Motion prediction within an amorphous sensor array

• US 20030233211A1
• Filed: 02/15/2003
• Published: 12/18/2003
• Est. Priority Date: 02/15/2002
• Status: Active Grant

• Current Assignee: HRL Laboratories LLC (The Boeing Co.)
• Original Assignee: HRL Laboratories LLC (The Boeing Co.)
• Inventors: Payton, David W., Estkowski, Regina I.
• Granted Patent: US 6,885,303 B2
• Time in Patent Office: Days
• US Class Current: 702/150
• CPC Class Codes: G01S 17/00 Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
• CPC Class Codes: H04W 48/08 Access restriction or access information delivery, e.g. discovery data delivery signalling during connection H04W76/00
• CPC Class Codes: H04W 8/005 Discovery of network devices, e.g. terminals
• CPC Class Codes: H04W 88/04 adapted for relaying to or from another terminal or user

Abstract

A method, apparatus, and computer program product are presented for detecting motion within an amorphous sensor node array. The operations performed include detecting an object at a node in the array, with a node that detects an object termed a “detecting node”. Another operation includes sensitizing nodes about the detecting node to the possibility that the object will move toward the sensitized nodes. Still another operation includes, when the object moves toward a sensitized node, detecting the object at the sensitized node and propagating a warning signal to a distance from the sensitized node in the direction of the motion of the object. In another aspect, nodes are differentiated into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

Claims

1. A method for detecting motion within an amorphous sensor node array, the method comprising steps of:

detecting an object at a node in the array, with a node that detects an object termed a “

detecting node”

;

sensitizing nodes about the detecting node to the possibility that the object will move toward the sensitized nodes;

when the object moves toward a sensitized node, detecting the object at the sensitized node and propagating a warning signal to a distance from the sensitized node in the direction of the motion of the object.

2. A method as set forth in claim 1, further comprising a step of differentiating the nodes into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

3. A method as set forth in claim 2, wherein:

the step of differentiating the nodes into a pattern is performed by differentiating a plurality of nodes into a plurality of differently oriented, overlapping sets of substantially parallel linear bands with each set of substantially parallel linear bands having a repeated band arrangement of N ordered bands to form a mesh pattern including mesh points defined by intersections of linear bands from differently oriented overlapping sets, wherein mesh points having common band combinations are considered mesh points with nodes of a particular state;

the step of detecting an object at a node in the array is performed for determining when an object enters a mesh point in the sensor node array;

the step of sensitizing nodes is performed by propagating a sensitizing signal from nodes in the mesh point at which the object was detected to cause nodes in mesh points having states different from the state of the propagating mesh point within a distance of the propagating mesh point to become sensitized;

the steps of detecting an object at a sensitized node and propagating a warning signal are performed by detecting when the object enters a sensitized mesh point, and propagating a warning signal along nodes in a linear band that crosses the sensitized mesh point the object entered and that is substantially aligned with the motion of the object, so that the warning signal is propagated to a distance from the mesh point in the general direction of the object'"'"'s travel.

4. A method as set forth in claim 3, wherein:

in the step of sensitizing nodes, the sensitized nodes record the state of the mesh point that sent the sensitizing signal;

in the step of detecting an object at the sensitized node, the sensitized node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the sensitized node;

in the step of propagating a warning signal, nodes that contain either the state of the node that sent the sensitizing signal or the state of the sensitized node become warning nodes, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

5. A method as set forth in claim 4, further comprising the steps of:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular linear band; and

determining an initial strength for the warning signal to be propagated from the mesh point based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

6. A method as set forth in claim 5, further comprising an initial step of selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating step.

7. A method as set forth in claim 6, further comprising a step of detecting an object type.

8. A method as set forth in claim 7, further comprising a step of adjusting parameters of the steps of detecting, sensitizing, and propagating are adjusted for the particular object type.

9. A method as set forth in claim 8, further comprising adjusting the pattern based on the object type.

10. A method as set forth in claim 9, wherein the pattern is a three-dimensional pattern.

11. A method as set forth in claim 10, wherein nodes receiving a warning signal activate an action mechanism based on the warning signal.

