1. Focus II: Architecture, Systems and
Tools for Relative Positioning
Passau, 10.10.2008

2. 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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3. 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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4. 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
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5. RELATE Hardware Evolution
• Fast prototyping
Goals of novel relative positioning systems
• Integration of new/existing technology
into single RELATE platform
• Defined Hardware/Software interfaces
for better interoperability
• Multimodal relative positioning
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6. 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

7. RELATE Base Components
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
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8. 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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9. Sensing Modality Integration (Demo)
Ultrasound
Magnetic
Ultrasound + Magnetic
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