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Miniaturized explorers

Citation for published version (APA):Wörtche, H. J. (2016). Miniaturized explorers. Technische Universiteit Eindhoven.

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Presented on May 27, 2016at Eindhoven University of Technology

Inaugural lecture prof.dr. Heinrich J. Wörtche

Miniaturized Explorers

3

Explorers “The first of these factors is the compelling urge of man to explore and todiscover, the thrust of curiosity that leads men to try to go where no one hasgone before.”“Introduction to Outer Space”. The White House. U.S. Government Printing Office,

Washington D.C., 26 March 1958. URL accessed on 15 August 2006.

Ladies and Gentlemen,

I was a boy of ten when a new American series was starting on German television,“Die Abenteuer des Raumschiffes Enterprise”, the German version of the Americanscience-fiction series “Star Trek”. And I still remember how impressed I was when,for the first time, I heard the motto of the ship’s mission which was stated in thetitle sequence: “(Go,) Where No Man Has Gone Before”.

Preparing this speech, my thoughts went back to these years when I was anenthusiastic follower of the adventures of these future explorers and I started todig into the internet to find the potential background of this popular phrase.

On “Wikipedia” I finally found a source which claims that the phrase was takenfrom the first page of a White House booklet “Introduction to Outer Space”published in 1958 as shown in Figure 1. The booklet was produced in an effort togarner support for a national space program in the wake of the Sputnik flight.Though I could not verify if the booklet indeed had been the lecture motivating theStar Trek script writers, I enjoyed reading the booklet and was impressed by thespirit in which it was written, ranking the human urge to explore and to discoverfirst before national and economical interests. And given that the booklet wasobviously embedded in the launch of one of the most ambitious US American R&Dprograms that ultimately brought mankind to the moon, I consider it also abeautiful example of the spirit behind the famous proverb formulated by theancient Roman poet Virgil “Audentes Fortuna Iuvat” – “Fortune favours the brave”,a proverb that has also been a guide for my colleagues and me in our work atINCAS3 and therefore was a natural choice for the title of today’s mini symposium.

Introduction

4 prof.dr. Heinrich J. Wörtche

Figure 1

Front page photo of the booklet “Introduction to Outer Space”. The White House. U.S. Government Printing Office.

5

Audentes Fortuna Iuvat Publius Vergilius Maro, 70-19 BC

Heavy oil reservoirs, the fracture network of heat production wells of geophysicalpower stations, the interior of industrial mixing tanks and reactors, though not atall cosmic locations, represent a class of systems that are hard to access for directobservation though information on the structure, the condition and the dynamicsare in high demand and of relevance in the industrial or environmental context.

Access problems commonly arise because of a combination of system featuresand specific information requests. To give an example: in 2011 a request by theCanadian heavy oil industry reached me and my colleagues to investigate thefeasibility to map the physical conditions and the structure of presumablyconsolidated open structures in heavy oil reservoirs, so-called “wormholes”,located about 500 m underground.

Up-to-date efforts to provide detailed structural information of the wormholessuch as dimensions, shapes or topologies but also in situ dynamic conditions hadfailed. Standard remote methods, like detection of structural information bymeans of seismic measurements, were not feasible because of the presumablysmall diameters of wormholes compared to the applicable seismic wavelengths [1].Remote installation and application of wireless sensor networks as proposed anddiscussed in Ref. [2] had been excluded because oil sands are basically non-penetrable for electromagnetic radiation in the useful range, for example theattenuation for 100 MHz radio waves is 15.5 dB/m [3], which effectivelysuppresses wireless communication within a sensor network.

Wormholes thus confronted us with the condition of a system hard to access andfor which little a priori information was available. We eventually decided for adirect, rather generic approach. The approach was based on injecting an amountof miniaturized sensor systems into a flooded reservoir, let them go with the flowand penetrate the system, and perform in situ measurements of relevantparameters and memorize the data. Because of the limitations in size, we

Non Accessible Area – Where No One Has Gone Before


commonly denoted the sensor systems with the expression “mote”, constituting a“swarm” injected into the system, with the motes eventually having to beretrieved from the system, the memorized data read out and made available foroffline analysis.

