1. SensorFly: Controlled-mobile Sensing Platform for Indoor Emergency Response Applications - Twohsien 2011.5.9 Aveek Purohit, Zheng Sun, Frank Mokaya and Pei Zhang

2. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

3. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

4. Motivation

5. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

6. Contribution  Small, low-cost ！ (29g, $200)  Node capability vs. resource  Deployment autonomy

7. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

8. Hardware Design

9. Hardware Design, Key Constraints Cost Weight Energy Interference and Noise

10. Hardware Design, Design trade-offs  Processor  ARM7 based LPC2148  AVR AtMega644  Navigation Sensors

11. Hardware Design, Design trade-offs  Radio  Digi XBee  nanoLOC TRX transceiver module  Motors  Two 7mm core-less motors

12. Hardware Design, Board Layout

13. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

14. Software Architecture

15. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

16. Hardware Characterization  Height and Orientation Estimation  Ranging  Flight Time

17. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

18. Evaluation

22. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

23. Conclusion  29g controlled-mobile aerial sensor network platform for indoor emergency fire monitoring applications.  Achieve performance in both sensing quality and coverage that matches or exceeds pre-deployed static network infrastructures.

24. OUTLINE  Motivation  Contribution  Hardware Design  Software Architecture  Hardware Characterization  Evaluation  Conclusion  Discussion

25. Discussion  Strength  Use simple devices to achieve performance needed.  Weakness  The platform is focus on fire monitoring applications, but the design did not use temperature and smoke information.  Flight time may not sufficient.