Endeavour

Mote updateK. Pister

Endeavour

Goals

• Make lots of autonomous sensor nodes

• Get CS people excited about using them

• Design new and exciting hardware

Endeavour

COTS Dust - RF Motes

• Atmel Microprocessor• RF Monolithics transceiver

• 916MHz, ~20m range, 4800 bps• 1 week fully active, 2 yr @1%

N

S

EW 2 Axis Magnetic Sensor

2 Axis Accelerometer

Light Intensity Sensor

Humidity Sensor

Pressure Sensor

Temperature Sensor

Endeavour

COTS Dust - Distributed Algorithms

• 1”, $100 Sensor nodes are easy• algorithms?

-0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5-1

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1

2

3

4

5

Endeavour

COTS Dust - Optical Motes

Laser mote

• 650nm laser pointer

• 2 day life full duty

CCR mote

• 4 corner cubes

• 40% hemisphere

Endeavour

CCR Interogator

Top View of the Interrogator

CCD Camera Lens

Frequency-Doubled Beam45o mirror

Polarizing Beamsplitter

Quarter-wavePlateFilter

0.25% reflectance on each surface

YAG Green Laser Expander

Endeavour

Video Semaphore Decoding

Diverged beam @ 300m

Shadow or full sunlight

San Francisco (Coit Tower) to

Berkeley (Cory Hall)

Endeavour

1 Mbps CMOS imaging receiver

Photosensor

Signal ProcessingA/D Conversion

SIPO ShiftRegister

CRC CheckLocal Bus Driver

Off ChipBus Driver

Pixel Array

Put an asynchronous receiver

at every pixel

Funded by DARPA/MTO/STAB

0.25 um CMOS in fab

Endeavour

24” Bat

40 mph top speed30 minute loiterautopilot: pressure

sensor, gyros, XLs2 planes, 1 ground station,

in 1 suitcase

spyplanes.com

Endeavour

Marine LOE 4

3 MAVs participated, 1 flew

7 sortieson station in minutes

Endeavour

Micro Mote - First Attempt

300 um

Endeavour

2D beam scanning

laser

lens

CMOS ASIC

Steering Mirror

AR coated dome

Endeavour

6-bit DAC Driving Scanning Mirror

10 20 30 400

0.2

0.4

0.6

0.8

Time (seconds)

Nor

mal

ized

bea

m p

ositi

on

• Open loop control

• Insensitive to disturbance

• Potentially low power

Endeavour

~8mm3 laser scanner

Two 4-bit mechanical DACs control mirror scan angles.

~6 degrees azimuth, 3 elevation

> 1Mbps

IRDA on steroids

Virtual window

Endeavour

Virtual Keyboard

Interfaces for people with Disabilities?