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

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calamari s design decisions

Calamari’s Design Decisions

Kamin Whitehouse

June 18, 2003

project summary
Project Summary
  • Collecting large amounts of data
    • 10,000’s data points
    • Connectivity, RSSI, acoustic, ultrasound
  • Calibration and auto-calibration techniques
  • Matlab simulation of algorithms using real data
  • Implementation in NesC on pc, mica, and dot3
  • Designing new hardware

http://www.cs.berkeley.edu/~kamin/calamari

outline
Outline
  • Design Requirements
  • Radio Ranging
  • Acoustic Ranging
  • Algorithms
  • TinyOS code and demo
  • Evaluation
design principles
Design Principles
  • Node-level Resolution
  • Scalable Deployment
  • Event-driven
  • Simple and Approximate Operation
existing systems
Existing Systems
  • GPS
  • Cricket
  • AHLoS
  • Millibots
radio ranging connectivity
Radio Ranging – Connectivity

Data courtesy Alec Woo, Ganesan, et al

radio ranging connectivity1
Radio Ranging – Connectivity

Data courtesy Alec Woo, Ganesan, et al

radio ranging signal strength4
Radio Ranging – Signal Strength
  • Error equation:

error (cm) ≈ noise (dB) .

Attenuation rate (dB)

cm

acoustic ranging 4 3khz analog
Acoustic Ranging – 4.3KHz Analog
  • Simultaneously send acoustic and RF
  • Time stamp RF; turn on acoustic circuit
  • Time stamp tone-detector interrupt
  • Subtract timestamps
  • Multiply by speed of sound
  • Filter
acoustic ranging 4 3khz digital
Acoustic Ranging – 4.3KHz Digital
  • Digital sampling and filtering
  • Better range and accuracy
  • Slow, costly process
  • Scheduling needed
localization
Localization

13

10

15

14

12

11

9

5

7

6

8

3

2

1

4

nesc implementation
NesC Implementation
  • Mica platform being integrated with VU
  • Dot3 being integrated with ultrasound
  • Simulated ranging estimates for PC
evaluation
Evaluation
  • Node-level Resolution
  • Scalable Deployment
  • Event-driven
  • Simple and Approximate Operation
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