geo-referencing identification (grid) tag final ......geo-referencing identification (grid) tag...

GEO-REFERENCING

IDENTIFICATION (GRID) TAG

FINAL REPORT

C O N T R A C T # E 1 4 P C 0 0 0 2 7

Ben Schreib1, Alex Bostic1, Jarrett Mitchell1, Alin Nomura1, Sheldon McGee1, Jason Lin1,

Sam McClintock2, Ted Hale2, Navid Yazdi3, David Rein3, George Meng3, Casey Wallace3,

Elizabeth Skinner4, Mark Hinders4

URS (AECOM)1

Midstream Technology2

Evigia Systems3

College of William and Mary4

This final report has been reviewed by the BSEE and approved for

publication. Approval does not signify that the contents necessarily reflect

the views and policies of the BSEE, nor does mention of the trade names

or commercial products constitute endorsement or recommendation for

use.

This study was funded by the Bureau of Safety and Environmental

Enforcement (BSEE), U.S. Department of the Interior, Washington, D.C.,

under Contract E14PC00027.

September 21, 2015

Point of Contact: Ben Schreib, [email protected]

mailto:[email protected]

Revision Date Description / Changes

- 09/21/15 Final Report deliverable

Table of Contents

21-SEP-15\\ i

ACRONYMS AND ABBREVIATIONS ......................................................................................................... iv

SECTION ONE: INTRODUCTION ............................................................................................................. 1-1

SECTION TWO: SYSTEM ARCHITECTURE ............................................................................................ 2-1 2.1 Trade Study Summary ............................................................................. 2-2

2.2 Design Summary ...................................................................................... 2-3

SECTION THREE: SYSTEM OVERVIEW ................................................................................................. 3-1 3.1 GRID Tag................................................................................................. 3-1

3.1.1 Device Architecture Design ......................................................... 3-1

3.1.2 RF Module ................................................................................... 3-1

3.1.3 Sensors ......................................................................................... 3-2

3.1.4 Firmware ...................................................................................... 3-2

3.1.5 Enclosure...................................................................................... 3-3

3.2 GRIDSAT Tag ......................................................................................... 3-3

3.2.1 Device Architecture Design ......................................................... 3-4

3.2.2 Firmware and Algorithms ............................................................ 3-5

3.2.3 Enclosure...................................................................................... 3-7

3.3 Cloud Infrastructure ................................................................................. 3-7

3.3.1 Software Employed ...................................................................... 3-7

3.3.2 Cloud-Based Data Servers ........................................................... 3-8

3.3.3 GIS Software Application Package ............................................. 3-8

3.3.4 Mapping API ................................................................................ 3-9

SECTION FOUR: TESTING ....................................................................................................................... 4-1 4.1 Tag Testing .............................................................................................. 4-1

4.2 Power Consumption Testing .................................................................... 4-2

4.3 Low Power Storage Mode Testing .......................................................... 4-2

4.4 Environmental Testing ............................................................................. 4-3

4.4.1 Temperature ................................................................................. 4-3

4.4.2 Water Resistance .......................................................................... 4-4

4.4.3 Shock............................................................................................ 4-5

4.4.4 Vibration ...................................................................................... 4-5

4.5 Cloud Infrastructure and User Interface .................................................. 4-7

4.5.1 Unit Testing ................................................................................. 4-7

4.5.2 System Testing ............................................................................. 4-8

4.6 System Demonstration ............................................................................. 4-8

4.6.1 Time and Location ....................................................................... 4-8

4.6.2 Equipment Inventory ................................................................... 4-9

4.6.3 Demonstration Summary ........................................................... 4-10

4.6.4 Demo #1: Mesh Network Chain of GRID Tags ........................ 4-11

4.6.5 Demo #2: Higher Speed Dynamic GRIDSAT Tag.................... 4-14

4.6.6 Demo #3: Dynamic GRIDSAT and GRID Tags and Self-

Healing Network ........................................................................ 4-16

4.6.7 Demo #4: Tag Configuration and Low Power Storage

Mode with Motion Sensing ........................................................ 4-18

4.6.8 Demo #5: GRIDSAT to GRID Tag Long-Distance Trial .......... 4-19

Table of Contents

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SECTION FIVE: OPERATIONS, MAINTENANCE, AND TRAINING ......................................................... 5-1 5.1 Setup, Configuration and Operation ........................................................ 5-1

5.1.1 Setup ............................................................................................ 5-1

5.1.2 Startup .......................................................................................... 5-1

5.1.3 Configuration ............................................................................... 5-3

5.2 Mapping User Interface User Guide ........................................................ 5-6

SECTION SIX: CONCLUSION ................................................................................................................... 6-1

APPENDIX A: ENCLOSURE ICE PREVENTION STUDY ........................................................................ A-1

APPENDIX B: USER GUIDE .................................................................................................................... B-1

Exhibits

Exhibit 1: a) Tagging of equipment while in storage allow for the identification and

inventory of available resources; b) Resources at a staging area can be assigned

and deployed to any user; c) GRID tags form a local mesh network and message

to a GRIDSAT tag that automatically reports resource information for

identification and tracking during a response ............................................................. 1-2

Exhibit 2: Block Diagram of the System Architecture showing end-to-end communication

from the GRID tag message to the user’s mapping interface ..................................... 2-2

Exhibit 3: GRID tag architecture ................................................................................................. 3-1

Exhibit 4: GRID tag sensors and interface .................................................................................. 3-2

Exhibit 5: GRID tag enclosure pictures (top view, front view, side view) .................................. 3-3

Exhibit 6: GRIDSAT tag architecture.......................................................................................... 3-4

Exhibit 7: GRIDSAT tag enclosure pictures (top view, front view, side view) .......................... 3-7

Exhibit 8: Cloud infrastructure schematic diagram ..................................................................... 3-7

Exhibit 9: GRIDSAT tag power consumption test summary ...................................................... 4-2

Exhibit 10: GRID tag power consumption test summary ............................................................ 4-2

Exhibit 11: Tenney BTRC Chamber at Evigia with the GRID and GRIDSAT tags. .................. 4-3

Exhibit 12: Successful GRID and GRIDSAT tags operation over time in extreme

temperatures. ............................................................................................................... 4-4

Exhibit 13: Tube tank at Evigia used to test water resistance ...................................................... 4-4

Exhibit 14: Water immersion test conditions and results ............................................................ 4-5

Exhibit 15: Mechanical drop test conditions and results ............................................................. 4-5

Exhibit 16: The shaker system: a) mounted with a GRID Tag; b) mounted with a

GRIDSAT; c) control system of the shaker system. ................................................... 4-6

Exhibit 17: Mechanical vibration test conditions and results. ..................................................... 4-6

Exhibit 18: A typical plot of a sweep frequency test of GRIDSAT at 5g. .................................. 4-7

Exhibit 19: Location of planned system demonstration .............................................................. 4-9

Exhibit 20: List of equipment planned for system demonstration ............................................... 4-9

Exhibit 21: System Functions Demonstrated ............................................................................. 4-10

Exhibit 22: Details for Demo #1 ................................................................................................ 4-11

Table of Contents

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Exhibit 23: Demo #1 results show GRIDSAT tag location and successful report sent with six

GRID tags messages ................................................................................................. 4-13

Exhibit 24: GRID and GRIDSAT tags secured to the top of the test vehicle for Demo #2 ...... 4-14


Exhibit 26: Demo #2 results show the GRIDSAT tag detailed location history over time ....... 4-16


Exhibit 28: Demo #3 results showing three GRID tags being successfully acquired by the

GRIDSAT tag ........................................................................................................... 4-18

Exhibit 29: Details for the optional demo .................................................................................. 4-19

Exhibit 30: Tags mounted on a pole to provide line-of-sight communication .......................... 4-20

Exhibit 31: Back of tag showing four screws to access the battery compartment ....................... 5-1

Exhibit 32: GRIDSAT Tag Micro USB port and battery clips .................................................... 5-2

Exhibit 33: Recommended GRIDSAT Tag mounting position and orientation .......................... 5-2

Exhibit 34: GRIDSAT configuration parameters ........................................................................ 5-3

Exhibit 35: GRIDSAT Debug Output Messages ......................................................................... 5-5

Exhibit 36: TeraTerm command line interface to configure tags ................................................ 5-6

Exhibit 37: Water contact angle measurement of the surface with different material coatings

for ice prevention ....................................................................................................... A-1

Exhibit 38: Water droplet test on the surface of enclosure. ........................................................ A-2

Exhibit 39: Water droplet freezing test in a BTRC environmental chamber. ............................. A-2

Acronyms and Abbreviations

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°C degrees Celsius

6LoWPAN IPv6 over Low-Power Wireless Personal Area Network

802.15.4 IEEE protocol for Wireless Personal Area Network.

API Application Programming Interface

BSEE Bureau of Safety and Environmental Enforcement

BTRC Benchmaster Temperature / Relative Humidity Test Chamber

COTS Commercial-off-the-shelf

GIS Geographic Information System

GPS Global Positioning System

GRID Geo-Referencing Identification

GRIDSAT GRID Satellite

ICMP Internet Control Message Protocol

IP Internet Protocol

LPSM Low Power Storage Mode

MAC Media Access Control

MCU Micro Control Unit

MM Maintenance Mode

MO Mobile Originated

RF Radio Frequency

RSSI Received Signal Strength Indication

RTC Real-time clock

SBD Short Burst Data

UDP User Datagram Protocol

USB Universal Serial Bus

UTC Coordinated Universal Time

Introduction

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SECTION ONE: INTRODUCTION

The purpose for this project was to develop a system that could be used to tag and track assets

anywhere in the world and in any environmental condition to increase the user’s situational

awareness of equipment, assets, and resources before, during, and after their deployment. URS

Corporation (URS) along with its team members Midstream Technology, Evigia Systems and the

College of William and Mary in coordination with BSEE developed the system presented,

comprising the Geo-Referencing Identification (GRID) tag, GRID satellite (GRIDSAT) tag and

associated cloud infrastructure and user interface to meet the objectives of a robust global

tagging and tracking system.

