Outline Jude Allred, Ahmad Bilal Hasan, Saroch Panichsakul, William Pisano, Peter Gray, Jyh Huang, Richard Han, Dale Lawrence, Kamran Mohseni. SensorFlock:

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Presentation transcript:

Outline Jude Allred, Ahmad Bilal Hasan, Saroch Panichsakul, William Pisano, Peter Gray, Jyh Huang, Richard Han, Dale Lawrence, Kamran Mohseni. SensorFlock: an airborne wireless sensor network of micro-air vehicles. Sensys, Nov 2007 Micro-air vehicle - semi-autonomous flight control with loiter circles for hovering http://www.mae.ufl.edu/mav/Ourmavs01.html Wireless transmission characteristics for Air-to-Air and Air-to-Ground communications

Application scenarios Chemical dispersion sampling Toxins, pollutant etc. Atmospheric weather sensing MAVs with temperature, pressure, humidity … 3-D sensing possible if the MAV can fly to the different depths

Existing Approaches Balloons and dropsondes Passive cannot chase event Large unmanned air vehicle (2-3 meters) Dangerous for air traffic and ground personnel Small bird sized Safe: 500 grams, 20 m/s Propeller in back, foam Cheap: $600 Plentiful

Avionics 8-bit microcontroller Fail-safe operation Launcher Xbee Pro Zigbee 2.4 GHz radio Packet based rather than bit based in Mica-2 Backup with RC link GPS, single roll rate Gyro, absolute pressure sensor Fail-safe operation Flown within visual range (0.5 km vs 1.5 km for the wireless link) When out of RC link range, kill motor and soft land Launcher Plane-A-Pult automatic launcher

Control sub-system Trajectory adjustment: 10 Hz Roll-rate adjustment: 100 Hz Network routing: 40 Hz 10 ms per quanta 56 kbps Data packets: 50 bytes Source ID GPS location GPS time Hop count Seqence number Sender ID Sender RSSI (Received Signal Strength Indicator)

Experiments Flight test with 5 planes Circular loitering mode Air-to-air received signal strength Path loss co-efficient: A2A: 1.9, A2G: 2.1, G2G: 3.5 Urban cellular: 2.-3.5 Antenna orientation: Perpendicular to the aircraft Symmetry: A2A links are symmetric Characterization of packet loss Incomplete, higher with distance for A2A - possibly because of buffer overflow on the routers Airbourne multihop - not done because of line-of-sight requirements for flights

Discussion Relevance of hardware chosen Relevance of application scenario Relevance of research challenges addressed Scalability? Aggregation mechanisms?