magnetometer data acquisition 2011-05-01
TRANSCRIPT
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VEHICLE DETECTION AND CLASSIFICATION USING
MAGNETOMETER Data Acquisition
Team: Akshath S Bhat, Arvind K Deshpande, Kaustubh G Deshpande
Guide: Prof. K V S Hari
Statisti a! Si"na! Pro essin" #ab
Department of $!e tri a! %ommuni ation $n"ineerin"
&ndian &nstitute of S ien e
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Contents
1 Intro uction !""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
'.' Basi idea (............................................................................................... '
'.) *b+e tive (................................................................................................ '
# Anisotro$ic Ma%netoresisti&e Sensor !"""""""""""""""""""""""""""""""""""""""""""""""""""""""" #
).' Theor of the A- Sensor (.................................................................... )
' Har (are Descri$tion !"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" )
/.' SBT01 Sensor Board (................................. .......................... ........... 2
/.) T$#*SB mote P!atform (................................ .......................... ....... 3
/.).' App!i ations (................................................................. 0
* So+t(are Descri$tion !""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" 1,
- Ve.ic/e Detection !"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
4.' -a"neti Si"na! Ana! sis (............................... .......................... ...... ''
4.) Data %o!!e tion (............................ .......................... ......................... ''
4./ -odified Setup Simi!ar to A tua! oad S enario (.......................... ')
4./.' $5perimentation usin" emote %ontro!!ed %ar (.............. ')
4./.) $5perimention usin" a Skate Board (................................ '4
4./.).' $5periment no. ' (............................................. '3
4./.).) $5periment no. ) (............................................. '6
4.7 *r"anisin" the data o!!e ted into 8i!es9Dire tories (....................... )2
Appendi5 A
Appendi5 B
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List o+ Fi%ures
).' A- Strip (............................................................................ /
).) heatstone Brid"e %onstru tion (.......................................... 4
/.' SBT01 Sensor Board (............................................................ 2
/.) Te!osB mote atta hed ;ith SBT01 Sensor Board (............... 3
4.' Distortion in earth
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List o+ Ta0/es
4./ A!! %ars overed b usin" the t;o setups (........................................................ ))
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VEHICLE DETECTION AND CLASSIFICATION USINGMAGNETEOMETER
1" Intro uctionThe net;ork of roads of a nation determine ho; ;e!! the entire nation is onne ted. &t is an inde5of the rate of deve!opment of the ountr . An deve!oped or deve!opin" nation !ike &ndia has a"ood net;ork of roads. &t is a!so true that there are traffi on"estions espe ia!! ities andto;ns. The number of man hours ;asted due to traffi on"estion and the amount of po!!utionare si"nifi ant! hu"e. Therefore, there is a "reat demand for &nte!!i"ent Traffi S stems ;hi hare apab!e of monitorin" road traffi to redu e de!a and to smoothen the f!o; of vehi !es.
There are severa! different possibi!ities for a road traffi monitorin" s stem.
&ndu tion !oops, infrared sensin", pressure sensors, video ameras, to name a fe;, arete hno!o"ies that an be used. Ho;ever, some of the important hara teristi s ;hi h need to betaken into onsideration for !ar"e s a!e dep!o ment are ost, ease of dep!o ment, f!e5ibi!it indep!o ment, maintenan e, !ife=time of the sensors used and po;er onsumption. ire!ess sensornet;ork te hno!o" fits these re>uirements a!most perfe t! .
1"1 asic i ea
At an "iven p!a e on the earth, there is a natura! ma"neti fie!d due to earth havin" a suitab!ema"nitude and dire tion. There is a f!u tuation in the ma"nitude, but for pra ti a! ases it isassumed to be onstant onsiderin" the de"ree of variation.
henever a ferroma"neti substan e enters the vis init of the earthue to the parti u!armode! of a brand9maker of the ar. Thus the ma"neti fie!d distortions assosiated ;ith ea h ar isuni>ue. &f there is a ;a to re ord these f!u tuations, then a si"na! an be asso iated to ea h
vehi !e and the si"na! an be termed as si"nature si"na!.1"# O02ecti&e3
The si"nature si"na! is a hara teristi of a ar and an be used to dete t and a!so !assif thears, if there is a kno;!ed"e of the si"nature si"na!s asso iated ;ith the ommon! used vehi !es.
The dete tion and !assifi ation of the vehi !es an add inte!!i"en e to the urrent da traffi andan so!ve most of the prob!ems.
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#" Anisotro$ic Ma%netoresisti&e Sensor
-a"neti sensors have t pi a!! been used for dire tion findin" or navi"ation, but otherapp!i ations have evo!ved over time. The te hno!o" for sensin" ma"neti fie!ds has a!soevo!ved driven b the need for improved performan e. *ne of the ne;er t pes of si!i on based
ma"neti sensors are the Anisotropi -a"netoresistive ?A- @sensors. A- sensors dete t thedistortions of the $arth s ma"neti fie!d, ;hi h is uniform over a ;ide area on the s a!e ofki!ometres.