The system was successfully designed, developed and demonstrated over the past year. Tasks 1

through 5 highlight the team’s work and accomplishments.

Task 1: Kickoff meeting to present the system architecture and concept. Discussions were

based around the available commercial-off-the-shelf (COTS) hardware and software that

could be integrated or modified and ancillary services such as the satellite network

vendor to meet the system objectives and were formalized through a COTS and trade

study.

Task 2: Design of the GRID and GRIDSAT tag devices, network interfaces, the cloud

infrastructure from data ingestions from the satellite gateway to the mapping user

interface, resulting in a detailed design report.

Task 3: Prototyping of the GRID and GRIDSAT hardware and firmware.

Task 4: Development of the mapping interface and implementation of the cloud

infrastructure.

Task 5: Unit and system testing, demonstration of functionality and capabilities.

The GRID and GRIDSAT tags provide the end-users with an active radio frequency

identification (RFID) system that:

1. Can be deployed to track any oil response vehicle or asset anywhere in the world

2. Does not require setting up field infrastructure including any local network, power lines

or local RFID portal to read the tags. Unlike other RFID systems, the GRID/GRIDSAT

system can operate autonomously over a wide-area while fully untethered.

3. Utilizes a self-healing mesh network that can alter the pathway for tag communications to

other GRID and GRIDSAT tags

4. Utilizes the open-source IPv6 over Low-Power Wireless Personal Area Network

(6LoWPAN) wireless technology, providing flexibility in future end-user configurations

and use cases.

Exhibit 1 highlights a proposed concept of operations from inventory, transit, staging,

deployment, and response. The scene shows how equipment and assets can be identified and

tagged while in storage so that the user knows which assets are available and where. The GRID

Introduction

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and GRIDSAT tag’s low power storage mode allows intelligent power management, with timely

communication. If an incident occurs that requires a response, the user can track assets as they

are moved from inventory to a forward staging area. Through the mesh network, GRID tags can

communicate through other GRID tags to a GRIDSAT tag, which then relays the entire message

through the satellite communication network with location, time, identification, and status

information to the mapping user interface or common operating picture. At the staging area,

resources can be assigned and deployed into action. Once equipment, personnel, and other

resources are deployed into the field during a response, the system automatically reports their

information and location for ease of use to enhance situational awareness.

Exhibit 1: a) Tagging of equipment while in storage allow for the identification and inventory of available resources; b) Resources at a staging area can be assigned and deployed to any user; c) GRID tags form a local mesh network and message to a GRIDSAT tag that automatically reports

resource information for identification and tracking during a response

System Architecture

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SECTION TWO: SYSTEM ARCHITECTURE

The holistic “GRID” system used to track material movement, storage, and deployment consists

of several distinct parts:

1. The GRID tag used to identify unique pieces of equipment or storage containers for low-

value or aggregate equipment. These tags communicate only through the mesh radio in

each tag, and are meant to communicate through a) the GRIDSAT tag to a satellite

system, and through the satellite gateway, or b) through another GRID tag in the GRID

mesh network as part of a path to the GRIDSAT tag. The data is then processed through

our Cloud Infrastructure for interpretation and display to the User.

2. The GRIDSAT tag, which can be used by itself for high-value items, large shipping

containers, or vehicles and vessels to track and locate them, or it can be used in concert

with GRID tags that communicate to the GRIDSAT tag using the mesh radio. The

GRIDSAT tag consists of a satellite modem, global positioning system (GPS) receiver,

and mesh radio.

3. A satellite system through which the GRIDSAT tag communicates, which is an Iridium

system because they are uniquely positioned to communicate at the extreme latitudes of

some of the target locations.

4. The GRID server and database, which house all pieces of the Cloud Infrastructure and

GIS software, including a database with all applicable tracking data, and a user interface

for extracting and analyzing the information.

Exhibit 2 shows a block diagram and interfaces between components of the GRID tag and

GRIDSAT tag and the overall architecture of each component within the system. The messages

that will be passed between the GRID tags to the GRIDSAT tags and on to the satellite gateway

are detailed in the design report, but are summarized as:

GRID Tag Message Format to GRIDSAT Tag: A payload of User Datagram Protocol

(UDP) packets are sent over the tag mesh network. UDP packet format and mesh

protocol have routing and cyclic redundancy check fields, and are not duplicated in

payload fields. Most communications on the mesh network are these tag beacon

messages.

GRIDSAT Message Format to Cloud Infrastructure: The GRID tag beacon messages are

aggregated along with the GRIDSAT tag message and sent from the GRIDSAT tag to the

server over the Iridium satellite network to the cloud infrastructure for interpretation and

further processing for final display on the mapping user interface.

Multi-Block Packet Header: When a GRIDSAT message is larger than the Iridium’s

Short Burst Data (SBD) message payload of 340 bytes, the GRIDSAT sends the message

in multiple SBD packets. Each packet has a 3-byte block header followed by up to 337

bytes of the message.

System Architecture

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Exhibit 2: Block Diagram of the System Architecture showing end-to-end communication from the GRID tag message to the user’s mapping interface

2.1 TRADE STUDY SUMMARY

The URS Team conducted a trade study and COTS assessment of available satellite

communication services and satellite tracking providers early in the project for tags that were

predominantly designed for asset tracking. The items, components, services, and software

targeted in the study were the primary components of Radio-Frequency Identification systems

necessary for positioning and communication through satellite systems: radio frequency

modules, GPS modules, antennas, accelerometers, batteries, and support infrastructure.

Additional emphasis was placed on functionality in extreme arctic and marine environments

where the tag would have to be saltwater- and corrosion-resistant, and be able to function below

-40° Celsius. The trade study found the best components, as well as alternate components in the

case of integration or product idiosyncrasies discovered during the design, production, and

testing phases.

During subsequent meetings with the customer, the stakeholders indicated that the primary

operational focus of the GRID tags should be on deployed resources, such as vessels arriving to

assist in a spill response. The tagging and monitoring of pre-positioned assets such as oil

response equipment in storage and in transit would be the secondary focus. The trade study

COTS assessment was reviewed at the midpoint of the project to see if the new focus on the tags

System Architecture

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impacted the trade study. It was determined that all internal components chosen would be

unchanged because the tags would still have to operate in marine arctic environments.

2.2 DESIGN SUMMARY

The GRID Design Review Report outlined and described the URS Team’s methodology for

developing and analyzing the system requirements. This exercise culminated in the Team’s

selection of components, design, and integration for the major subsystems that include the GRID

tag, GRIDSAT tag, and Cloud Infrastructure. The URS Team presented the design details for

each major subsystem, GRID tag, GRIDSAT tag, and Cloud Infrastructure to BSEE stakeholders

in January and February 2015. During these presentations, the Team showed that the current

design of the system will provide the functionality required and will be verified through testing

and final system demonstration.

The URS Team made minor changes to the system that updated the Design Review Report.

Some of the software deployed, such as the database and indexing engine, were changed to

provide faster search capabilities. A parameter was added to the message format to accommodate

additional parameters in communicating the status of the mesh network and the path of GRID tag

communication within the dynamic mesh network.

As mentioned above, the stakeholders indicated that the focus should be on deployed resources,

such as vessels arriving to assist in a spill response, instead of pre-positioned assets, so the Team

considered changes to the physical layout of the GRID and GRIDSAT enclosures for deployed

resources to make it easier for the end-user to change batteries, or hook up the GRIDSAT tag to

a vehicle or vessel electronic system. While the contract resources would not accommodate a

change to new tag enclosures, the URS Team did create new tag housing schematics and a 3-

dimensional model for these changes in future iterations of the tags.

System Overview

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SECTION THREE: SYSTEM OVERVIEW

As described in the system architecture, there are three primary subsystems: the GRID tag,

GRIDSAT tag, and Cloud Infrastructure, which includes data acceptance from the satellite

gateway, data processing, and display on the mapping user interface.

3.1 GRID TAG

This section summarizes the design elements, components, and protocols of the GRID tag.

3.1.1 Device Architecture Design

As shown in the GRID tag architecture block diagram (Exhibit 3), the design includes a Micro

Control Unit (MCU) and Radio Frequency (RF) module operating at 2.4 gigahertz and

implementing 802.15.4, 6LoWPAN, with enhanced functionality. The firmware was developed

to improve power management and mesh network communication.

Exhibit 3: GRID tag architecture

3.1.2 RF Module

The GRID tag uses the RF module for all processing functions. The RF module provides a multi-

tasking environment that supports both a 6LoWPAN mesh network stack and application-

specific tasks implementing GRID tag functions.

The network stack is configured as a router node, allowing the GRID tag to communicate on the

network and route messages between other nodes and the GRIDSAT tag.

