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HYPERSPECTRAL ENDMEMBER DETECTION USING MORPHOLOGICAL AUTOASSOCIATIVE MEMORIES By DANIEL S. MYERS A THESIS PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE UNIVERSITY OF FLORIDA 2005 Copyright 2005 by Daniel S. Myers ACKNOWLEDGMENTS I thank my advisor, Dr. Gerhard Ritter, for the benefits of his guidance and experience, and Dr. Mark Schmalz for his assistance with proofreading this thesis, and his continued support during my undergraduate and graduate studies. TABLE OF CONTENTS page A C K N O W L E D G M E N T S ......... ............... ............................................................... iii LIST OF FIGURES ............. .................................... ..............vi A B ST R A C T ......... .... ......... ........................................................... ......vii CHAPTER 1 IN TR O D U C T IO N ...................................... ............................. .............. 1 2 MORPHOLOGICAL AUTOASSOCIATIVE MEMORIES.........................................5 2.1 M athematical Basis for M orphological M memories .............................................5 2.2 LatticeBased M atrix Operations.................................... .......... .............. 6 2.3 LatticeBased Associative M memories ....................................... .............. 7 2.3.1 Early A ssociative M em ories................................ ........................ 8 2.3.2 Constructing LatticeBased M em ories................................ ................... 9 2.4 Properties of LatticeB ased M em ories........................................ .................... 10 2.4.1 C conditions for Perfect R ecall............................................ .................... 10 2.4.2 Fixed Point Sets and Lattice Independence............................................ 11 2.4.3 Strong Lattice Independence and Affine Independence ....................... 14 3 HYPERSPECTRAL IMAGES AND THE LINEAR MIXING MODEL .................... 18 3.1 H yperspectral Im aging D evices........................................................................ 18 3.1.1 Im age C ubes .............................................. ................................. 18 3.1.2 Spectroscopy.................................... ......................... ... ..... 20 3.1.3 E ndm em bers ............................................ .................... 20 3.2 The Linear M ixing M odel ....................................................... .............. 22 3.3 Computing Fractional Abundances ........... .............................................23 4 HYPERSPECTRAL ENDMEMBER DETECTION WITH MORPHOLOGICAL M EM O RIE S .......................................................................................... 26 4.1 Motivation for the Algorithm ................................ ..............26 4.2 Scaling and Positioning Endmembers ..... ...................................27 4.3 T he A lgorithm ................................................ .................. .............. 28 4.4 Advantages of the Algorithm .................. ........... .......... 29 5 E X PER IM EN TA L R E SU L T S ...................................................................................30 5.1 D ata C characteristics .................................................. .............................. 30 5.2 Endm em ber D eterm nation ........................................................................... 31 5.3 M material A bundance M aps ................................................................... ........ 31 6 C O N C L U S IO N S .................................................................................................. 4 4 L IST O F R E FE R E N C E S .....................................................................................46 BIO GRAPH ICAL SKETCH .................................................. ............................. 50 v LIST OF FIGURES Figure e 3.1: R reference spectra for Juniper bush........................................................... ......... 21 3.2: Reference spectra for the mineral Montmorillionite ..........................................21 51: Plot of detected endmember spectra and reference spectra for the mineral K ao lin ite. ........................................................ ............... 34 52: Plot of detected endmember spectra and reference spectra for the mineral Alunite. .35 53: Plot of detected endmember spectra and reference spectra for the mineral Calcite. .36 54: USGS reference map for the Cuprite, Nevada, site........................................... 37 55: Abundance map for the first variety of the mineral Kaolinite.................................38 56: Abundance map for a second variety of the mineral Kaolinite..............................39 57: Abundance map for the mineral Alunite. ............................. ..........40 58: Abundance map for the mineral Calcite. ........................................ .............. 41 59: Abundance map for the mineral Muscovite.............. .................. ................42 510: Abundance map for the mineral Buddingtonite................................. .............43 Abstract of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Master of Science HYPERSPECTRAL ENDMEMBER DETECTION USING MORPHOLOGICAL AUTOASSOCIATIVE MEMORIES By Daniel S. Myers December 2005 Chair: Gerhard X. Ritter Major Department: Computer and Information Science and Engineering Hyperspectral (HS) imaging devices are a special class of remote sensor capable of simultaneously measuring and recording light at hundreds of different wavelengths. Since hyperspectral devices are capable of measuring energy at wavelengths outside the range of the human eye, HS images can reveal information that would be undetectable by monochromatic imaging systems. In particular, different physical materials such as vegetation, soils, and minerals possess unique hyperspectral signatures, making material discrimination and identification possible from HS imagery. In an aircraftmounted hyperspectral imager, pixel resolution referred to the target is on the order of tens of meters, and each hyperspectral image pixel is modeled as a linear combination of the spectra of known materials that make up the scene. These fundamental material spectra are called endmembers. Given a set of endmembers, each image pixel may be unmixed to determine the percentage of each endmember spectrum that is present in the area covered by a given pixel. This thesis presents a new method for automatically detecting the endmembers in a hyperspectral image by using morphological autoassociative memories. An associative memory creates a pairing between two patterns, x and y, such that the memory will recall y when presented with x. Autoassociative memories are a special class of these memories where the input and desired output are the same pattern. Morphological memories are based on lattice algebra, which alters conventional vector algebra by replacing the multiplication operator with a maximum or minimum operator. This mathematical basis gives morphological memories several unique properties, including theoretical maximum information storage capacity, convergence in a single training epoch, and efficient hardware implementations due to the lack of multiplication operations. The approach detailed herein uses a morphological memory to determine extreme points of the set of hyperspectral image pixels. These points correspond to pixels of