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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 strength
Radio Ranging – Signal Strength


Radio ranging signal strength1
Radio Ranging – Signal Strength


Radio ranging signal strength2
Radio Ranging – Signal Strength


Radio ranging signal strength3
Radio Ranging – Signal Strength


Radio ranging signal strength4
Radio Ranging – Signal Strength

  • Error equation:

    error (cm) ≈ noise (dB) .

Attenuation rate (dB)

cm


Radio ranging signal strength5
Radio Ranging – Signal Strength



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 analog1
Acoustic Ranging – 4.3KHz Analog


Acoustic ranging 4 3khz analog2
Acoustic Ranging – 4.3KHz Analog


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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