12. A method as set forth in claim 1, wherein:

in the step of sensitizing nodes, the sensitized nodes record the state of the node that sent the sensitizing signal;

in the step of detecting an object at the sensitized node, the sensitized node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the sensitized node;

in the step of propagating a warning signal, nodes that contain either the state of the node that sent the sensitizing signal or the state of the sensitized node become warning nodes, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

13. A method as set forth in claim 1, further comprising the steps of:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular path; and

determining an initial strength for the warning signal to be propagated based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

14. A method as set forth in claim 1, further comprising an initial step of selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating step.

15. A method as set forth in claim 1, further comprising a step of detecting an object type.

16. A method as set forth in claim 15, further comprising a step of adjusting parameters of the steps of detecting, sensitizing, and propagating are adjusted for the particular object type.

17. A method as set forth in claim 1, wherein nodes receiving a warning signal activate an action mechanism based on the warning signal.

18. A method as set forth in claim 2, further comprising a step of detecting an object type.

20. A method as set forth in claim 2, wherein the pattern is a three-dimensional pattern.

19. A method as set forth in claim 19, further comprising adjusting the pattern based on the object type.

21. A computer program product for detecting motion within an amorphous sensor node array, the computer program product comprising means, recorded in a computer recordable medium for:

detecting an object at a node in the array, with a node that detects an object termed a “

detecting node”

;

sensitizing nodes about the detecting node to the possibility that the object will move toward the sensitized nodes;

when the object moves toward a sensitized node, detecting the object at the sensitized node and propagating a warning signal to a distance from the sensitized node in the direction of the motion of the object.

22. A computer program product as set forth in claim 21, further comprising means for differentiating the nodes into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

23. A computer program product as set forth in claim 22, wherein:

the means for differentiating the nodes into a pattern operates by differentiating a plurality of nodes into a plurality of differently oriented, overlapping sets of substantially parallel linear bands with each set of substantially parallel linear bands having a repeated band arrangement of N ordered bands to form a mesh pattern including mesh points defined by intersections of linear bands from differently oriented overlapping sets, wherein mesh points having common band combinations are considered mesh points with nodes of a particular state;

the means for detecting an object at a node in the array operates for determining when an object enters a mesh point in the sensor node array;

the means for sensitizing nodes operates by propagating a sensitizing signal from nodes in the mesh point at which the object was detected to cause nodes in mesh points having states different from the state of the propagating mesh point within a distance of the propagating mesh point to become sensitized;

the means for detecting an object at a sensitized node and propagating a warning signal are performed by detecting when the object enters a sensitized mesh point, and propagating a warning signal along nodes in a linear band that crosses the sensitized mesh point the object entered and that is substantially aligned with the motion of the object, so that the warning signal is propagated to a distance from the mesh point in the general direction of the object'"'"'s travel.

24. A computer program product as set forth in claim 23, wherein:

in the means for sensitizing nodes, the sensitized nodes record the state of the mesh point that sent the sensitizing signal;

in the means for detecting an object at the sensitized node, the sensitized node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the sensitized node;

in the means for propagating a warning signal, nodes that contain either the state of the node that sent the sensitizing signal or the state of the sensitized node become warning nodes, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

25. A computer program product as set forth in claim 24, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular linear band; and

determining an initial strength for the warning signal to be propagated from the mesh point based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

26. A computer program product as set forth in claim 25, further comprising an initial means for selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

27. A computer program product as set forth in claim 26, further comprising means for detecting an object type.

28. A computer program product as set forth in claim 27, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating are adjusted for the particular object type.

29. A computer program product as set forth in claim 28, further comprising adjusting the pattern based on the object type.

30. A computer program product as set forth in claim 29, wherein the pattern is a three-dimensional pattern.

31. A computer program product as set forth in claim 30, wherein nodes receiving a warning signal activate an action mechanism based on the warning signal.