greater purity, and are more likely to be endmembers representing the fundamental materials in the image scene. Experimental results on hyperspectral images from Cuprite, Nevada, reveal that endmember detection with morphological memories is fast, and produces results competitive with other autonomous endmember detection methods. CHAPTER 1 INTRODUCTION Hyperspectral (HS) imaging devices are a class of sensors capable of simultaneously measuring and recording the intensities of many different wavelengths of light. Because some electromagnetic wavelengths lie outside the range visible to the human eye, images produced by hyperspectral devices can reveal information about a scene that is undetectable in conventional imaging devices, which exploit only the visible spectrum. Hyperspectral devices were first developed in the 1980s [1], and have since become an important remote sensing tool, with applications in the geosciences, environmental monitoring, agriculture, and national security [25]. The collection of measured intensities associated with a single pixel in a hyperspectral image is called the spectrum of the pixel. The science of spectroscopy is concerned with characterizing and identifying various realworld materials such as organic compounds, inorganic chemicals, and minerals by analyzing their spectra. The high spectral resolution produced by a hyperspectral device facilitates identification of dominant materials that make up a remotely sensed scene and thus supports discrimination between them [2]. Spectra that represent the fundamental materials in a scene are known as endmembers. For many applications, endmembers are determined apriori using expert knowledge of the application domain. In this case, hyperspectral image processing can be expressed as a pattern recognition problem, matching spectra in the HS image to predetermined endmember spectra stored in a library. In general, however, the endmembers cannot be determined in advance, and must be selected from the image itself by identifying the pixel spectra that are most likely to represent fundamental materials. This comprises the problem of automated endmember detection. Unfortunately, the nature of hyperspectral devices complicates the process of endmember determination. Most modern hyperspectral imaging devices are mounted on aircraft or satellite systems [2, 6]. In these systems, the spatial resolution of each pixel is on the order of tens of meters, and an area of such size is unlikely to be composed of a single endmember material. Thus, the search for endmembers becomes the search for the image pixels that are "pure," that is, having spectra comprised of one principal endmember, with as little contamination from other endmembers as possible. It has been shown that these pure pixels can be represented as vertices of a high dimensional convex simplex that encloses the pixel spectra [7, 8]. Thus, most endmember determination algorithms find the set of pixels in the image that form the largest possible simplex enclosing the data, then treat the spectra of these pixels as the fundamental endmember spectra [9, 10]. This thesis presents a new method for endmember determination using morphological autoassociative memories. Given a pair of patterns {x, y}, an associative memory M is a mapping that recalls the pattern y when presented with the pattern x. The Hopfield net is arguably the bestknown example of an associative memory [11]. An autoassociative memory is a special case of the general associative memory where the input and output patterns are identical; that is, the memory M should recall x when presented with the input x. In order to be useful, the autoassociative memory must also have the ability to recall x when presented with a corrupted version of the input, x . Morphological memories are one member of a family of neural network models based on lattice algebra [1214]. The conventional vector algebra is a ring over the real numbers with the operations of multiplication and addition, denoted by {9i, x, +}. Lattice algebra replaces the operation of multiplication with the discrete maximum and minimum operators to produce the new semiring {9i, +, v, A}. Because the maximum and minimum operators are inherently nonlinear, neural network models based on lattice algebra exhibit behaviors different from their vector algebra counterparts. The networks are called morphological because of similarities to the operations of erosion and dilation contained in the theory of mathematical morphology developed for image processing [15]. Neural network models originally developed from image algebra incorporated erosion and dilation operators [16]. These models were the forerunners of current morphological neural network paradigms [17]. Autoassociative memories based on lattice algebra have several desirable qualities, including theoretical maximum information storage capacity, convergence in one training epoch, and robust performance in the presence of certain types of noise. For the purpose of endmember detection, the memory is used to determine a set of extreme points from the patterns it learns. These extreme points form a highdimensional simplex, and are therefore endmembers of the hyperspectral image pixels learned by the memory. Experimental results reveal that using morphological autoassociative memories for endmember determination is fast, easy to implement, and produces results competitive with other endmember determination techniques. M. Grafia proposed the first methods for endmember detection using latticebased memories, first with Gallego [18] and then with Sussner and Ritter [19, 20], 4 The remainder of this thesis is organized as follows: Chapter 2 introduces morphological autoassociative memories, their construction, and relevant theoretical properties. Chapter 3 discusses hyperspectral images, the linear mixing model for hyperspectral pixels, and methods for spectral unmixing. Chapter 4 introduces an algorithm for endmember determination using morphological memories, and Chapter 5 applies the new method to hyperspectral data and provides experimental results. Chapter 6 summarizes the topics of the thesis and presents conclusions. CHAPTER 2 MORPHOLOGICAL AUTOASSOCIATIVE MEMORIES This chapter discusses the model of a morphological autoassociative memory in terms of its mathematical basis, construction, and relevant properties. Such memories belong to a class of artificial neural network models that mimic the human mind's ability to store and recall information on the basis of associated cues. For example, the name of a friend recalls that person's face. Similarly, a picture of a person helps one recalls his name [14]. Morphological memories differ from other artificial memories because they are based on lattice algebra, giving them unique and useful properties. 