Abstract: Collision detection and estimation from a monocular visual sensor is an important enabling technology for safe navigation of small or micro air vehicles in near earth flight. In this paper, we introduce a new approach called expansion segmentation, which simultaneously detects “collision danger regions” of significant positive divergence in inertial aided video, and estimates maximum likelihood time to collision (TTC) in a correspondenceless framework within the danger regions. This approach was motivated from a literature review which showed that existing approaches make strong assumptions about scene structure or camera motion, or pose collision detection without determining obstacle boundaries, both of which limit the operational envelope of a deployable system. Expansion segmentation is based on a new formulation of 6-DOF inertial aided TTC estimation, and a new derivation of a first order TTC uncertainty model due to subpixel quantization error and epipolar geometry uncertainty.

Abstract: In one embodiment of a method and apparatus for predicting and preventing network attacks, data is collected from network devices during an attack. The collected data is analyzed to identify specific temporal precursors of the attack. The future network activity is then monitored for the presence of the identified temporal attack precursors. When the presence of a precursor is detected, appropriate protective action is taken. Preferably, all steps in this process occur automatically. In the preferred embodiment, the process is performed under the control of one or more network or element management systems. The possible network domain includes data, voice, and video networks and multiple, interconnected network technologies. In one embodiment, triggers responsive to the presence of the identified precursors are placed into a network or element management system.

Abstract: A system to control a dynamic system, comprising actuators, sensors, a control module and a plurality of observers to monitor the state of the actuators is disclosed. Certain embodiments of the invention comprise a global failure detection and identification module, a baseline controller, and a retrofit controller. Methods to control the dynamic system are disclosed. Some of the methods utilize a second-order mathematical model of the dynamics of the actuators. In some embodiments, this mathematical model is parameterized by a loss-of-effectiveness (LOE) parameter and a lock-in-place (LIP) parameter. The method may further comprise the step of detecting disturbance conditions and structural damage conditions.