32. A computer program product as set forth in claim 21, wherein:

in the means for sensitizing nodes, the sensitized nodes record the state of the node that sent the sensitizing signal;

in the means for detecting an object at the sensitized node, the sensitized node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the sensitized node;

in the means for propagating a warning signal, nodes that contain either the state of the node that sent the sensitizing signal or the state of the sensitized node become warning nodes, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

33. A computer program product as set forth in claim 21, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular path; and

determining an initial strength for the warning signal to be propagated based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

34. A computer program product as set forth in claim 21, further comprising an initial means for selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

35. A computer program product as set forth in claim 21, further comprising means for detecting an object type.

36. A computer program product as set forth in claim 35, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating are adjusted for the particular object type.

37. A computer program product as set forth in claim 21, wherein nodes receiving a warning signal activate an action mechanism based on the warning signal.

38. A computer program product as set forth in claim 22, further comprising means for detecting an object type.

39. A computer program product as set forth in claim 38, further comprising adjusting the pattern based on the object type.

40. A computer program product as set forth in claim 22, wherein the pattern is a three-dimensional pattern.

41. An amorphous sensor node array for detecting motion, the array comprising means for:

detecting an object at a node in the array, with a node that detects an object termed a “

detecting node”

;

sensitizing nodes about the detecting node to the possibility that the object will move toward the sensitized nodes;

when the object moves toward a sensitized node, detecting the object at the sensitized node and propagating a warning signal to a distance from the sensitized node in the direction of the motion of the object.

42. An amorphous sensor node array as set forth in claim 41, further comprising means for differentiating the nodes into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

43. An amorphous sensor node array as set forth in claim 42, wherein:

the means for differentiating the nodes into a pattern operates by differentiating a plurality of nodes into a plurality of differently oriented, overlapping sets of substantially parallel linear bands with each set of substantially parallel linear bands having a repeated band arrangement of N ordered bands to form a mesh pattern including mesh points defined by intersections of linear bands from differently oriented overlapping sets, wherein mesh points having common band combinations are considered mesh points with nodes of a particular state;

the means for detecting an object at a node in the array operates for determining when an object enters a mesh point in the sensor node array;

the means for sensitizing nodes operates by propagating a sensitizing signal from nodes in the mesh point at which the object was detected to cause nodes in mesh points having states different from the state of the propagating mesh point within a distance of the propagating mesh point to become sensitized;

the means for detecting an object at a sensitized node and propagating a warning signal are performed by detecting when the object enters a sensitized mesh point, and propagating a warning signal along nodes in a linear band that crosses the sensitized mesh point the object entered and that is substantially aligned with the motion of the object, so that the warning signal is propagated to a distance from the mesh point in the general direction of the object'"'"'s travel.

44. An amorphous sensor node array as set forth in claim 43, wherein:

in the means for sensitizing nodes, the sensitized nodes record the state of the mesh point that sent the sensitizing signal;

in the means for detecting an object at the sensitized node, the sensitized node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the sensitized node;

in the means for propagating a warning signal, nodes that contain either the state of the node that sent the sensitizing signal or the state of the sensitized node become warning nodes, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

45. An amorphous sensor node array as set forth in claim 44, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular linear band; and

determining an initial strength for the warning signal to be propagated from the mesh point based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

46. An amorphous sensor node array as set forth in claim 45, further comprising an initial means for selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

47. An amorphous sensor node array as set forth in claim 46, further comprising means for detecting an object type.

48. An amorphous sensor node array as set forth in claim 47, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating are adjusted for the particular object type.

49. An amorphous sensor node array as set forth in claim 48, further comprising adjusting the pattern based on the object type.

50. An amorphous sensor node array as set forth in claim 49, wherein the pattern is a three-dimensional pattern.

51. An amorphous sensor node array as set forth in claim 50, wherein nodes receiving a warning signal activate an action mechanism based on the warning signal.

52. An amorphous sensor node array as set forth in claim 41, wherein:

in the means for sensitizing nodes, the sensitized nodes record the state of the node that sent the sensitizing signal;

in the means for detecting an object at the sensitized node, the sensitized node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the sensitized node;

in the means for propagating a warning signal, nodes that contain either the state of the node that sent the sensitizing signal or the state of the sensitized node become warning nodes, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

53. An amorphous sensor node array as set forth in claim 41, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular path; and

determining an initial strength for the warning signal to be propagated based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

54. An amorphous sensor node array as set forth in claim 41, further comprising an initial means for selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

55. An amorphous sensor node array as set forth in claim 41, further comprising means for detecting an object type.

56. An amorphous sensor node array as set forth in claim 44, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating are adjusted for the particular object type.

