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SITEX-01 Out Brief DSN/Sensorware

SITEX-01 Out Brief DSN/Sensorware. Brian Schott (USC ISI East) bschott@east.isi.edu Charles Chien (Rockwell Science Center) Mark Jones (Virginia Tech) Mani Srivastava (UCLA) SensIT Principal Investigator Meeting April 17-20, 2001 - St. Petersburg, FL.

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SITEX-01 Out Brief DSN/Sensorware

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  1. SITEX-01 Out BriefDSN/Sensorware Brian Schott (USC ISI East) bschott@east.isi.edu Charles Chien (Rockwell Science Center) Mark Jones (Virginia Tech) Mani Srivastava (UCLA) SensIT Principal Investigator Meeting April 17-20, 2001 - St. Petersburg, FL

  2. Wave Intensity Comparison –multiple projections are made from seismic signal energy at sensor node clusters. Nine Rockwell HYDRA nodes. Laptop with web cam. COTS 802.11 wireless Ethernet bridge to base camp (~1km). At Base Camp Situation status display GUI (running on laptop). Live video feed at 5fps on wireless iPAQ PDA. DSN/Sensorware Experiment (ISI, VT,UCLA,Rockwell)

  3. IPAQ running Linux with 802.11 wireless Ethernet PC card. Cross-displayed VT GUI from Linux laptop to X on IPAQ. Displayed node locations, live vehicle ground truth, live seismic energy levels, etc. Full Java 1.3 compliance on IPAQ near completion at Compaq. Live wireless video from laptop webcam to IPAQ using VIC tool. Achieved ~5 fps (now 30 fps). Exploring better integration of video into VT GUI for multi-camera display. Investigating low power video transmission codecs. Sensor Network Interface

  4. IPAQ + GPS + 802.11 Ethernet Logged location once per sec. Transmitted log to mysql db when in range of wireless LAN. Ran 8 hours on 4 D-cells. Worked great! GPS Ground Truth

  5. Provided long-haul link from base camp to sensor field. (2) access points with directional antennas (~3 mile range). Provided an instrumentation backbone without wires. (2) access points with omni antennas (0.3 mile range). Worked very well in the field. 11 Mb/sec adequate for most purposes (including video). Convenient to be able to telnet to all devices – even in vehicles! Recommend full coverage at next exercise. Long Haul Ethernet

  6. One instrumentation laptop per 3-node HYDRA cluster. Log radio events, seismic energy from HYDRA serial port. One UPS battery per cluster. Weighs 65 pounds! In practice, barely adequate. In future, plan to use more IPAQs instead! Linux Laptop powered by UPS. 802.11 Wireless Ethernet USB<->Serial(8) Hub Wireless access point + hub(in gateway laptop only) Instrumentation Laptop

  7. EA2 > EA3 EA2 > EA1 A1 Target @ x,y,z,t2 t1 t2 Target A2 A3 EA1 > EA3 cluster A Principle Collaboration Applications WIC Tracker

  8. We could have achieved this, but ... 200 15 14 150 13 Est. target area 12 100 14 13 12 10 11 50 11 10 Gateway node 0 9 9 WIC tracking result Sensor node -50 8 8 6 7 7 -100 6 Target moved from W to N -150 5 -200 -250 -200 -150 -100 -50 0 50 100 150 200 meter 29 Palms Exercise (March ’01) • Our goal is to evaluate followings: • Logging of radio & sensor events • Synchronized sampling of distributed sensors • Testing the tracker algorithm in a real environment • Interfacing the WINS nodes to ISI instrumentation

  9. Networking SessionDynamic Sensor Networks Brian Schott (USC ISI East) bschott@east.isi.edu Mani Srivastava (UCLA) Mark Jones (Virginia Tech) SensIT Principal Investigator Meeting April 17-20, 2001 - St. Petersburg, FL

  10. Compaq iPAQ H3600 • 206 MHz StrongARM processor • 16 MB persistent flash • 32 MB RAM (64MB announced) • Serial/USB ports/IrDA • Speaker, Microphone • Expansion BUS • Compact Flash sleeve • PCMCIA sleeve • 2-slot PCMCIA sleeve (soon) • 320x240 display with 4096 colors with sun-friendly front-light. • Lithium Polymer Battery X

  11. Linux on the iPAQ • Port supported by Compaq employees. • Very active open-source effort. • Based on ARM Linux 2.4 kernel. • Most ARMV binaries work (Debian). • Current projects: • Handwriting Recognition • PIM Applications • Emulators: PalmOS Nintendo • GPS Applications • Video Teleconferencing • Journaling Flash File System http://www.handhelds.org

  12. Funded under DARPA Oxygen project. Digital Camera on swivel. 32 MB Flash RAM. 2 PCMCIA Sleeves Accelerometer. Programmable Logic, (FPGA). Digital IO Port. BackPAQ Research Sleeve http://crl.research.compaq.com/projects/mercury/

  13. Wireless Surveillance and Video Conferencing • Live video display demonstrated at 29 Palms using multicast MBONE video tools over wireless network. • We’re very interested in integrating some video capability into fielded sensor node for future experiments.

  14. Low Power Video Surveillance from Sensor Net • Collect reference frame as part of sensor set up. • Compress and transmit static frame to potential viewers. • Collect image based on schedule or trigger. • Determine and invert changes in background from reference due to lighting and sensor artifacts. • Segment foreground based on threshold of color distance from reference. • Erode & dilate to remove speckle noise and voids. • Transmit foreground, if large enough, for overlay on static reference image.

  15. Multi-Resolution Image Processing • Efficiency improving faster for processing than communication, favor higher compression codecs. • Loss-less compaction for distributed processing: • Select regions of interest based on change detection. • High-resolution image is successively downsampled by 2. • Low-resolution pixels are 2x2 average of pixels in the next higher resolution image and provide a good estimate of those 4 pixels. • Encoding differences from low res. pixels (~0) reduces size (2:1) with variable-length Huffman coding. • Higher resolutions encoded and transmitted for specific blocks. • Size of objects processed determined by available power. • Lossy compression for viewing. • Only blocks of foreground pixels (often none) are encoded and transmitted for overlay on reference image. • Blocks first sent highly compressed (10:1) by harsh quantization of discrete cosine transform coefficients. • Detail added as required by user subject to power availability.

  16. Ad-Hoc Location Discovery Iterative Multilateration • Why not GPS? • Satellite line-of-sight requirement • Costly and power hungry • Ad-Hoc Localization System(AHLoS) • Every node contributes to process • Small fraction of initial beacons • Distributed • Robust • Energy Efficient • Inter-node ranging uses • RSSI • ultrasound Collaborative Multilateration

  17. Centralized Cons A route to a central point Time synchronization High latencies for location updates Central node requires preplanning More traffic => higher power consumption Distributed Pros More robust to node failure Less traffic => less power Better handling of local environment variations Speed of ultrasound Radio path loss Rapid updates upon topology changes No time synch. required Centralized vs. Distributed Localization

  18. Initial experiment: Medusa Short range ultrasound Finalizing design of Medusa II Longer range ultrasound (15-20m) Radio Power Control & RSSI circuitry More computation (Atmel THUMB) Accelerometers & Magnetometers to get orientation information Goal: Hybrid Radio-acoustical localization Implementation Status

  19. Platform Characterization Ultrasound TDoA RSSI in football field

  20. Iterative Multilateration Accuracy 50 Nodes 10% beacons 20mm white gaussian ranging error

  21. Node vs. Initial Beacon Densities % Resolved Nodes Total Nodes % Initial Beacons Uniformly distributed deployment in a field 100x100. Node range = 10

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