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Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 1
DARPASensor Information Technology
(SenseIT)Program
Steve Beck Joe Reynolds512-929-2034 512-929-2541
sbeck@tracor.com joereynolds@tracor.com
Analysis and Applied Research Division6500 Tracor Lane, MS.1-8
Austin TX 78725
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 2
Presentation Outline
1. SenseIT Problem
2. Focus of Marconi’s Work
3. Detection and Ground Truth.
4. Experimental Data Collection
5. Data Analysis
6. WinCE Processor Status.
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 3
SenseIT Detection Problem
• Target detection in an unconstrained surveillance environment.
• System use/reuse during a changing tactical picture.
• Provide the eyes, ears, and communication capability of human sentries.
• Build a bigger picture than the traditional “I got one” detection system.
- Query -Have You Heard
Any Vehicles?- Sentry 2 -
No, But I HeardTroops at Time T2
- Sentry 1 -No, But I Heard
Troops at Time T1- Reasoning -
We have no troops in this area.We know the locs of Sentries 1 &
2.Detection Time T2 > Time T1.
- Therefore –=>Enemy troop movement
in Direction D and At Velocity V.
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 4
Military Critical Technologies: Passive Sensor Detection
Military Use of Passive Sensors• Intruder detection.• Target vehicle detection and localization.• Direct fire weapons detection and localization.
Performance Objectives for Military Passive Sensors• 98% correct detection of target from background.• Localize weapons within 10 meters out of 5000 meters range.• Operate in conditions close to weapons fire and explosions.
Requirements for Superior Passive Sensor Detection• Signal Processing.• Weighting and selection of clues.• Validated decision criteria.• Performance in cluttered background.
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 5
Marconi’s Main Objective• Provide target detection software that runs on a distributed network of nodes.
• Provide superior Pdet with low Pfa in an operational scenario.
• Demonstrate the effectiveness of collaborative signal processing.
• Collect data that is representative of the scenario, the targets, and the environment.
• Optimize the processing algorithms for targets of interest.
• Implement agents for multiple task requests and dynamic reconfiguration.
• Optimize the detection performance using networked collaboration.
• Optimize the software for the hardware platform.
Marconi’s Top Level Approach
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 6
Network Signal Processing
BeamformingSource LocalizationBackground Cancellation
Multi-Sensor Info Fusion.
Multi-Node Info Fusion
Reasoning on the spatialand temporal grid.
Build up a tactical picture.
Respond with appropriatedecisions based on the global picture.
Signal Processing
Detection
Reasoning
Imp
rove
d D
etec
tion
Detection Performance Improves with• Increased Node Collaboration and• Increased Information Content
Information Content
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 7
Detection and Ground Truth
• Robust detection requires generalized models for all events (targets and non-targets).
• The models must reflect the realistic recording environment, including
sensor characteristics, background noise, and digitizer characteristics.
• Detection models are constructed from actual data.
• The data must have accurate ground truth.
Data Collection for Detection Experiments
• Use multiple channels with time synchronization.
• Make recordings with high bandwidth and high fidelity.
• Video tape the experiment for ground truth and demonstration.
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 8
Data Collection Experiments
Marconi performed three data collection experiments for detection studies:1. Human occupancy detection in a high noise urban environment.2. Tracked and wheeled vehicle detection in a rural environment.3. Explosion (balloon pop) detection and localization in indoors and outdoors.
Preliminary Data Collection Equipment
Audio Recording - HP3964 4-channel analog instrumentation recorder usingdirect mode, speed=3.75 ips, bw=16 KHz.Ithaco amplifiers (4) with individual gain setting.
Audio Digitizer - PC-based II PC32 4-channel simultaneous, 16 KHz/channel, 16-bits.Video Recording - Sony 8-mm CamcorderVideo Digitizer - Mac AV with Fusion Recorder
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 9
Preliminary Data Collection - Experiment 1
Test DescriptionScenario: Urban, indoors and outdoors.Targets: Balloon pops.
