Abstract: A method for optimizing a wireless network comprises obtaining local measurement and feedback data from a single node in the network; estimating a state of the node by using the local measurement and feedback data in an analysis framework model of the wireless network; applying the estimated state of the node to a local control law to determine one or more local protocol parameter updates for the node; and transmitting the one or more local protocol parameter updates to the node in the network.

Abstract: An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle's frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.

Abstract: An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle's frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.

Abstract: In one embodiment, a method for distributed power control in a network is provided. The method determines a transmit power for a plurality of transmitting nodes such that signals sent from each of the transmitting nodes are received at a receiving node at a signal to interference plus noise ratio (SINR) set point. Additionally, the method increases the SINR at the receiving node of one or more transmitting nodes of the plurality of transmitting nodes, and decreases the SINR at the receiving node of one or more other transmitting nodes of the plurality of transmitting nodes; wherein a total increase in SINR by the one or more transmitting nodes is substantially equal to total decrease in SINR by the one or more other transmitting nodes.

Abstract: A Global Navigation Satellite System (GNSS) device, such as the Global Positioning System (GPS) device, uses satellite orbital position information from almanac and/or ephemeris data to change a search parameter, such as reducing the number of analyzed frequency bins or setting signal strength threshold, so that satellite signal acquisition times are reduced. An exemplary embodiment estimates an orbital position for at least one GNSS satellite based upon at least one of almanac data and ephemeris data, detects a signal emitted from the at least one GNSS satellite, and based upon the estimated orbital position information for the at least one GNSS satellite that is determined from the almanac data and the ephemeris data, adjusts at least one parameter used in the analysis of the detected signal.

Abstract: A method for operating a wireless network having a predicable and stable network performance. The method includes controlling output distribution of nodes in the network to adapt to traffic changes in the network, distributing power control to adapt to environmental changes in the network, and providing traffic sensitive routing to adapt to topology changes in the network. The method also includes converging to set points based on the controlling of output distribution, the distributing of power control, and the providing of traffic sensitive routing.

Abstract: An obstacle-avoidance-processor chip for three-dimensional path planning comprises an analog processing circuit and at least two analog-resistive-grid networks. The analog processing circuit is communicatively coupled to receive data from an inertial measurement unit and from at least one obstacle-detection sensor. The analog processing circuit is configured to construct a three-dimensional obstacle map of an environment based on the received data. The at least two analog-resistive-grid networks are configured to map obstacles in at least two respective non-parallel planes in the constructed three-dimensional obstacle map. The at least two analog-resistive-grid networks form a quasi-three-dimensional representation of the environment. The obstacle-avoidance-processor chip generates information indicative of a three-dimensional unobstructed path in the environment based on the obstacle maps.

Abstract: A system for autonomous object tracking with static camera arrangements. Each camera arrangement may minimally have a pan-tilt-zoom camera and a range or depth sensor. Imaging may provide coordinates and depth information of a tracked object. Measurements of an image centroid position and width may be obtained with processing. Maintaining an image at the center of a camera screen may be attained at a pixel width of the image. Estimation and prediction of object size and position may be processed for providing pan, tilt and zoom rates for the camera. Pan, tilt and zoom latency may be accounted for in the system. There may be a number of camera arrangements where tracking of the object may be handed off by one camera arrangement to another.

Abstract: A method and system for performing distributed outer loop power control in a wireless communication network are disclosed. The method includes the steps of determining a transmit power for a plurality of transmitting nodes such that signals sent from each of the transmitting nodes are received at a receiver associated with a receiving node at a predetermined signal-to-interference plus noise ratio (SINR) set point, increasing the SINR at the receiving node of one or more transmitting nodes of the plurality of transmitting nodes if a saturation value for a front end of the receiver associated with the receiving node is not near a predetermined saturation value, and decreasing the SINR at the receiving node of the one or more transmitting nodes of the plurality of transmitting nodes if the saturation value for the front end of the receiver associated with the receiving node is near the predetermined saturation value.

Abstract: An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle's frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.

Abstract: A method and system for autonomous tracking of a mobile target such as a ground vehicle by an unmanned aerial vehicle are provided. The method and system utilize an approach that tracks a mobile ground target by using a ground vehicle model with an ummanned aerial vehicle model, with velocity and acceleration constraints. These real-world constraints ensure that the method is applicable to a general class of unmanned aerial vehicles and ground targets. One or more sensors are employed on the unmanned aerial vehicle, with the sensors having at least one field-of-view sensing cone over the ground. A position and path of the mobile target are monitored through input from the sensors on the unmanned aerial vehicle. The method and system detect and estimate the position and path of the mobile target when the target is inside the field-of-view sensing cone.