With the objective to establish the basic feasibility of this approach, but also toget an initial estimate of the critical features mote size and required quantity, weperformed a pioneering field study, in collaboration with local Canadian oilcompanies, taking advantage of a flooded oilfield in Northern Saskatchewan withan established wormhole condition. Because the execution and results of thestudy have been presented and discussed in detail elsewhere [4] and [5], I willsketch only the main findings.

Motes can pass through the system, including the injection well, reservoir andproducing well, with a probability of about 10% where the dimensions are limitedto 7 mm or less. Observed travel times for motes exceed the through pumpingtime of water by an order of magnitude of several days, indicating not only thecomplexity of the mote transfer process but also the richness of information to beexpected from data eventually recorded by sensor motes undergoing similarprocesses.

Evaluating alternative applications, it turned out that the millimeter scalerepresents a threshold where geophysical applications like fracture localizationand exploration come into reach, but also the non-intrusive monitoring ofindustrial processes is feasible – the characteristics of a miniaturized exploreremerge.

7

If we assume a mote with an outer diameter of 7 mm and a wall made ofPolyamide 12 (a material also used in the field test) with thickness 0.7 mm, andwe request neutral buoyancy in water, the remaining payload of a mote is 90 mg.A state-of-the-art micro battery [6] will come at a weight of about 70 mg, whichleaves 20 mg for remaining hardware and sensors.

This simple exercise shows that millimeter-scale motes are feasible but at thebrink of state-of-the-art electronics. Because of the energy storage, motefunctionality, and especially mote communication, will have to be optimized forlimited capacities, which also supports the initial assumption that cross-system,radio-based communication and localization of motes is not feasible.

The minimum functionality profile of a sensor mote, still matching the applicationrequirements of providing structure and condition information on the system inwhich the mote is injected, can be listed as:

1. Time tagged measurement of at least one system parameter; 2. Time tagged measurement of (self ) localization data; 3. Memorizing sensor and localization information.

Functionality 1 reflects the fundamental required system interaction, the timetagging required to synchronize data within a mote and within the swarm duringoff-line analyses. The synchronization within a swarm partly helps counteract theresource limitations because different sensing tasks can be shared between motesand the information can be combined during offline data analysis. Functionality 2establishes the capability to determine the spatial structure of a system throughmote distributions, i.e. the shape of the swarm and spatial parameterdistributions, i.e. mapping of system conditions. Functionality 3 ensures thatmeasured data can be read out and analyzed after retrieval of the sensor mote.

Application of swarms of low-profile sensor systems geared to form cost-effectivethough powerful exploration tools is a concept presently gaining increasingattention. Going back to the introduction I restrict myself to an example linked to

Miniaturized Explorer Functionality


outer space exploration. The American National Aeronautics and SpaceAdministration (NASA) [7] is presently investigating the potential of using multiple,small, low-cost micro- and nano-satellites to perform complex science missions.Compared to the minimum functionality profile discussed above, the NASAconcept is based on a networked system of satellites, enabling satellite-to-satellite communication, swarm-to-base station communication, embeddedprocessing capabilities and, to a certain extent, navigation, i.e. the capability of a satellite to localize itself and, to a certain extent, navigate.

In contrast to the NASA approach, explorer motes are extremely resource limitedand dynamically passive. The system under investigation is assumed to beflooded. The flow acts as a carrier of the motes and provides the dynamicsrequired to access and to penetrate the system. As a consequence, motes areexpected to measure system parameter distributions depending on the flowdynamics. System information is generated through the offline analysis of thememorized data readout from the retrieved motes in conjunction with deducedretrieval probabilities of the motes, correlated travel times and time series of themeasured parameter. The analysis will yield statistical distributions of systemparameters, which will be confronted with distributions generated by simulationsbased on models describing the structure of the system, the fluid dynamics andthe mote interaction with the system.