The GRID tags use network discovery to identify the strongest router signal and the closest

GRIDSAT tag to decide which network to join. The network is self-healing: when a GRID tag

loses contact with its router to the GRIDSAT tag, it returns to discovery to find a new route or

new network to join.

System Overview

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3.1.3 Sensors

Exhibit 4 shows the internal sensors that will produce the signals needed for tag operation and

power management.

Sensor Interface Notes

Motion Serial Peripheral Interface (SPI)

INTR digital motion detect signal

The accelerometer operates in low-power motion detection mode. It asserts INTR to interrupt and wake the RF module. It uses the motion wake-up to control switching from Low-Power Storage mode to Active mode.

Battery Analog to Digital Converter The MCU module computes the battery voltage, compares it to a low threshold to detect low voltage, and sets a fault status.

Exhibit 4: GRID tag sensors and interface

3.1.4 Firmware

The following functions were implemented in the tag firmware to enable mesh networking and

the advanced battery power management required to meet the desired GRID tag functionality

and performance.

Network stack functions

802.15.4 Media Access Control (MAC) layer

o Network joining

o Point-to-point communications

o Protocols (UDP, Internet Protocol [IP], Internet Control Message Protocol

[ICMP])

6LoWPAN layer configured as a router

o Maintain routing tables and neighbor lists

o Route unicast messages through network

o Rebroadcast broadcast and multicast messages

GRID tag functions

Initialize and configure network stack

Initialize GRID tag functions

In deployed (active) state

o Periodically send GRID tag report to GRIDSAT tag (if joined to a network)

o Read battery voltage

o Process parameter, get and set messages from maintenance network

o A switch to the storage state will be determined by the amount of time no motion

is detected

System Overview

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In storage state

o Periodically send beacon message

o Time motion-detected signals to determine when to switch to deployed (active)

state

3.1.5 Enclosure

The enclosure is constructed of thick-walled polycarbonate plastic with elastometer and

pressurized screws to provide IP67 sealing. The enclosure can be coated by conformal

deposition of a hydrophobic material including Parylene C or a dedicated antenna hydrophobic

position locator pad (see Exhibit 5). Appendix A presents the study on enclosure materials,

particularly as they relate to prevention of ice formation.

Exhibit 5: GRID tag enclosure pictures (top view, front view, side view)

3.2 GRIDSAT TAG

This section summarizes the design elements, components, and protocols of the GRIDSAT tag.

System Overview

21-SEP-15\\ 3-4

3.2.1 Device Architecture Design

As shown in the GRIDSAT tag architecture (Exhibit 6), hardware includes the MCU, RF

module, and high capacity batteries. The firmware was developed to improve power

management and mesh network communication. Additionally, a satellite modem and GPS

module were integrated. Descriptions of the modules are presented in the following sections.

Exhibit 6: GRIDSAT tag architecture

3.2.1.1 Micro Control Unit

The GRIDSAT tag architecture includes an MCU to act as a border router host, providing the

gateway between external communications and the mesh network GRID tags. It directly

interfaces with the GRIDSAT tag sensors, GPS, Iridium modem, and RF module.

3.2.1.2 RF Module

The RF module is the same one used for the GRID tags, but runs different firmware. The RF

module functions as the border router node (coordinator), maintaining lists of joined tags, and

sending network beacons to synchronize mesh communications. It interfaces with the MCU over

an asynchronous serial interface, and has a digital output signal to wake the MCU when the

module needs to communicate with the MCU. The MCU has sensor inputs for battery voltage

and the accelerometer.

System Overview

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3.2.1.3 Iridium Modem

The GRIDSAT tag uses the Iridium 9603 modem module for communications with the cloud

server and GIS interface, periodically sending GRIDSAT Tag Domain Reports.

3.2.1.4 Sensors

The GRIDSAT tag’s MCU directly interfaces with the included sensors, GPS, motion, and

battery. Parameters define polling rates for each sensor and the calibration / conversion

coefficients.

3.2.2 Firmware and Algorithms

Firmware on the GRIDSAT tag was modified and enhanced to implement the mesh networking

communication, satellite communication, and power management.

3.2.2.1 MCU Functions

The MCU sleeps most of the time, but wakes to process messages from the RF module and for

periodic server update cycles. The server update cycle is activated when the MCU gathers the

information needed to create the GRIDSAT Tag Domain Report, including checking system

status and waiting for a GPS fix.

MCU handling of messages from the RF module:

Receives GRID tag reports – update information in GRID tag table

Receives join/drop notifications – update GRID tag table

Receives battery level – update GRIDSAT status

Receives motion detection – initiate timer to determine state change

For each server update cycle, the MCU performs the following operations:

Powers on GPS and waits for a stable fix, then powers off GPS

Generates GRIDSAT report

Powers on Iridium modem

o Waits for satellite detection

o Connects to satellite and opens channel for communications

o Sends GRIDSAT report using SBD protocol

o Waits for packet acknowledgment

o Powers down Iridium modem

Sleeps until the next server update cycle or message from RF module

3.2.2.2 RF Module Functions

The RF module has the following functions:

Network stack functions

802.15.4 MAC layer

System Overview

21-SEP-15\\ 3-6

o Network joining

o Point-to-point communications

o IP protocols (UDP, IP, ICMP)

o Sends network announcements for network discovery

o Sends network beacon polls to synchronize network communication windows

6LoWPAN layer configured as a border router

o Maintains routing tables and neighbor lists

o Maintains table of all nodes joined to the network

GRIDSAT functions

Initializes and configures network stack

Initializes GRIDSAT functions

In deployed (active) state:

o Passes to MCU notifications of GRID tags joining the network

o Passes to MCU notifications of GRID tags dropping from the network

o Passes to MCU all UDP packets (GRID tag reports, etc.) received from network

o Sends over network all UDP packets (parameter get/set, etc.) received from MCU

o Processes command messages from MCU for GRIDSAT functions (read battery

voltage, etc.)

o Sends notifications to MCU of motion detection

In storage state

o Periodically sends beacon message, otherwise radio is off

o Sends notifications to MCU of motion detection

o Periodically sends MCU reading of battery voltage

3.2.2.3 Time Synchronization

The GRIDSAT tag uses the GPS Coordinated Universal Time (UTC) time to set and maintain its

real-time clock, which is GPS time plus the correction for leap seconds. It timestamps GRID tag

messages when received. It adds to sync beacons the current UTC time, which allows GRID tags

to maintain their real-time clock (RTC). Therefore, network-wide RTC time is accurate to about

a second.

3.2.2.4 Firmware Segment for Controlling Iridium Modem Module

The MCU communicates with the Satellite Modem module over an asynchronous serial

interface. Data packets are sent as SBD messages to the Iridium system. The Iridium gateway

sends the messages to the cloud server and GIS interface as Mobile Originated (MO) direct IP

transfers.

The payload for SBD messages is 340 bytes. This allows sending a GRIDSAT message with 26

GRID tags in a single packet. If a GRIDSAT network has more than 26 joined tags, then the

GRIDSAT message is sent as a multi-block message.

System Overview

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3.2.3 Enclosure

Similar to the GRID tags, the enclosure employs thick-walled polycarbonate plastic with

elastometer and pressurized screws to provide IP67 sealing. The enclosure can be coated by a

conformal deposition of hydrophobic material including Parylene C or dedicated antenna

hydrophobic position locator pads. Exhibit 7 below shows the enclosure, which can be attached

via tie wrap, zip ties, screws, tape, or other adhesives designed to meet the specific deployment

requirements.

Exhibit 7: GRIDSAT tag enclosure pictures (top view, front view, side view)

3.3 CLOUD INFRASTRUCTURE

The cloud infrastructure provides the backend data acceptance from the satellite gateway,

processing and interpreting key tag information such as location to a web-accessible map

displayed for the end user. Exhibit 8 diagrams the data flow within the cloud infrastructure.

Exhibit 8: Cloud infrastructure schematic diagram

3.3.1 Software Employed

The cloud infrastructure consists of the software components listed below, which process the Tag

Domain Reports requested from the satellite gateway. They are deployed and run on the

Amazon Web Services cloud servers.

System Overview

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1. NginX reverse proxy – Manages incoming requests from the gateway. It facilitates

which ports are open and what systems can communicate through those ports. It works in

tandem with the firewall.

2. Node Gateway Receiver – Listens for packages sent by the satellite, and once received,

starts the processing engine.

3. JSON Entity Mapper – The node gateway receiver server uses this configuration file to

translate messages into entities the database can use. If the gateway changes protocols, or

the gateway provider changes, the entity mapper will be updated, and the rest of the

subsystem should be unaffected.

4. Node processing engine – Receives incoming messages and translates them into

MongoDB database entities.

5. MongoDB database – Stores the translated entities from the node processing engine. The

database structure defines what the entities are and the formats of each of their attributes.

6. Solr – The indexing engine that provides fast search capabilities.

7. Node Web server – The same server as above; however, it is used as a Web and

Application Programming Interface (API) server for the mapping application.

8. Koop – Is a data translation engine that can format the database entities into a

consumable format for Web-based systems.

9. Turf.js – Is a spatial data manipulation engine used to conduct spatial queries and format

MongoDB data into GeoJSON.

10. Web Mapping Application – The user interface that displays interactive features that

represent the tags in the field and the messages and status that they emit over time.