A ;ide s a!e dep!o ment of a ;ire!ess net;ork of anisotropi ma"neti sensors is envisioned.These passive sensors are mounted on !o; po;er onsumin" ;ire!ess trans eivers a!!ed motes
apab!e of ommuni atin" ;ith ea h other and a basestation. The sensors are apab!e of sensin"the ma"neti fie!d. Therefore, the fie!d indu ed due to a !ar"e permeab!e ob+e t, !ike a vehi !e,
an be sensed. The idea is to p!a e an arra of these sensors in ea h !ane, near the traffi !i"htsand at a ertain buffer !en"th a;a from the traffi !i"hts. The sensors are apab!e of dete tin"
vehi !es and a re ord of the number of veh i!es "oin" past it an be re orded. Thus, a rou"hestimate of the no. of vehi !es in the buffer an be made. This estimate of the >ueue !en"th anbe sent to the traffi !i"ht ontro!!er, via the net;ork of ;ire!ess sensors. The traffi ontro!!eruses the information from a!! the !anes and adaptive! ontro!s the traffi !i"ht onfi"uration toredu e avera"e de!a and in rease throu"hput.*ne an a!so think of a more entra!i ed ontro!s stem ;hi h mana"es the onfi"uration of severa! su essive traffi +un tions.
#"1 T.eor4 o+ t.e AMR Sensor
An A- sensor is made b depositin" a ver thin !a er of Perma!!o on a Si!i on ;afer,patterned as a resistive strip. The properties of the thin A- fi!m resu!t in a han"e in theresistan e ;hen an e5terna! fie!d is app!ied.
The ma"neti ation - in a ferroma"neti materia! a!;a s has the ma"nitude of the saturationma"neti ation -S and on! han"es in dire tion. The theor of the A- effe t an, therefore,be sp!it into t;o parts
C $!e tri a! resistivit as a fun tion of the dire tion of ma"neti ation ? - @ in the resistive strip
C The re!ation bet;een dire tion of ma"neti ation and e5terna!! app!ied fie!d ?He5t @
%onsider a ma"netoresistive strip as sho;n in 8i"ure ).'. The e!e tri a! resistan e is "iven b ,
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8i"ure ).': A- strip
E 0 ,n
l
bd + l
bd cos 2 = R 0,n +R cos 2 ?).'@
;here F 1,n and F are materia! onstants and is the an"!e bet;een the urrent densit ve tor andthe ma"neti ation ve tor. 1,n is the resistan e ;hen the urrent is perpendi u!ar to thema"neti ation and is the ma5imum han"e in the resistan e due to the ma"neti fie!d.
The spontaneous ma"neti ation !ies in the eas a5is dire tion ;hi h is fi5ed b shapeanisotrop . A ma"neti fie!d a!on" the heav a5is ?perpendi u!ar to the eas a5is@ provides arotation of the ma"neti ation in the perma!!o strip and thus a han"e of its resistan e. #et us
assume that the eas a5is is a!on" the =a5is. ith the tota! anisotrop fie!d H 1 E)K 0Ms , the
an"!e I bet;een - and the eas a5is is:
sin E Hy Ho ?).)@
for ='J Hy Ho J', ;here H is the = omponent of the app!ied fie!d. *utside this ran"e,
sin Esi"n? Hy Ho @
e introdu e t;o ne; resistan es 1,p and 1 :
1,p E 1,n L ?)./@
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1E Ro,p+Ro,n
)?).7@
1 is the avera"e resistan e. Msin" $>uations ?).'@ and ?)./@,
? @ E 1,p L sin ) ?).4@
Msin" $>uation ?).)@, ;hen the urrent f!o; is a!on" the eas a5is, ;e have
? @ E 1,p L ? Hy Ho
@) (2.6)
for NH N O Ho and
?H @ E o ,p (2.7)
for NH N H1 . The resistan e e5hibits a stron"! non=!inear dependen e on the e5terna! fie!d.A!so, the si"n of H ) annot be determined sin e is a fun tion of H . &n order to a!!eviatethese disadvanta"es, barber po!e stru turesQ'R are introdu ed. -athemati a!! , barber po!es areprepresented b introdu in" an additiona! an"!e E 74 , ;hi h represents the an"!e bet;een theeas a5is and the urrent.
The an"!e in this ase is
E L ?).0@
Therefore, the hara teristi s of a barber=po!e A- sensor are
?H @ E o U Hy
Ho.S> rt?'=?