A successful application of the explorer concept will require mastery of two majortechnological challenges. First of all, navigation whereby the inability of the moteto determine and to control its velocity is a limiting factor, and secondly, theproduction of possibly model-independent structural information in the dataanalysis whereby the mote needs to be able to localize. Solving the localizationissue has had top priority in our research in recent years because it is prerequisitefor any successful operation of the swarm approach.

Furthermore, the missing navigation capabilities in combination with systemfeatures might, as encountered in the case of the wormhole feasibility study,cause loss of a significant amount of motes, i.e. loss of a significant amount ofmeasured and memorized system information, and might cause unsolvablesystematic uncertainties in the system exploration if motes entering specificsections of the system are not recovered. The essential condition to solving thisissue is to enable a minimum mote-to-mote communication that, to a certaindegree, extends the functionalities listed above.

9Miniaturized Explorers

These technological challenges have to be addressed and solved on amethodological level because any technological progress, like highly compactmote design combining structural and electrical features, can be expected to beused to further miniaturize exploring motes rather than increase the functionalityspectrum. Sub-millimeter sized motes are expected to again cross applicationthresholds as indicated by requests from CO2 subterranean storage and industrialprocess engineering.

10

Ultrasound (US) is an approved technology for underwater localization that isbecoming increasingly popular for underwater sensor network communication.However, the scale of the devices involved commonly far exceeds the dimension ofmote technology. Nevertheless, from the beginning US was considered as one ofthe technologies of choice to address mote localization.

The essential work of establishing the basic algorithms for mote localizationbased on US ranging measurements and exchange of mote identificationinformation has been initiated and followed up in recent years at the Institute forCommunication Technologies and Embedded Systems and in a collaborationbetween the Department of Electrical Engineering, University of Technology,Eindhoven and INCAS3. A comprehensive overview of the work has been given inthe symposium, for details I refer to [8].

Major progress towards an actual realization of a US equipped mote on a scalecapable of performing ranging measurements for localization has been made byidentifying the Juvenile Salmon Acoustic Telemetry System (JSAS) [10,11] ascandidate hardware. The system is used to track and to visualize the movement ofsalmon in rivers over a distance of kilometeres. This is done by injectingminiaturized JSAS transmitter units into salmon [9] . The units are cylindrical inshape, 15 mm long and 4 mm in diameter, including battery, electronics and PiezoUS transmitter, while actual US transducer dimensions are 2.5 x 1.8 x 1.8 mm3. Thetransducer provides a source level of 155 dB at 8.5V driving voltage. The observed1 dB bandwidth is 30 kHz. The JSAS units transmit a ping signal each 3 secondscontaining a transmitter identification number. These ping messages are receivedby multiple (fixed) hydraphones. By performing a localization algorithm on thecollection of hydraphone data, the position of each JSAS equipped salmon isdetermined.

Based on the JSAS hardware specifications we have started to develop UScommunication protocols for ranging measurements providing input forlocalization algorithms based on ranging measurements [10]. The rangingprotocols have been developed with a focus of an ultra-low energy budget.

Localization of Explorers


The basic concept is based on omnidirectional emittance, to reach anyneighboring mote with one ping and a master node and slave node hierarchy, i.e.only motes addressed directly by the master are conditioned to acknowledge andrespond to a signal, while any mote memorizes any signal received.

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Upper: Photographs of the injectable US transmitter and the dedicated micro-batteryused by the injectable transmitter: (a) the injectable transmitter; (b) the micro-batterystanding next to a commercial 337 button-cell battery [9]. Lower: Beam patterns JSATStransmitters [9].


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Example of the sensor nodes (motes) hierarchy in a swarm [11].

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Behavior and internal state of each of a mote.


The internal behavior of a mote is depicted in Fig. 4. Initially a random timerdefines the mote function master/slave. After an initial master node starts the USsignal sequence, the interplay between signals received from the master node andneighboring slave nodes and internal delay conditions dominate the motebehavior and the data received, memorized and eventually made available for off-line analysis.