Leaflet is the application of choice.

3.3.2 Cloud-Based Data Servers

The hardware that was chosen for this project is sufficient for prototyping and proof of concept.

Because of Amazon’s scalability, what is done on a small scale using its platform can be

upgraded to support a larger, production-ready environment. The hardware chosen is suitable to

support all software components of this project including, NginX, the Node Ingestion server,

MongoDB database, and the web-mapping application. The Amazon Web Services data centers

are staffed 24/7 by trained security guards, contain environmental systems to minimize the

impact of disruptions, and span multiple geographic regions to provide resiliency to manmade

and natural disasters.

3.3.3 GIS Software Application Package

After the NginX reverse proxy accepts the incoming requests from the satellite gateway, the GIS

software application package mentioned above that consists of the node gateway receiver and

processing server uses the JSON entity mapper to parse the GRIDSAT tag, produce Tag Domain

System Overview

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Reports, and store the data in the MongoDB database deployed on the Amazon Web Services

server. After the data is stored, it is immediately indexed and made available to search using the

front end mapping application.

3.3.4 Mapping API

The user interface is designed to provide all of the desired functionality while maintaining ease

of use for novice users. Desired functionality is as follows:

GRIDSAT tags viewable on a map

Visible status indication of GRIDSAT tags

Clicking GRIDSAT tags displays additional information about GRID tags

User can review the history details of the GRIDSAT tags

A user guide with detailed step by step instructions and screen captures to aid new users is

included as Appendix B in this report. This application is best viewed in the latest desktop

browsers (Firefox 15+, Opera 12.1+, Chrome, Internet Explorer 10+) and mobile platforms

(Safari for iOS 3–7+, Android browser 2.2+, 3.1+, 4+, Chrome for Android 4+ and iOS, Firefox

for Android, Other WebKit browsers [webOS, Blackberry 7+, etc.], and IE 10/11 for Win8

devices).

Leaflet is free to use but does not have map imagery. Map Box (a paid service that provides free

base maps) is combined with Leaflet to obtain this imagery.

Testing

21-SEP-15\\ 4-1

SECTION FOUR: TESTING

To ensure that the system operates as designed, we conducted unit- and system-level tests, which

are detailed in this section.

4.1 TAG TESTING

The GRIDSAT tag underwent the following component-level tests:

Power consumption

Average sleep current

Current when mesh network is active

Current when GPS is active

Current when GPS and satellite modem are active

Average current for 5-minute beacon

Battery capacity

Motion sensing validation

Beacon activation due to motion

Reduction of transmissions sent due to inactivity in low power storage mode

Environmental

Temperature

Water immersion

Shock

Vibration

The GRID tag underwent the following component-level tests:

Power consumption

Average sleep current

Current when mesh network is active

Average current for 5-minute beacon

Battery capacity

Low power storage mode

Beacon activation due to motion

Reduction of transmissions sent due to inactivity in low power storage mode

Environmental

Temperature

Water immersion

Shock

Vibration

Testing

21-SEP-15\\ 4-2

4.2 POWER CONSUMPTION TESTING

Exhibit 9 below shows a summary of the power consumption testing for the GRIDSAT tag. This

shows the GPS and satellite modem current draws are slightly lower than the design target, while

the sleep current is higher.

Average sleep current 360 µA (microamps)

Current when mesh network is active 121 mA (milliamps) (+ 120 mA peak)

Current when GPS is active 151 mA (+ 30 mA peak)

Current when GPS and satellite modem are active 321 mA (+200 mA, 1.5 A peak)

Average current for 5-minute beacon , 2 reports per day 1.4 mA

Battery capacity 14 AH (amp-hours)

Exhibit 9: GRIDSAT tag power consumption test summary

Exhibit 10 shows the summary of the power consumption for the GRID tag. The sleep current is

improved from the design targets, resulting in improved battery life.

Average sleep current 6 µA

Current when mesh network is active < 120 mA @ power level=6 (default)

< 230 mA @ power level=7 (max)

Average current for 5-minute beacon < 11 µA @ power level=6 (default)

< 16 µA @ power level=7 (max)

Battery capacity 3.6 AH

Storage battery life ~10 years (limited by battery aging)

Operational battery life @ 5min beacon:

Power level = 6 > 8 years

Power level = 7 > 7 years

Exhibit 10: GRID tag power consumption test summary

4.3 LOW POWER STORAGE MODE TESTING

Low power storage mode was tested by setting the motion parameters to 2 intermediate g-levels

in a 20-second window that activated a tag from storage mode. The tag was set to enter storage

mode if no motion was detected in 2 minutes and again in 5 minutes. The test verified that the

tags entered storage mode when no motion was detected, and entered active mode from storage

when motions were detected, as per set parameters in both cases. It was also verified that the

current draw in storage mode was equal to the tag sleep currents presented in Section 4.2.

Testing

21-SEP-15\\ 4-3

4.4 ENVIRONMENTAL TESTING

Environmental testing included operation at temperature extremes, water immersion, shock, and

vibration. The results are presented in the following sections for both the GRIDSAT and GRID

tags.

4.4.1 Temperature

The Tenney BTRC (Benchmaster Temperature / Relative Humidity Test Chamber)

environmental chamber (Exhibit 11) was used to test the system from -50 degrees Celsius (°C) to

80°C. The mesh, GPS, and Iridium modem antennas were connected outside of the chamber

with cables. The mesh network beacon rate was set to 10 seconds, and system functionality was

verified by successful beaconing by the GRID tag to the GRIDSAT and reporting to the satellite

by initiating a transmission through the GRIDSAT universal serial bus (USB) interface over time

and temperature extremes shown in Exhibit 12. We employed Saft 17500 and Xeno XL-100F A-

cell batteries for GRID tags in our tests that showed current delivery deterioration at

temperatures above 75°C which in some instances affected the tag’s functionality. The

GRIDSAT batteries Fanso ER34615M D-cell worked without any interruption in all the tests

conducted up to 81°C, and all batteries operated successfully down to -50°C.

Exhibit 11: Tenney BTRC at Evigia with the GRID and GRIDSAT tags

Testing

21-SEP-15\\ 4-4

Exhibit 12: Successful GRID and GRIDSAT tags operation over time in extreme temperatures

4.4.2 Water Resistance

Exhibit 13 shows the tube tank for immersing the tags in water at 1 meter for up to 12 hours to

comply with the IP67 standard.

Exhibit 13: Tube tank at Evigia used to test water resistance

GRIDSAT and GRID tags were both subjected to the water immersion test at greater than 1.1

meters. The temperature was at 25°C plus or minus 5°C for 15 minutes, 1 hour, and 12 hours in

three separate tests, which all resulted in no leaks. Exhibit 14 below presents the test summary.

-55

-35

-15

5

25

45

65

85

-20 30 80 130 180 230

Tem

pe

ratu

re [º

C]

Time [minutes]

Environmental Chamber Temperature Sweep During GRID & GRIDSAT Tests

4’2½

” (1

.28m

)6” ID

Testing

21-SEP-15\\ 4-5

Test # Number of

cycles Duration of each immersion (hr.)

Type of liquid Temperature

Result (Leak or no leak inside the enclosure)

A 2 0.25 Fresh (tap) water 25°C ± 5°C No leak

B 2 1 Fresh (tap) water 25°C ± 5°C No leak

C 1 12 Fresh (tap) water 25°C ± 5°C No leak

Exhibit 14: Water immersion test conditions and results

4.4.3 Shock

A drop test (high gravity test) on concrete was performed. The GRID and GRIDSAT tags were

dropped onto a concrete floor four times each from a height of 6 feet. Exhibit 15 below

summarizes the test results.

Device Number of

cycles Height (ft.) g-level (peak) Duration (ms) Results

GRIDSAT 4 6 1100-1700 ~0.8 No damage

GRID Tag 4 6 1100-1700 ~0.8 No damage

Exhibit 15: Mechanical drop test conditions and results

4.4.4 Vibration

The devices were tested on an Unholtz-Dickie shaker system (Model 630) at the laboratories of

the Electrical and Computer Engineering department of University of Michigan to simulate

vibrational conditions. Exhibit 16 below shows the shaker system with GRID and GRIDSAT

tags. Exhibit 17 shows the mechanical vibration test conditions and results. The peak

acceleration was set to 5g at the 20 to 2,000 Hertz (Hz) frequency range. After the vibration tests,

the devices were opened for visual inspection and verified to be fully functional.

Testing

21-SEP-15\\ 4-6

(a) (b) (c)

Exhibit 16: The shaker system: a) mounted with a GRID Tag; b) mounted with a GRIDSAT; c) control system of the shaker system

Device Frequency Range (Hz)

Peak Acceleration

(g)

Duration of a cycle (ramp up

and down) (min.)

Number of Cycles

Results

GRIDSAT Tag 20 – 2,000 5 4 4 No visual damage; tag fully functional after vibrations

GRID Tag 20 – 2,000 5 4 4 No visual damage; tag fully functional after vibrations

Exhibit 17: Mechanical vibration test conditions and results

Exhibit 18 shows a screenshot of a typical plot during the sweeping frequency test of a

GRIDSAT tag. The plot is the measured accelerometer output in percent deviation with respect

to the referenced accelerometer output. The measured accelerometer is mounted on the

GRIDSAT/GRID tag while the reference accelerometer is mounted on the driving head. Several

peaks of the plot show the natural frequency of certain components of the GRIDSAT tag or

mounting plate. There are significant self-excited vibrations at around, 60 Hz, 160 Hz, and 500

Hz.

