given cart contains explosives. Under this new concept, some of the members of the UAV swarm can serve as position-adaptive "transmitters" by blowing air over the cart and some of the members of the UAV swarm can serve as position-adaptive "receivers" that are equipped with chem./bio sensors that function as "electronic noses". The final objective can be defined as improving the particle count for the explosives in the air that surrounds a cart via development of intelligent position-adaptive control algorithms in order to improve the detection and false-alarm statistics. We report on recent simulation results with regard to designing optimal sensor placement for explosive or other chemical agent detection. This type of information enables the development of intelligent control algorithms for UAV swarm applications and is intended for the design of future system-of-systems with adaptive intelligence for advanced surveillance of unknown regions. Results are reported as part of a parametric investigation where it is found that the probability of contaminant detection depends on the air flow that carries contaminant particles, geometry of the surrounding space, leakage areas, and other factors. We present a concept of position-adaptive detection (i.e. based on the example in the previous paragraph) consisting of position-adaptive fluid actuators (fans) and position-adaptive sensors. Based on these results, a preliminary analysis of sensor requirements for these fluid actuators and sensors is presented for small-UAVs in a field-enabled explosive detection environment. The computational fluid dynamics (CFD) simulation software Fluent is used to simulate the air flow in the corridor model containing a box with explosive particles. It is found that such flow is turbulent with Reynolds number greater than 106. Simulation methods and results are presented which show particle velocity and concentration distribution throughout the closed box. The results indicate that the CFD-based method can be used for other sensor placement and deployment optimization problems. These techniques and results can be applied towards the development of future system-of-system UAV swarms for defense, homeland defense, and security applications.

Proceedings Article | 15 April 2008 Paper

Ultra-wideband signal propagation experiments in liquid media

Shravan Challa, Atindra Mitra, Rastko Selmic, Neven Simicevic

Proceedings Volume 6947, 694705 (2008) https://doi.org/10.1117/12.779007

KEYWORDS: Antennas, Metals, Receivers, Liquids, Radio propagation, Transmission electron microscopy, Target detection, Detection and tracking algorithms, Transmitters, Free space

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