The impact of changing one parameter, the delay timer indicated in the upperright, has been investigated with a 2D simulation as illustrated in Fig. 5.

Two hundred motes are injected with a flow coming from the left. Depending onthe mote propagation, the speed of sound, signal range, signal transfer times andmote distributions, the mote status and memorized data are simulated. For detailsof the simulation and relevant parameter setting I refer to Ref. [10, 11].

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Node positions in a 2D simulation of a tank-like environment with injection flow fromleft (indicated by arrow) [11].


Figure 6 shows the number of motes in a master/slave and sleeping/listeningconfiguration. The difference for the lower and upper part is that in the lower partthe delay has been reduced by a factor of 4, compared to the simulation resultsshown in the upper part. As a result, the reduced delay leads to a decrease of thefraction of awake (listening) motes and a significant reduction of the time requiredfor the ranging measurement cycle, but at the same time to an increase of storedmessages [11].

What is relevant in the present context, however, is that in spite of the limitedcommunication between motes, the emerging pattern indicates that motesettings, the environment the mote is operating in and the swarm configurationand dynamic are entangled in such a way that the stored data as well as the motefunctionality are affected.

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Simulated number of motes in a specific state depending on the delay setting (see Fig. 4), in the lower distribution the delay has been decreased by a factor of 4compared to the distribution shown in the upper part.

15

… the state of being conscious is a condition of being aware of one’ssurroundings and one’s own existence or self-awareness. Jack A. Tuszynski and Nancy Woolf, The Path Ahead, The Emerging Physics of

Consciousness, Spinger, The Frontiers Collection, Heidelberg 2006

It is this entanglement that applies in virtual and presumably also realenvironments that provides the foundation for a novel approach to explore theunknown, the PHOENIX Approach, as formulated by the European collaboration:

“The PHOENIX Approach is a radically new method for answering questions aboutinaccessible environments through successive reincarnations of virtual and realswarms of versatile but highly resource-limited, miniaturized agents that co-evolvewith a society of model instances, as shown in the flowchart in Figure 7.”

Instinctive Explorers

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PHOENIX flow chart [12].


Explorers represent a class of resource-constrained, versatile “physical agents” in the Phoenix nomenclature that are capable of adapting “behavior” duringoperation in order to optimize the integral swarm performance. The adaptation iscontrolled by “instincts”, functionality rules developed and optimized in the virtualworld of the co-evolution cycle in the simulator and added to the agent’sembedded programming before re-injecting them into the system underinvestigation. Thus, providing motes with the capability to instinctively react tovarious conditions during operation. The instinctive behavior of motes willcertainly add great complexity to the swarm condition and swarm operation, a complexity which is hard to estimate at present in terms of quality, extent and impact on applications and performance

17

To give an impression of an explorer mission, I present as an example the resultswe recorded by motes dispersed into an industrial mixing tank. As a firstgeneration of explorers we developed the Xploring WiseMoteTM (XWM)technology: 39 mm sized sensor motes, protected by a robust and chemically inertplastic shell, equipped with an off-the-shelf Inertial Measurement Unit (IMU)featuring a 3D accelerometer, a 3D gyroscope and a 3D magnetometer. Limited bythe onboard memory, XWM’s are capable of storing one hour of measured datawhen operating at the highest sampling rate. Because XWM’s were supposed tobe operated in multiphase fluid environments, the XWM density can be variedbetween (0.75-2.15) kg/dm3 through adding metallic ballast pieces.

The XWM technology was developed on request by Shell, Canada, to measure in-situ the dynamics of a multiphase fluid in industrial mixing tanks and determinethe impact of the mixer speed on the fluid dynamics and the sand bed formationduring operation, information that had not been accessible by means of state-of-the-art sensor technology.

First Explorers on Mission

Figure 8

Xploring WiseMotesTM, front the on board electronics, back an assembled mote.


