Focus II: Architecture, Systems and Tools for Relative

Positioning

Passau, 10.10.2008

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Presentation Overview

1. RELATE Software Architecture– BlackBoard

2. RELATE Hardware Architecture– Cube

3. Cube Integration Demo– Magnetic + Ultrasound

4. RELATE Tool Support – MiXiM (Koen Langendoen)

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Modular Software Design

• Module Framework– Decoupled rapid development of new relative

measurement modules– Platform independent (PC,MCU,DSP,Simulation)– Common interface abstractions

• distance, angle [2d/3d], distance indicator, location• Support for measurement qualities (variance, fuzzy

measure)

• Blackboard– Simple tuple based Abstraction Distributed

Programming– Implements Module Framework– Add Location specific paradigms to tuple space

• Distance, Location, Angle

– Added support for querying– Abstracts various underlying network

algorithms/topologies

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Middleware Architecture

notifyread/write

Blackboard(Middleware

Layer)

local delegation

register, subscribe, unsubscribe

Monitors

remote delegation (via query)

RELATE node or client

Routing / Query Layer (platform specific)Network layer (platform specific)

RELATE modules(Application layer)

Fusion Modules

Interface Modules

Sensing Modules

Blackboard StorageFrom | to | type | measurement | quality |

From | to | type | measurement | quality |

From | to | type | measurement | quality |

Blackboard Manager

Scheduler, RPC Server, Event Dispatcher, Query Planner, Remote Debugging ServerRaise 404

Network

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RELATE Hardware Evolution

• Fast prototyping of novel relative positioning systems

• Integration of new/existing technology into single RELATE platform

• Defined Hardware/Software interfaces for better interoperability

• Multimodal relative positioning

Goals

RELATE Hardware Architecture

DSPMeasureme

nt I2C, SPI, Analog

Measurement

Measurement(US, RSSI, Magnetic, …)

Debug LEDs, Programming

Adapter, Buttons

Digital

Dri

ve

r

SPIPower Module

BatteryLith.,3.7V

USB: 5V

3.3VMulti Slave

UART

Communication(Particle, Jennic,

Bluetooth, …)

Synchronization

USBData

RF

Memory Module

Sensing Modality

Base Platform

Sensing Modalities

Signal Processing

Blackboard

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Stackable Sensing Modules– 2x40Pins for Analog, Digital I/O and Power on Stack– App specific (US, Magnetic, ...)

DSP Board– Low power dsPic33FJ128GP706 DSC – 20MHz, 16kB RAM, DMA– Basic DSP Engine– 1Gs 12bit ADC

Com Board– Particle (869 MHz AwareCon)– Jennic (IEEE 802.15.4, Zigbee or µIP)– Other (Bluetooth, USB)

Power Board– Lithium Battery

RELATE Base Components

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Reference Platform: Ultrasound Cube• Parallel Sampling of 6 Transducers

– Eliminates error caused by time shift• Up to 100 kHz per Channel

– No need for analogue rectification– Can use phase information– Channel codes possible

• Online Digital Signal Processing– Improved signal detection

• Reference implementation

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Sensing Modality Integration (Demo)

Ultrasound

Magnetic

Ultrasound + Magnetic