Hy
Ho@) @ ?).6@
8or NH N J Ho
) , it is fair! !inear ;ith a non=!inearit of !ess than 4 . &n most app!i ations, a
sin"!e A- = esistor is not suited be ause it does not provide a ero referen e and has atemperature oeffi ient of U1./ 9K.
The sensor is rea!i ed as a heatstone brid"e ;ith four individua! resistors, as sho;n in8i"ure ).). The resistan e han"es are onverted into a vo!ta"e output ;ithout a d omponent.
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This setup a!so ompensates for the temperature dependen e of the resistors. The output vo!ta"eof a heatstone brid"e an be des ribed b :
Vout E V in Hy Ho s>. rt?'=?
Hy Ho @
) @ ?).'1@
*ne su h A- brid"e an be used to measure the fie!d a!on" one dire tion. &f a ma"netometeromprises of t;o su h A- brid"es p!a ed perpendi u!ar to ea h other, it an be used to
measure the fie!d a!on" ) ortho"ona! a5esW simi!ar! a /=a5is sensor.
8i"ure ).): heatstone brid"e onstru tion.
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'" Har (are Descri$tion
'"1 S T5, Sensor oar
SBT01 -u!ti=-oda!itSensor Board is used forTe!osB ;ire!ess motes.This sensor board hasH-% '14) ma"netometer;hi h is a dua! a5isma"netometer. &n additionto this it a!so has the othersensors used for differentpurposes.
8i"ure /.': SBT01 SensorBoard
The features of the SBT01 Sensor Board are:
Sensor board for Te!osB ;ire!ess sensor p!atform
%an be dire t! p!u""ed in to the e5terna! onne tor of Te!osB motes $i"ht Sensor hanne!s ;ith hi"h sensitivit sensors
= visua! !i"ht, infrared, a ousti , temperature, dua!=a5is ma"netometer and dua!=a5isa e!erometer
Sma!!er form fa tor than Te!osB motes
Po;er savin" mode
Tin *S and Xava ode support avai!ab!e
%an be used for mu!ti=moda! survei!!an e and monitorin" app!i ations usin" sensornet;orks
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'"# TELOS Mote 6/at+or7
8i"ure /.): Te!osB mote atta hed ;ith SBT01 Sensor board
T$#*SB -*T$ P#AT8* - 8$ATM $S
&$$$ 01).'4.7 %omp!iant
)41 kbps, Hi"h Data ate adio
T& -SP7/1 -i ro ontro!!er ;ith '1kB A-
&nte"rated *nboard Antenna
Data %o!!e tion and Pro"rammin" via MSB &nterfa e
*pen=sour e *peratin" S stem
&nte"rated Temperature, #i"ht and Humidit Sensor
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'"#"1 A$$/ications
P!atform for #o; Po;er esear h Deve!opment
ire!ess Sensor Yet;ork $5perimentation
Te!osB -ote TP )7)1 is an open=sour e p!atform desi"ned to enab!e uttin"=ed"ee5perimentation for the resear h ommunit . The TP )7)1 bund!es a!! the essentia!s for !abstudies into a sin"!e p!atform in !udin": MSB pro"rammin" apabi!it , an &$$$ 01).'4.7 radio;ith inte"rated antenna, a !o;=po;er -%M ;ith e5tended memor and an optiona! sensor suite.TP )7)1 offers man features, in !udin":
&$$$ 01).'4.7 omp!iant 8 trans eiver
Temp.9 Humidit Sensor
#i"ht Sensor
).7 to ).70/4 GH , a "!oba!! ompatib!e &S- band
)41 kbps data rate
&nte"rated onboard antenna
0 -H T& -SP7/1 mi ro ontro!!er ;ith '1kB A-
#o; urrent onsumption
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'-B e5terna! f!ash for data !o""in"
Pro"rammin" and data o!!e tion via MSB
Sensor suite in !udin" inte"rated !i"ht, temperature and humidit sensor
uns Tin *S '.'.'' or hi"her
The Te!osB p!atform ;as deve!oped and pub!ished to the resear h ommunit b M%Berke!e . This p!atform de!ivers !o; po;er onsumption a!!o;in" for !on" batter !ife as
;e!! as fast ;akeup from s!eep state. The TP )7)1 is ompatib!e ;ith the open=sour eTin *S distribution.
TP )7)1 is po;ered b t;o AA batteries. &f the TP )7)1 is p!u""ed into the MSB port forpro"rammin" or ommuni ation, po;er is provided from the host omputer. &f the TP )7)1 isa!;a s atta hed to the MSB port no batter pa k is needed.
TP )7)1 provides users ;ith the apabi!it to interfa e ;ith additiona! devi es. The t;oe5pansion onne tors and onboard +umpers ma be onfi"ured to ontro! ana!o" sensors, di"ita!periphera!s and #%D disp!a s.