Though XWM’s are not capable of localizing themselves at present due tolimitations of the IMU and missing US communication, XWM’s follow the basicexplorer concept of going with the flow and recoding time-tagged data for offlineanalysis. Due to the adjustable density, XWM’s can be tuned to pick up thedynamics of e.g. water, sand or lumps in a mixture and provide information on thein situ dynamic conditions of a specific phase.

Figure 9 shows the experimental set-up that we used at the SRC Pipe FlowTechnology Center in Saskatoon, Canada. In the center of a meter scale mockup ofa mixing tank is the mixer with a threefold set of mixer paddles. Fluid materials –water, sand, clay – and motes were injected from the top and could be releasedafter operation through an outlet in the bottom.

Figure 10 shows the acceleration magnitudes for a collision event. “Index”indicates the time in units of the mote’s digitizer. The width of the sharp peak isequivalent to 5-10 ms, which matches the impact time of a baseball struck by abat. To reveal the mote dynamics in a window of 100 ms before and after thecollision peak, the peak data have been removed from the data set, which causesthe gap of around index 160 in the green and red distribution. The long-term trendof the acceleration experienced by the mote has been extrapolated and subtracted(green line). Subsequently, the green distribution is folded with a weightingfunction, which limits the data to the considered time window.

Figure 9

Experimental set-up at the SRC Pipe Flow Technology Center in Saskatoon, Canada.Left the mixing tank mockup, center view into the tank through a window, right theinterior of the mixing tank.


Figure 11 shows a correlation plot of the logarithms of energy transfers E2 after acollision versus transfers E1 before a collision. The transfers E1 and E2 have beenobtained by integrating the data shown as a red line in Fig. 10 before and after thepeak, respectively. For the presented data the motes had densities varyingbetween 1.66 g/cm3 to 2.12 g/cm3 and were dispersed in a mixture of sand, clayand water with a mean density of 1.6-1.7 g/cm3.

From left to right, the data indicate that elastic collisions (E1=E2) and E1 dominantcollisions are coming into play with increasing density. Motes matching the fluiddensity nearly exclusively undergo E2 dominant collisions. Furthermore, there isan indication of emerging clusters for high E2 values and low E1/E2 elasticcollisions.

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Example for an acceleration magnitude recorded by an Xploring WiseMoteTM during a collision.

Figure 11

Correlation plots of the logarithms of the energy transfers after (E2) vs energy transfers(E1) before collision peaks. The mote density is indicated in the upper left of thewindow.


Motes with a density matching the mean fluid density are floating and shouldtherefore feature an increased probability for mixer paddle collisions and theequivalent correlation plots should show and E2 dominance. Reversing thisargument suggestes that the correlation plots should provide the means toidentify the mixing tank conditions when motes start to float, i.e. specific phasesstart to dissolve in the fluid.

We are presently busy developing and refining our analysis methods by means oflaboratory and fields tests and dedicated simulations. Nevertheless, the abovequalitative discussion should show the sensitivity of the approach and thepotential to provide direct insight in the dynamics of processes so far notaccessible.

21

Close to our daily life there exist systems, environments which are at least partlyoutside our perception horizon. Information about these systems is in highdemand by industry and society. I have discussed an approach based onminiaturized millimeter sized sensor motes to gain access to these systems. A seemingly straightforward approach, driven by application requests. A closerlook, however, reveals technological challenges which far exceed availabletechnologies and require the development and application of technologies thatare only emerging on the horizon.

Initial feasibility studies using off the shelf technology indicate the potential of theapproach and provide insight into worlds nobody has yet gone and explored.

The coming years will show if we can master the technological challenges and ifwe can initiate and accomplish missions to the unknown with success.

For me, personally, I would love to meet Captain Kirk out there.

Summary

22

When I moved to the Netherlands in 2000 I had no idea what adventures werewaiting for me. Eventually I was trusted with considerable financial means bypublic sources to research and to innovate. This was a unique chance and at thesame a unique challenge. INCAS3 was only possible in the Netherlands and I hopethat at some stage INCAS3 justifies and pays back all that trust.

