Relate: Architecture, Systems and Tools for Relative Positioning
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Focus II: Architecture, Systems and Tools for Relative
Positioning
Passau, 10.10.2008
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Presentation Overview
1. RELATE Software Architecture– BlackBoard
2. RELATE Hardware Architecture– Cube
3. Cube Integration Demo– Magnetic + Ultrasound
4. RELATE Tool Support – MiXiM (Koen Langendoen)
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Modular Software Design
• Module Framework– Decoupled rapid development of new relative
measurement modules– Platform independent (PC,MCU,DSP,Simulation)– Common interface abstractions
• distance, angle [2d/3d], distance indicator, location• Support for measurement qualities (variance, fuzzy
measure)
• Blackboard– Simple tuple based Abstraction Distributed
Programming– Implements Module Framework– Add Location specific paradigms to tuple space
• Distance, Location, Angle
– Added support for querying– Abstracts various underlying network
algorithms/topologies
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Middleware Architecture
notifyread/write
Blackboard(Middleware
Layer)
local delegation
register, subscribe, unsubscribe
Monitors
remote delegation (via query)
RELATE node or client
Routing / Query Layer (platform specific)Network layer (platform specific)
RELATE modules(Application layer)
Fusion Modules
Interface Modules
Sensing Modules
Blackboard StorageFrom | to | type | measurement | quality |
From | to | type | measurement | quality |
From | to | type | measurement | quality |
Blackboard Manager
Scheduler, RPC Server, Event Dispatcher, Query Planner, Remote Debugging ServerRaise 404
Network
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RELATE Hardware Evolution
• Fast prototyping of novel relative positioning systems
• Integration of new/existing technology into single RELATE platform
• Defined Hardware/Software interfaces for better interoperability
• Multimodal relative positioning
Goals
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RELATE Hardware Architecture
DSPMeasureme
nt I2C, SPI, Analog
Measurement
Measurement(US, RSSI, Magnetic, …)
Debug LEDs, Programming
Adapter, Buttons
Digital
Dri
ve
r
SPIPower Module
BatteryLith.,3.7V
USB: 5V
3.3VMulti Slave
UART
Communication(Particle, Jennic,
Bluetooth, …)
Synchronization
USBData
RF
Memory Module
Sensing Modality
Base Platform
Sensing Modalities
Signal Processing
Blackboard
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Stackable Sensing Modules– 2x40Pins for Analog, Digital I/O and Power on Stack– App specific (US, Magnetic, ...)
DSP Board– Low power dsPic33FJ128GP706 DSC – 20MHz, 16kB RAM, DMA– Basic DSP Engine– 1Gs 12bit ADC
Com Board– Particle (869 MHz AwareCon)– Jennic (IEEE 802.15.4, Zigbee or µIP)– Other (Bluetooth, USB)
Power Board– Lithium Battery
RELATE Base Components
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Reference Platform: Ultrasound Cube• Parallel Sampling of 6 Transducers
– Eliminates error caused by time shift• Up to 100 kHz per Channel
– No need for analogue rectification– Can use phase information– Channel codes possible
• Online Digital Signal Processing– Improved signal detection
• Reference implementation
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Sensing Modality Integration (Demo)
Ultrasound
Magnetic
Ultrasound + Magnetic