NGRI Nanometrics Taurus Hardware & Software Training Presented by: Kevin So...

NGRI

Nanometrics Taurus Hardware & Software Training

Presented by:Kevin Sokevinso@nanometrics.ca

1-Week Agenda

Mon, Aug 15: Taurus Introduction, Hardware and Software overview

Tue, Aug 16: Taurus configuration

Wed, Aug 17: Taurus Field Deployment and data collection

Thu, Aug 18: Taurus Field Deployment, data retrieval & analysis

Fri, Aug 19: Taurus Review

Introduction Outline

1. What is a Taurus?

2. Mechanical Specifications

3. Environmental Specifications

4. Electrical Specifications

5. System Architecture

What is a Taurus?

Broadband Seismometer(Trillium 240)

Portable Digital Seismograph(Taurus)

Data Acquisition Server(NAQS)

Data Analysis

Geophone(Mark L-4)

What is a Taurus?

● All-in-one, handheld, seismograph.

● Truly portable.

● User friendly.

● Low power, 650mW capable.

● CF or ATA disk drive recording media.

● Linux OS

● Web browser user interface.

● IP communications.

Mechanical Specifications

● Machined aluminum case construction.

● Weight: 1.8 kg.

● 3.5” Colour LCD (320 x 240)

● IP-67 Compliant (with connector caps on).

● Multi-colour status indicator LED.

● Scratch and chip resistant finishing.

● Keyed connectors to prevent wrong cable plug-in.

Environmental Specifications

● Operating Temperatures (w/o insulation)

With Compact Flash media: -20o C to 60o C

With IDE disk drive media: 5o C to 55o C

● Humidity: 0-100% non-condensing

Electrical Specifications

● Sensor Inputs

Channels: 3 channels (user configurable)

Input voltage range: 40 V peak-to-peak differential

Hardware Gain: 0.4, 1, 2, 4, 8 (user configurable)

Software Gain: 0.001 to 100 (user configurable)

High Pass Filter: user configurable

Electrical Specifications

● Sensor Control

Sensor Type: Active or Passive

Power support: 9 – 36V DC

Power on/off: user selectable

Short circuit protection

Control lines: 6 user configurable (logic levels) Supporting Mass lock/unlock, mass center, cal enable, etc.

Electrical Specifications

● Digitiser Performance

Dynamic range: > 138 dB

Sampling rates: 10, 20, 40, 50, 80, 100, 120, 200, 250 Hz

Electrical Specifications

● Calibration Output

Signal output: sine wave, pulse signal, pseudo-random binary

Mode: voltage or current

Initialization: user interface

Electrical Specifications

● Timing System

Internal VCXO clock disciplined to GPS

Timing accuracy < 100 μS

GPS Receiver: 8 channels

GPS Antenna: external, weatherized, with 5 m cable

Duty Cycle: user configurable

Electrical Specifications

● State-Of-Health

Instrument SOH: voltage, mass position, GPS status, instrument temp.

User SOH: 4 external user accessible SOH channels

Logging: configuration changes, software messages

Electrical Specifications

● Data Storage

Removable media: Compact Flash or 1.8” ATA disk drive.

Capacity support:● Compact Flash 1-8 GB.● IDE disk drive 20-60 GB.

Duration: > 600 days of 3 channels @ 100 sps w/40 GB ATA disk drive.

Recording mode: continuous ringbuffer.

Storage Format: Nanometrics STORE.

Data Extraction: streaming and miniSEED

Electrical Specifications

● Communications

Interfaces: 10/100 Base-T Ethernet, RS-232 serial.

Protocols: UDP/IP (unicast/multicast), HTTP, RS-232 with IP drivers.

Electrical Specifications

● Power

Input range: 9 to 36 V DC.

Protection: fuseless design, reverse polarity, short circuit.

Low voltage disconnect: user configurable.

Power Consumption:● Ultra low: 0.650W @ 12V, buffered mode with CF● Low: 1.1W @ 12V, buffered mode with IDE disk drive● Mid: 1.5W @ 12V, communications mode, ethernet or serial● High: 3.5W @ 12V, communications mode, LCD, configuration

System Architecture

System Architecture

● Analog Processor (TAP)

3 channels 24-bit data channels, calibration circuit

● Digital Processor (TDP)

DSP, filtering, GPS engine, timing

● Control Processor (TCP)

Linux OS, 128 MB RAM, 64 MB Flash, comms. interface, java based code

● Backplane (TBC)

connectors, internally soldered

System Architecture

Hardware Overview

1. Connector Overview

2. Button Layout and Functions

3. Status LEDs

4. Installing Removable Media

5. Powering up

6. Powering down

7. Accessing the Taurus

Connector Overview

• 7 external MIL spec connectors.

