Post on 02-Feb-2016
description
Calamari’s Design Calamari’s Design DecisionsDecisions
Kamin WhitehouseKamin Whitehouse
June 18, 2003June 18, 2003
Project SummaryProject Summary
Collecting large amounts of dataCollecting large amounts of data 10,000’s data points10,000’s data points Connectivity, RSSI, acoustic, ultrasoundConnectivity, RSSI, acoustic, ultrasound
Calibration and auto-calibration techniquesCalibration and auto-calibration techniques Matlab simulation of algorithms using real dataMatlab simulation of algorithms using real data Implementation in NesC on pc, mica, and dot3Implementation in NesC on pc, mica, and dot3 Designing new hardwareDesigning new hardware
http://http://www.cs.berkeley.edu/~kamin/calamariwww.cs.berkeley.edu/~kamin/calamari
OutlineOutline
Design RequirementsDesign Requirements Radio RangingRadio Ranging Acoustic RangingAcoustic Ranging AlgorithmsAlgorithms TinyOS code and demo TinyOS code and demo EvaluationEvaluation
A Motivating ApplicationA Motivating Application
Design PrinciplesDesign Principles
Node-level ResolutionNode-level Resolution Scalable DeploymentScalable Deployment Event-drivenEvent-driven Simple and Approximate OperationSimple and Approximate Operation
Existing SystemsExisting Systems
GPSGPS CricketCricket AHLoSAHLoS MillibotsMillibots
Radio Ranging – Radio Ranging – ConnectivityConnectivity
Data courtesy Alec Woo, Ganesan, et al
Radio Ranging – Radio Ranging – ConnectivityConnectivity
Data courtesy Alec Woo, Ganesan, et al
Radio Ranging – Radio Ranging – Signal StrengthSignal Strength
Radio Ranging – Radio Ranging – Signal StrengthSignal Strength
Radio Ranging – Radio Ranging – Signal StrengthSignal Strength
Radio Ranging – Radio Ranging – Signal StrengthSignal Strength
Radio Ranging – Radio Ranging – Signal StrengthSignal Strength
Error equation:Error equation:
error (cm) ≈ error (cm) ≈ noise (dB) . noise (dB) . Attenuation rate (dB)
cm
Radio Ranging – Radio Ranging – Signal StrengthSignal Strength
Acoustic RangingAcoustic Ranging
Acoustic Ranging – Acoustic Ranging – 4.3KHz Analog4.3KHz Analog
Simultaneously send acoustic and RFSimultaneously send acoustic and RF Time stamp RF; turn on acoustic circuitTime stamp RF; turn on acoustic circuit Time stamp tone-detector interruptTime stamp tone-detector interrupt Subtract timestampsSubtract timestamps Multiply by speed of soundMultiply by speed of sound FilterFilter
Acoustic Ranging – Acoustic Ranging – 4.3KHz Analog4.3KHz Analog
Acoustic Ranging – Acoustic Ranging – 4.3KHz Analog4.3KHz Analog
Acoustic Ranging – Acoustic Ranging – 4.3KHz Digital4.3KHz Digital
Digital sampling and filteringDigital sampling and filtering Better range and accuracyBetter range and accuracy Slow, costly processSlow, costly process Scheduling neededScheduling needed
Acoustic Ranging – Acoustic Ranging – UltrasoundUltrasound
Acoustic Ranging – Acoustic Ranging – UltrasoundUltrasound
Acoustic Ranging – Acoustic Ranging – UltrasoundUltrasound
LocalizationLocalization
1
6
1112
7
3
4
8
9
1415
1310
5
2
Localization AccuracyLocalization Accuracy
Localization AccuracyLocalization Accuracy
Localization AccuracyLocalization Accuracy
Localization AccuracyLocalization Accuracy
NesC ImplementationNesC Implementation
Mica platform being integrated with VUMica platform being integrated with VU Dot3 being integrated with ultrasoundDot3 being integrated with ultrasound Simulated ranging estimates for PCSimulated ranging estimates for PC
EvaluationEvaluation
Node-level ResolutionNode-level Resolution Scalable DeploymentScalable Deployment Event-drivenEvent-driven Simple and Approximate OperationSimple and Approximate Operation