magnetometer data acquisition 2011-05-01

8/13/2019 Magnetometer Data Acquisition 2011-05-01

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VEHICLE DETECTION AND CLASSIFICATION USING

MAGNETOMETER Data Acquisition

Team: Akshath S Bhat, Arvind K Deshpande, Kaustubh G Deshpande

Guide: Prof. K V S Hari

Statisti a! Si"na! Pro essin" #ab

Department of $!e tri a! %ommuni ation $n"ineerin"

&ndian &nstitute of S ien e


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Contents

1 Intro uction !""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""

'.' Basi idea (............................................................................................... '

'.) *b+e tive (................................................................................................ '

# Anisotro$ic Ma%netoresisti&e Sensor !"""""""""""""""""""""""""""""""""""""""""""""""""""""""" #

).' Theor of the A- Sensor (.................................................................... )

' Har (are Descri$tion !"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" )

/.' SBT01 Sensor Board (................................. .......................... ........... 2

/.) T$#*SB mote P!atform (................................ .......................... ....... 3

/.).' App!i ations (................................................................. 0

* So+t(are Descri$tion !""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" 1,

- Ve.ic/e Detection !"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""

4.' -a"neti Si"na! Ana! sis (............................... .......................... ...... ''

4.) Data %o!!e tion (............................ .......................... ......................... ''

4./ -odified Setup Simi!ar to A tua! oad S enario (.......................... ')

4./.' $5perimentation usin" emote %ontro!!ed %ar (.............. ')

4./.) $5perimention usin" a Skate Board (................................ '4

4./.).' $5periment no. ' (............................................. '3

4./.).) $5periment no. ) (............................................. '6

4.7 *r"anisin" the data o!!e ted into 8i!es9Dire tories (....................... )2

Appendi5 A

Appendi5 B


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List o+ Fi%ures

).' A- Strip (............................................................................ /

).) heatstone Brid"e %onstru tion (.......................................... 4

/.' SBT01 Sensor Board (............................................................ 2

/.) Te!osB mote atta hed ;ith SBT01 Sensor Board (............... 3

4.' Distortion in earth


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List o+ Ta0/es

4./ A!! %ars overed b usin" the t;o setups (........................................................ ))


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VEHICLE DETECTION AND CLASSIFICATION USINGMAGNETEOMETER

1" Intro uctionThe net;ork of roads of a nation determine ho; ;e!! the entire nation is onne ted. &t is an inde5of the rate of deve!opment of the ountr . An deve!oped or deve!opin" nation !ike &ndia has a"ood net;ork of roads. &t is a!so true that there are traffi on"estions espe ia!! ities andto;ns. The number of man hours ;asted due to traffi on"estion and the amount of po!!utionare si"nifi ant! hu"e. Therefore, there is a "reat demand for &nte!!i"ent Traffi S stems ;hi hare apab!e of monitorin" road traffi to redu e de!a and to smoothen the f!o; of vehi !es.

There are severa! different possibi!ities for a road traffi monitorin" s stem.

&ndu tion !oops, infrared sensin", pressure sensors, video ameras, to name a fe;, arete hno!o"ies that an be used. Ho;ever, some of the important hara teristi s ;hi h need to betaken into onsideration for !ar"e s a!e dep!o ment are ost, ease of dep!o ment, f!e5ibi!it indep!o ment, maintenan e, !ife=time of the sensors used and po;er onsumption. ire!ess sensornet;ork te hno!o" fits these re>uirements a!most perfe t! .

1"1 asic i ea

At an "iven p!a e on the earth, there is a natura! ma"neti fie!d due to earth havin" a suitab!ema"nitude and dire tion. There is a f!u tuation in the ma"nitude, but for pra ti a! ases it isassumed to be onstant onsiderin" the de"ree of variation.

henever a ferroma"neti substan e enters the vis init of the earthue to the parti u!armode! of a brand9maker of the ar. Thus the ma"neti fie!d distortions assosiated ;ith ea h ar isuni>ue. &f there is a ;a to re ord these f!u tuations, then a si"na! an be asso iated to ea h

vehi !e and the si"na! an be termed as si"nature si"na!.1"# O02ecti&e3

The si"nature si"na! is a hara teristi of a ar and an be used to dete t and a!so !assif thears, if there is a kno;!ed"e of the si"nature si"na!s asso iated ;ith the ommon! used vehi !es.

The dete tion and !assifi ation of the vehi !es an add inte!!i"en e to the urrent da traffi andan so!ve most of the prob!ems.

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#" Anisotro$ic Ma%netoresisti&e Sensor

-a"neti sensors have t pi a!! been used for dire tion findin" or navi"ation, but otherapp!i ations have evo!ved over time. The te hno!o" for sensin" ma"neti fie!ds has a!soevo!ved driven b the need for improved performan e. *ne of the ne;er t pes of si!i on based

ma"neti sensors are the Anisotropi -a"netoresistive ?A- @sensors. A- sensors dete t thedistortions of the $arth s ma"neti fie!d, ;hi h is uniform over a ;ide area on the s a!e ofki!ometres.