Testing

21-SEP-15\\ 4-7

Exhibit 18: A typical plot of a sweep frequency test of GRIDSAT at 5g

4.5 CLOUD INFRASTRUCTURE AND USER INTERFACE

Both unit and system testing were performed during the development process to ensure proper

operation and confirm that all functionality was implemented correctly.

4.5.1 Unit Testing

Unit testing tests individual unit functionality without depending on other parts of the

architecture. One unit was tested at a time, and all other components were mocked:

Gateway Message Delivery. The delivered messages were compared to the messages

sent from the GRIDSAT and GRID tags.

Messages were mocked and sent to the gateway receiver. The mocked message

package length was compared with the message received by the gateway receiver,

node gateway receiver, and processing server. The received messages from the

gateway were compared to the simulator data.

o A byte-by-byte analysis was used to ensure integrity was maintained.

o The mocked messages parsed by the entity mapper were compared to a previous,

correctly parsed message to ensure the processing engine was functioning

properly.

Data Storage. Storage was tested to ensure the data intended to be saved was actually

saved.

Node Web API. The interface was tested to verify that each API received and responded

correctly to incoming requests.

o The Mocha testing mock request was made, and the responses were compared to

the previously determined expected responses. Mocha is a JavaScript unit testing

Acceleration

level

Current

f requency

Testing

21-SEP-15\\ 4-8

framework and test runner. It facilitates the process for designing unit tests and

running and providing the pass/fail results of each test. Mocha is the de facto unit

test framework for Node.

Application Testing

We used the Jasmine testing framework to unit test all application functionality.

Jasmine is a behavior-driven development framework used for testing JavaScript

code. Jasmine does not require other JavaScript frameworks and uses clean, obvious

syntax that allows application tests to be easily written.

4.5.2 System Testing

Mock Messages. The Team set up a message signal relay system that sent mock

messages to the Node Ingestion server. The signal relay sent success and error message

types so the system could test its response to both scenarios.

The Team created GRIDSAT tag and GRID tag emulators and developed a simulator

that dynamically manipulated GRIDSAT tag and GRID tag values and quantities

The manipulated values were compared with the values ultimately stored in the

database

Errors were introduced in the emulators to ensure the system would fail gracefully

o Incorrect byte length was the primary failure technique

o Incorrect data types, e.g., latitude and longitude, were tested

Payloads used the simulator to mock the different messages that can be sent from the tags

Security tests indicated that only the gateway can send messages through the NginX

reverse proxy

Application testing tested that the Web application representation of the tags and their

data accurately reflected what was sent

Conducted manually by a tester

4.6 SYSTEM DEMONSTRATION

The system demonstration showcased the full functionality end-to-end from GRID tag to

GRIDSAT tag through the cloud infrastructure to the mapping user interface.

4.6.1 Time and Location

The system demonstration for contract E14PC00027 GRID tag began at approximately 11:00 am

on September 14, 2015. A table and tent was setup in the courtyard of the BSEE building

parking lot located at 45600 Woodland Road, Sterling, VA 20166, highlighted in Exhibit 19

below.

Testing

21-SEP-15\\ 4-9

Exhibit 19: Location of planned system demonstration

4.6.2 Equipment Inventory

Power was provided for the demonstration in the area highlighted in Exhibit 19.

A list of equipment that URS used to perform the system demonstration is shown in Exhibit 20.

Exhibit 20: List of equipment for the system demonstration

Item Quantity Identification and Description

GRIDSAT tag 4 5603724, 5603626, 5603607, 5603624

GRID tag 6 3534468 (hex: 0035ee84), 3534464 (0035ee80), 3534579 (0035eef3), 3534459 (0035ee7b), 3534461 (0035ee7d), 3534484 (0035ee94)

GRIDSAT tag batteries 16 D cell spiral, ER34615M

GRID tag batteries 14 A cell bobbin, LS17500

Configuration laptop 1 Evigia laptop

Configuration cable 1 8 feet USB to micro USB

Cloud server monitoring laptop

1 URS laptop

User interface laptop 1 URS laptop

User interface tablet 1 URS iPad

Mobile hotspots 2 URS mifi

Testing

21-SEP-15\\ 4-10

Item Quantity Identification and Description

Container for GRID tag 1 Pelican case

Vehicle 1 Vehicle for moving the GRID and GRIDSAT tags

Mobile phones 4 Conference call to communicate among team members

Tables 2 One table under the tent and one near the tent with a clear view to the sky for a GRIDSAT tag and Evigia laptop

Tent 1 Area to start the system demonstration and view the user interface

Tag stands 2 Raise tags above parked cars for line-of-sight communications in distance test, zip ties, scissors

Tag car mounts 2 Attach one GRID and one GRIDSAT tag to the vehicle

4.6.3 Demonstration Summary

Five demonstrations were planned, with different functions being featured for each. We also

expected some of the demonstrations to be attempted multiple times before a completed

successful transmission was received. This could have been due to an unforeseen testing

environment the day of the test, unknown satellite locations, time delays, and relying on third-

party networks (Iridium constellation, satellite gateway, and the hosted cloud service) for the

operation of the GRID tagging system. Exhibit 21 summarizes the functions that were

demonstrated.

Demonstration Number Function Demonstrated

1

Mesh network – GRID tag hopping

End-to-end messaging from GRID tag to GRIDSAT tag, Iridium satellite, Iridium gateway, cloud server, to user interface

Display GRIDSAT tag location, number of associated GRID tags, and tag message information reported to mapping user interface

2 Higher-speed dynamic GRIDSAT tag – movement around the area, self-reporting location data, location history over time

3 Dynamic GRIDSAT and GRID tags

Mesh network self-healing

4 GRIDSAT and GRID tag configuration

GRID tag motion sensor activation

5 GRID to GRIDSAT tag range in a RF contested and physically challenging environment

Exhibit 21: System functions demonstrated

Testing

21-SEP-15\\ 4-11

4.6.4 Demo #1: Mesh Network Chain of GRID Tags

GRIDSAT tags used:

5603607, configured to manually initiate a GPS fix and transmit messages via satellite.

All tags set with a RF transmission power value of 6.

GRID tags used:

3534468 (hex: 0035ee84), configured to send out network sync beacons, the beacon rate,

every 10 seconds

3534464 (0035ee80), beacon rate set to 10 seconds

3534579 (0035eef3), beacon rate set to 10 seconds

3534459 (0035ee7b), beacon rate set to 10 seconds

3534461 (0035ee7d), beacon rate set to 10 seconds, placed with the container

3534484 (0035ee94), beacon rate set to 10 seconds, secured to the top of the vehicle

Exhibit 22 and the following text detail the steps for Demo #1.

Exhibit 22: Details for Demo #1

1. Insert batteries into all GRID tags.

2. Each demonstration team member dials into the conference call number.

Testing

21-SEP-15\\ 4-12

3. Each GRID tag deployed to its location shown in Exhibit 22. Each tag to vary their

distance linearly away from the GRIDSAT tag, forming a communication network with

multiple hops.

a. The distance from GRIDSAT tag 5603607 to GRID tag 3534468 is

approximately 275 ft

b. GRID tag 3534468 to GRID tag 3534464 is approximately 200 ft

c. GRID tag 3534464 to GRID tag 3534579 is approximately 150 ft

d. GRID tag 3534579 to GRID tag 3534459 is approximately 150 ft

e. GRID tag 3534459 to GRID tag 3534461 is approximately 10 ft

4. GRID tag 3534459 (0035ee7b) and 3534461 (0035ee7d) with the container will have

someone from the Team with them and will announce on the conference call when those

GRID tags are in position.

5. A team member will start driving the vehicle with GRID tag 3534484 (0035ee94) along

the loop outlined.

6. Login laptop and tablet into the mapping user interface.

7. Insert batteries into GRIDSAT tag 5603607 and connect to Evigia laptop via USB cable.

Connected through USB cable will save time for the first demonstration by monitoring

when the GRID tags are discovered and then the GPS fix and satellite transmission can

be immediately initiated.

8. GRIDSAT tag 5603607 will automatically discover the mesh network of GRID tags.

9. Once the GRID tags are discovered by GRIDSAT tag 5603607 (1-2 minutes), we will

instruct the GRIDSAT tag to obtain a GPS fix (1-2 minutes) and send a message through

the Iridium gateway (5 to 10 minutes).

10. Once the message has arrived to our cloud sever from the Iridium gateway (5-15

minutes), the GRIDSAT tag ID of 5603607 can be typed into the search bar and brought

up on the mapping user interface, able to display the transmission date, time, location,

type of tag, ID and status information from the tag messages transmitted.

Exhibit 23 shows the results of the detailed readings from the message reported from GRIDSAT

tag 5603607 to the mapping user interface. The location of the GRIDSAT tag is reported along

with the six associated GRID tags.

Testing

21-SEP-15\\ 4-13

Exhibit 23: Demo #1 results show GRIDSAT tag location and successful report sent with six GRID tags messages

Testing

21-SEP-15\\ 4-14

4.6.5 Demo #2: Higher Speed Dynamic GRIDSAT Tag

GRIDSAT tags used:

5603724, configured to transmit every 4 minutes, secured to the top of the vehicle.