Tin *S is a sma!!, open=sour e,ener" =effi ient soft;are operatin" s stem deve!oped b M%Berke!e ;hi h supports !ar"e s a!e, se!f= onfi"urin" sensor net;orks. The sour e ode soft;aredeve!opment too!s are pub!i ! avai!ab!e at : http:99;;;.tin os.net
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*"So+t(are Descri$tion
Genera! e>uirement: A #aptop !oaded ;ith a !inu5 operatin" s stem ?Mbuntu most preferab!e@
efer the Appendi5 A to kno; ho; to insta!! tin *S.
Tin *S ).'.1 ;as used.
The Te!osB mote is onfi"ured b deve!opin" the odes usin" Tin *S. These odes are ;ritten,ompi!ed and do;n!oaded into Te!osB mote dire t! b p!u""in" it into MSB interfe e. The ode
on the memor of Te!osB mote an be erased and a different pro"ram for a different operationan be do;n!oaded a"ain.
The pro"rams ;ere ;ritten and used for the fo!!o;in" operations :
'. To provide Start Si"na! and use mote as a emote.
). To o!!e t the data samp!es ?t;o omponents of the ma"neti fie!d@ o!!e ted b the
ma"netometer from the data o!!e tion s ene and store in the on= hip memor at '11H ,Samp!in" ate.
/. To read the Te!osB mote ;hi h is onne ted to the !aptop after data a >uisition.
4. To transfer the data samp!es stored in the on= hip memor , to the !aptop and save thesamp!es in a te5t fi!e.
These sour e odes are present in the dire tor : Sour e odes. These odes are deve!oped b SSP!ab, $%$ dept., &&S .
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-" Ve.ic/e Detection
The first important re>uirement for a traffi survei!!an e s stem is the apabi!it to dete t thepresen e of a vehi !e. Based on su h dete tion, statisti s su h as vehi !e ount, traffi f!o; speedand o upan an be estimated. The >ua!it of vehi !e dete tion determines the performan e of
a!! dependent app!i ations. The ana! sis of si"na!s from a ma"neti sensor are presented in !aterhapters.
-"1 Ma%netic Si%na/ Ana/4sis
The theor of the Anisotropi -a"netoresisitve?A- @ sensor is dis ussed in Q).'R. &t is notedthat the earth s ma"neti fie!d is uniform over a ;ide area on the s a!e of ki!ometres and that anA- sensor is apab!e of dete tin" distortions in the fie!d. A permeab!e ob+e t in a homo"enousma"neti fie!d "ives rise to an indu ed ma"neti fie!d. Therefore, ;hen a vehi !e enters thevi init of the sensor, the perturbation of the fie!d an be dete ted b the sensor. This is the basiprin ip!e invo!ved in usin" an A- sensor for vehi !e dete tion, see 8i"ure 4.' .
8i"ure 4.': Distortion in the earth s ma"neti fie!d aused b a vehi !e.
Dependin" on the meta!!i onfi"uration and omposition inside a vehi !e, different ma"netisi"natures are indu ed b different vehi !es.
-"# Data Co//ection
The Te!osB mote is to be p!a ed in the road ondition ?midd!e of !ane or side !anes@ to sense thema"neti fie!d omponents. The Te!osB mote is havin" SBT01 board onne ted to it, ;hi h has dua!a5is ma"netometer ?H-%'14)@ But this re>uires us to ensure that the vehi !e is movin" at a onstantve!o it over the mote and the proper are is a!so taken in prote tin" the mote from bein" run=over b thevehi !es and "ettin" dama"ed. The setup in a tua! road s enario is sho;n in the 8i"ure 4.).
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8i"ure 4.): -a"neteometer setup in a tua! road s enario
-"' Mo i+ie Setu$ Si7i/ar to Actua/ Roa Scenario
The ma"netometer re ords the ma"neti fie!d omponents ;henever the f!u5 !ines asso iated;ith it is ut b a Vehi !e. $ssentia!! there must be a re!ative motion bet;een the vehi !e and
the ma"netometer.*;in" to the diffi u!ties in the a tua! road s enario, the data o!!e tion is done in parkin"
!ots, ;here the vehi !es are stationar . 8or satisf in" the riterion of re!ative motion the sensor isset in motion. &n some ;a s the onditions of onstant ve!o it and prote tion of mote areensured.
The e5periments are arried out b fi5in" the ma"netometer setup ?Te!osB mote@ to a emote%ontro!!ed %ar and in some ases to a Skate Board.
-"'"1 E8$eri7entation usin% Re7ote Contro//e CarA remote ontro!!ed ar is mounted ;ith the Te!osB mote to ;hi h SBT01 sensor board isp!u""ed. The mountin" is done usin" a fiber ase ;hi h en apsu!ates the mote. $5periment isdone and it is ensured that the fiber ase does not inf!uen e the ma"netometer readin"s ? efer4./.).'@.8i"ures 4./.' Z 4./.) sho; the photo"raphs of the setup. The orientation of thema"netometer is su h that it re ords the and [= omponents of the ma"neti fie!d.