Innovation is struggle. From the very first moment I was accompanied in thestruggle, actually our struggle, by John van Pol. I would never have imagined thathumans so different in any respect can harmonize and collaborate the way we did.I bow my head before a partner and a friend. Thanks, John.

Innovation is the result of the hard work from intelligent people with fantasy andcourage. I had the pleasure to collaborate with you, the innovators: Elena, Dirkjan,Jan, Matt, Giovanni, Arjen, Erik, Rajender, Peter, Daniele, Victor. Keep going!

Innovation always starts small and requires strong friends and supporters. I’mgrateful for mine. Henk Koopmans, a visionary. Koos Duppen who initiated. Hansvan Duijn who decided. Peter Baltus who catalyzed.

Many more at INCAS3 and at TU/e, in my past. Thank you!

And to conclude. Gudula, Fredi, Tön, Lenchen. Ohne Euch, nichts!

Ik heb gezegd.

Acknowledgments

23

1. L. Lines et al.: Geophysics 22(5), 459 (2003).2. Wilson, M., Morgan, Y.: Technical Investigative White Paper, PTRC, Regina

(2011).3. Cook, J.C.: Geophys. 40, 865-885 (1975).4. E. Talnishnikh, Intelligent Environmental Sensing, Smart Sensor

Measurement and Instrumentation: Micro Motes: A Highly Penetrating Probefor Inaccessible Environments, vol. 13, L. Leung and. S. Mukhopadhyay, Ed.,Switzerland: Springer International, 2015.

5. E. Talnishnikh, “Where no sensor has gone so far – sailing terra incognita”, in Mini Symposium, Inauguration, Eindhoven, 2016.

6. Seiko Instruments Inc., “http://www.sii.co.jp/en/me/battery/”, Seiko Inc. ,2016. Micro Battery Products.

7. M. Hinchey et al., Requirements of an Integrated Formal Method forIntelligent Swarms, Formal Methods for Industrial Critical Systems, JohnWiley & Sons, Inc., Hoboken, New Jersey.

8. E. Duisterwinkel et al., “Environment mapping and localization with anuncontrolled swarm of ultrasound sensor motes”, in Proc. Of Meetings onAcoustics, 20(1), 2014.

9. Z.D. Deng et al., An injectable acoustic transmitter for juvenile salmon,Nature Scientific Reports | 5 : 8111 | DOI: 10.1038/srep08111.

10. N.A.H. Puts, Analysis and design of an ultrasound positioning systemprotocol for sensor swarms, Master thesis, University of TechnologyEindhoven, 2016.

11. E.H.A. Duisterwinkel and N.A.H. Puts, Novel Ranging Protocol for Resource-Limited Sensor Nodes in Large Swarms, publication in preparation.

12. PHOENIX, H2020 FET Project, 2015, CORDIS reference 665347.

References

24

Heinrich J. Wörtche gained his Physics degree in 1988 fromthe Technische Hochschule in Darmstadt. He undertook hisPhD research at TRIUMF in Vancouver, Canada and receiveda PhD in Physics from the Technische Hochschule inDarmstadt. After postdoctoral work at the WestfälischeWilhelms-Universität in Münster, he became AssociateProfessor at the Institute for Nuclear Physics in Münster. In 2000 he was appointed Senior Researcher at the KVI ofthe University of Groningen. In 2009 he founded theInnovation Center for Advanced Sensors and SensorSystems (INCAS3) and in 2014 Ingu Solutions Inc., Canada.At present he is CEO at INCAS3. He became part-timeprofessor at Eindhoven University of Technology in 2015.

Curriculum VitaeProf.dr. Heinrich J. Wörtche was appointed part-time professor of Miniature Wireless

Explorative Sensor Systems in the Department of Electrical Engineering at EindhovenUniversity of Technology (TU/e) on January 1, 2015.

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