GRID tags used:

3534484 (0035ee94), configured to send out network sync beacons every 10 seconds,

secured to the top of the vehicle.

Exhibit 24 shows the two tags secured to the top of the vehicle via their testing mounts.

Exhibit 24: GRID and GRIDSAT tags secured to the top of the test vehicle for Demo #2

Details for Demo #2 are shown in Exhibit 25 and the text below it.

Testing

21-SEP-15\\ 4-15


1. Insert batteries into GRIDSAT tag 5603724 and secure to the top of the vehicle.

2. Drive along the route shown and stop at the locations shown on Exhibit 25 above.

3. Query the tag to view its reported locations. Once confirmed, drive to the next stop.

4. Show the location history of the tag over time.

Exhibit 26 shows the location history results of Demo #2 over time. The GRIDSAT tag 5603724

is secured to the top of the vehicle showing Stop #1, a report while driving to Stop #2, parked at

Stop #2, and a report once the vehicle arrived and was parked back at the testing location of

45600 Woodland Rd, Sterling, VA.

Testing

21-SEP-15\\ 4-16

Exhibit 26: Demo #2 results show the GRIDSAT tag detailed location history over time

4.6.6 Demo #3: Dynamic GRIDSAT and GRID Tags and Self-Healing Network

GRIDSAT tags used:

5603607, configured to transmit every 4 minutes.

GRID tags used:

3534579 (0035eef3)

3534459 (0035ee7b)

3534461 (0035ee7d)


Testing

21-SEP-15\\ 4-17


1. Insert batteries into GRIDSAT tag 5603607.

2. Walk the tag to the northeast corner to automatically discover the network with GRID

tags 3534579, 3534459, and 3534461 that were disconnected from the network once

GRID tags 3534468 and 3534464 were removed, but through the self-healing network,

the remaining three GRID tags were able to beacon and rediscover the network.

3. Show the mapping user interface with GRIDSAT tag 5603607.

4. Walk all tags back to the tent staging area.

Exhibit 28 shows a screenshot of the results of the mapping user interface with GRIDSAT tag

5603607 reporting with each of the three GRID tags successfully connected to the network.

Testing

21-SEP-15\\ 4-18

Exhibit 28: Demo #3 results showing three GRID tags being successfully acquired by the GRIDSAT tag

4.6.7 Demo #4: Tag Configuration and Low Power Storage Mode with Motion Sensing

GRIDSAT tags used:

5603607, configured to allow for entry into low power storage mode.

GRID tags used:

3534468, configured with GRIDSAT tag 5603607 to enter low power storage mode.

1. At the staging tent location, use the configuration laptop and the tag command

interface to enter maintenance mode which is used to change tag parameters and

update the tags connected to the current GRIDSAT tag network.

2. Instruct GRIDSAT tag 5603607 and GRID tag 3534468 to enable low power storage

mode and set the accelerometer parameters for the desired sensitivity level.

Testing

21-SEP-15\\ 4-19

3. Rotate and move the tags so that the accelerometer can sense the motion while in low

power mode, which will bring the tags out of low power storage mode and into active

mode. This will enable network discovery, and show on the connect laptop that the

GRIDSAT tag can communicate with the GRID tag.

Demo #4 was successfully demonstrated to show both tags go to sleep, once both were rotated,

the GRID tag started to beacon and the GRIDSAT tag was able to acquire the GRID tag as

displayed on the connected laptop.

4.6.8 Demo #5: GRIDSAT to GRID Tag Long-Distance Trial

GRIDSAT tags used:

5603624, set RF power to 7.

GRID tags used

3534464 (0035ee80), set RF power to 7.


Exhibit 29: Details for the optional demo

1. Insert batteries to both tags.

2. Affix both the GRIDSAT tag and GRID tag to the pole mounts to elevate the tags and

enable line of sight.

3. Walk GRID tag 3534464 (0035ee80) 500 ft from the GRIDSAT tag.

4. Wait and confirm that the GRIDSAT tag can still see the GRID tag beacons

Testing

21-SEP-15\\ 4-20

5. Repeat steps 3 and 4 for 750 ft and 1,000 ft.

Due to the large number of parked and moving vehicles, buildings, shrubs, and other obstacles,

the selected GRID and GRIDSAT tags were mounted to a pole that provided as close to line-of-

sight communication as possible. This configuration is shown in Exhibit 30. The test was

successful as we were able to consistently see the GRID tag at 1,000 feet from the GRIDSAT tag

per the diagram in Exhibit 29.

Exhibit 30: Tags mounted on a pole to provide line-of-sight communication

Operations, Maintenance, and Training

21-SEP-15\\ 5-1

SECTION FIVE: OPERATIONS, MAINTENANCE, AND TRAINING

5.1 SETUP, CONFIGURATION AND OPERATION

5.1.1 Setup

Before using the systems, the user activates the satellite data service plan on the GRIDSAT units

through an authorized service provider. The modem number is noted on the tag cover. The

satellite data is routed to the pre-defined cloud infrastructure server IP address and port number.

5.1.2 Startup

To install or replace the battery, the cover needs to be removed to expose the battery

compartment. The cover is secured with four screws in the back as shown in Exhibit 31. Once

the battery is installed as shown in Exhibit 32 and the cover is fastened again, the tag will start

functioning autonomously; they do not have an external power button. Tag IDs are assigned as

factory default and are imported into the cloud infrastructure database as part of the standard tag

messages.

Exhibit 31: Back of tag showing four screws to access the battery compartment


21-SEP-15\\ 5-2

Exhibit 32: GRIDSAT Tag Micro USB port and battery clips

A recommended mounting position and orientation is show in Exhibit 33. This position promotes

the best communication results because of internal GPS and satellite antenna placement.

Exhibit 33: Recommended GRIDSAT Tag mounting position and orientation


21-SEP-15\\ 5-3

5.1.3 Configuration

The tags operate in three different modes:

1. Low Power Storage Mode (LPSM). This mode is designed for the tags to minimize

power consumption during storage. The motion sensor will be monitored during LPSM.

Storage beacon messages may be sent for inventory purposes.

2. Active Mode. This is the mode the tags operate during deployment. In this mode, the

GRID tag will discover and join a mesh network. Within the network, GRID tags will

respond to sync beacons, which are the messages sent by the GRIDSAT which acts as the

network coordinate host to send sync beacons to identify its network and synchronize

when the GRID tags can communicate, route the mesh network traffic if needed, and

periodically send a tag report by obtaining a GPS fix and establishing a satellite

communication link to send the data through.

3. Maintenance Mode (MM). This mode can be initiated by issuing an addressed

maintenance command message to a target GRIDSAT tag though the USB interface

(USB to micro USB cable required). In this mode, the configuration parameters on the

tags can be retrieved and set using commanding messages. This mode can be initiated

and parameters set by issuing a wireless broadcast message to GRID tags that are

connected to the GRIDSAT tag that was initiated through the USB interface.

Maintenance Mode is used to configure tag parameters; to enter into MM:

1. Insert the batteries

2. Plug in the USB cable

3. Deploy TeraTerm, a terminal emulator for communications, on the computer

4. Hit “Enter” on the keyboard to start

5. Type “?” and hit “Enter” on the keyboard to see the menu

6. Start entering commands

The configuration parameters, debug output parameter definition, and the screen shot of the

maintenance software tool are presented in Exhibits 34 through 36

Exhibit 34: GRIDSAT configuration parameters

Command Description Parameter

t Change the RF transmission power of a GRIDSAT mesh tag and all its associated GRID tags

Valid Range: [0-7]

0: -33 dBm

1: -20 dBm

1: -9 dBm

3: 0 dBm

4: -11 dBm

5: 2 dBm

6: 13 dBm


21-SEP-15\\ 5-4


7: 22 dBm (GRID tag 17dBm)

b Defines the beacon rate of the network associated with the GRIDSAT tag in seconds

Valid Range: 5 - 600

Time in seconds

T

(shift t)

Sets the Link Quality Indicator (LQI) parameter threshold for rebroadcast of beacons. If a tag receives a beacon in the network with its LQI below this threshold, the tag rebroadcasts the beacon.

Valid range: 0 - 255 counts

P

(shift p)

Sets the GRIDSAT automatic reporting period. Valid range: 0 - 255 counts

Time in minutes [0-3e5]

0 disables the automatic reporting to manual.

r Starts a GRIDSAT report in manual mode (when P=0)

N/A

m Motion Parameters:

Storage To Active Event Window:

Event window started at first motion event while in storage mode. Runs until the end of the window period and the tag remains in storage mode. Or the threshold number events occur and the tag switches to active mode.

Valid Range 1 - 65535

Time in seconds

Storage To Active Event Threshold:

Number of motion events to detect within the event window to switch from storage to active mode

Valid Range: 1 - 255 events

Active to Storage No Event Window:

Window reset after each motion event. If window period times out without any motion events, tag switches to storage mode


Time in seconds

Motion Event Active Threshold:

Minimum motion magnitude to initiate motion detect.