• 1 internal, behind the media door.

• All connectors are keyed and are different in sizes.

• No duplicate connectors.

Connector Overview…

NMXbus SOH Ethernet Serial/USB Power GPS Sensor Antenna

Connector Overview…

● Sensor Connector

26-pin female mil circular

Primary data channels

Sensor control lines

Switchable sensor power

SEN SORFEM ALE

H

C TR L 1

L

C AL 3 +

M

C AL 2 +

N

C AL 1 +

P

C H 3 -

R

C H 3 _ G N D

A

C H 2 +B

C H 1 _ G N D

C

C H 1 -

D

SEN _ R ET

E

SEN _ V-

F

SEN _ V+

G

C TR L 3

T

C H 2 _ G N D

S

C H 2 -

a

C H 3 +

U

C H 1 +b

C H G N D

Z

C AL 1 - /C TR L 4c

C AL 2 - /C TR L 5

V

D G N D

W

C TR L 2

Y

C AL 3 - /C TR L 6X

SEN_SO H2

J

SEN_SO H3

K

SEN_SO H1

Connector Overview…● Sensor Connector

Connector Overview…

● GPS Antenna

TNC female

Active antenna (3.3V)

GPS AN T EN N AF EM ALE

G P S _ A NT

A

Connector Overview…

● Power

3-pin male mil circular

9-36 VDC

POWERM ALE

B A T -

B

B A T +

AC

E A RT H

Connector Overview…

● Serial/USB

19-pin female mil circular

Serial ports 1 & 2

USB (5V, 100mA)

U SB/SER IALFEM ALE

KEYIN G: W

LNPC

G

E

D R

S T

V

H

J

U K

B MA

F

S 1-DT R

S 2-CT SS 2-T XS 2-RX

US B _GNDUS B _D-S 2_RT S /GP _OUT _1

S 1-DCD

US B _V B USUS B _D+S _GNDS 1-R IS 1-CT S

S 1-RT SS 1-T XS 1-RXS 1-DS R

P ower -P ower +

Connector Overview…

● Serial/USB

Connector Overview…

● Ethernet

4-pin female mil circular

Supports 10/100 Base-T

Auto-Sensing

ET H ER N ETF EM ALE

KEYIN G: W

Rx- T x-

T x+Rx+D

C B

A

Connector Overview…

● SOH

7-pin female mil circular

4 analog SOH inputs

3.3V @ 10mA power outputU SER SOH

F EM ALE

S OH 1

A

B F

E

D

C

G

P W R +

P W R -

S OH RE F

S OH 4

S OH 3

S OH 2

Connector Overview…

● NMXbus

4-pin male mil circular

Provides data and power

Allows daisy chaining

N M XbusM ALE

B US S UP P LY

A

S HIE LD

D

T E RMINA T ION

C

B US RT N

B

Connector Overview…

● Mini USB

Behind media bay door

Type B

M IN I U SB (T YPE B)M ALE

1 2 3 4 5

5-Button Layout and Functions

Move Up (moves through options in drop down menu)

Move Down (moves through options in drop down menu)

Tab (next field/link)Shift-Tab (back one field/link)

Enter

Taurus Navigation: Menus

5-button pad

Taurus Navigation: Fields/Links

5-button pad

Status LEDs

● 4 status LEDs

2 for Unit Status

1 for Ethernet connection / activity

1 for Media Access status

Unit Status

Unit Status

EthernetStatus

MediaStatus

Status LEDs…

Unit Status LED:

Off – Digitiser is powered off.

Solid Red – Digitiser is booting up.

Normal conditions to capture data:

Fast Blinking Green – GUI is starting up.

Slow Blinking Green – normal operation.

Fast Blinking Orange – power up, unit boot up.

Warning conditions:

Slow Blinking Orange after power up – media

door open, low battery, poor GPS timing.

Status LEDs…

Critical Fault Status:

Fast Blinking Red – fault preventing

normal operation.

● Disconnected GPS● Missing media● Hardware problem● Software problem

Status LEDs…

● Ethernet Status LED

Off – processor is powered down.

Orange – processor is booting.

Blinking Green – network configured,

carrier detected.

Blinking Orange – network is not configured.

Blinking Red – network is configured, no carrier detected.

Status LEDs…

● Media Access Status LED

Off – media door closed or pressed in.

Green – removable media (CF/IDE)

can safely be removed.

Red – removable media is mounted,

in write mode, DO NOT remove.

Installing Removable Media

● Always power down the Taurus Processor before adding, removing or changing the media (CF/IDE).

You may lose data if the media is removed while the Taurus Processor is running.

You may lose data if the media is not inserted before the buffer fills-up.

Installing Removable Media…

1. Lift the plastic lever on the media door.

2. Twist the door knob counter clockwise to the unlocked position (lever is vertical).

3. Flip the lever flat against the door, allowing the handle to push against the chassis and causing the door to pop free/open.

Installing Removable Media…

● Make sure Media Access LED is green OR the power is off.

● Gently pull on the end of the CF/IDE to remove it.

● Gently insert the replacement CF/IDE.

Inserting Removable Media…

● Place and push the media door in place.

● Twist the knob clockwise to the locked position (horizontal).

● Flip the black plastic lever down as to lie flat against the door as shown.

Powering Up

● Basic Steps:

1. Connect the GPS, sensor and ethernet cables (if applicable).

2. Connect the power cable (9-36 V DC).

3. Wait for the Taurus processor to boot up (~1 minute). LCD will be off, Unit Status LEDs will show status.

4. Once the Unit Status LEDs are blinking green or orange, you may start the GUI.

5. Press the center button (Enter key) for about 2 seconds. Starts web browser GUI, and LCD (~1-2 minutes).

Powering Down

● Do not just disconnect the power cable!

● Basic Steps:

1. Go to Shutdown page from the web browser’s drop down menu.

2. Select the Shutdown option.

3. Wait for all status LEDs to be turned off to indicate the processor has been shut down.

4. Disconnect the Taurus power cable.

Accessing the Taurus

● From external web browser:

1. Connect the Taurus using the ethernet cable (15228) to your LAN or computer directly.

2. Open your browser and go to the Taurus URL: http://Taurus.IP.Address.

● The IP address of the Taurus is shown on the Current Status Page of the internal browser.

Software Overview

1. Software Introduction

2. Software Modules

3. Modes of Operation

4. Data Organization

5. User Interface

6. Taurus Configuration

7. Real-time Data Access

8. Data Downloading

9. Software Uploading

10. System Security

Software Introduction

● First true internet device for the seismic market.

● Web server based data acquisition system.

● “Thin client” approach, no special software required to interact with the Taurus.

● A networked Taurus can be accessed from anywhere in the world!

● Linux based operating system.

Modes of Operation

● Two modes of operation: buffered or communications.● Buffered:

Stand alone, unattended continuous data recording, no comms. Lowest power consumption. ADC/DSP acquires data into internal flash memory buffer. Linux Processor is powered on to write to removable media when buffer is

near full capacity. Processor powers back down until next write event.

● Communications: Continuous write to removable media. Taurus and data are accessible via ethernet or serial ports. Streaming to data acquisition server capable.

Software Modules

DSP/ARMDSP/ARM Acquisition Server

Acquisition Server

Web BrowserWeb Browser

Compact flash or ATA disk

LINUX sofwtware watchdogEmbedded software watchdog

ADCADC

GPSGPS

ADC DSP LINUX Storage

DSP/ARMDSP/ARM Acquisition Server

Acquisition Server

Web BrowserWeb Browser

Compact flash or ATA disk

LINUX sofwtware watchdogEmbedded software watchdog

ADCADC

GPSGPS

ADC DSP LINUX Storage

Data Organization

● Data types: waveform, SOH, configuration, etc.

● Next generation NAQS: STORE system.

● Open database system, with STORE objects.

● STORE object combines waveform, SOH and config data for a given time period – all in a single file.

● Waveform data is stored in 1st difference Steim format.

● SOH & config data are stored in XML/RDF.

● STORE uses URL as primary index.

● Data is self describing (where, when, whom).

User Interface

● On-board colour LCD.

● 5-button navigation.

● Access to acquisition system via web browser:

Real-time waveform data.

SOH data.

Configuration information.

Calibration commands.

Taurus Configuration

● All data types are recorded by default.

● Minimal configuration required to get data recording started.

● Units can be configured individually.

● Units can have its configuration uploaded as an XML file.

● All configuration changes are logged to the STORE for traceability.

Accessing real-time data

● 2 protocols: UDP/IP or HTTP.

● UDP/IP:

Broadcasts data packets to an unicast or multicast IP address.

● HTTP:

Uses a TCP/IP socket and HTTP between Taurus and receiving software.

HTTP allows POST and GET commands to/from Taurus.

HTTP is implemented in all web servers/browsers.

Data Downloading

● Request for specific data segments via web interface or HTTP commands.

● Request for: waveform data, SOH and config.

● Option to directly extract data into miniSEED.

● All resources available to the web browser can be accessed directly from customer developed software.

● Standard HTTP protocols and URL.

System Security

● Linux operating system.

● User and password protection for all IP service access.

● Accounts and access rights.