A ;ide s a!e dep!o ment of a ;ire!ess net;ork of anisotropi ma"neti sensors is envisioned.These passive sensors are mounted on !o; po;er onsumin" ;ire!ess trans eivers a!!ed motes

apab!e of ommuni atin" ;ith ea h other and a basestation. The sensors are apab!e of sensin"the ma"neti fie!d. Therefore, the fie!d indu ed due to a !ar"e permeab!e ob+e t, !ike a vehi !e,

an be sensed. The idea is to p!a e an arra of these sensors in ea h !ane, near the traffi !i"htsand at a ertain buffer !en"th a;a from the traffi !i"hts. The sensors are apab!e of dete tin"

vehi !es and a re ord of the number of veh i!es "oin" past it an be re orded. Thus, a rou"hestimate of the no. of vehi !es in the buffer an be made. This estimate of the >ueue !en"th anbe sent to the traffi !i"ht ontro!!er, via the net;ork of ;ire!ess sensors. The traffi ontro!!eruses the information from a!! the !anes and adaptive! ontro!s the traffi !i"ht onfi"uration toredu e avera"e de!a and in rease throu"hput.*ne an a!so think of a more entra!i ed ontro!s stem ;hi h mana"es the onfi"uration of severa! su essive traffi +un tions.

#"1 T.eor4 o+ t.e AMR Sensor

An A- sensor is made b depositin" a ver thin !a er of Perma!!o on a Si!i on ;afer,patterned as a resistive strip. The properties of the thin A- fi!m resu!t in a han"e in theresistan e ;hen an e5terna! fie!d is app!ied.

The ma"neti ation - in a ferroma"neti materia! a!;a s has the ma"nitude of the saturationma"neti ation -S and on! han"es in dire tion. The theor of the A- effe t an, therefore,be sp!it into t;o parts

C $!e tri a! resistivit as a fun tion of the dire tion of ma"neti ation ? - @ in the resistive strip

C The re!ation bet;een dire tion of ma"neti ation and e5terna!! app!ied fie!d ?He5t @

%onsider a ma"netoresistive strip as sho;n in 8i"ure ).'. The e!e tri a! resistan e is "iven b ,

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8i"ure ).': A- strip

E 0 ,n

l

bd + l

bd cos 2 = R 0,n +R cos 2 ?).'@

;here F 1,n and F are materia! onstants and is the an"!e bet;een the urrent densit ve tor andthe ma"neti ation ve tor. 1,n is the resistan e ;hen the urrent is perpendi u!ar to thema"neti ation and is the ma5imum han"e in the resistan e due to the ma"neti fie!d.

The spontaneous ma"neti ation !ies in the eas a5is dire tion ;hi h is fi5ed b shapeanisotrop . A ma"neti fie!d a!on" the heav a5is ?perpendi u!ar to the eas a5is@ provides arotation of the ma"neti ation in the perma!!o strip and thus a han"e of its resistan e. #et us

assume that the eas a5is is a!on" the =a5is. ith the tota! anisotrop fie!d H 1 E)K 0Ms , the

an"!e I bet;een - and the eas a5is is:

sin E Hy Ho ?).)@

for ='J Hy Ho J', ;here H is the = omponent of the app!ied fie!d. *utside this ran"e,

sin Esi"n? Hy Ho @

e introdu e t;o ne; resistan es 1,p and 1 :

1,p E 1,n L ?)./@

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1E Ro,p+Ro,n

)?).7@

1 is the avera"e resistan e. Msin" $>uations ?).'@ and ?)./@,

? @ E 1,p L sin ) ?).4@

Msin" $>uation ?).)@, ;hen the urrent f!o; is a!on" the eas a5is, ;e have

? @ E 1,p L ? Hy Ho

@) (2.6)

for NH N O Ho and

?H @ E o ,p (2.7)

for NH N H1 . The resistan e e5hibits a stron"! non=!inear dependen e on the e5terna! fie!d.A!so, the si"n of H ) annot be determined sin e is a fun tion of H . &n order to a!!eviatethese disadvanta"es, barber po!e stru turesQ'R are introdu ed. -athemati a!! , barber po!es areprepresented b introdu in" an additiona! an"!e E 74 , ;hi h represents the an"!e bet;een theeas a5is and the urrent.

The an"!e in this ase is

E L ?).0@

Therefore, the hara teristi s of a barber=po!e A- sensor are

?H @ E o U Hy

Ho.S> rt?'=?

Hy

Ho@) @ ?).6@

8or NH N J Ho

) , it is fair! !inear ;ith a non=!inearit of !ess than 4 . &n most app!i ations, a

sin"!e A- = esistor is not suited be ause it does not provide a ero referen e and has atemperature oeffi ient of U1./ 9K.

The sensor is rea!i ed as a heatstone brid"e ;ith four individua! resistors, as sho;n in8i"ure ).). The resistan e han"es are onverted into a vo!ta"e output ;ithout a d omponent.

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This setup a!so ompensates for the temperature dependen e of the resistors. The output vo!ta"eof a heatstone brid"e an be des ribed b :

Vout E V in Hy Ho s>. rt?'=?

Hy Ho @

) @ ?).'1@

*ne su h A- brid"e an be used to measure the fie!d a!on" one dire tion. &f a ma"netometeromprises of t;o su h A- brid"es p!a ed perpendi u!ar to ea h other, it an be used to

measure the fie!d a!on" ) ortho"ona! a5esW simi!ar! a /=a5is sensor.

8i"ure ).): heatstone brid"e onstru tion.

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'" Har (are Descri$tion

'"1 S T5, Sensor oar

SBT01 -u!ti=-oda!itSensor Board is used forTe!osB ;ire!ess motes.This sensor board hasH-% '14) ma"netometer;hi h is a dua! a5isma"netometer. &n additionto this it a!so has the othersensors used for differentpurposes.

8i"ure /.': SBT01 SensorBoard

The features of the SBT01 Sensor Board are:

Sensor board for Te!osB ;ire!ess sensor p!atform

%an be dire t! p!u""ed in to the e5terna! onne tor of Te!osB motes $i"ht Sensor hanne!s ;ith hi"h sensitivit sensors

= visua! !i"ht, infrared, a ousti , temperature, dua!=a5is ma"netometer and dua!=a5isa e!erometer

Sma!!er form fa tor than Te!osB motes

Po;er savin" mode

Tin *S and Xava ode support avai!ab!e

%an be used for mu!ti=moda! survei!!an e and monitorin" app!i ations usin" sensornet;orks

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'"# TELOS Mote 6/at+or7

8i"ure /.): Te!osB mote atta hed ;ith SBT01 Sensor board

T$#*SB -*T$ P#AT8* - 8$ATM $S

&$$$ 01).'4.7 %omp!iant

)41 kbps, Hi"h Data ate adio

T& -SP7/1 -i ro ontro!!er ;ith '1kB A-

&nte"rated *nboard Antenna

Data %o!!e tion and Pro"rammin" via MSB &nterfa e

*pen=sour e *peratin" S stem

&nte"rated Temperature, #i"ht and Humidit Sensor

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'"#"1 A$$/ications

P!atform for #o; Po;er esear h Deve!opment

ire!ess Sensor Yet;ork $5perimentation

Te!osB -ote TP )7)1 is an open=sour e p!atform desi"ned to enab!e uttin"=ed"ee5perimentation for the resear h ommunit . The TP )7)1 bund!es a!! the essentia!s for !abstudies into a sin"!e p!atform in !udin": MSB pro"rammin" apabi!it , an &$$$ 01).'4.7 radio;ith inte"rated antenna, a !o;=po;er -%M ;ith e5tended memor and an optiona! sensor suite.TP )7)1 offers man features, in !udin":

&$$$ 01).'4.7 omp!iant 8 trans eiver

Temp.9 Humidit Sensor

#i"ht Sensor

).7 to ).70/4 GH , a "!oba!! ompatib!e &S- band

)41 kbps data rate

&nte"rated onboard antenna

0 -H T& -SP7/1 mi ro ontro!!er ;ith '1kB A-

#o; urrent onsumption

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'-B e5terna! f!ash for data !o""in"

Pro"rammin" and data o!!e tion via MSB

Sensor suite in !udin" inte"rated !i"ht, temperature and humidit sensor

uns Tin *S '.'.'' or hi"her

The Te!osB p!atform ;as deve!oped and pub!ished to the resear h ommunit b M%Berke!e . This p!atform de!ivers !o; po;er onsumption a!!o;in" for !on" batter !ife as

;e!! as fast ;akeup from s!eep state. The TP )7)1 is ompatib!e ;ith the open=sour eTin *S distribution.

TP )7)1 is po;ered b t;o AA batteries. &f the TP )7)1 is p!u""ed into the MSB port forpro"rammin" or ommuni ation, po;er is provided from the host omputer. &f the TP )7)1 isa!;a s atta hed to the MSB port no batter pa k is needed.

TP )7)1 provides users ;ith the apabi!it to interfa e ;ith additiona! devi es. The t;oe5pansion onne tors and onboard +umpers ma be onfi"ured to ontro! ana!o" sensors, di"ita!periphera!s and #%D disp!a s.

Tin *S is a sma!!, open=sour e,ener" =effi ient soft;are operatin" s stem deve!oped b M%Berke!e ;hi h supports !ar"e s a!e, se!f= onfi"urin" sensor net;orks. The sour e ode soft;aredeve!opment too!s are pub!i ! avai!ab!e at : http:99;;;.tin os.net

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http://www.tinyos.net/http://www.tinyos.net/


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*"So+t(are Descri$tion

Genera! e>uirement: A #aptop !oaded ;ith a !inu5 operatin" s stem ?Mbuntu most preferab!e@

efer the Appendi5 A to kno; ho; to insta!! tin *S.

Tin *S ).'.1 ;as used.

The Te!osB mote is onfi"ured b deve!opin" the odes usin" Tin *S. These odes are ;ritten,ompi!ed and do;n!oaded into Te!osB mote dire t! b p!u""in" it into MSB interfe e. The ode

on the memor of Te!osB mote an be erased and a different pro"ram for a different operationan be do;n!oaded a"ain.

The pro"rams ;ere ;ritten and used for the fo!!o;in" operations :

'. To provide Start Si"na! and use mote as a emote.

). To o!!e t the data samp!es ?t;o omponents of the ma"neti fie!d@ o!!e ted b the

ma"netometer from the data o!!e tion s ene and store in the on= hip memor at '11H ,Samp!in" ate.

/. To read the Te!osB mote ;hi h is onne ted to the !aptop after data a >uisition.

4. To transfer the data samp!es stored in the on= hip memor , to the !aptop and save thesamp!es in a te5t fi!e.

These sour e odes are present in the dire tor : Sour e odes. These odes are deve!oped b SSP!ab, $%$ dept., &&S .

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-" Ve.ic/e Detection

The first important re>uirement for a traffi survei!!an e s stem is the apabi!it to dete t thepresen e of a vehi !e. Based on su h dete tion, statisti s su h as vehi !e ount, traffi f!o; speedand o upan an be estimated. The >ua!it of vehi !e dete tion determines the performan e of

a!! dependent app!i ations. The ana! sis of si"na!s from a ma"neti sensor are presented in !aterhapters.

-"1 Ma%netic Si%na/ Ana/4sis

The theor of the Anisotropi -a"netoresisitve?A- @ sensor is dis ussed in Q).'R. &t is notedthat the earth s ma"neti fie!d is uniform over a ;ide area on the s a!e of ki!ometres and that anA- sensor is apab!e of dete tin" distortions in the fie!d. A permeab!e ob+e t in a homo"enousma"neti fie!d "ives rise to an indu ed ma"neti fie!d. Therefore, ;hen a vehi !e enters thevi init of the sensor, the perturbation of the fie!d an be dete ted b the sensor. This is the basiprin ip!e invo!ved in usin" an A- sensor for vehi !e dete tion, see 8i"ure 4.' .

8i"ure 4.': Distortion in the earth s ma"neti fie!d aused b a vehi !e.

Dependin" on the meta!!i onfi"uration and omposition inside a vehi !e, different ma"netisi"natures are indu ed b different vehi !es.

-"# Data Co//ection

The Te!osB mote is to be p!a ed in the road ondition ?midd!e of !ane or side !anes@ to sense thema"neti fie!d omponents. The Te!osB mote is havin" SBT01 board onne ted to it, ;hi h has dua!a5is ma"netometer ?H-%'14)@ But this re>uires us to ensure that the vehi !e is movin" at a onstantve!o it over the mote and the proper are is a!so taken in prote tin" the mote from bein" run=over b thevehi !es and "ettin" dama"ed. The setup in a tua! road s enario is sho;n in the 8i"ure 4.).

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8i"ure 4.): -a"neteometer setup in a tua! road s enario

-"' Mo i+ie Setu$ Si7i/ar to Actua/ Roa Scenario

The ma"netometer re ords the ma"neti fie!d omponents ;henever the f!u5 !ines asso iated;ith it is ut b a Vehi !e. $ssentia!! there must be a re!ative motion bet;een the vehi !e and

the ma"netometer.*;in" to the diffi u!ties in the a tua! road s enario, the data o!!e tion is done in parkin"

!ots, ;here the vehi !es are stationar . 8or satisf in" the riterion of re!ative motion the sensor isset in motion. &n some ;a s the onditions of onstant ve!o it and prote tion of mote areensured.

The e5periments are arried out b fi5in" the ma"netometer setup ?Te!osB mote@ to a emote%ontro!!ed %ar and in some ases to a Skate Board.

-"'"1 E8$eri7entation usin% Re7ote Contro//e CarA remote ontro!!ed ar is mounted ;ith the Te!osB mote to ;hi h SBT01 sensor board isp!u""ed. The mountin" is done usin" a fiber ase ;hi h en apsu!ates the mote. $5periment isdone and it is ensured that the fiber ase does not inf!uen e the ma"netometer readin"s ? efer4./.).'@.8i"ures 4./.' Z 4./.) sho; the photo"raphs of the setup. The orientation of thema"netometer is su h that it re ords the and [= omponents of the ma"neti fie!d.

