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Calamari’s Design Decisions

Calamari’s Design Decisions. Kamin Whitehouse June 18, 2003. Project Summary. Collecting large amounts of data 10,000’s data points Connectivity, RSSI, acoustic, ultrasound Calibration and auto-calibration techniques Matlab simulation of algorithms using real data

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Calamari’s Design Decisions

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  1. Calamari’s Design Decisions Kamin Whitehouse June 18, 2003

  2. Project Summary • Collecting large amounts of data • 10,000’s data points • Connectivity, RSSI, acoustic, ultrasound • Calibration and auto-calibration techniques • Matlab simulation of algorithms using real data • Implementation in NesC on pc, mica, and dot3 • Designing new hardware http://www.cs.berkeley.edu/~kamin/calamari

  3. Outline • Design Requirements • Radio Ranging • Acoustic Ranging • Algorithms • TinyOS code and demo • Evaluation

  4. A Motivating Application

  5. Design Principles • Node-level Resolution • Scalable Deployment • Event-driven • Simple and Approximate Operation

  6. Existing Systems • GPS • Cricket • AHLoS • Millibots

  7. Radio Ranging – Connectivity Data courtesy Alec Woo, Ganesan, et al

  8. Radio Ranging – Connectivity Data courtesy Alec Woo, Ganesan, et al

  9. Radio Ranging – Signal Strength

  10. Radio Ranging – Signal Strength

  11. Radio Ranging – Signal Strength

  12. Radio Ranging – Signal Strength

  13. Radio Ranging – Signal Strength • Error equation: error (cm) ≈ noise (dB) . Attenuation rate (dB) cm

  14. Radio Ranging – Signal Strength

  15. Acoustic Ranging

  16. Acoustic Ranging – 4.3KHz Analog • Simultaneously send acoustic and RF • Time stamp RF; turn on acoustic circuit • Time stamp tone-detector interrupt • Subtract timestamps • Multiply by speed of sound • Filter

  17. Acoustic Ranging – 4.3KHz Analog

  18. Acoustic Ranging – 4.3KHz Analog

  19. Acoustic Ranging – 4.3KHz Digital • Digital sampling and filtering • Better range and accuracy • Slow, costly process • Scheduling needed

  20. Acoustic Ranging – Ultrasound

  21. Acoustic Ranging – Ultrasound

  22. Acoustic Ranging – Ultrasound

  23. Localization 13 10 15 14 12 11 9 5 7 6 8 3 2 1 4

  24. Localization Accuracy

  25. Localization Accuracy

  26. Localization Accuracy

  27. Localization Accuracy

  28. NesC Implementation • Mica platform being integrated with VU • Dot3 being integrated with ultrasound • Simulated ranging estimates for PC

  29. Evaluation • Node-level Resolution • Scalable Deployment • Event-driven • Simple and Approximate Operation

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