The spe ifi ations of the remote ontro!!ed ar used is as fo!!o;s:
;orkin" fre>uen : 76 -h
Batter t pe: 6v p!u""in re har"ab!e,Yi=%d batterma5. Speed: /) kmph
The remote ontro! ar is havin" !east number of meta!!i omponents un!ike other onventiona!remote ontro!!ed ars.
The dimension of the remote ontro!!ed ar is as fo!!o;s:
hei"ht: ).0
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!en"th: '4.4
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8i"ure 4./.): Side Vie; of the emote %ontro!!ed %ar
Antenna of the emote %ar
The remote ontro!!ed ar havin" the mote is passed be!o; the vehi !es in three different pathsvi ., !eft path, midd!e path Z ri"ht path as sho;n in 8i"ure 4././.
A data o!!e tion samp!e video is a!so taken to provide better understandin" for the reader.
#eft path
-idd!e path i"ht path
8i"ure 4././: Three paths in ;hi h setup is passed
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Msin" the remote the remote ontro!!ed ar is passed in these / paths. The remote ar is kepta;a from the vehi !e
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Top fa e of skate board Te!osB mote inside fiber ase o!! of p!asti strin" tied to one end
8i"ure 4./.7: Top vie; of setup mounted on the Skate Board
8i"ure 4./.4: Side vie; of setup mounted on the Skate Board
This setup is used in the same ;a !ike the remote onto!!ed ar ;hi h ;as used before. Thesame pro edure is fo!!o;ed to re ord the ma"neti fie!d omponents. %are is taken to pu!! thesetup ;ith onstant ve!o it .A data o!!e tion samp!e video is a!so taken to provide betterunderstandin" for the reader.
Yote: The Te!osB mote is oriented inside the fiber bo5 in su h a dire tion so that it re ords and [=omponents of the ma"neti fie!d.
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-"'"#"1 E8$eri7ent no" 1
Ai73 To stud the effe t ;hen a Te!osb mote is en !osed ;ithin a fiber bo5.
E8$/anation3 &n this e5periment, the Te!osb mote is mounted on a skate board ;ithout an
en !osure. The readin"s are taken usin" this arran"ement b po;erin" the mote. But ;e have to
prote t the Te!osb mote from e5terna! fa tors !ike rain, dust and a!so possib!e dama"e due to
insuffi ient !earan e mid;a throu"h the vehi !e, durin" our e5periments. Hen e ;e first
en !ose the Te!osb mote ;ithin a fiber ase and then arr out the e5perimentations, as usua!. &n
order to do so, ;e must stud the effe t on the ma"neti fie!d ;hen the Te!osb mote is en !osed
;ithin the fiber ase.
E8$eri7enta/ setu$3
Case1: The Te!osb mote is mounted on the skate board ;ithout an en !osure. The mote ;as
po;ered and the entire set=up ;as rotated in an anti !o k;ise dire tion, t;i e. The samp!es, thus
obtained ;ere p!otted in the -at!ab. The p!ot is "iven be!o;:
8i"ure 4./.2: aveforms obtained ;ithout fiber bo5
The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is:
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)'64='364E711 units.
Case #: The Te!osb mote is first en !osed inside a fiber ase ;ith over and then mounted on top
of the skate board. The mote ;as po;ered and the entire set=up ;as rotated in an anti !o k;ise
dire tion, t;i e ?simi!ar to ase)@. The samp!es, thus obtained ;ere p!otted in the -at!ab. Thep!ot is "iven be!o;:
8i"ure 4./.3: aveforms obtained ;ith fiber bo5
The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is:
))11='360E71) units.
In+erence3 8rom the above p!ots and observations, it is !ear that there is \no appre iab!e
han"e] in the peak=peak ma"neti fie!d. Thus ;e an state that both the e5perimenta! ases
ie!d the same resu!t. Hen e, o;in" to the fa t that ;e "et added prote tion and a!so ne"!i"ib!e
han"e in the ma"neti fie!d ;hen ;e en !ose the mote ;ithin the fiber ase, ;e ontinue to do
so in our further e5perimentations.
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-"'"#"# E8$eri7ent no" #
Ai73 To stud the effe ts ;hen a Te!osb -ote is mounted to top fa e and fi5ed to bottom fa e
of the skate board.