57. An amorphous sensor node array as set forth in claim 41, wherein nodes receiving a warning signal activate an action mechanism based on the warning signal.

58. An amorphous sensor node array as set forth in claim 42, further comprising means for detecting an object type.

59. An amorphous sensor node array as set forth in claim 58, further comprising adjusting the pattern based on the object type.

60. An amorphous sensor node array as set forth in claim 42, wherein the pattern is a three-dimensional pattern.

61. A node for operating within an amorphous sensor node array for detecting motion, the node comprising means for:

waiting to detect an object;

when the node detects an object, sensitizing nodes around the node to the possibility that the object will move toward the sensitized nodes;

when the node is a sensitized node, and an object moves toward the node, detecting the object and propagating a warning signal to a distance from the node in the direction of the motion of the object.

62. A node as set forth in claim 61, further comprising means aiding in differentiating a network of nodes into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

63. A node as set forth in claim 62, wherein:

the means for aiding in differentiating a network of nodes into a pattern operates by aiding in differentiating a plurality of nodes into a plurality of differently oriented, overlapping sets of substantially parallel linear bands with each set of substantially parallel linear bands having a repeated band arrangement of N ordered bands to form a mesh pattern including mesh points defined by intersections of linear bands from differently oriented overlapping sets, wherein mesh points having common band combinations are considered mesh points with nodes of a particular state;

the means for detecting an object the node in the array operates for determining when an object enters a mesh point in the sensor node array;

the means for sensitizing other nodes operates by propagating a sensitizing signal from the node in the mesh point at which the object was detected to cause nodes in mesh points having states different from the state of the propagating mesh point within a distance of the propagating mesh point to become sensitized;

the means for detecting an object at the node when it is sensitized and propagating a warning signal are performed by detecting when the object approaches the node, and propagating a warning signal along nodes in a linear band that crosses the sensitized mesh point the object entered and that is substantially aligned with the motion of the object, so that the warning signal is propagated to a distance from the mesh point in the general direction of the object'"'"'s travel.

64. A node as set forth in claim 63, wherein:

when sensitized, the node records the state of the mesh point that sent the sensitizing signal;

when detecting an object after being sensitized, the node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the node;

when propagating a warning signal, the node propagates the warning signal if it contains either the state of the node that sent the sensitizing signal or the state of the sensitized node, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

65. A node as set forth in claim 64, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular linear band; and

determining an initial strength for the warning signal to be propagated from the mesh point based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

66. A node as set forth in claim 65, further comprising an initial means for assisting in selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

67. A node as set forth in claim 66, further comprising means for detecting an object type.

68. A node as set forth in claim 67, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating for the particular object type.

69. A node as set forth in claim 68, further comprising means for assisting in adjusting the pattern based on the object type.

70. A node as set forth in claim 69, wherein the pattern is a three-dimensional pattern.

71. A node as set forth in claim 70, wherein when the node receives a warning signal, it activates an action mechanism based on the warning signal.

72. A node as set forth in claim 61, wherein:

when sensitized, the node records the state of the node that sent the sensitizing signal;

when detecting an object after being sensitized, the node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the node;

when propagating a warning signal, the node propagates the warning signal if it contains either the state of the node that sent the sensitizing signal or the state of the sensitized node, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

73. A node as set forth in claim 61, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular path; and

determining an initial strength for the warning signal to be propagated based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

74. A node as set forth in claim 61, further comprising an initial means for assisting in selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

75. A node as set forth in claim 61, further comprising means for detecting an object type.

77. A node as set forth in claim 61, wherein when the node receives a warning signal, it activates an action mechanism based on the warning signal.

78. A node as set forth in claim 62, further comprising means for detecting an object type.

79. A node as set forth in claim 78, further comprising means for assisting in adjusting the pattern based on the object type.

80. A node as set forth in claim 62, wherein the pattern is a three-dimensional pattern.

89. A computer program product as set forth in claim 68, further comprising means for assisting in adjusting the pattern based on the object type.

