1. Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley

2. Part IV Inertial Measurement and Control Ankur Mehta

3. 3 Outline GINA hardware overview Sensing capabilities Actuation capabilities Inertial state estimation Feedback control wsn.eecs.berkeley.edu

4. 4 Outline GINA hardware overview Sensing capabilities Actuation capabilities Inertial state estimation Feedback control wsn.eecs.berkeley.edu

5. 5 GINA board: “back” wsn.eecs.berkeley.edu

6. 6 GINA board: “back” wsn.eecs.berkeley.edu TI MSP430F2618 : 16 bit 16 MHz microprocessor

7. 7 GINA board: “back” wsn.eecs.berkeley.edu Atmel AT86RF231 : 802.15.4 compliant 2.4GHz radio

8. 8 GINA board: “back” wsn.eecs.berkeley.edu Rainsun chip antenna, coax cable jack, RF switch

9. 9 GINA board: “back” wsn.eecs.berkeley.edu ST Micro LIS344ALH : Sensitive, low noise analog XL

10. 10 GINA board: “back” wsn.eecs.berkeley.edu Debugging LEDs

11. 11 GINA board: “back” wsn.eecs.berkeley.edu 32 kHz, 16 MHz crystals

12. 12 GINA board: “front” wsn.eecs.berkeley.edu

13. 13 GINA board: “front” wsn.eecs.berkeley.edu Kionix KXSD9-1026 : Large range +/- 8g digital XL

14. 14 GINA board: “front” wsn.eecs.berkeley.edu Invensense ITG3200 : Digital gyroscope

15. 15 GINA board: “front” wsn.eecs.berkeley.edu Honeywell HMC5843: Digital magnetometer/compass

16. 16 GINA board: “front” wsn.eecs.berkeley.edu TI TMP20: Analog temperature sensor

17. 17 GINA board: “front” wsn.eecs.berkeley.edu Op amps for noise filtering on sensitive XL

18. 18 GINA board: “front” wsn.eecs.berkeley.edu 3V LDO linear regulator

19. 19 GINA board: “front” wsn.eecs.berkeley.edu Reset, auxiliary user input switches

20. 20 GINA board: “front” wsn.eecs.berkeley.edu JTAG programming header

21. 21 GINA board: “front” wsn.eecs.berkeley.edu Expansion headers

22. 22 Power Consumption wsn.eecs.berkeley.edu

23. 23 Outline GINA hardware overview Sensing capabilities Actuation capabilities Inertial state estimation Feedback control wsn.eecs.berkeley.edu

24. 24 GINA main board sensors Large range accelerometer Gyroscope Magnetometer Sensitive accelerometer Temperature sensor wsn.eecs.berkeley.edu

25. 25 Exposed interfaces Analog input pin Digital GPIO Serial communication – I2C – SPI – UART wsn.eecs.berkeley.edu

26. 26 Additional sensors GPS (UART) Battery meter (I2C) Infrared camera (I2C) Video camera (SPI) Hydrogen Sulfide sensor (Analog) ??? wsn.eecs.berkeley.edu

27. 27 Sensor calibration Accelerometer Gyroscope wsn.eecs.berkeley.edu

28. 28 Outline GINA hardware overview Sensing capabilities Actuation capabilities Inertial state estimation Feedback control wsn.eecs.berkeley.edu

29. 29 Actuator controllers Hardware based PWM outputs – Processor configurable – 10 (3 + 7) channel output – Can drive servos, brushless or brushed motors, SMA actuators? Digital GPIO pins Serial interfaces wsn.eecs.berkeley.edu

30. 30 Servo actuation

31. 31 Motor actuation

32. 32 Motor actuation

33. 33 Outline GINA hardware overview Sensing capabilities Actuation capabilities Inertial state estimation Feedback control wsn.eecs.berkeley.edu

34. 34 Inertial navigation Extended Kalman filter state estimator – 3DOF pose: attitude / orientation Additional sensor fusion – 6DOF position Offboard or onboard computation wsn.eecs.berkeley.edu

35. 35 Inertial navigation Kalman filter state estimator wsn.eecs.berkeley.edu

36. 36 Inertial navigation Kalman filter state estimator wsn.eecs.berkeley.edu

37. 37 Inertial navigation Kalman filter state estimator wsn.eecs.berkeley.edu

38. 38 Motion Capture

39. 39 Outline GINA hardware overview Sensing capabilities Actuation capabilities Inertial state estimation Feedback control wsn.eecs.berkeley.edu

40. 40 Feedback control wsn.eecs.berkeley.edu

41. 41 wsn.eecs.berkeley.edu Feedback control

42. 42 Feedback control wsn.eecs.berkeley.edu

43. 43 Feedback control wsn.eecs.berkeley.edu

44. 44 Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley