part ii workshop hardware - capabilities and resources dr. anita flynn
DESCRIPTION
Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley. Part II Workshop Hardware - Capabilities and Resources Dr. Anita Flynn. Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley. - PowerPoint PPT PresentationTRANSCRIPT
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Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
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Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center
University of California, Berkeley
Part IIWorkshop Hardware - Capabilities and Resources
Dr. Anita Flynn
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Building on 20 Years of Sensor Research
• MEMS devices, sensors & microrobots since ’80s
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Building on 20 Years of Sensor Research
• Autonomous robots since ‘87
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Building on 20 Years of Sensor Research
• RF sensor network comms since ‘99
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Building on 20 Years of Sensor Research
• Recently: comms standards (IEEE802.15.4e)– Latest: Reference implementation for full stack (Watteyne)
• Open-source hardware & software in your kit• Standards help industries grow• Reference implementations help people port apps• This workshop: networking your sensors
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Outline
• Wireless Sensor Networks• Workshop Hardware• Applications
wsn.eecs.berkeley.edu
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Outline
• Wireless Sensor Networks• Workshop Hardware• Applications
wsn.eecs.berkeley.edu
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Wireless Sensor Networks
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S. Oh et al, "Tracking and coordination of multiple agents using sensor networks: system design, algorithms and experiments," Proc. of the IEEE, 2007.S. Kim et al, “Health Monitoring of Civil Infrastructures Using Wireless Sensor Networks,” IPSN, Cambridge, MA, April 2007A. Ledezci, http://www.isis.vanderbilt.edu/projects/countersniperJ. Lees et al, “Reventador Volcano 2005: Eruptive Activity Inferred from Seismo-Acoustic Observation”, Jnl, of of Volcanology and Geothermal Research, 2007
Wireless Sensor Networks
Sensor Networks for SecurityStructural Monitoring
Sniper Localization Environmental Monitoring
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Building Automation
Smart Grid Applications
IndustrialAutomation
Wireless Sensor Networks
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Outline
• Wireless Sensor Networks• Workshop Hardware• Applications
wsn.eecs.berkeley.edu
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Wireless Motes
• Pister Group: numerous wireless sensor boards– Called them motes (short for “dust motes)– Used for various sensor research projects– Used for software development of protocol stacks– The latest: variety of 3-axis inertial sensors– Used in this workshop to demo OpenWSN stack– But OpenWSN can be ported to any processor
wsn.eecs.berkeley.edu
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The General Inertial Navigation Assistant (GINA)
• Wireless mote with:– Two 3-axis accels– 3-axis gyroscope– 3-axis compass– 802.15.4 radio– 16-bit processor– Expansion headers
GINA 1January 2008
GINA 2.0March 2009
GINA 2.1July 2009
GINA 2.2June 2010
http://warpwing.sourceforge.net/
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What’s In Your Kit?
• Open-source HW/SW• Board layout files available online• OpenWSN reference implementation, GPL-license (?)• http://warpwing.sf.net• http://wsn.eecs.berkeley.edu/workshop
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Sensitivity
• One 3-axis accelerometer for high rate (+- 8 G)• coarse sensitivity• noise density of 750 mG/rtHz, bandwidth set to 1.8 kHz• -> min resolvable acceleration: 32 mG
• Another 3-axis accelerometer for low rate (+- 2 G)• but higher sensitivity• noise density of 50 mG/rtHz, bandwidth set to 40 Hz• -> min resolvable acceleration: 0.32 mG
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Primary Design Considerations
• Low mass -> targeted for flying vehicles
• Plenty of actuator outputs
• Low power• Low cost components• Ease or low cost of manufacturing
Not:
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Power Consumption
TX+g
yro+m
ag+xl
+adc
TX+g
yro+xl
+adc
TX+xl
+adc
TX+a
dc
radio tx
radio id
le
radio sle
epLP
M3
90.979.8
55.8 54.9 54.3
7.4 4.2 1.5
GINA 2.2b/c Power Consumption
AveragePower (mW)
16 MHz clock, 3 ms instrumentation loop
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Outline
• Wireless Sensor Networks• Workshop Hardware• Applications
wsn.eecs.berkeley.edu
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Mini-Rocketry
• Put a 10 g micro satellite into low-earth orbit
• With a guidable rocket with cheap, off-the-shelf components
• To deploy a wireless sensor network
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Motion Capture
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Application to Mini-Robotics
Coaxial Helicopter(UCB)
Rotochure(GATech)
Quadrotor(UMD)
Crawler(UCB)
Coaxial Helicopter(GATech)
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Gas/Water Flow Monitoring
• GINA board attached to stove’s flexible gas tubing
• X-axis acceleration is monitored at 300 Hz
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26RespirationHeart Rate
Basic Health Monitoring
Acceleration data Collected from a GINA mote strapped onto the chest
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Footstep Localization
d2
k(t)k(t+τ1)
k(t+ τ2)
d1
sensor node
vibration source
Waveform of a typical footstep
Equivalent spectrum
• Where is someone walking?• Use the time difference of arrival of
the seismic wave generated by a footstep