90. A computer program product as set forth in claim 89, wherein the pattern is a three-dimensional pattern.

91. A computer program product as set forth in claim 90, wherein when the node receives a warning signal, it activates an action mechanism based on the warning signal.

76. A node as set forth in claim 76, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating for the particular object type.

81. A computer program product for operating a node within an amorphous sensor node array for detecting motion, the computer program product comprising means, recorded on a computer readable medium for:

waiting to detect an object;

when the node detects an object, sensitizing nodes around the node to the possibility that the object will move toward the sensitized nodes;

when the node is a sensitized node, and an object moves toward the node, detecting the object and propagating a warning signal to a distance from the node in the direction of the motion of the object.

82. A computer program product as set forth in claim 81, further comprising means for aiding in differentiating a network of nodes into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

83. A computer program product as set forth in claim 82, wherein:

the means for aiding in differentiating a network of nodes into a pattern operates by aiding in differentiating a plurality of nodes into a plurality of differently oriented, overlapping sets of substantially parallel linear bands with each set of substantially parallel linear bands having a repeated band arrangement of N ordered bands to form a mesh pattern including mesh points defined by intersections of linear bands from differently oriented overlapping sets, wherein mesh points having common band combinations are considered mesh points with nodes of a particular state;

the means for detecting an object the node in the array operates for determining when an object enters a mesh point in the sensor node array;

the means for sensitizing other nodes operates by propagating a sensitizing signal from the node in the mesh point at which the object was detected to cause nodes in mesh points having states different from the state of the propagating mesh point within a distance of the propagating mesh point to become sensitized;

the means for detecting an object at the node when it is sensitized and propagating a warning signal are performed by detecting when the object approaches the node, and propagating a warning signal along nodes in a linear band that crosses the sensitized mesh point the object entered and that is substantially aligned with the motion of the object, so that the warning signal is propagated to a distance from the mesh point in the general direction of the object'"'"'s travel.

84. A computer program product as set forth in claim 83, wherein:

when sensitized, the node records the state of the mesh point that sent the sensitizing signal;

when detecting an object after being sensitized, the node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the node;

when propagating a warning signal, the node propagates the warning signal if it contains either the state of the node that sent the sensitizing signal or the state of the sensitized node, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

85. A computer program product as set forth in claim 84, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular linear band; and

determining an initial strength for the warning signal to be propagated from the mesh point based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

86. A computer program product as set forth in claim 85, further comprising an initial means for assisting in selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

87. A computer program product as set forth in claim 86, further comprising means for detecting an object type.

88. A computer program product as set forth in claim 87, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating for the particular object type.

92. A computer program product as set forth in claim 81, wherein:

when sensitized, the node records the state of the node that sent the sensitizing signal;

when detecting an object after being sensitized, the node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the node;

when propagating a warning signal, the node propagates the warning signal if it contains either the state of the node that sent the sensitizing signal or the state of the sensitized node, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

93. A computer program product as set forth in claim 81, further comprising the means for:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular path; and

determining an initial strength for the warning signal to be propagated based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

94. A computer program product as set forth in claim 81, further comprising an initial means for assisting in selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

95. A computer program product as set forth in claim 81, further comprising means for detecting an object type.

96. A computer program product as set forth in claim 95, further comprising means for adjusting parameters of the means for detecting, sensitizing, and propagating for the particular object type.

97. A computer program product as set forth in claim 81, wherein when the node receives a warning signal, it activates an action mechanism based on the warning signal.

98. A computer program product as set forth in claim 82, further comprising means for detecting an object type.

99. A computer program product as set forth in claim 98, further comprising means for assisting in adjusting the pattern based on the object type.

100. A computer program product as set forth in claim 82, wherein the pattern is a three-dimensional pattern.

111. A method as set forth in claim 100, wherein when the node receives a warning signal, it activates an action mechanism based on the warning signal.

101. A method for operating a node within an amorphous sensor node array for detecting motion, the method comprising steps of:

waiting to detect an object;

when the node detects an object, sensitizing nodes around the node to the possibility that the object will move toward the sensitized nodes;

when the node is a sensitized node, and an object moves toward the node, detecting the object and propagating a warning signal to a distance from the node in the direction of the motion of the object.

