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Outline

Outline. Jude Allred, Ahmad Bilal Hasan, Saroch Panichsakul, William Pisano, Peter Gray, Jyh Huang, Richard Han, Dale Lawrence, Kamran Mohseni. SensorFlock: an airborne wireless sensor network of micro-air vehicles . Sensys, Nov 2007

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Outline

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  1. Outline • Jude Allred, Ahmad Bilal Hasan, Saroch Panichsakul, William Pisano, Peter Gray, Jyh Huang, Richard Han, Dale Lawrence, Kamran Mohseni. SensorFlock: an airborne wireless sensor network of micro-air vehicles. Sensys, Nov 2007 • Micro-air vehicle - semi-autonomous flight control with loiter circles for hovering • http://www.mae.ufl.edu/mav/Ourmavs01.html • Wireless transmission characteristics for Air-to-Air and Air-to-Ground communications

  2. Application scenarios • Chemical dispersion sampling • Toxins, pollutant etc. • Atmospheric weather sensing • MAVs with temperature, pressure, humidity … • 3-D sensing possible if the MAV can fly to the different depths

  3. Existing Approaches • Balloons and dropsondes • Passive • cannot chase event • Large unmanned air vehicle (2-3 meters) • Dangerous for air traffic and ground personnel • Small bird sized • Safe: 500 grams, 20 m/s • Propeller in back, foam • Cheap: $600 • Plentiful

  4. Avionics • 8-bit microcontroller • Xbee Pro Zigbee 2.4 GHz radio • Packet based rather than bit based in Mica-2 • Backup with RC link • GPS, single roll rate Gyro, absolute pressure sensor • Fail-safe operation • Flown within visual range (0.5 km vs 1.5 km for the wireless link) • When out of RC link range, kill motor and soft land • Launcher • Plane-A-Pult automatic launcher

  5. Control sub-system • Trajectory adjustment: 10 Hz • Roll-rate adjustment: 100 Hz • Network routing: 40 Hz • 10 ms per quanta • 56 kbps • Data packets: 50 bytes • Source ID • GPS location • GPS time • Hop count • Seqence number • Sender ID • Sender RSSI (Received Signal Strength Indicator)

  6. Experiments • Flight test with 5 planes • Circular loitering mode • Air-to-air received signal strength • Path loss co-efficient: A2A: 1.9, A2G: 2.1, G2G: 3.5 • Urban cellular: 2.-3.5 • Antenna orientation: • Perpendicular to the aircraft • Symmetry: • A2A links are symmetric • Characterization of packet loss • Incomplete, higher with distance for A2A - possibly because of buffer overflow on the routers • Airbourne multihop - not done because of line-of-sight requirements for flights

  7. Discussion • Relevance of hardware chosen • Relevance of application scenario • Relevance of research challenges addressed • Scalability? • Aggregation mechanisms?

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