E8$/anation3 hen the Te!osb mote is mounted on the skate board, it is pra ti a!! ver
diffi u!t to "et enou"h road !earan e for fe; of the vehi !es !ike H undai Verna, 8ord fi"o
under test be ause of the additiona! hei"ht the mote brin"s in. Hen e the idea is to fi5 the mote to
the bottom fa e of the skate board so that ;e an ne"ate the additiona! hei"ht of the mote. hen
su h a pra ti a! onsideration is put to use, the ob+e tive of "ettin" enou"h road !earan e is
a hieved. The ne5t on ern is ;hether this t pe of arran"ement ;ou!d have an effe t on the
readin"s. Hen e an e5periment is ondu ted to thro; !i"ht on this pra ti a! aspe t of e5aminin"
;hether both the arran"ements ie!d simi!ar resu!ts or not^
E8$eri7enta/ setu$3
Case1: The Te!osb mote is mounted on top fa e of the skate board. The mote is po;ered and the
entire set=up is rotated in an anti !o k;ise dire tion, on e. The samp!es, thus obtained are p!otted
in the -at!ab. The p!ot is "iven be!o;:
8i"ure 4./.0: aveforms obtained ;hen mote is mounted on Skate Board
'6
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The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is:
))64='6)3E/20 units.
Case #: The Te!osb mote is fi5ed to bottom fa e of the skate board. The mote is po;ered and the
entire set=up is rotated in an anti !o k;ise dire tion, on e ?e5a t! simi!ar to %ase'@. The
samp!es, thus obtained are p!otted in the -at!ab. The p!ot is "iven be!o;:
8i"ure 4./.6: aveforms obtained ;hen mote is fi5ed to bottom fa e of Skate Board
The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is:
))66='6/)E/23 units.
In+erence3 8rom the above p!ots and observations, it is !ear that there is \no appre iab!ehan"e] in the peak=peak ma"neti fie!d. Thus ;e an state that both the e5perimenta! ases
ie!d the same resu!t. Hen e, o;in" to the fa t that ;e "et !earan e as ;e!! as prote tion and
a!so ne"!i"ib!e han"e in the ma"neti fie!d ;hen ;e fi5 the mote to bottom fa e of the skate
board, ;e ontinue to do so in our further e5perimentations.
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Bottom fa e of skate board Strin" tied firm! to the ;hee! frame
8i"ure 4./.'1: Top vie; of setup fi5ed to the bottom fa e of the Skate Board
Te!osB mote inside fiber bo5
8i"ure 4./.'': Side vie; of setup fi5ed to the bottom fa e of the Skate Board
The above setup an pass easi! under the ars havin" !ess "round !earan e.The e5periments;ere performed ;ith the above mentioned setups and fo!!o;in" vehi !es ;ere overed fore5tra tin" the si"nature si"na!s.The "enera! pro edure to onfi"ure the Te!osB motes is "iven inthe Appendi5 B. The tab!e 4./ sho;s a!! ars overed b usin" the t;o setups.
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Tab!e 4./: A!! ars overed usin" the t;o setups
S/" no Na7e o+ t.e Car Nu70er o+ cars co&ere
'.
).
/.
7.
4.
2.
3.
0.
6.
'1.
''.
').
-aruti 011
-aruti 011?o!d@
-aruti Su uki A!to
-aruti *mni
-aruti *mni?o!d@
-aruti Su uki S;ift
-aruti Su uki S;ift D ire
-aruti Su uki [en
-aruti Su uki [en $sti!o
-aruti Su uki a"on
-aruti Su uki a"on ?duo@
-aruti Su uki S57
2
)
)
7
)
)
'
)
/
/
'
)
))
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'/.
'7.
'4.
'2.
'3.
'0.
'6.
)1.
)'.
)).
)/.
)7.
)4.
-aruti Su uki it
-aruti $steem
H undai Santro
H undai Santro in"
H undai A ent
H undai $!antra
H undai i'1
H undai i)1
H undai Verna
H undai Get
H undai Sonata
Tata &ndi a
Tata &ndi"o
'
)
)
/
'
)
7
'
'
)
'
2
)
)/
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)2.
)3.
)0.
)6.
/1.
/'.
/).
//.
/7.
/4.
/2.
/3.
/0.
/6.
Tata Yano
Tata Sumo
Vo!ks;a"en Vento
Ba+a+ Auto
%hevro!et Beat
%hevro!et Spark
Honda %ivi
Honda %it ?ne;@
Honda %it ?o!d@
8ord 8i"o
8ord 8iesta
Dae;oo -ati
Dae;oo %ie!o
To ota %oro!!a S$
)
'
'
'
)
'
'
/
'
)
'
/
'
'
)7
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71.
7'.
7).
7/.
77.
74.
72.
73.
70.
76.
41.
To ota &nnova
8iat #inea
8iat Petra
8iat Pa!io
-ahindra #o"an
-ahindra Xeep
Skoda * tavia
Skoda #aura
eva $!e tri %ar
*pe! %orsa
*pe! %orsa Sai!