Doors opening and closing.People walking by.
Clutter: Highway noise.
Sensor DescriptionSensor 1 Dipole mic, outdoors, towards walkway.Sensor 2 Dipole mic, outdoors, toward highway.Sensor 3 Omni mic, outdoors.Sensor 4 Omni mic, indoors.
RecordersAudio Data 4-Channel analog recorder for Sensors 1-4
providing simultaneous channel recording.Video Sony camcorder
4
Omni Mic
2 1
3
Dipole Mics
Omni Mic
4-Channel AnalogRecorder withVariable Gain
Camcorder
Door
Balloons
Hig
hway
Sou
nds
(Indoors)
(Outdoors)
(Hallway)
(Walkway)
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 10
4
Omni Mic
2 1
3
Dipole Mics
Omni Mic
4-Channel AnalogRecorder withVariable Gain
Camcorder
Door
Balloons
Hig
hway
Sou
nds
(Indoors)
(Outdoors)
(Hallway)
(Walkway)
Video #1 with Mics 1&4 Sound
Video #2 with Mics 1&4 Sound
Experiment 1 - Audio Visual
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 11
Experimental Data Collection 1 – Male Voice Time Stereo
0 5 10 15 20 25 30-0.5
0
0.5File=Brian114 Channel=1
Am
plit
ude
0 5 10 15 20 25 30-1
-0.5
0
0.5
1File=Brian114 Channel=4
Time in Seconds
Am
plit
ude
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 12
Experimental Data Collection 1 – Male Voice Detection Analysis
0.1 0.2 0.5 1 2 5 10 20 40
0.1
0.2
0.5
1
2
5
10
20
40
False Alarm probability (in %)
Mis
s p
rob
ab
ility
(in
%)
DET for Data Collection #1, Test=Brian1d8k
Sensor=1, BW =8000Sensor=2, BW =8000Sensor=3, BW =8000Sensor=4, BW =8000
Energy Detection, Bandwidth=8000 Hz.
Chan 1, EER=31%Chan 2, EER=45%Chan 3, EER=39%Chan 4, EER=20%
0.1 0.2 0.5 1 2 5 10 20 40
0.1
0.2
0.5
1
2
5
10
20
40
False Alarm probability (in %)
Mis
s p
rob
ab
ility
(in
%)
DET for Data Collection #1, Test=Brian1dp5k
Sensor=1, BW = 500Sensor=2, BW = 500Sensor=3, BW = 500Sensor=4, BW = 500
Energy Detection, Bandwidth=500 Hz.
Chan 1, EER=52%Chan 2, EER=55%Chan 3, EER=58%Chan 4, EER=23%
Simple Energy DetectionNo discrimination processingEach det based on 1 sec framesNo sequential det or fusion.
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 13
-2000
0
2000File=Brian1d8k Chan=1 EER=29 Thresh=-212.8603
-5000
0
5000File=Brian1d8k Chan=2 EER=45 Thresh=-1227.0752
-1000
0
1000File=Brian1d8k Chan=3 EER=38 Thresh=-291.6268
0 10 20 30 40 50 60-5000
0
5000File=Brian1d8k Chan=4 EER=20 Thresh=0
Experimental Data Collection 1 - Male, Energy PlotsThe BLUE line is the average energy level for defined for each second.The RED line is the EER threshold.The YELLOW area is the time during Target Present for that sensor.The RED area is False Alarm times.The GREEN area is Missed Detection times.
* Red and Green shaded areas that appear on the wrong side of the line are boundary plotting problems, not mistakes.
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 14
Preliminary Data Collection - Experiment 2
Test DescriptionScenario: Rural, outdoors.Targets: Balloon pops.
APC start-up, idle, drive-by.HUMV start-up, idle, drive-by.
Clutter: Generator, highway noise.