Units: 0.1 g

Motion Event Active Period:

Minimum period for motion magnitude to be above active threshold to qualify as motion event


Units: 100 ms

Motion Event Inactive Threshold:

Maximum motion magnitude to initiate end of motion event


Units: 0.1 g

Motion Event Inactive Period:

Minimum period for motion magnitude to be below inactive threshold to end motion event


Units: 100 ms

D Enable debug output

d Disable debug output


21-SEP-15\\ 5-5

Exhibit 35: GRIDSAT Debug Output Messages

appTagHandler: Tag Report Message


tag [value] Tag serial ID in hexadecimal Valid Range: 0 - 0xffffffff

cyc [value] Network cycle of received report message. Used to detect duplicate reports


Wrap around from 255 to 0

Status [value] Tag status word Bitmap of tag statues define in "Grid Tag Message Formats" document

RSSIn GRID Tag’s RSSI and LQI of received GRIDSAT beacon

RSSI: -127 - +127 dBm

LQI: 0 - 255 counts

RSSIs GRIDSAT’s RSSI and LQI of received GRID Tag beacon

RSSI: -127 - +127 dBm

LQI: 0 - 255 counts

appStatusHandler - End of Network Cycle


cyc [value] Network cycle of received report message. Used to detect duplicate reports


Wrap around from 255 to 0

tags [value] Number of tag reports received in Bitmap of tag statues define in "GRID Tag Message Formats" document


21-SEP-15\\ 5-6

Exhibit 36: TeraTerm command line interface to configure tags

To disconnect and power down form MM:

1. Go to TeraTerm File tab and click disconnect or close TeraTerm

2. Disconnect the USB cable

3. Remove GRIDSAT tag batteries

5.2 MAPPING USER INTERFACE USER GUIDE

Included as Appendix B.

Conclusion

21-SEP-15\\ 6-1

SECTION SIX: CONCLUSION

We started with the original objectives as outlined by the Broad Agency Announcement and

refined them during the kickoff meeting with the Bureau of Safety and Environmental

Enforcement to develop the goals, functions, and objectives of the system. The URS Team

derived and analyzed the system performance requirements to form a conceptual design of the

system, identifying the necessary components needed for the desired functionality. The Team

used data from a COTS assessment, analysis of alternatives, and trade study to find the optimal

components, software, hardware, services, and subsystems to use as part of the design. The

components that were finally chosen for the system were inspected to validate that they met the

performance requirements and provided the interoperability required at each of the network and

data interfaces. The Team presented the design details for each major subsystem, GRID tag,

GRIDSAT tag, and cloud infrastructure. The system components were then prototyped, and

functionality was validated by subsystem unit testing and full system testing and demonstrations.

Through open discussion and an iterative process, our Team has delivered a prototype system of

environmentally hardened GRID tags, GRIDSAT tags, and supporting infrastructure hosted on

the cloud, and visualized through a Web-enabled mapping interface. The GRID system enables

the identification, tagging, and tracking of any asset, anywhere in the world, to enhance

situational awareness during time-critical responses. The GRID system also operates

autonomously—it does not need an on-site network or the Internet because the tags provide their

own mesh network and satellite uplink to cloud-based servers.

The next generation of the GRID system has a multitude of options. The GRID and GRIDSAT

tags have been designed to accommodate different form factors. For example, new tag housings

can be constructed to easily attach to large oil booms in the water. The GRID system also uses

the 6LoWPAN wireless system for mesh networking. The 6LoWPAN wireless system allows a

variety of future modifications, from the use of local interfaces using inexpensive bridge routers

on tablets or cell phones, to the addition of onboard sensors to extend the capability of the GRID

system.

Appendix A

Enclosure Ice Prevention Study

Appendix A: Enclosure Ice Prevention Study

A-1

APPENDIX A: ENCLOSURE ICE PREVENTION STUDY

Because the GRID and GRIDSAT tags would be deployed in cold weather regions, it is possible

that ice could form on the surface of the enclosure, weakening or blocking the RF signal from the

tag’s antenna. To reduce or eliminate ice formation, the antenna enclosure surface could be

covered with a hydrophobic material. The more hydrophobic the surface, the more slowly ice

will form.

Evigia has conducted extensive tests on different materials that can coat or be taped onto the top

of the enclosure near the antenna. The angle at which water contacts the surface is an indicator of

how hydrophobic the material is. Typically, the steeper the angle, the more hydrophobic the

material. Exhibit 37 shows the measured contact angle of water on the surface with different

material coatings using a Rame-Hart goniometer. The tag enclosure itself was polished to form a

relatively hydrophobic surface. We first compared the hydrophobic original enclosure surface to

black tape, Parylene C coating, and polyimide coatings. The water contact angles of these

materials did not significantly differ from one another; all of them were between 86° and 89°.

We then explored two different commercially available superhydrophobic coatings applied

directly to the enclosure: Water BeaderTM

and Hydrobead©. Both of the coatings can be sprayed

on and are easy to apply in multiple layers on most clean surfaces. Exhibit 37 shows the water

contact angles of these two superhydrophobic coatings; the contact angles are very similar and

both are greater than 110°.

Exhibit 37: Water contact angle measurement of the surface with different material coatings for ice prevention

As indicated in Exhibits 37e and 37f, the water droplet forms into a ball on a superhydrophobic

surface and does not cling to the surface. If the surface has a slight tilt, the water ball will drift

(b) Black Tape: 88.4 (a) Enclosure w/o coating: 86.2 (c) Paralyne coating: 87.6

(e) Water BeaderTM coating 112.6 (f) Hydrobead© coating 111.0 (d) Polyimide Tape: 87.9

Appendix A: Enclosure Ice Prevention Study

A-2

away. This indicates that a tilted (or upside-down) mounting of the tag may promote water

removal from the surface because it will be more hydrophobic. Exhibit 38 illustrates the water

test on a coated enclosure compared with the uncoated area and black tape, which has a similar

water contact angle. The enclosure is tilted at 45° from horizontal. As can be seen, the black tape

and original enclosure surface can still trap water on the surface, but water droplets slide away

from the surface coated with Water BeaderTM

.

Exhibit 38: Water droplet test on the surface of enclosure

It is important to note that the hydrophobic surface can slow ice formation, but if large water

droplets remain on a horizontal surface, ice can still form. Exhibit 39 shows the water droplets on

our test surfaces have frozen into an ice ball below 0°C in a BTRC environmental chamber.

Both areas sprayed with superhydrophobic coating are similar and have ice balls that remained

on the surface.

Exhibit 39: Water droplet freezing test in a BTRC environmental chamber

The durability of various hydrophobic coatings in a rugged field environment due to aging and/or

being scratched off is projected to be limited (about 1 year). Evigia’s goal is to provide an easy

and low-cost solution for the ice prevention. Therefore, we continue to employ enclosures with

smooth and polished surfaces to provide hydrophobic properties. In addition, we can develop a

tape coated with durable superhydrophobic coating materials, such that the tape can be attached

to and peeled from the enclosure surface (near the antenna) during maintenance. Finally, the

tapes or spray-on superhydrophobic coating in the antenna area could be employed just prior to

deployment of the tags in arctic regions.

Water BeaderTM

coated area

Water droplets

Water on the

black surface

Water trapped on

uncoated area

Water BeaderTM

coated area

Hydrobead

coated area

Original surface

Appendix B

User Guide

BSEE Sensor Application: UX Documentation

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BSEE Sensor Application

User GuideVerison 1.5 • September 21, 2015


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A user guide or user’s guide, also commonly known as a manual, is a technical communication document intended to give assistance to people using a particular system.

user guide (n.)


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Add to Existing DeploymentTo add to an existing deployment, click the Menu Button1 and select Edit Deployment from the menu. Then the select the deployment you wish to edit. Next the user can review the GRIDSAT Tags in the deployment. Then the user must choose if they want to Visualize Tags or Manually Enter Tags2. Once the user has added tags to the Deployment, they will be asked again to review the added GRIDSAT Tag(s).

Add TagsOnly Administrators can add GRIDSAT Tags and subsequently GRID Tags to the system.

AdministratorAdministrator is the highest user setting in the BSEE Sensor Application. An administrator can see all Tags and Deployments, add GRIDSAT Tags to the system and assign GRIDSAT Tags to users. To learn your permission level, click Settings in the main menu. At the bottom of the list you will see the category Role. Your permission level will be listed below.

A

01 02

Assign GRIDSAT TagAdministrators and Super Users can assign GRIDSAT Tags to users. Once assigned, a Notification3 will be displayed to the user

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Change Associated DeploymentThe user can change the deployment associated to a GRIDSAT Tag. The user can complete this task by clicking Edit GRIDSAT Tags in the main menu. Next the user simply needs to select a new Deployment from the dropdown under Change Associated Deployment4. When you are done, click the save button.

C

Associate GRIDSAT TagAn Associated GRIDSAT Tag is any GRIDSAT Tag not associated to a Deployment.

04

05

Change PasswordYou can change your Password by clicking the Settings5 link in the main menu. Type a new password and confirm that password. When you are done, click the update password button.


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Close DrawerTo close the information drawer on the right side of the application, click the circular “X” icon6 in the upper right of the sliding Drawer.

Create DeploymentTo create a new Deployment, click the menu button and select Create New Deployment from the menu. The first action of creating a deployment is to name the deployment. Next the user must choose if they want to Visualize Tags or Manually Enter Tags. Once the user has added tags to the deploy-ment, they will be asked to review added GRIDSAT Tag(s).

06

DeploymentA Deployment is a group of GRIDSAT Tags.