● Full implementation in Taurus Version 2.0

Taurus Menus Overview

1. Main Menus

2. Menu Map

3. Status Page

4. Waveform Page

5. SOH Page

6. Timing Page

7. Sensor Page

8. GPS Satellites Page

9. GPS Map Page

10. Data Availability Page

11. Data Retrieval Page

12. Configuration Page

13. System Info Page

14. Factory Settings Page

15. Shutdown Page

Main Menus

● Main menu pages:

Current Status Waveform SOH Timing Sensor GPS Satellites GPS Map Data Availability Data Retrieval (ext. browser only) Configuration System Info Factory Settings Shutdown

Menu Map

Taurus UI

Current Status Waveform SOH Timing Sensor

Timing Calibration

Menu Map…

Taurus UI

GPS Satellites GPS Map

Menu Map…

Taurus UI

Data Availability (Month Display)

Text version

Data Other

Taurus Store 1

Taurus Store 2

Taurus Store 3

Taurus Config

ARM Log

DSP Log

PPC Log

ARM SOH

PPC SOH

Daily Display Week Display

Menu Map…

Taurus UI

Data Retrieval(External Browser)

Time Series State of Health System Logs System Configuration

Channel DataDownload Pages

SOH DataDownload Pages

Log DataDownload Pages

Config. SettingsDownload Pages

Menu Map…

Taurus UI

Configuration

Sampling Calibration Storage

Sensor

Menu Map…

Taurus UI

System Info

Firmware Hardware

Upload

Power Manager

Menu Map…

Taurus UI

Factory Settings

General Networking Storage Naming Sensor & Timing Power Digitizer

Advanced(Sequence #)

Stream to NAQSAdvanced

(volume size)Calibration

Sensor

Timing

Control Lines

Display Thresholds

Main

Front End

Advanced(DC Removal)

Advanced(software gain, dither)

Menu Map…

Taurus UI

Shutdown

Turn Off Display Restart Shutdown

Main Menu: Status Page

● Default startup page.

● Indicates Taurus status.

● % of store used

● Days of store remaining

● # of channels, sampling rate

● IP address

● Voltage, power consumption

● Waveform

● Fault Indicators

Main Menu: Waveform Page

● Near real-time seismic data.

● View duration 5-120s.

● Scale selectable from 10e6 to 2 counts.

● Auto scaling option.

● Pause.

● Option to view individual channel waveform.

Main Menu: SOH Page

● Displays state-of-health info.

● Unit internal temperature.

● Input voltage.

● NMXbus voltage.

● Power consumption by sub-systems.

● Voltage levels on external/user SOH channels.

Main Menu: Timing Page

● Displays timing information.

● PLL state.

● Current UTC date & time.

● Time quality.

● GPS engine status.

● Location information.

● # of satellites acquired.

Main Menu: Sensor Page

● Provides sensor controls and commands.

● Mass: Center, Lock/Unlock.

● Power to sensor.

● Sensor sensitivity.

● Calibration commands.

● Calibration setup.

Main Menu: GPS Satellites Page

● GPS Satellite information.

● Satellite ID.

● Satellite status.

● Elevation angle.

● Azimuth.

● Signal Strength (in Antenna Measurement Unit).

Main Menu: GPS Map Page

● Provides a GPS Skyplot!

● Graphical display of visible satellites and their signal strengths.

Main Menu: Data Availability Page

● Graphical & text summaries of available data segments based on time.

● Quick overview (monthly, weekly, daily).

● Default monthly view of all 3 time series channels.

● Display data and time gaps.

● Data Gap = missing data.

● Time Gap = time jump but no missing data.

Main Menu: Data Retrieval Page (Ext. browser)

● Allows the user to download any of the four types of data (waveform, SOH, logs & configuration).

Main Menu: Configuration Page.

● Configure digitiser sampling rate & Taurus operating mode.

● Configure calibration information.

● Configure storage.

● Make STORE read only.

● Upload configuration file (w/ext. browser only).

Main Menu: System Info Page

● Provides firmware and hardware information.

● Hardware sub-assembly revisions.

● Firmware versions.

● Upload & Download.

Main Menu: Factory Settings Page

● From here, you can configure all Taurus settings!

● General: LCD time out.

● Networking: IP address.

● Storage: Media type & size.

● Sensor & Timing: control lines.

● Digitizer: sampling, input range.

Main Menu: Shutdown Page

● Turn off display,

Turns off LCD.

● Restart,

necessary for certain configuration changes.

● Shutdown,

Powers down the processor, to switch media or to deploy for data collecting.

Exercises

1. Taurus start-up

2. Switching Media

3. Taurus shut-down

4. System Status