Sensor DescriptionSensor 1 Dipole mic, outdoors, pointed south.Sensor 2 Dipole mic, outdoors, pointed north.Sensor 3 Omni mic, co-located with dipole mics.Sensor 4 Omni mic, 20 meters north of dipole mics.
RecordersAudio Data 4-Channel analog recorder for Sensors 1-4
providing simultaneous channel recording.Video Sony camcorder
4
Omni Mic
2
13
Omni & Dipole Mics
4-Channel AnalogRecorder withVariable Gain
Camcorder
APC&
HUMV
Generator
Balloons
Balloons
Dirt Track
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 15
4
Omni Mic
2
13
Omni & Dipole Mics
4-Channel AnalogRecorder withVariable Gain
Camcorder
APC&
HUMV
Generator
Balloons
Balloons
Dirt Track
Video with Camcorder Sound
Video with Mics 1&4 Sound
Experiment 2 - Audio Visual
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 16
0.1 0.2 0.5 1 2 5 10 20 40
0.1
0.2
0.5
1
2
5
10
20
40
False Alarm probability (in %)
Mis
s pr
obab
ility
(in
%)
DET for Data Collection #1, Test=HumVn8k
Sensor=1, BW=8000Sensor=2, BW=8000Sensor=3, BW=8000Sensor=4, BW=8000
Chan 1, EER=2.9%Chan 2, EER=7.0%Chan 3, EER=6.7%Chan 4, EER=6.4%
Chan 1, EER=8.6%Chan 2, EER=7.0%Chan 3, EER=6.2%Chan 4, EER=6.5%
Simple Energy DetectionNo discrimination processingEach det based on 1 sec framesNo sequential det or fusion.
Experimental Data Collection 2 – Vehicle Detection Analysis
0.1 0.2 0.5 1 2 5 10 20 40
0.1
0.2
0.5
1
2
5
10
20
40
False Alarm probability (in %)
Mis
s pr
obab
ility
(in
%)
DET for Data Collection #1, Test=HumVn500
Sensor=1, BW= 500Sensor=2, BW= 500Sensor=3, BW= 500Sensor=4, BW= 500
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 17
Detection Signal Processing - Set 1
Detection Signal Processing - Set 2
FFTTime Series
AdaptiveNormalizer
EnergyDetect Decision
Timer
Threshold
Event
No Event
Multi-resNormalization
Time Series
SignalSpecific
Processing
Detector-Classifier Decision
Timer
Threshold
Event
No Event
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 18
PreProcessorwith AdaptNormalizer
Time Series
Real-ValuedFeature Set
ProbDetector/Classifier
Proposed Detection Signal Processing
Discrete-ValFeature Set
ProbDetector/Classifier
LRT/Fusion
&Reasoning
Event/No Event
Threshold
Preprocessor Processor
IPAgent
Alternate ProcessUpdate Models
DataBaseSP
Agent
Alternate ProcessUpdate Models
Decision
Scenario/TacticalInformation
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 19
Bayesian Decision Criteria
ThresholdHP
HP
H
H
HzP
HzPz
|
|
1
0
0
1
0
1
Binary Hypothesis Testing
True Hypothesis Decision Description
H0 D0 Correct Decision
H0 D1 Type I Error (False Alarm)
H1 D1 Correct Decision
H1 D0 Type II Error (Miss)
11011
00100
CCHP
CCHP
z
Modified Threshold
New Likelihood RatioDecision Rule
C00 is the cost of making a correct null hypothesis decision.C11 is the cost of making a correct target present decision.C10 is the cost of making a Type I error (FA).C01 is the cost of making a Type II error (miss).
Marconi Sensor Agent Processing Software (SAPS)
AARD - For Official Use OnlyOct 7, 1999 20
Summary and Status
• Initial Data Collection
• Preliminary Algorithm Development
• WinCE Platform Running
• Preliminary Design of Software Infrastructure