)
'
'
'
'
'
)
'
'
'
'
)4
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-"* Or%anisin% t.e ata co//ecte into Fi/es;Directories
$a h ar amon" the various ars overed as sho;n in Tab!e 4./ is "iven a dire tor namebased on the name9mode! of the ar.
This dire tor ontains a!! the asso iated fi!es.
A!! the asso iated fi!es are named in the fo!!o;in" "enara! order:
J ar name _Jorder of the ar _Jpath .Je5tension
8or $5amp!e: #et us sa that ;e have re orded the ma"neti fie!d data samp!es in three pathsname! !eft, ri"ht and midd!e for a -aruti Su uki 011. The data samp!es are found in a te5t fi!e.Thus, the e5tension of the fi!es ;i!! be .t5t.
The ar name is most !ike! to be 011. The order of the ar re!ates to the tota! number of ars ofthe same t pe overed ti!! the parti u!ar ar. That is, if ) -aruti Su uki 011 ars ;ere a!read
overed ear!ier, then the present ar ;ou!d be "iven the order /. &n ase of ar ;hi h ;asovered on! on e, then Jorder of the ar is omitted. The path name ou!d be !eft, midd!e or
ri"ht for ;hi h the data samp!es ;ere o!!e ted. &n some ases the ar mode!s are a!so indi atedusin" ne;9o!d. 8or e". Honda %it , ;hi h has o!d9ne; mode!s. 011 and *mni a!so have ne;9o!dmode!s. &f mu!tip!e readin"s are taken for a same path then, path_tria! no. is indi ated.
Msin" the te5t fi!e for ea h path, an asso iated -AT#AB fi"ure havin" .fi" e5tension and afi"ure of .+pe" e5tension are e5tra ted. The photo"raph?s@ of the ar and diffi u!ties?if an @ is9arepresented.
A J ar name .do fi!e "ives a!! the information asso iated ;ith a parti u!ar ar in ea h dire torof ars.
These ars are found in dire tories: Vehi !e dete tion_r_ ars or Vehi !e dete tion_s_ ars. A fi!emap ;hi h "ives a pi ture of the dire tories is present. Asso iated ;ith ea h main dire tor thereis a $AD-$.t5t ;hi h "ives the summar of ontents9inforamation of ea h dire tor .
T;o video fi!es ea h in above mentioned main dire tories are present in .mov e5tension.
)2
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A$$en i8 A
Insta//in% Tin4OS
1" Tin4OS on Fe ora
The pro edure for insta!!in" Tin *S on 8edora has been des ribed here.
1. As root, op the ontents of the "iven Tin4OS
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#" Tin4OS on U0untu
#"1 De+au/t Version
The pro edure for insta!!in" the defau!t Tin *S version on Mbuntu 0.'1 has been des ribed here.
A simi!ar pro edure an be used for insta!!in" Tin *S on other versions of Mbuntu.
'. Add the repositor for Tin *S to the repositor a he. *pen the fi!e
;etc;a$t;sources"/ist as sudo and
append the fo!!o;in" !ines to it :
=re$ositor4 +or Tin4OS
e0 .tt$3;;tin4os"stan+or "e u;tin4os; ists;u0untu +eist4 7ain
). Mpdate the repositor a he. un the fo!!o;in" ommand :
su o a$t:%et u$ ate
/. Note3 &f ou have an o!der version of Tin *S insta!!ed, remove it:
su o a$t:%et re7o&e tin4os
and then pro eed.
7. un the fo!!o;in" ommand to insta!! the !atest re!ease of Tin *S and a!! its supported
too!s:
su o a$t:%et insta// tin4os
This ;i!! disp!a a messa"e askin" ou to hoose bet;een avai!ab!e versions. Se!e t the
appropriate version.
8or e5amp!e :
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su o a$t:%et insta// tin4os:#"1",
4. Sin e ;e are usin" te!osb motes, ;e need to uninsta!! the brai!!e drivers:
su o a$t:%et re7o&e 0r/tt4
2. e need to edit the `9.bashr fi!e to set environment variab!es and define a!iases.
C *pen the tin4os:0as.rc fi!e present in the Tin *S Setup fo!der.
C %han"e a!! o urren es of tin4os:#"8 to tin4os:#"1", .
C %han"e the %#ASSPATH env=variab!e as be!o;:
CLASS6ATH>?CLASS6ATH3?TOSROOT;su$$ort;s 9;2a&a;tin4os"2ar3"
?The . in !uded @
C -ake sure that the env variab!e T*S **T is:
TOSROOT>@;o$t;tin4os:#"1",
C Yo;, op the ontents of this fi!e and append it to the `9.bashr fi!e.