2.1 Mathematical Basis for Morphological Memories Most existing neural network models are based on a mathematical structure that features operations of addition and multiplication performed over the real numbers. Mathematically, this structure is known as a ring and is denoted by {9(, +, x }. In this model, the neural computation, denoted by z, is expressed as the weighted sum of its inputs: N 7=i>x w (1) =(1) where x, denotes the ith input and w, denotes its corresponding weight. The computations for morphological neural networks are carried out using lattice algebra, which replaces the operation of multiplication with the maximum or minimum operator, and is represented by {9, v, A, + }, where the symbols v and A represent the discrete maximum and minimum operators. Using this mathematical foundation, the morphological analogues of equation (1) are given by: N =Ax, + (2) I=1 and N T=V x +w. (3) 1=1 Equations (2) and (3) respectively correspond to the operation of erosion and dilation in the theory of image morphology [15]. Hence, they are known as morphological neural networks. Numerous models for morphological neural networks have been proposed. The most prominent are the associative memories [14, 21, 22, 23], and morphological perceptrons with dendritic structures [12, 13, 24, 25, 26, 27, 28]. The latter have the ability to learn any compact set in 9jN while requiring only one epoch of training for convergence and yielding perfect classification of the data set used for training. 2.2 LatticeBased Matrix Operations Before continuing the discussion of morphological memories, it is necessary to define a group of matrix operations based on lattice algebra. For the most part, lattice based matrix operations are clearly related to their counterparts over {9(, +, x First, the usual operation of matrix addition is replaced by the pairwise maximum or minimum of two matrices. Suppose A and B are mx n realvalued matrices. The matrix maximum operator C = A v B, is defined by c, = a, v b The definition is similar for the minimum operator. There is also a latticebased operation that is analogous to matrix multiplication. As with the previous definition, there are two types of lattice matrix multiplication, one based on the maximum operation, denoted as 0 and one based on the minimum operation, denoted by F[. Given an m x p matrix A and a p x n matrix B, the m x n matrix C = A [M B is defined as N c, = Va +bk =( +b,)v(a, + b )v...v(ap +b b). (4) k=1 This operation is known as the max product. Similarly, the minproduct C = A B is defined by N c, = Aak + bk + + b1 )A (a + b,2)A... A (al + bp). (5) k=1 Given a realvalued vector x, its conjugate transpose, x*, is defined by x* = (x ) where x' denotes the transpose of x. Further, given two realvalued vectors x,y e =9", their minimax outer product is the matrix computed as y, +x, 1 y, +x, y+x = +: ". : (6) 'Y" +x, ... y +x l Together, the conjugate transpose and outer product operations provide the mathematical tools required for constructing morphological associative memories. 2.3 LatticeBased Associative Memories The goal of associative memory theory is to construct a mathematical representation of the relationships between patterns, such that a memory can recall the pattern y e 9Cm when presented with the pattern x e 9", where the pairing {x, y} expresses some desirable pattern correlation [14]. More formally, let an associative memory be denoted by M, and the let associated sets of patterns be denoted byX = (x',...,xk} and Y = yl',...,yk}. Mis an associative memory if it recalls the pattern y when presented with the pattern x for all j = 1...k. In order to be practically useful, M should also recall y when presented with a corrupted or noisy version of x , denoted as x. 2.3.1 Early Associative Memories Hopfield and Kohonen produced some of the first associative memories based on linear neural network models [11, 29]. In these approaches, a memory M is constructed as the sum of outer products of the paired x and y patterns: M=k y .(x (7) =1 where x' denotes the transpose of x. This produces perfect recall of each output pattern y when the input patterns are orthonormal, that is, when x x (8) S0 i j In this case, the reconstruction of pattern y is computed as Mx =y x x +) y y xy).x =y (9) Unfortunately, the input patterns thus produced will not be orthonormal in most practical cases. Filtering using activation functions must be performed to extract the desired output pattern [11]. 2.3.2 Constructing LatticeBased Memories Memories based on lattice algebra are similar to the aforementioned associative memories. For a set of pattern associations (X, Y), define the two latticebased (or morphological) memories W, and M, as k w, = A [y+(x \ (10) =1 and k My = V[y + x (11) (=1 Individual elements of the min memory W, can be calculated using the formula k w= A xf). (12) The formula for individual elements of the max memory My is similar. Recall of stored patterns is accomplished using the max and min matrix products defined in Section 2.2. If the memories are capable of recalling the stored output pattern y when presented with the input pattern x, then the following relationships are true: y = W, 3x, (13a) y = M El x. (13b) Thus, patterns are recalled from the min memory, W, using the max product, and from the max memory, M, using the min product. If the set of pattern associations is given by (X, X), then the memories W, and M, are called morphological autoassociative memories [14, 21, 22]. Notice that the diagonal of an autoassociative memory matrix will be composed entirely of zeros, since k k w =A(x x)=O =\/(x xf)==m,,. (14) Further, the autoassociative memories W, and M, are related by the conjugate transpose operator defined in 2.2, such that W, = MA and MA = W since A (x, x )= V (x xf ). Thus, it is possible to derive both autoassociative memories 5=1 5=1 with only pass through the set X 2.4 Properties of LatticeBased Memories This section discusses salient properties of associative memories that are based on lattice algebra. Particular attention is given to the conditions required for perfect recall of stored patterns and the geometric interpretation of autoassociative memories, since these properties are most important for designing and understanding the endmember detection algorithm discussed in Chapter 4. 2.4.1 Conditions for Perfect Recall It is reasonable to investigate the conditions necessary for perfect recall from a morphological memory. The following theorem, proven by Ritter and Sussner, relates perfect recall of stored patterns to the structure of the memory matrix [14]. Theorem 2.1. Wx is a perfect recall memory for the pattern association (x, yA) if and only if each row of the matrix (y + (x ) ) W, contains a zero entry. Similarly, M is a perfect recall memory for the pattern association (x", y ) if and only if each row of the matrix M (yA + (x) ) contains a zero entry. Recall that the autoassociative memories W, and M. have their major diagonals composed entirely of zeros as a consequence of their definition. Thus, the conditions of Theorem 2.1 are automatically satisfied for autoassociative memories, and the following relationship is true: Wr0E x =x ~=y=M Qx x (15) for all xA e X [8]. Notice that this formulation does not place any constraint on the orthogonality of the patterns in X, or on the maximum number of patterns stored in the memory. In fact, a morphological autoassocaitive memory can store the theoretical maximum number of patterns, while still giving perfect recall [14, 22]. Further, a morphological memory is trained with only one pass through the stored data. This is in significant contrast to other neural network models used for associative memories, such as the Hopfield net, which utilizes a recurrent neural network model [11]. 