Abstract: A method for collision avoidance of an unmanned aerial vehicle (UAV) with other aircraft such as manned aircraft or another UAV is provided. The method comprises detecting an aircraft approaching a flight path of an unmanned aerial vehicle, and estimating a position, range, and velocity of the aircraft. An estimated path of the aircraft is determined from the position, range, and velocity. A new flight path is then calculated for the unmanned aerial vehicle to a waypoint to avoid the estimated path of the aircraft.

Abstract: A method for optimizing a wireless network comprises obtaining local measurement and feedback data from a single node in the network; estimating a state of the node by using the local measurement and feedback data in an analysis framework model of the wireless network; applying the estimated state of the node to a local control law to determine one or more local protocol parameter updates for the node; and transmitting the one or more local protocol parameter updates to the node in the network.

Abstract: A method to control power transmitted from a node in a wireless network. The method includes receiving one or more signals at the node from one or more other nodes of the wireless network, determining a signal-to-interference-plus noise ratio for each signal received from each of the one or more other nodes, transmitting the determined signal-to-interference-plus noise ratio value for each signal received from the one or more other nodes to the respective one or more other nodes, and receiving a signal-to-interference-plus noise ratio value from each of the other nodes in the wireless network. The received signal-to-interference-plus noise ratio value was determined by each of the other nodes. The method further includes determining a minimum signal-to-interference-plus noise ratio for the node, estimating a rate-of-change of the channel gain, and adjusting signals transmitted from the node to the other nodes.

Abstract: A method of implementing a plurality of unmanned vehicles over an obstacle field. The method includes obtaining a physical map of the obstacle field. Discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes. Replacing sections of the traversable edges that are beyond the maneuverability of the unmanned vehicles with traversable arcs. Determining traverse time parameters associated with paths through the obstacle fields, each path made up of select traversable edges and select traversable arcs and using the traverse time parameters in planning and scheduling the vehicles.

Abstract: A method for operating a wireless network having a predicable and stable network performance. The method includes controlling output distribution of nodes in the network to adapt to traffic changes in the network, distributing power control to adapt to environmental changes in the network, and providing traffic sensitive routing to adapt to topology changes in the network. The method also includes converging to set points based on the controlling of output distribution, the distributing of power control, and the providing of traffic sensitive routing.

Abstract: An obstacle-avoidance-processor chip for three-dimensional path planning comprises an analog processing circuit and at least two analog-resistive-grid networks. The analog processing circuit is communicatively coupled to receive data from an inertial measurement unit and from at least one obstacle-detection sensor. The analog processing circuit is configured to construct a three-dimensional obstacle map of an environment based on the received data. The at least two analog-resistive-grid networks are configured to map obstacles in at least two respective non-parallel planes in the constructed three-dimensional obstacle map. The at least two analog-resistive-grid networks form a quasi-three-dimensional representation of the environment. The obstacle-avoidance-processor chip generates information indicative of a three-dimensional unobstructed path in the environment based on the obstacle maps.

Abstract: A trending system and method for trending data in a mechanical system is provided. The trending system includes a sliding window filter. The sliding window filter receives a data set of data points generated by the mechanical system. The sliding window filter partitions the data set into a plurality of data windows, and uses the data windows to calculate upper and lower confidence bounds for the data set. Specifically, the sliding window filter calculates an upper confidence bounds and lower confidence bounds for each data point using each of the multiple data windows that includes the data point. The sliding window filter then selects the upper confidence bounds and the lower confidence bounds that results in the smallest mean prediction confidence interval for that data point. This results in a smoothed estimated trend for the data set that can be used for prognostication and fault detection.

Abstract: A Global Navigation Satellite System (GNSS) device, such as the Global Positioning System (GPS) device, uses satellite orbital position information from almanac and/or ephemeris data to change a search parameter, such as reducing the number of analyzed frequency bins or setting signal strength threshold, so that satellite signal acquisition times are reduced. An exemplary embodiment estimates an orbital position for at least one GNSS satellite based upon at least one of almanac data and ephemeris data, detects a signal emitted from the at least one GNSS satellite, and based upon the estimated orbital position information for the at least one GNSS satellite that is determined from the almanac data and the ephemeris data, adjusts at least one parameter used in the analysis of the detected signal.

Abstract: A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also includes generating a rotation output from the exponentially stabilizing control laws, generating a zoom output from the exponentially stabilizing control laws, determining a system latency in redirecting an optical axis and modifying a lens system along the optical axis, and determining the transformation of the origin of the imaging device with respect to global coordinates. A centroid of the target image is maintained within a selected distance from the origin of the imaging device. The apparent distance between the imaged target and the imaging device is also maintained.