D

Detailed ReadingsDetail Readings contains two categories: Readings and Location. The Readings7 section shows the following readings: Tag ID, Time Stamp, Status, Reference Sequence Number, Number of Tags in Domain, and Location. There is a scrub slider that allows the user to see all of the aforementioned readings at different times over the life of the GRIDSAT Tag.

The Location8 section shows the position (Visually and Numerically) over time. There is a scrub slider that allows the user to select a particular point in time and thus the position of the GRIDSAT Tag.

To access the Detailed Reading section, click on a GRIDSAT Tag pin. A Tooltip will appear and at the bottom you will find a View More Information link. This link will open the Deployment drawer with more information about that particular GRIDSAT Tag. You will find a View Detailed Readings at the bottom of the corresponding GRIDSAT Tag entry.

07 08


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Disassociate GRIDSAT TagA GRIDSAT Tag can be associated and disassociated with Deployments. If the user would like to disassociate a GRIDSAT Tag, select Edit Deployments from the main menu. Next simply click the “X” Icon9 next to the GRIDSAT Tag you would like to disassociate in the Associated GRIDSAT Tags section at the bottom of the Edit Deployments drawer.

DrawersDrawers refer to the container which slides in from the right side of the application. Clicking the “X” Icon10 found in the upper right can retract the drawer.

10

09


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Edit DeploymentsTo find this action, click Edit Deployments found in the main menu. Within this Drawer you will be able to edit the Deployment name and see which GRIDSAT Tags are associated to a particular deployment.

Edit Deployment NameClick Edit Deployments11 from the main menu and the second item in the Edit Deployments drawer is Edit Deployment Name. Simply type in a new deployment name and click the save button when you are done.

E

Edit GRIDSAT TagTo find this action, click Edit GRIDSAT Tag found in the main menu. Within this Drawer12 you will be able to select a GRIDSAT Tag, edit the GRIDSAT Tag Name, change the Associated Deployment and see which GRID Tags are associated to a particular GRIDSAT Tag.

11

12


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Edit GRIDSAT Tag NameTo find this action, click Edit GRIDSAT Tag found in the main menu. Next click the Edit Icon next to Edit GRIDSAT Tag Name and enter the new name. When you are done, click the save button. (See above example image.)

GRID TagsGeo-Referencing Identification (GRID) tag is a radio-frequency enabled device that communicates through a mesh network of other GRID tags to a GRIDSAT tag for asset identification and tracking.

GRIDSAT TagsGeo-Referencing Identification Satellite (GRIDSAT) tag is a Global Positioning System and satellite modem enabled radio-frequency device that acts as a gateway for all GRID tags to communicate tag identifica-tion, time, location and status information to the BSEE sensor application.

G

LocationThe Location13 section shows the position (Visually and Numerically) over the course of time. There is a scrub slider that allows the user to select a particular point in time and thus the position of the GRIDSAT Tag.

L

13


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Manually Enter TagsManually Enter Tags14 means the user can select GRIDSAT Tags to add/associate to a Deployment by checking boxes next to the desired GRIDSAT Tag. You can reach this action by selecting Create New Deployment or Edit Deployments both of which are found in the main menu.

M

14

15

MenuThe Main Menu15 of the BSEE Sensor Application will be accessible using the menu icon (three horizontal lines). The user can access the following actions from the menu: View All Tags, Edit GRIDSAT Tags, Edit Deployment, Create New Deployment, Assign GRIDSAT Tags, Settings, and Sign Out.


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Name DeploymentThere are two ways to name a deployment. You can (1) name a deployment when you initially create a new deployment or (2) you can edit the deployment name.

1. Simply click Create New Deployment from the main menu and Name Deployment16 is the first step.

2. Click Edit Deployments from the main menu and the second item in the Edit Deployments drawer is Edit Deployment Name. Click the Edit Icon17, type in a new deployment name and click save when you are done.

N16

17

NotificationThe BSEE Sensor Application will notify the user when GRIDSAT Tags have been assigned to the user. Notifications18 will persist in the top navigation bar. Notifications will reset after the user views the All Tags page.

Number of Tags in DomainThe Number of Tags in Domain simply refers to number of GRID Tags associated to a given GRIDSAT Tag.

18


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PasswordPasswords for the BSEE Sensor Application must be at least 8 characters long and must use 3 of the following 4 when creating password: Upper Case, Lower Case, Number, Special Character (i.e. !@#$…). You can change your password by clicking the Settings link in the main menu. See Change Password

P

RegisterThe BSEE Sensor Application requires users to be signed into the application in order to access any and all parts of the program. To register an account, click the link beneath the Sign In button on the Sign In page. The registration process requires an Email Address, User Name, and Password.

Reference Sequence NumberGRIDSAT Tag sent message count.

R

Regular UserRegular User is the lowest user setting in the BSEE Sensor Application. A Regular User can only see the Tags an Administrator or Super User has assigned to the user. To learn your permission level, click Settings in the main menu. At the bottom of the list you will see the category Role19. Your permission level will be listed below.

19


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Review DeploymentReview Deployment20 refers to reviewing the GRIDSAT Tags associated to a particular Deployment. There are three ways to review the GRIDSAT Tags: 1. After the user has created a new deployment. 2. Before and after the user edits a deployment 3. The user can see all of the GRIDSAT Tags associated to a specific Deployment in the Edit Deployment Drawer.

20

RoleThere are three roles with three distinct permission levels within the BSEE Sensor Application. The three roles are Administrator, Super User, and Regular User.

SearchThe search box will allow users to search the BSEE Sensor Application using Longitude & Latitude, Places of Interest, Tag ID, Tag Name, or Deployment Name.

SettingsThe program settings for the BSEE Sensor Application can be found at the bottom of the Main Menu21. The Settings drawer will contain the four following actions: Edit Email, Edit Username, Edit Password and Role.

S

21


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Sign InThe BSEE Sensor Application requires users to be signed into the application in order to access any and all parts of the program. To sign into the BSEE Sensor Application the user will need to enter an Email Address and a Password.

Sign OutThere are two ways to sign out of the application. 1. The user can find the Sign Out link22 at the bottom of the main menu. 2. The user can also sign out by clicking the Username23 in the upper right corner of the navigation bar.

22

23

StatusTags can show the following status messages: Status OK, Battery Low, GPS Fault, No GPS Fix, RF Module Fault, Stationary, and Reserved.

Super UserSuper User is the middle user setting in the BSEE Sensor Application. A Super User can see all Tags and Deployments and assign GRIDSAT Tags to users. The only operation a Super User cannot perform is adding GRIDSAT Tags to the system. To learn your permission level, click Settings in the main menu. At the bottom of the list you will see the category Role. Your permission level will be listed below.


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TagsA physical device used to identify, locate and track any asset that it is attached to. Both the GRID and GRIDSAT are defined as tags.

Time StampThe Time Stamp is the time when the GRIDSAT Tag or GRID Tag last collected or transmitted data.

Tag IDThis is a unique ID for GRIDSAT Tags and GRID Tags. Administrators used these Tag IDs to add Tags to the BSEE Sensor Application

T

Unassociated GRIDSAT TagsUnassociated GRIDSAT Tags24 are any tag that have not been associated to a Deployment. The user can find which GRIDSAT Tags are unassociated by clicking View All Tags in the main menu. There will also be an indicator to show which unassociated GRIDSAT Tags have been assigned to the user by an Administrator or Super User.

U

24


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View All TagsThis action will allow the user to see all of the GRIDSAT Tags assigned to a user. The All Tags drawer will have two distinct sections: Associated GRIDSAT Tags and Unassociated GRIDSAT Tags. (See above example image.)

Visualize TagsVisualize Tags25 means the user can select GRIDSAT Tags to add/associate to a deployment by clicking GRIDSAT Tag Pins located on a map. You can reach this action by selecting Create New Deployment or Edit Deployments both of which are found in the main menu.

V

25


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Add to Existing Deployment ........................ 3

Add Tags ........................................................ 3

Administrator ............................................... 3

Assign GRIDSAT Tag ...................................... 3

Associate GRIDSAT Tag ................................. 4

Change Associated Deployment ................. 4

Change Password ......................................... 4

Close Drawer ................................................. 5

Create Deployment ...................................... 5

Deployment .................................................. 5

Detailed Readings ......................................... 5

Disassociate GRIDSAT Tag ........................... 6

Drawer ........................................................... 6

Edit Deployment Name ................................ 7

Edit Deployments ......................................... 7

Edit GRIDSAT Tag .......................................... 7

Edit GRIDSAT Tag Name ............................... 8

GRID Tags ...................................................... 8

GRIDSAT Tags ................................................ 8

Location ......................................................... 8

Manually Enter Tags ..................................... 9

Menu .............................................................. 9

Name Deployment ..................................... 10

Notification ................................................. 10

Number of Tags in Domain ........................ 10

Password ..................................................... 11

Reference Sequence Number .................... 11

Register ....................................................... 11

Regular User ................................................ 11

Review Deployment ................................... 12

Role .............................................................. 12

Search .......................................................... 12

Settings ........................................................ 12

Sign In .......................................................... 13

Sign Out ....................................................... 13

Status ........................................................... 13

Super User ................................................... 13

Tag ID ........................................................... 14

Tags .............................................................. 14

Time Stamp ................................................. 14

Unassociated GRIDSAT Tags ...................... 14

View All Tags ................................................ 15

Visualize Tags .............................................. 15

index

geo-referencing identification (grid) tag final ......geo-referencing identification (grid) tag...

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