Calamari’s Design Calamari’s Design DecisionsDecisions

Kamin WhitehouseKamin Whitehouse

June 18, 2003June 18, 2003

Project SummaryProject Summary

Collecting large amounts of dataCollecting large amounts of data 10,000’s data points10,000’s data points Connectivity, RSSI, acoustic, ultrasoundConnectivity, RSSI, acoustic, ultrasound

Calibration and auto-calibration techniquesCalibration and auto-calibration techniques Matlab simulation of algorithms using real dataMatlab simulation of algorithms using real data Implementation in NesC on pc, mica, and dot3Implementation in NesC on pc, mica, and dot3 Designing new hardwareDesigning new hardware

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

OutlineOutline

Design RequirementsDesign Requirements Radio RangingRadio Ranging Acoustic RangingAcoustic Ranging AlgorithmsAlgorithms TinyOS code and demo TinyOS code and demo EvaluationEvaluation

A Motivating ApplicationA Motivating Application

Design PrinciplesDesign Principles

Node-level ResolutionNode-level Resolution Scalable DeploymentScalable Deployment Event-drivenEvent-driven Simple and Approximate OperationSimple and Approximate Operation

Existing SystemsExisting Systems

GPSGPS CricketCricket AHLoSAHLoS MillibotsMillibots

Radio Ranging – Radio Ranging – ConnectivityConnectivity

Data courtesy Alec Woo, Ganesan, et al

Radio Ranging – Radio Ranging – ConnectivityConnectivity

Data courtesy Alec Woo, Ganesan, et al

Radio Ranging – Radio Ranging – Signal StrengthSignal Strength

Radio Ranging – Radio Ranging – Signal StrengthSignal Strength

Radio Ranging – Radio Ranging – Signal StrengthSignal Strength

Radio Ranging – Radio Ranging – Signal StrengthSignal Strength

Radio Ranging – Radio Ranging – Signal StrengthSignal Strength

Error equation:Error equation:

error (cm) ≈ error (cm) ≈ noise (dB) . noise (dB) . Attenuation rate (dB)

cm

Radio Ranging – Radio Ranging – Signal StrengthSignal Strength

Acoustic RangingAcoustic Ranging

Acoustic Ranging – Acoustic Ranging – 4.3KHz Analog4.3KHz Analog

Simultaneously send acoustic and RFSimultaneously send acoustic and RF Time stamp RF; turn on acoustic circuitTime stamp RF; turn on acoustic circuit Time stamp tone-detector interruptTime stamp tone-detector interrupt Subtract timestampsSubtract timestamps Multiply by speed of soundMultiply by speed of sound FilterFilter

Acoustic Ranging – Acoustic Ranging – 4.3KHz Analog4.3KHz Analog

Acoustic Ranging – Acoustic Ranging – 4.3KHz Analog4.3KHz Analog

Acoustic Ranging – Acoustic Ranging – 4.3KHz Digital4.3KHz Digital

Digital sampling and filteringDigital sampling and filtering Better range and accuracyBetter range and accuracy Slow, costly processSlow, costly process Scheduling neededScheduling needed

Acoustic Ranging – Acoustic Ranging – UltrasoundUltrasound

Acoustic Ranging – Acoustic Ranging – UltrasoundUltrasound

Acoustic Ranging – Acoustic Ranging – UltrasoundUltrasound

LocalizationLocalization

1

6

1112

7

3

4

8

9

1415

1310

5

2

Localization AccuracyLocalization Accuracy

Localization AccuracyLocalization Accuracy

Localization AccuracyLocalization Accuracy

Localization AccuracyLocalization Accuracy

NesC ImplementationNesC Implementation

Mica platform being integrated with VUMica platform being integrated with VU Dot3 being integrated with ultrasoundDot3 being integrated with ultrasound Simulated ranging estimates for PCSimulated ranging estimates for PC

EvaluationEvaluation

Node-level ResolutionNode-level Resolution Scalable DeploymentScalable Deployment Event-drivenEvent-driven Simple and Approximate OperationSimple and Approximate Operation