The spe ifi ations of the remote ontro!!ed ar used is as fo!!o;s:

;orkin" fre>uen : 76 -h

Batter t pe: 6v p!u""in re har"ab!e,Yi=%d batterma5. Speed: /) kmph

The remote ontro! ar is havin" !east number of meta!!i omponents un!ike other onventiona!remote ontro!!ed ars.

The dimension of the remote ontro!!ed ar is as fo!!o;s:

hei"ht: ).0


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!en"th: '4.4


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8i"ure 4./.): Side Vie; of the emote %ontro!!ed %ar

Antenna of the emote %ar

The remote ontro!!ed ar havin" the mote is passed be!o; the vehi !es in three different pathsvi ., !eft path, midd!e path Z ri"ht path as sho;n in 8i"ure 4././.

A data o!!e tion samp!e video is a!so taken to provide better understandin" for the reader.

#eft path

-idd!e path i"ht path

8i"ure 4././: Three paths in ;hi h setup is passed

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Msin" the remote the remote ontro!!ed ar is passed in these / paths. The remote ar is kepta;a from the vehi !e


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Top fa e of skate board Te!osB mote inside fiber ase o!! of p!asti strin" tied to one end

8i"ure 4./.7: Top vie; of setup mounted on the Skate Board

8i"ure 4./.4: Side vie; of setup mounted on the Skate Board

This setup is used in the same ;a !ike the remote onto!!ed ar ;hi h ;as used before. Thesame pro edure is fo!!o;ed to re ord the ma"neti fie!d omponents. %are is taken to pu!! thesetup ;ith onstant ve!o it .A data o!!e tion samp!e video is a!so taken to provide betterunderstandin" for the reader.

Yote: The Te!osB mote is oriented inside the fiber bo5 in su h a dire tion so that it re ords and [=omponents of the ma"neti fie!d.

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-"'"#"1 E8$eri7ent no" 1

Ai73 To stud the effe t ;hen a Te!osb mote is en !osed ;ithin a fiber bo5.

E8$/anation3 &n this e5periment, the Te!osb mote is mounted on a skate board ;ithout an

en !osure. The readin"s are taken usin" this arran"ement b po;erin" the mote. But ;e have to

prote t the Te!osb mote from e5terna! fa tors !ike rain, dust and a!so possib!e dama"e due to

insuffi ient !earan e mid;a throu"h the vehi !e, durin" our e5periments. Hen e ;e first

en !ose the Te!osb mote ;ithin a fiber ase and then arr out the e5perimentations, as usua!. &n

order to do so, ;e must stud the effe t on the ma"neti fie!d ;hen the Te!osb mote is en !osed

;ithin the fiber ase.

E8$eri7enta/ setu$3

Case1: The Te!osb mote is mounted on the skate board ;ithout an en !osure. The mote ;as

po;ered and the entire set=up ;as rotated in an anti !o k;ise dire tion, t;i e. The samp!es, thus

obtained ;ere p!otted in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.2: aveforms obtained ;ithout fiber bo5

The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is:

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)'64='364E711 units.

Case #: The Te!osb mote is first en !osed inside a fiber ase ;ith over and then mounted on top

of the skate board. The mote ;as po;ered and the entire set=up ;as rotated in an anti !o k;ise

dire tion, t;i e ?simi!ar to ase)@. The samp!es, thus obtained ;ere p!otted in the -at!ab. Thep!ot is "iven be!o;:

8i"ure 4./.3: aveforms obtained ;ith fiber bo5


))11='360E71) units.

In+erence3 8rom the above p!ots and observations, it is !ear that there is \no appre iab!e

han"e] in the peak=peak ma"neti fie!d. Thus ;e an state that both the e5perimenta! ases

ie!d the same resu!t. Hen e, o;in" to the fa t that ;e "et added prote tion and a!so ne"!i"ib!e

han"e in the ma"neti fie!d ;hen ;e en !ose the mote ;ithin the fiber ase, ;e ontinue to do

so in our further e5perimentations.

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-"'"#"# E8$eri7ent no" #

Ai73 To stud the effe ts ;hen a Te!osb -ote is mounted to top fa e and fi5ed to bottom fa e

of the skate board.

E8$/anation3 hen the Te!osb mote is mounted on the skate board, it is pra ti a!! ver

diffi u!t to "et enou"h road !earan e for fe; of the vehi !es !ike H undai Verna, 8ord fi"o

under test be ause of the additiona! hei"ht the mote brin"s in. Hen e the idea is to fi5 the mote to

the bottom fa e of the skate board so that ;e an ne"ate the additiona! hei"ht of the mote. hen

su h a pra ti a! onsideration is put to use, the ob+e tive of "ettin" enou"h road !earan e is

a hieved. The ne5t on ern is ;hether this t pe of arran"ement ;ou!d have an effe t on the

readin"s. Hen e an e5periment is ondu ted to thro; !i"ht on this pra ti a! aspe t of e5aminin"

;hether both the arran"ements ie!d simi!ar resu!ts or not^

E8$eri7enta/ setu$3

Case1: The Te!osb mote is mounted on top fa e of the skate board. The mote is po;ered and the

entire set=up is rotated in an anti !o k;ise dire tion, on e. The samp!es, thus obtained are p!otted

in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.0: aveforms obtained ;hen mote is mounted on Skate Board

'6


24/52


))64='6)3E/20 units.

Case #: The Te!osb mote is fi5ed to bottom fa e of the skate board. The mote is po;ered and the

entire set=up is rotated in an anti !o k;ise dire tion, on e ?e5a t! simi!ar to %ase'@. The

samp!es, thus obtained are p!otted in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.6: aveforms obtained ;hen mote is fi5ed to bottom fa e of Skate Board


))66='6/)E/23 units.

In+erence3 8rom the above p!ots and observations, it is !ear that there is \no appre iab!ehan"e] in the peak=peak ma"neti fie!d. Thus ;e an state that both the e5perimenta! ases

ie!d the same resu!t. Hen e, o;in" to the fa t that ;e "et !earan e as ;e!! as prote tion and

a!so ne"!i"ib!e han"e in the ma"neti fie!d ;hen ;e fi5 the mote to bottom fa e of the skate

board, ;e ontinue to do so in our further e5perimentations.

)1


25/52

Bottom fa e of skate board Strin" tied firm! to the ;hee! frame

8i"ure 4./.'1: Top vie; of setup fi5ed to the bottom fa e of the Skate Board

Te!osB mote inside fiber bo5

8i"ure 4./.'': Side vie; of setup fi5ed to the bottom fa e of the Skate Board

The above setup an pass easi! under the ars havin" !ess "round !earan e.The e5periments;ere performed ;ith the above mentioned setups and fo!!o;in" vehi !es ;ere overed fore5tra tin" the si"nature si"na!s.The "enera! pro edure to onfi"ure the Te!osB motes is "iven inthe Appendi5 B. The tab!e 4./ sho;s a!! ars overed b usin" the t;o setups.

)'


26/52

Tab!e 4./: A!! ars overed usin" the t;o setups

S/" no Na7e o+ t.e Car Nu70er o+ cars co&ere

'.

).

/.

7.

4.

2.

3.

0.

6.

'1.

''.

').

-aruti 011

-aruti 011?o!d@

-aruti Su uki A!to

-aruti *mni

-aruti *mni?o!d@

-aruti Su uki S;ift

-aruti Su uki S;ift D ire

-aruti Su uki [en

-aruti Su uki [en $sti!o

-aruti Su uki a"on

-aruti Su uki a"on ?duo@

-aruti Su uki S57

2

)

)

7

)

)

'

)

/

/

'

)

))


27/52

'/.

'7.

'4.

'2.

'3.

'0.

'6.

)1.

)'.

)).

)/.

)7.

)4.

-aruti Su uki it

-aruti $steem

H undai Santro

H undai Santro in"

H undai A ent

H undai $!antra

H undai i'1

H undai i)1

H undai Verna

H undai Get

H undai Sonata

Tata &ndi a

Tata &ndi"o

'

)

)

/

'

)

7

'

'

)

'

2

)

)/


28/52

)2.

)3.

)0.

)6.

/1.

/'.

/).

//.

/7.

/4.

/2.

/3.

/0.

/6.

Tata Yano

Tata Sumo

Vo!ks;a"en Vento

Ba+a+ Auto

%hevro!et Beat

%hevro!et Spark

Honda %ivi

Honda %it ?ne;@

Honda %it ?o!d@

8ord 8i"o

8ord 8iesta

Dae;oo -ati

Dae;oo %ie!o

To ota %oro!!a S$

)

'

'

'

)

'

'

/

'

)

'

/

'

'

)7


29/52

71.

7'.

7).

7/.

77.

74.

72.

73.

70.

76.

41.

To ota &nnova

8iat #inea

8iat Petra

8iat Pa!io

-ahindra #o"an

-ahindra Xeep

Skoda * tavia

Skoda #aura

eva $!e tri %ar

*pe! %orsa

*pe! %orsa Sai!

)

'

'

'

'

'

)

'

'

'

'

)4


30/52

-"* Or%anisin% t.e ata co//ecte into Fi/es;Directories

$a h ar amon" the various ars overed as sho;n in Tab!e 4./ is "iven a dire tor namebased on the name9mode! of the ar.

This dire tor ontains a!! the asso iated fi!es.

A!! the asso iated fi!es are named in the fo!!o;in" "enara! order:

J ar name _Jorder of the ar _Jpath .Je5tension

8or $5amp!e: #et us sa that ;e have re orded the ma"neti fie!d data samp!es in three pathsname! !eft, ri"ht and midd!e for a -aruti Su uki 011. The data samp!es are found in a te5t fi!e.Thus, the e5tension of the fi!es ;i!! be .t5t.

The ar name is most !ike! to be 011. The order of the ar re!ates to the tota! number of ars ofthe same t pe overed ti!! the parti u!ar ar. That is, if ) -aruti Su uki 011 ars ;ere a!read

overed ear!ier, then the present ar ;ou!d be "iven the order /. &n ase of ar ;hi h ;asovered on! on e, then Jorder of the ar is omitted. The path name ou!d be !eft, midd!e or

ri"ht for ;hi h the data samp!es ;ere o!!e ted. &n some ases the ar mode!s are a!so indi atedusin" ne;9o!d. 8or e". Honda %it , ;hi h has o!d9ne; mode!s. 011 and *mni a!so have ne;9o!dmode!s. &f mu!tip!e readin"s are taken for a same path then, path_tria! no. is indi ated.

Msin" the te5t fi!e for ea h path, an asso iated -AT#AB fi"ure havin" .fi" e5tension and afi"ure of .+pe" e5tension are e5tra ted. The photo"raph?s@ of the ar and diffi u!ties?if an @ is9arepresented.

A J ar name .do fi!e "ives a!! the information asso iated ;ith a parti u!ar ar in ea h dire torof ars.

These ars are found in dire tories: Vehi !e dete tion_r_ ars or Vehi !e dete tion_s_ ars. A fi!emap ;hi h "ives a pi ture of the dire tories is present. Asso iated ;ith ea h main dire tor thereis a $AD-$.t5t ;hi h "ives the summar of ontents9inforamation of ea h dire tor .

T;o video fi!es ea h in above mentioned main dire tories are present in .mov e5tension.

)2


31/52

A$$en i8 A

Insta//in% Tin4OS

1" Tin4OS on Fe ora

The pro edure for insta!!in" Tin *S on 8edora has been des ribed here.

1. As root, op the ontents of the "iven Tin4OS


32/52

#" Tin4OS on U0untu

#"1 De+au/t Version

The pro edure for insta!!in" the defau!t Tin *S version on Mbuntu 0.'1 has been des ribed here.

A simi!ar pro edure an be used for insta!!in" Tin *S on other versions of Mbuntu.

'. Add the repositor for Tin *S to the repositor a he. *pen the fi!e

;etc;a$t;sources"/ist as sudo and

append the fo!!o;in" !ines to it :

=re$ositor4 +or Tin4OS

e0 .tt$3;;tin4os"stan+or "e u;tin4os; ists;u0untu +eist4 7ain

). Mpdate the repositor a he. un the fo!!o;in" ommand :

su o a$t:%et u$ ate

/. Note3 &f ou have an o!der version of Tin *S insta!!ed, remove it:

su o a$t:%et re7o&e tin4os

and then pro eed.

7. un the fo!!o;in" ommand to insta!! the !atest re!ease of Tin *S and a!! its supported

too!s:

su o a$t:%et insta// tin4os

This ;i!! disp!a a messa"e askin" ou to hoose bet;een avai!ab!e versions. Se!e t the

appropriate version.

8or e5amp!e :


33/52

su o a$t:%et insta// tin4os:#"1",

4. Sin e ;e are usin" te!osb motes, ;e need to uninsta!! the brai!!e drivers:

su o a$t:%et re7o&e 0r/tt4

2. e need to edit the `9.bashr fi!e to set environment variab!es and define a!iases.

C *pen the tin4os:0as.rc fi!e present in the Tin *S Setup fo!der.

C %han"e a!! o urren es of tin4os:#"8 to tin4os:#"1", .

C %han"e the %#ASSPATH env=variab!e as be!o;:

CLASS6ATH>?CLASS6ATH3?TOSROOT;su$$ort;s 9;2a&a;tin4os"2ar3"

?The . in !uded @

C -ake sure that the env variab!e T*S **T is:

TOSROOT>@;o$t;tin4os:#"1",

C Yo;, op the ontents of this fi!e and append it to the `9.bashr fi!e.

3.To the bashr fi!e, add the fo!!o;in" ode snippet:

if Q =f 9opt9tin os=).'.19tin os.sh R W then

. 9opt9tin os=).'.19tin os.sh

fi

0. %han"e the o;nership of the 9opt9tin os=).'.1 dire tor to our username. un the

fo!!o;in" ommand

an ;here outside the 9opt9tin os=).'.1 dire tor :

c.o(n :R userna7e ;o$t;tin4os:#"1",

6. %han"e permissions on an seria!, usb or para!!e! devi es ou are "oin" to use:

c.7o ))) ; e&; e&icena7e


34/52

'1. ou an use the ommand 7ote/ist to kno; ;here our mote is onne ted.

''. $5e ute the fo!!o;in" ommand in the tin os=).'.1 dire tor :

tos:c.ec9:en&

&"nore the ;arnin"s for +ava or "raphvi and pro eed.

'). Yo; e5e ute:

c ;o$t;tin4os:#"1",;tos;/i0;tos0oot

su o 7a9e te/os0

&t shou!d ompi!e ;ithout errors. &f it doesn t, "o throu"h a!! the previous steps arefu!!

and re=e5e ute the ommand.

'/. Yo; e5e ute:

c ;o$t;tin4os:#"1",;su$$ort;s 9;2a&a

su o 7a9e a//

&f there are errors disp!a ed on ernin" XY& !ibraries, then "enera!! the prob!em is the

presen e of mu!tip!e insta!!ations of +ava.


35/52

A$$en i8

Ste$s to 0e to 0e +o//o(e +or con+i%urin% Te/os 7ote

1" To con+i%ure Te/os 7ote B7ote A to sen t.e start si%na/ to 7ote

=P!u" the mote A to MSB interfa e

=*pen Ter7ina/


36/52

:Su$er User privi!e"es have to be obtained


37/52

:T pe a$$s ?To enter into the dire tor in Tin *S@


38/52

=$nter the dire tor testin%Lo%.

:T pe c testin%Lo%;


39/52

:T pe 7ote/ist ?To he k if the mote is onne ted to MSB interfa e@

The fo!!o;in" s reen appears if its onne ted proper! .


40/52

=$nter into the dire tor StartS;

:T pe c StartS;


41/52

=T pe 7a9e te/os0 insta//", ?To ;rite the ode StartS into the mote A@

Yo; the mote A is onfi"ured and read to be used for "ivin" Start si"na! to mote B.

%ome out of the dire tor b t pin" c ""


42/52

#" To con+i%ure Te/os 7ote B7ote to sense t.e 7a%netic +ie/ co7$onents a+ter it is

recei&es a Start si%na/ +ron 7ote "

=P!u" the mote B to MSB interfa e

=T pe 7ote/ist ?To he k if the mote is onne ted to the MSB interfa e@

The fo!!o;in" s reen appears if its onne ted proper! .


43/52

=$nter into the dire tor SenseLo%

=T pe c SenseLo%


44/52

=T pe 7a9e te/os0 insta//"1 ?This is to ;rite the ode Sense#o" into the mote B@

Yote: The number inde5


45/52

'" To con+i%ure t.e Te/os 7ote B7ote so t.at ata co//ecte 04 it can 0e rea 04 a

/a$to$ an a te8t +i/e .a&in% t.e ata is %enerate "

=$nter the dire tor tR/o%

=T pe d tR/o%


46/52

=T pe 7a9e te/os0 insta//"1 ?This is to ;rite the t !o" ode into the mote, so that the data

o!!e ted an be read b the !aptop@

Yote: Sin e a ne; ode is ;ritten into same mote ie mote B, here the same numberin" inde5 as used for

Sense#o" an be used.


47/52

Yo;, retain the above Termina! ;indo; and open a ne; termina! ;indo;. #et the t;o ;indo;s

be a!!ed #eft=hand Side ;indo; ?#HS@ and i"ht=hand Side ;indo; ? HS@.


48/52

=T pe t#s+, in the HS.

This opens the Seria! 8or;arder of the Tin *S.


49/52

Yo;, in #HS t pe ";co//ectsa7$/es 1 ?This is to ;rite the pa kets of data for;arded b seria!

for;arder into a te5t fi!e a!!ed


50/52

*n e the ";co//ectsa7$/es 1 ommand is t ped the samp!es are ;ritten and the s reen is sho;n

be!o;.

The samp!es are ;ritten into a te5t fi!e s ata ;hose path is

o$t;tin4os:#"1",;a$$s;testin%Lo%;tR/o% .


51/52

*n e ;ritin" of data samp!es stops, stop the seria! for;arder b !i kin" on Sto$ Ser&er button.


52/52

Then, !ose one of the ;ido;s after >uittin" Seria! 8or;arder.

&n the remain" ;indo; e5e ute the ommand c$ s ata ;.o7e;a9i0.at;Des9to$; . This opies

the sdata.t5t into Desktop. The s reen is sho;n be!o;.

The te5t fi!e an be renamed and used for further ana! sis usin" -AT#AB.

magnetometer data acquisition 2011-05-01

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