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 3
Middleware Architecture RELATE node Sensing Fusion Interface RELATE modules or client Modules Modules Modules (Application layer) read/write notify register, subscribe, unsubscribe Blackboard Storage Blackboard Manager From | to | type | measurement | quality | Monitors Blackboard Scheduler, RPC Server, Event From | to | type | measurement | quality | Dispatcher, Query (Middleware From | to | type | measurement | quality | Raise 404 Planner, Remote Debugging Layer) Server local delegation remote delegation (via query) Routing / Query Layer (platform specific) Network layer (platform specific) Network 4
RELATE Hardware Evolution • Fast prototypingGoals of novel relative positioning systems • Integration of new/existing technology into single RELATE platform • Defined Hardware/Software interfaces for better interoperability • Multimodal relative positioning 5
RELATE Hardware Architecture Debug Sensing LEDs, Programmin g Adapter, Buttons Modality Digital Signal Processing Measurement Measurement Measurement DSP Driver (US, RSSI, Magnetic, …) I2C, SPI, Analog Sensing Modalities Multi Slave Base Platform 3.3V Synchronization UART Blackboard Communication SPI Power Module (Particle, Jennic, Bluetooth Memory Module , …) Battery RF USB: 5V Lith.,3.7V USB Data
RELATE Base ComponentsStackable 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 ADCCom Board – Particle (869 MHz AwareCon) – Jennic (IEEE 802.15.4, Zigbee or µIP) – Other (Bluetooth, USB)Power Board – Lithium Battery 7
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 8
Sensing Modality Integration (Demo) Ultrasound Magnetic Ultrasound + Magnetic 9
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