2.4.2 Fixed Point Sets and Lattice Independence Given an autoassociative morphological memory W,, the set of fixed points is the set of all possible patterns x such that x = W, 2 x. As previously established, this fact is guaranteed to be true when x e X, but may also be true for infinitely many other points that are not part of the set Xused to construct the memory. Ritter and Gader proved that the two autoassociative memories formed from X, W,, and M,, share the same fixed point set, denoted as F(X) [22]. Since the application domain for these methods is traditional pattern recognition, the remainder of this section will assume that all patterns are represented as vectors in 9S", unless otherwise noted. Similar to the notion of linear dependence in traditional vectorspace algebra, lattice algebra contains the notion of lattice dependence. Consider the set X = {x',...,x k. A linear minimax combination of vectors from Xis any pattern x that can be formed by the expression k x=S(x',...,x )= VA(= Vx (16) jeJ =1 where J is a finite set of indices and a. e 9a, Vj e J and = 1,..., k [22]. This expression is known as a near minimax sum. As an alternate definition, any finite combination involving the maximum and minimum operators and vectors of the form a + x", for a 9s and x" e X, is a linear minimax sum. The set of vectors that can be formed by a linear minimax sum of the vectors in Xis called the linear minimax span of X. We are now able to define the notions of lattice dependence and independence. A pattern y is said to be lattice dependent on X = {x',..., xk if and only if y = S{x',...,xk for some linear minimax sum of the patterns in X. A pattern is lattice independent if and only if it is not lattice dependent. The following theorem connects the definition of the fixed point set F(X) with the definition of lattice dependence [22]. Theorem 2.2. If ye 9", then y is afixedpoint of W, if and only if y is lattice dependent on X Proof. Assume y = (y ,..., y,) is a fixed point of W,. For each j = 1,...,n and each = 1,..., k set a, = y, x A linear minimax sum formed from the patterns in X is given by k k S(x',...,x") = VA(a, +x) = VA((, xf)+x) (17) jeJ i=1 yeJ =1 Letting J = 1,..., n } and manipulating the placement of the maximum and minimum operators, one obtains n k V y,+A(xf +x) (18) .=1 =1 Making the maximum operator in Eqn. (18) explicit, as k k Yl"+A(x +x') v...v Yn+A(x+x) (19) =1 =1 We also can make the term xi + x explicit, and obtain x xx k k x 2=1 : =1 Y +A+A c V...V Yn+A (20) This expression is simplified by applying the definition of W as follows Wi1 +y I 'wIn + n win +Yn + Y Wn+ yn W2n + Yn S v ...v v (21) wnl+ + y n + yn Wnn + Yn which is simply the definition of the max product W, 97 y. Since we assume that y is a fixed point, we have y = W, [3 y. Thus, y is contained in the memory W, and is also lattice dependent on X This proves the theorem. The application of Theorem 2.2 gives a convenient way to check if a pattern y is lattice independent on a set of patterns X. That is one simply forms the autoassociative memory W,, and attempts to reconstruct y using the max product. If y # W, 1 y, then y is not in the fixed point set of X, and is therefore lattice independent from the patterns in X. 2.4.3 Strong Lattice Independence and Affine Independence Traditional vector algebra includes the notion of a base, which is the smallest set of vectors that span a given space. The idea of a base is also applicable to linear minimax sums and autoassociative memories. Specifically, given a set of vectors X c ( ", does there exist a smaller setB c 9i", such that the vectors in B generate the same linear minimax span as the vectors in X and B is minimal in some sense? Note that if the two sets B and Xhave the same linear minimax span, then the two memories W, and WB must be equal as a consequence of Theorem 2.2. This section expands on this question by examining a more rigorous kind of lattice independence relationship called strong lattice independence and providing a method for computing a strong lattice independent base of the set X c 9j" that contains only n or fewer vectors. The theory of strong lattice independence is essential to the development of the endmember detection algorithm discussed in Chapter 4. Definition 2.1. A set of vectors X = {x',..., xk c 9" is said to be max dominant if and only if for every Ae 1,..., k} there exists an index j, e {1,..., n} such that k xA x, =V (x )) Vie {1,...,n}. (22) A=1 15 Definition 2.2. A set of vectors X = {xl,...,xk c 9 is said to be min dominant if and only if for every A2 (1,..., k there exists an index j, A (1,..., n such that k x, x =A (xf x ) Vie {1,...,}. (23) =1 Definition 2.3. A set of lattice independent vectors X = {x',...,xkc 9n" is said to be strong lattice independent if and only if X is max dominant, or min dominant, or both. Interestingly, the set of vectors Wformed from the columns of the autoassociative memory W, is always max dominant. The following theorem verifies that a strong lattice independent set can always be constructed from the set W. Theorem 2.3. Let X = {x',...,xk}_ 9i and let W c (9" be the set of vectors consisting of the columns of the matrix W 3V c W 3 V # 0, Vis strongly lattice independent, and W, = W,. The proof of the theorem requires the following lemma. Lemma. If V c W is any nonempty subset of W, then Vis max dominant. Proof of the Lemma. If card(V) = 1, then V satisfies the max dominance condition vacuously. If card(V) 2 2, let u, v e V c W. Thus u = wJ e W and v = w' e Wfor some 1, je {1,..., k with j Thus, u, u, = W W = wj wj = wj (24) It was established in [22] that W >Wj_W, =W W =Vj V. 1i J1 fli (25) This relationship is true for Vi = 1,..., n, so u and v satisfy the conditions for max dominance. This proves the lemma. Proof of Theorem 2.3. It is always possible to construct a lattice independent set from Wby eliminating lattice dependent patterns. Let W, = W \ {w1 If the memory W, = W,, set V = W, otherwise, set V = W. That is, w' e V, if w' is lattice independent and w' < V if w' is lattice dependent. In either case, Wl = W,. Now, set V = V \{w2} if W = W,, otherwise set V2 = V. Again, in either case W, = W,. Continue in this manner until Vk = Vk \ {w if W = W or Vk = Vk if the memories are unequal. Now let V = Vk. Note that Vk 0 and by construction, W VI D V2 D ... D Vk = V = {w e W:w is lattice independent}. (26) As previously shown, V satisfies the condition for max dominance. By the lemma V is max dominant lattice independent by construction. Therefore Vis strongly lattice independent. This proves the theorem. Theorem 2.3 provides a straightforward method for deriving a strongly lattice independent base for any set of pattern X c 9N Form the memory W, and let the set W consist of the columns of the memory. Now remove any lattice dependent patterns from Wusing the method described above to yield the strongly lattice independent set V. Strong lattice independent sets are essential to endmember detection because of a connection between strong lattice independence and affine independence. An affine combination of a set of vectors X = x',..., xk is a linear combination, where all of the combination coefficients sum to one: k a' x' (27) 7=1 k with a' e 9 0 < a' < 1, and a' = 1. The set Xis said to be affinely independent if no 7=1 vector x can be written as an affine combination of the remaining vectors, X \({x . The following theorem, again proven by Ritter and Gader, connects strong lattice independence to affine independence [22]. Theorem 2.4. If X = {x',...,xk } 9n" is strongly lattice independent, then Xis affinely independent. The proof utilizes a geometric description of the boundaries of the fixed point setF(X), a subject discussed in [22], which is beyond the scope of this thesis. The convex hull of a set of n +1 affinely independent points yields an n dimensional simplex, the simplest geometrical structure capable of enclosing n dimensional space. Chapters 3 and 4 expand on the importance of simplexes in representing endmembers in hyperspectral image processing. CHAPTER 3 HYPERSPECTRAL IMAGES AND THE LINEAR MIXING MODEL Hyperspectral (HS) imaging devices are a special class of remote sensor capable of simultaneously measuring and recording light at hundreds of different wavelengths. Because hyperspectral imaging devices capture light energy outside the range visible to the human eye, HS images can reveal information that is undetectable in conventional monochromatic imaging systems. 