3.To the bashr fi!e, add the fo!!o;in" ode snippet:
if Q =f 9opt9tin os=).'.19tin os.sh R W then
. 9opt9tin os=).'.19tin os.sh
fi
0. %han"e the o;nership of the 9opt9tin os=).'.1 dire tor to our username. un the
fo!!o;in" ommand
an ;here outside the 9opt9tin os=).'.1 dire tor :
c.o(n :R userna7e ;o$t;tin4os:#"1",
6. %han"e permissions on an seria!, usb or para!!e! devi es ou are "oin" to use:
c.7o ))) ; e&; e&icena7e
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'1. ou an use the ommand 7ote/ist to kno; ;here our mote is onne ted.
''. $5e ute the fo!!o;in" ommand in the tin os=).'.1 dire tor :
tos:c.ec9:en&
&"nore the ;arnin"s for +ava or "raphvi and pro eed.
'). Yo; e5e ute:
c ;o$t;tin4os:#"1",;tos;/i0;tos0oot
su o 7a9e te/os0
&t shou!d ompi!e ;ithout errors. &f it doesn t, "o throu"h a!! the previous steps arefu!!
and re=e5e ute the ommand.
'/. Yo; e5e ute:
c ;o$t;tin4os:#"1",;su$$ort;s 9;2a&a
su o 7a9e a//
&f there are errors disp!a ed on ernin" XY& !ibraries, then "enera!! the prob!em is the
presen e of mu!tip!e insta!!ations of +ava.
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A$$en i8
Ste$s to 0e to 0e +o//o(e +or con+i%urin% Te/os 7ote
1" To con+i%ure Te/os 7ote B7ote A to sen t.e start si%na/ to 7ote
=P!u" the mote A to MSB interfa e
=*pen Ter7ina/
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:Su$er User privi!e"es have to be obtained
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:T pe a$$s ?To enter into the dire tor in Tin *S@
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=$nter the dire tor testin%Lo%.
:T pe c testin%Lo%;
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:T pe 7ote/ist ?To he k if the mote is onne ted to MSB interfa e@
The fo!!o;in" s reen appears if its onne ted proper! .
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=$nter into the dire tor StartS;
:T pe c StartS;
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=T pe 7a9e te/os0 insta//", ?To ;rite the ode StartS into the mote A@
Yo; the mote A is onfi"ured and read to be used for "ivin" Start si"na! to mote B.
%ome out of the dire tor b t pin" c ""
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#" To con+i%ure Te/os 7ote B7ote to sense t.e 7a%netic +ie/ co7$onents a+ter it is
recei&es a Start si%na/ +ron 7ote "
=P!u" the mote B to MSB interfa e
=T pe 7ote/ist ?To he k if the mote is onne ted to the MSB interfa e@
The fo!!o;in" s reen appears if its onne ted proper! .
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=$nter into the dire tor SenseLo%
=T pe c SenseLo%
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=T pe 7a9e te/os0 insta//"1 ?This is to ;rite the ode Sense#o" into the mote B@
Yote: The number inde5
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'" To con+i%ure t.e Te/os 7ote B7ote so t.at ata co//ecte 04 it can 0e rea 04 a
/a$to$ an a te8t +i/e .a&in% t.e ata is %enerate "
=$nter the dire tor tR/o%
=T pe d tR/o%
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=T pe 7a9e te/os0 insta//"1 ?This is to ;rite the t !o" ode into the mote, so that the data
o!!e ted an be read b the !aptop@
Yote: Sin e a ne; ode is ;ritten into same mote ie mote B, here the same numberin" inde5 as used for
Sense#o" an be used.
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Yo;, retain the above Termina! ;indo; and open a ne; termina! ;indo;. #et the t;o ;indo;s
be a!!ed #eft=hand Side ;indo; ?#HS@ and i"ht=hand Side ;indo; ? HS@.
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=T pe t#s+, in the HS.
This opens the Seria! 8or;arder of the Tin *S.
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Yo;, in #HS t pe ";co//ectsa7$/es 1 ?This is to ;rite the pa kets of data for;arded b seria!
for;arder into a te5t fi!e a!!ed
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*n e the ";co//ectsa7$/es 1 ommand is t ped the samp!es are ;ritten and the s reen is sho;n
be!o;.
The samp!es are ;ritten into a te5t fi!e s ata ;hose path is
o$t;tin4os:#"1",;a$$s;testin%Lo%;tR/o% .
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*n e ;ritin" of data samp!es stops, stop the seria! for;arder b !i kin" on Sto$ Ser&er button.
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Then, !ose one of the ;ido;s after >uittin" Seria! 8or;arder.
&n the remain" ;indo; e5e ute the ommand c$ s ata ;.o7e;a9i0.at;Des9to$; . This opies
the sdata.t5t into Desktop. The s reen is sho;n be!o;.
The te5t fi!e an be renamed and used for further ana! sis usin" -AT#AB.