102. A method as set forth in claim 101, further comprising a step of aiding in differentiating a network of nodes into a pattern comprising pattern elements, where each pattern element comprises at least one node, wherein the pattern is used to determine which nodes are sensitized about a detecting node and to determine a propagation direction for the warning signal.

103. A method as set forth in claim 102, wherein:

the step of aiding in differentiating a network of nodes into a pattern is performed by aiding in differentiating a plurality of nodes into a plurality of differently oriented, overlapping sets of substantially parallel linear bands with each set of substantially parallel linear bands having a repeated band arrangement of N ordered bands to form a mesh pattern including mesh points defined by intersections of linear bands from differently oriented overlapping sets, wherein mesh points having common band combinations are considered mesh points with nodes of a particular state;

the step of detecting an object the node in the array is performed for determining when an object enters a mesh point in the sensor node array;

the step of sensitizing other nodes is performed by propagating a sensitizing signal from the node in the mesh point at which the object was detected to cause nodes in mesh points having states different from the state of the propagating mesh point within a distance of the propagating mesh point to become sensitized;

the step of detecting an object at the node when it is sensitized and propagating a warning signal are performed by detecting when the object approaches the node, and propagating a warning signal along nodes in a linear band that crosses the sensitized mesh point the object entered and that is substantially aligned with the motion of the object, so that the warning signal is propagated to a distance from the mesh point in the general direction of the object'"'"'s travel.

104. A method as set forth in claim 103, wherein:

when sensitized, the node records the state of the mesh point that sent the sensitizing signal;

when detecting an object after being sensitized, the node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the node;

when propagating a warning signal, the node propagates the warning signal if it contains either the state of the node that sent the sensitizing signal or the state of the sensitized node, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

105. A method as set forth in claim 104, further comprising the step of:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular linear band; and

determining an initial strength for the warning signal to be propagated from the mesh point based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

106. A method as set forth in claim 105, further comprising an initial step of assisting in selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

107. A method as set forth in claim 106, further comprising step of detecting an object type.

108. A method as set forth in claim 107, further comprising step of adjusting parameters of the step of detecting, sensitizing, and propagating for the particular object type.

109. A method as set forth in claim 108, further comprising step of assisting in adjusting the pattern based on the object type.

110. A method as set forth in claim 109, wherein the pattern is a three-dimensional pattern.

112. A method as set forth in claim 101, wherein:

when sensitized, the node records the state of the node that sent the sensitizing signal;

when detecting an object after being sensitized, the node propagates a warning signal that includes a pheromone determined by a combination of the state of the node that sent the sensitizing signal and the state of the node;

when propagating a warning signal, the node propagates the warning signal if it contains either the state of the node that sent the sensitizing signal or the state of the sensitized node, retransmitting the warning signal with a decay factor so that the initial strength of the warning signal determines the distance to which the warning signal is propagated.

113. A method as set forth in claim 101, further comprising the step of:

determining a persistence measure for an object moving through the array, with the persistence measure being indicative of the distance of the object'"'"'s travel along a particular path; and

determining an initial strength for the warning signal to be propagated based on the persistence measure for the object, thereby varying the at least one parameter of the warning signal, with the parameter selected from a group consisting of a propagation distance of the warning signal and a warning intensity of the warning signal.

114. A method as set forth in claim 101, further comprising an initial step of assisting in selecting a subset of nodes in the array that are substantially evenly spaced with respect to each other for the differentiating means.

115. A method as set forth in claim 101, further comprising step of detecting an object type.

116. A method as set forth in claim 115, further comprising step of adjusting parameters of the step of detecting, sensitizing, and propagating for the particular object type.

117. A method as set forth in claim 101, wherein when the node receives a warning signal, it activates an action mechanism based on the warning signal.

118. A method as set forth in claim 101, further comprising step of detecting an object type.

119. A method as set forth in claim 118, further comprising step of assisting in adjusting the pattern based on the object type.

120. A method as set forth in claim 101, wherein the pattern is a three-dimensional pattern.