3.1 Hyperspectral Imaging Devices Hyperspectral imaging devices belong to a class of remote sensors called imaging spectrometers. An imaging spectrometer is a sensor that measures light at multiple wavelengths simultaneously, by collecting incoming light, then dividing it into many adjacent frequency bands using a separating element such as a prism. Other elements in the sensor measure the energy in each band [1]. Early imaging spectrometers had a spectral resolution on the order of tens of bands. Today, these sensors are called multispectral, to distinguish them from hyperspectral devices, which have spectral resolutions on the order of hundreds of bands. Since first appearing in the 1980s, hyperspectral imaging spectrometers have grown in precision and sophistication and are now a mainstream technology within the remote sensing community [1]. 3.1.1 Image Cubes An individual HS image may be represented as a collection of monochromatic images. In this framework, each pixel of an mx n pixel monochromatic image records the light energy from a single spectral band. Therefore, if a hyperspectral sensor measures k spectral bands, then the complete hyperspectral image is a collection ofk mx n pixel monochromatic images, called an image cube of size mx nx k. Image cubes produced by modern hyperspectral sensors require a significant amount of memory. For example, consider the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) operated by NASA's Jet Propulsion Laboratory. The AVIRIS image cube has size 614 x 512 x 224 pixels [30]. Each entry in the image cube is stored as a two byte unsigned integer, so the total storage space required for a single AVIRIS image is computed as 2 614 512 224 = 140,836,864 bytes. Considering that an AVIRIS experiment may require several images collected over the region of interest, it is crucial that algorithms for processing HS images consider memory requirements and image size. In practice, the size of an image cube can often be significantly reduced by applying techniques such as Principal Component Analysis or the Minimum Noise Fraction Transform [31, 32]. Because adjacent spectral bands are likely to be highly correlated, these techniques can reduce the size of an image cube from hundreds of dimensions to a relatively small number of important components. There is, however, a disadvantage to such dimensionality reduction techniques. Transforming the image spectra can destroy their physical meaning, since the transformed spectra no longer correspond to realworld physical materials, making expert analysis of transformed HS images more difficult. 3.1.2 Spectroscopy Spectroscopy is the study of light emitted by or reflected from different materials and the variation in this light energy with respect to wavelength [33, 34]. Realworld materials such as organic compounds, minerals, and inorganic chemicals reflect light in different ways. Thus, the data collected by imaging spectrometers makes material differentiation and identification possible. Though traditional spectrometers are lab based or handheld, modern hyperspectral imaging devices are mounted on aircraft or satellite platforms [2, 30] and can collect spectral data over a wide geographical area in a relatively short amount of time. As discussed in Section 3.1.1, an mxnxk HS image cube can be considered as a collection of k mx n monochromatic images, where each image records the measured intensities in a different spectral band. Corresponding pixels in multiple monochromatic images represent different spectral measurements collected at the same geographical location. For a given geographical location, the vector formed from corresponding pixels in all k images of the HS cube is the spectrum associated with that location. Thus, an m x nx k image cube contains m x n spectra, each represented as a k element vector. Spectra can be visualized as continuous plots of wavelength vs. reflected intensity. Figs. 3.1 and 3.2 show spectra for the Juniper bush and the mineral Montmorillionite. 3.1.3 Endmembers The fundamental materials that make up a scene are known as endmembers. In many HS imaging applications, the endmembers are determined apriori using domain specific knowledge. In this case, material is accomplished by matching pixel spectra in the hyperspectral image to representative endmember spectra stored in a library. In general, however, the endmember spectra are not known in advance, and matching pixel spectra Clark et al., 1993 USGS Digital Spectral Library 0 6 Juniper_Bush IH914B whol WIRlBa 10/03/1991 16:54 M splib04a r 5276 U U0.4 0.2 0.0 0.5 1.0 1.5 2.0 2.5 3.0 WAVELENGTH (gim) Figure 3.1: Reference spectra for Juniper bush. The large peak in the near infrared range is characteristic of living vegetation. 0.5 1.0 1.5 2.0 WAVELENGTH (gm) 2.5 3.0 Figure 3.2: Reference spectra for the mineral Montmorillionite. The dips located at approximately 1.4, 1.9, and 2.25 pm are known as absorption bands. Characteristic absorption bands are one of features used to match recorded spectra to physical materials. 1.0 0.8 U 40.6 U r1 0.4 0.2 0.0 to a library of reference spectra is not feasible, since any library suitable for general use must contain a large enough number of spectra to be applicable to any application domain. Most of these reference spectra will not match any pixels from the image, leading to a great deal of wasted computation, or will produce partial matches, increasing the difficulty of determining the true endmembers in the scene. Therefore, it is desirable to determine endmembers from the image itself by identifying the pixel spectra that represent fundamental materials [31, 32]. This comprises the problem of automated endmember detection. 3.2 The Linear Mixing Model The practical limitations of hyperspectral devices increase the challenge of automated endmember detection. Many modern HS imaging systems are mounted on airborne platforms [2, 30]. In these systems, the spatial resolution of each pixel is on the order of tens of meters, and an area of such size is unlikely to be composed of only one material. However, if the scene is dominated by a relatively small number of endmember materials, it is reasonable to assume that mixtures of endmembers account for the spectra observed in each pixel. The dominant mixing model for HS images represents each pixel as a linear combination of fundamental endmember materials [32]. Let S be the set of M endmembers and x an observed pixel spectra. In the linear mixing model, M x= as, +w, (28) 1=1 where s, e S is an endmember, the scalar a, is the fractional abundance associated with s,, and w is the additive observation noise vector [32]. In order to be physically meaningful, the fractional abundance coefficients should satisfy the following constraints: a, = 1, a, [0,1]. (29) =1 That is, the abundances must have values between zero and one, and all fractional