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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. 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.

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Part II Workshop Hardware - Capabilities and Resources Dr. Anita Flynn

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  1. Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center University of California, Berkeley

  2. Part II Workshop Hardware - Capabilities and ResourcesDr. Anita Flynn Prof. Kristofer S.J. Pister’s teamBerkeley Sensor and Actuator Center University of California, Berkeley

  3. Building on 20 Years of Sensor Research • MEMS devices, sensors & microrobots since ’80s

  4. Building on 20 Years of Sensor Research • Autonomous robots since ‘87

  5. Building on 20 Years of Sensor Research • RF sensor network comms since ‘99

  6. 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

  7. Outline Wireless Sensor Networks Workshop Hardware Applications wsn.eecs.berkeley.edu

  8. Outline Wireless Sensor Networks Workshop Hardware Applications wsn.eecs.berkeley.edu

  9. Wireless Sensor Networks

  10. Wireless Sensor Networks Sensor Networks for Security Structural Monitoring Sniper Localization Environmental Monitoring 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 2007 A. Ledezci, http://www.isis.vanderbilt.edu/projects/countersniper J. Lees et al, “Reventador Volcano 2005: Eruptive Activity Inferred from Seismo-Acoustic Observation”, Jnl, of ofVolcanology and Geothermal Research, 2007

  11. Wireless Sensor Networks Building Automation Industrial Automation Smart Grid Applications

  12. Outline Wireless Sensor Networks Workshop Hardware Applications wsn.eecs.berkeley.edu

  13. 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

  14. The General Inertial Navigation Assistant (GINA) GINA 1 January 2008 GINA 2.0 March 2009 GINA 2.1 July 2009 http://warpwing.sourceforge.net/ GINA 2.2 June 2010 • Wireless mote with: • Two 3-axis accels • 3-axis gyroscope • 3-axis compass • 802.15.4 radio • 16-bit processor • Expansion headers

  15. 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

  16. 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

  17. Primary Design Considerations • Low mass -> targeted for flying vehicles • Plenty of actuator outputs Not: • Low power • Low cost components • Ease or low cost of manufacturing

  18. Power Consumption

  19. Outline Wireless Sensor Networks Workshop Hardware Applications wsn.eecs.berkeley.edu

  20. 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

  21. Motion Capture

  22. Application to Mini-Robotics Quadrotor(UMD) Rotochure(GATech) Coaxial Helicopter(UCB) Crawler(UCB) Coaxial Helicopter(GATech)

  23. Gas/Water Flow Monitoring GINA board attached to stove’s flexible gas tubing X-axis acceleration is monitored at 300 Hz

  24. Basic Health Monitoring Acceleration data Collected from a GINA mote strapped onto the chest Heart Rate Respiration

  25. Footstep Localization sensor node vibration source k(t+ τ2) k(t+τ1) k(t) d2 Waveform of a typical footstep d1 Equivalent spectrum Where is someone walking? Use the time difference of arrival of the seismic wave generated by a footstep

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