abundances for a given pixel sum to unity. If these constraints are satisfied then the fractional abundance a, represents the percentage of endmember s, present in pixel x. In the linear mixing model, the automated endmember detection process becomes the search for "pure" pixels: those spectra composed of one principal material with as little contamination of from other materials as possible [8, 31, 32]. Craig showed that there is a connection between these pure pixels and the theory of convex sets [7, 8]. In this formulation, the endmember pixels lie at the exterior of a high dimensional volume that encloses all the pixel spectra. The mixed pixels occupy the hull's interior, and can be represented as linear combinations of the extremal pixels. The simplest model for this kdimensional hull is a simplex, the convex hull of k +1 affinely independent points. The simplex is the simplest polyhedron that can enclose kdimensional space. For example, a triangle and a tetrahedron are simplexes in two and three dimensions, respectively. Further, if a mixed pixel x is interior to the simplex, its fractional abundance coefficients will automatically satisfy the required physical constraints. 3.3 Computing Fractional Abundances After endmember detection is complete, the newly discovered fundamental materials are used to compute fractional abundances for each pixel. This step is known as inversion or unmixing. The simplest technique approaches inversion as an unconstrained optimization problem. For example, let x be the HS pixel to unmix, and S an L xM matrix with the Ldimensional endmembers arranged as its columns. The goal of the optimization is to find a vector of fractional abundances a such that the squared error i x S a 2 is minimized [32]. The closed form solution to this problem is given by a = (S'. S ) S' x. (30) Note that this solution is unconstrained and is not guaranteed to satisfy the fulladditivity and nonnegativity constraints discussed in section 3.2. It is possible to derive a closed form solution for a set of coefficients that satisfies the fulladditivity constraint. This approach uses the method of Lagrange multipliers to M constrain the vector a to lie on the hyperplane where a, = 1 [32]. The corresponding '=1 closed form solution is given by a=a" (S'. S)1 Z' [Z(S'. S ) . ZJ] (Z.a 1), (31) where Z is a IxM vector having ones as its entries, and aU is the unconstrained solution. There is no known closedform solution that produces abundances satisfying the nonnegativity constraint. The NonNegative Least Squares (NNLS) Algorithm is an iterative approximation that has been employed in practice [35]. This method iteratively estimates the abundances a by finding least squares solutions at each step for the coefficients of a that are negative. Unfortunately, coefficients produced by this technique rarely satisfy the fulladditivity constraint. Because both constraints are difficult to satisfy in practice, there are a number of hybrid methods that combine multiple approaches to find abundances. One such method, 25 proposed by Ramsey and Christenson, relies on the reasonable assumption that individual pixels may be successfully unmixed using only a subset of the endmembers [36]. This technique proceeds iteratively, computing the unconstrained solution for a at each iteration, then culling any endmembers that produce negative abundances. After all negative coefficients have been eliminated, the resulting vector is scaled so that its elements sum to unity. CHAPTER 4 HYPERSPECTRAL ENDMEMBER DETECTION WITH MORPHOLOGICAL MEMORIES This section describes an algorithm for detecting endmembers in hyperspectral images using morphological autoassociative memories. The proposed technique relies on the properties of strong lattice independent sets and the geometrical description of a set of endmembers. 4.1 Motivation for the Algorithm As established in Section 3.2, the set of endmembers can be interpreted as the extreme points of a highdimensional volume that encloses the hyperspectral image pixels. The simplest model for this volume is an ndimensional simplex, formed from the convex hull of n +1 affinely independent points. As established in Section 2.4.3, the columns of the memory W, can be reduced to a strong lattice independent set that is affinely independent. After scaling and translating, this strong lattice independent set yields a set of endmembers for the hyperspectral pixels in X. Thus, the columns of the W, memory provide up to n affine independent vectors that serve as extreme points of the simplex. The n +1 point of the simple is the shade or dark point formed from the minimum of all vectors in X [32]. The dark point serves as the apex of the simplex, and the minimum possible energy present in a pixel in the image. The columns of W, may yield a strong lattice independent set with fewer than n vectors. This is an acceptable result, and occurs if the hyperspectral pixels lie in a simplex with dimensionality less than n. In practice, however, the size of hyperspectral data sets implies that the W, matrix will likely have n lattice independent columns. As established in Section 2.3.2, the max memory M. is equal to the conjugate transpose of W,. Because M. also satisfies the theories relating to strong lattice independence, this provides a convenient way to derive a second set of endmembers that may yield information unavailable from only the W, memory. 4.2 Scaling and Positioning Endmembers The strong lattice independent set V determined from the columns of W, yields a set of candidate endmembers for the pixels in X. Before the algorithm completes, these endmembers must be translated into a set more suitable for the linear unmixing process described in Section 3.3. In particular, the W, memory may contain several negative terms. Let Vbe the set of vectors formed from the columns of W,. For each v e V, set v=vAAvf, (32) 1=1 = that is, subtract the overall minimum element in the set V from each v. Note that if v has no negative elements, then AAvf =0, (33) since the diagonal of W, consists entirely of zeros and v remains unchanged. Further, the vectors produced by this transform will still exhibit strong lattice independence. Let Xbe a strong lattice independent set and x e X. It was shown in [22] that the set { x + a {u X / x where a E 9R, will still be strong lattice independent. The presence of zeros on the diagonal requires one additional manipulation to the vectors of V. Let v' be a vector in V. By the definition of W,, v = 0 If v' is scaled to eliminate negative entries, v\ will also be scaled upwards, and may appear as a spike in the final endmember. This artifact is removed by setting v 1 K = 1 v: = v :_ i #= k v(_+v,+ /2oi l,i k (34) where k is the dimensionality of v' Because adjacent spectral bands tend to be highly correlated, this smoothing improves the quality of the resulting endmembers by eliminating discontinuities that might appear along the diagonal. Endmembers produced from the max memory M. cannot contain negative entries, but the zeros along the diagonal may still manifest themselves as downward spikes or dips in the spectral plot. These are removed by a smoothing transform analogous to the one used for W,. 4.3 The Algorithm Now that the motivation for the method has been established, the algorithm for deriving endmembers using morphological memories is presented in greater detail as follows: 1. Input X, the set of hyperspectral pixels. 2. Form the memory W, by scanning the set X 3. Set SW equal to the strong lattice independent set formed from columns of W . 4. Scale and position the endmembers of the set S,. 5. Set MX,= (W, *)'. 6. Compute S,, the strong lattice independent set formed from the columns of M. 7. Scale and position the endmembers of the set S . 8. Return S, and S,. The majority of execution time is spent on Step (2), scanning the hyperspectral image to produce the morphological memory. The remaining steps take relatively little time in comparison. 4.4 Advantages of the Algorithm The algorithm has several properties that make it a desirable method for endmember detection. Because of their size, HS images are stored on disk or dedicated tape devices, with relatively slow access speeds. The algorithm requires only one pass through the image, reducing the time spent on memory access operations. Further, the memory can be constructed incrementally, eliminating the need to dedicate a large amount of main memory to storing and manipulating image pixels. Third, the algorithm is based on lattice algebra, which does not include multiplication operations. Because hardware implementation of multiplication operations requires a relatively large number clock cycles, lattice algebra based methods may outperform other algorithms that have the same computational complexity. Finally, the addition and comparison operations required to execute lattice algebra algorithms are well suited for implementation in programmable logic devices or application specific integrated circuits. Chapter 5 presents the results of applying the algorithm to experimental hyperspectral data collected over Cuprite, Nevada, an established test site for HS imaging. CHAPTER 5 EXPERIMENTAL RESULTS This chapter details the results of applying the proposed method for endmember detection to a real hyperspectral image collected over the area of Cuprite, Nevada. A mining area located approximately 200 km northeast of Las Vegas, Cuprite has been extensively used for remote sensing tests since the 1980s and has been thoroughly mapped [2, 9, 37, 38]. The area chiefly consists of volcanic rocks modified by hydrostatic processes. Principal minerals of interest at the Cuprite site include Alunite, Kaolinite, Calcite in the form of limestone, and Silica [38]. 5.1 Data Characteristics The data used for these experiments comes from images taken by NASA's Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) in 1997. The AVIRIS device is an aircraftmounted 224band spectrometer, measuring wavelengths in the ranges of 400 to 2500 nm with an approximate spectral resolution of 10 nm. Spatial resolution of AVIRIS images is approximately 20 squaremeters per pixel [30]. The uppermost 51 bands of the AVIRIS data were selected for the endmember detection and unmixing experiments, corresponding to infrared wavelengths from 2000 to 2500 nm. Other studies of the Cuprite area have identified this range of the spectrum as most important for distinguishing between the area's characteristic minerals [9, 38]. The pixel spectra were not subjected to dimensionality reduction using Principal Components Analysis (PCA) or the Minimum Noise Fraction Transform (MNF). This approach contrasts with other methods [9, 39], that use dimensionality reduction to make endmember detection more computationally efficient. Though these techniques decrease computational effort, they hinder spectral identification and mineral mapping, since the detected endmembers having been transformed by PCA or MNF will bear no resemblance to the real, physical material spectra they represent as described in Section 3.1.1. 5.2 Endmember Determination A section of the AVIRIS image cube of Cuprite covering 1182x 614 pixels with 51 spectral bands per pixel was selected for the experiment [30]. Using a MATLAB 7.0.4 implementation of the algorithm on a Dell PC with the Windows 2000 operating system, a 3.06 GHz Pentium 4 processor, and 1 GB of RAM required 135 seconds to compute a morphological memory containing every pixel in the image, and to scale the columns of the memory to produce the final endmembers. Figures 51, 52 and 53, show three endmembers produced by the technique compared to the U.S. Geological Survey reference spectra for the minerals Kaolinite, Alunite, and Calcite, respectively [40]. Two sets of endmembers were produced, one each from the W, and M. memories. The two sets of endmembers each yield different minerals of interest in the Cuprite scene. 5.3 Material Abundance Maps Following endmember determination, a geologically interesting subset of the Cuprite image covering 670 x 614 pixels was unmixed using the hybridunmixing algorithm proposed by Ramsey and discussed in Section 3.4. This yields an abundance map for each endmember, where greater pixel intensity corresponds to a higher concentration of the endmember material in that pixel. For each map, any pixel containing more than 50% of the given endmember was brightened to more clearly show regions of interest. Figure 54 is a multicolored reference map produced by the USGS covering the region of interest [40]. The reference map is shifted slightly to the east, relative to the experimental data set, but it is easy to see any similarities between the USGS map and the abundance maps produced by unmixing. The first set of material abundance maps were produced from endmembers derived from the min memory W,. Figs. 55 and 56 show mineral abundance maps for two different varieties of Kaolinite, corresponding favorably to the distributions of the two varieties of that mineral shown in the USGS map. Fig. 57 shows the abundance map for the Alunite endmember previously shown in Fig. 52. The horseshoe shaped formation visible in orange on the USGS map is clearly visible, as is the ring to the east. Fig.58 shows an abundance map for the Calcite endmember. Again, this map matches the distribution shown in mauve on the USGS map. All of these maps correspond favorably to abundance maps produced by the NFINDR algorithm of Winter [9, 10], another geometricallybased method for automated endmember detection. Fig. 59, shows the distribution of the mineral Muscovite. Though less visually striking than previous examples, the key shape in the center of the map clearly matches the distribution shown in blue on the reference map. The USGS reference map of Fig. 54 contains multiple varieties of Kaolinite and Alunite, as well as Dickite, a mineral with a spectrum similar to Kaolinite. In the 51 dimensional pixel space, these similar materials correspond to extreme points of the high dimensional enclosing volume that are clustered together. When using a simplex as the model for the volume, this cluster may be represented by only a single detected endmember. For this reason, the method has difficulty distinguishing between materials with very similar spectra. Thus, the abundance map shown in Figs. 55 and 56 each capture multiple varieties of Kaolinite shown in the reference map of Fig. 54. For the most part, the endmembers derived from the max memoryM. correspond to materials already detected in the W, endmembers. There is, however, one material of interest that appears in the M. endmembers but is undetectable in the first set. The abundance map shown in Fig. 510 corresponds to the mineral Buddingtonite, which is visible in only a few pink pixels in the USGS reference map. The small brightly lit region of the abundance map corresponds to the distribution of this mineral. The detection of a material present in such small quantities is a practical demonstration of the usefulness of endmember detection with morphological memories. 10000 9000 8000 7000 6000 5000 4000 3000 2000 1000 0 Endmember Spectra (Blue) and Kaolinite (Red) 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.45 2.5 Wavelength (nm) Figure 51: Plot of detected endmember spectra and reference spectra for the mineral Kaolinite. 10000 9000 8000 7000 6000 5000 4000 3000 2000 1000 0 Endmember Spectra (Blue) and Alunite (Red) 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.45 2.5 Wavelength (nm) Figure 52: Plot of detected endmember spectra and reference spectra for the mineral Alunite. 10000 9000 8000 7000 6000 5000 4000 3000 2000 1000 0 Endmember Spectra (Blue) and Calcite (Red) 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.45 2.5 Wavelength (nm) Figure 53: Plot of detected endmember spectra and reference spectra for the mineral Calcite. Cuprite, Nevada AVIRIS 1993 Data USGS Tricorder 2.3 product KAlunite 250C KAlunite 450C NaAlunite 400C Kaolinite wxl Kaolinite pxl i I . Dickite Alunite+Kaolinite and/or Muscovite Kaolinite + smectite Calcite '. . .Calcite + ; Montmori lonite NaMontmorillonite .. I,' Figure 56: USGS reference map for the Cuprite, Nevada, site. The map is shifted slightly to the east and south relative to the material abundance maps Figure 55: Abundance map for the first variety of the mineral Kaolinite. Figure 56: Abundance map for a second variety of the mineral Kaolinite. Figure 57: Abundance map for the mineral Alunite. Figure 58: Abundance map for the mineral Calcite. Figure 59: Abundance map for the mineral Muscovite. Figure 510: Abundance map for the mineral Buddingtonite. CHAPTER 6 CONCLUSIONS The problem of automatically determining the fundamental material spectra present in a hyperspectral image is of practical interest to researchers in diverse fields such as geology, agriculture, computer science, and national defense. A new method for detecting endmember materials using morphological autoassociative networks has been described and presented. The morphological memory is used to determine a set of spectra that lie at the exterior of a highdimensional volume enclosing the image pixels. These extreme spectra correspond to "pure" spectra that are composed principally of one endmember material with as little contamination from others as possible. Experimental results have shown that the proposed technique produces results competitive with other automated endmember determination techniques. Hyperspectral images obtained from the NASA AVIRIS sensor over Cuprite, Nevada were processed to obtain endmembers and produce material abundance maps. Minerals detected in the scene include kaolinite, alunite, calcite, muscovite, and buddingtonite. The distributions of these minerals in the experimental material abundance maps correspond favorably to their location in reference maps produced by the U.S. Geological Survey. The proposed detection method has several desirable properties. First, it is fast, requiring only one pass through the image pixels, and does not require the use of dimensionality reduction techniques to be computationally feasible. Second, the memory can be built incrementally by scanning the image. This eliminates the need to allocate a large amount of memory to store and manipulate the image pixels. Third, the implementations of algorithms based on lattice algebra do not use multiplication operations, making them well suited to dedicated hardware implementation in programmable logic devices or application specific integrated circuits. Future work will focus on expanding and extending the method to apply to a wider array of hyperspectral processing problems. There are numerous realworld problems where the technique is readily applicable, such as landmine detection, target recognition, and agricultural monitoring. Future applications of morphological memories and the theory of lattice independence include realtime target tracking, clustering, and computational geometry. In general, neural computation based on lattice algebra is a new and growing discipline of pattern recognition with many open problems and interesting research opportunities. LIST OF REFERENCES 1. R.B. Smith, "Introduction to hyperspectral images," tutorial by Microimages, Inc., Lincoln, NE, 2001. 2. R.G. Resmini, M.E. Karpus, W.S. Aldrich, J.C. Harsanyi, and M. Anderson, "Mineral mapping with Hyperspectral Digital Imagery Collection Experiment (HYDICE) at Cuprite, Nevada, USA," Int. J of Remote Sensing, vol. 18, 1997. 3. D. Manolakis, D. 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Clark, "Spectroscopy of rocks and minerals," and "Principles of spectroscopy," in A.N. Renz (ed.) Remote Sensing for the Earth Sciences: Manual of Remote Sensing, 3rd ed., vol. 3, John Wiley & Sons, New York, pp. 358. 35. C.L. Lawson and R.J. Hanson, Solving Least Squares Problems. Englewood Cliffs, NJ: Prentice Hall, 1974. 36. M.S. Ramsey and P.R. Christenson, "Mineral abundance determination: Quantitative deconvolution of thermal emission spectra," J. Geophys. Res., vol. 103, no. B1, 1998, pp. 57796. 37. A.F.H. Goetz and V. Srivastava, "Mineralogical mapping in the Cuprite mining district," in Proceedings of the Airborne Imaging Spectrometer (AIS) Data Analysis Workshop, JPL Publication 8541, pp. 2229. 38. F.A. Kruse, "Comparison of AVIRIS and Hyperion for hyperspectral mineral mapping," in Proc. of 11th JPL Airborne Geoscience Workshop, Pasadena, CA, 2002, JPL Publication 034 (CDROM). 49 39. A. Ifarraguerri and C.I Chang, "Multispectral and hyperspectral image analysis with convex cones," IEEE Transactions on Geoscience and Remote Sensing, vol. 37, 1999, pp. 75670. 40. R.N. Clark and G.A. Swayze, "Evolution in imaging spectroscopy and sensor signaltonoise: An examination of how far we have come," in Summaries of the 6th Annual JPL Airborne Earth Science Workshop, Palo Alto, CA, 1996, pp. 4953. BIOGRAPHICAL SKETCH I was born in the city of Kingsport, Tennessee, in 1982. In 1998, my family relocated to Miami, Florida, where I graduated from high school. I remained in the state to attend the University of Florida, majoring in computer engineering. During my time as an undergraduate I participated in the University Scholars program under the supervision of Dr. Mark Schmalz, researching acoustic modeling of auditoriums and concert halls. Following the completion of that project, I continued work as Dr. Schmalz's research assistant, principally focused on projects in automated target detection, remote sensing, and pattern recognition. I completed my bachelor's degree in 2004, graduating with highest honors. I remained at the university to complete a master's degree, also in computer engineering. As a graduate student, my principal interests are intelligent systems, pattern recognition, programming languages, and interfaces between digital systems and music. During my summers, I worked as an intern at two national laboratories: first at NASA Langley Research Center, programming digital signal processors for aircraft noise control, and second at Sandia National Laboratories, conducting research on applications of pattern recognition methods to network intrusion detection. My work at Sandia led to a technical advance paper for a swarmbased data simplification algorithm I developed. I completed my third internship, also at Sandia, in the summer of 2005, working on groundbased nuclear explosion monitoring. I will return to Sandia Labs as a permanent employee in 2006. 