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NEST Demo: Distributed Control

This demo showcases a system designed to locate an evader in a sensor network, transport their data out of the network, and use the evader's information for real-time control. The system includes a sensor network, an autonomous pursuer, and various data processing components. Join our demo team as they demonstrate the capabilities of this distributed control system.

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NEST Demo: Distributed Control

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Presentation Transcript

  1. NEST Demo: Distributed Control Or, Catch the Bad Guy 1

  2. System Requirements • Locate an evader in a sensor network • Transport evader data out of network • Use evader information for real-time control • Tracking system • Autonomous pursuer • Demo Team: Jason Hill, Philip Levis, Kamin Whitehouse, Sarah Bergbreiter,Bruno Sinopoli, Luca Schenato, Shawn Schaffert 2

  3. System Architecture Sensor Network Tracker Evader Pursuer Data Processing 3

  4. Sensing • Magnetometer • Evader (adversary) • Delta, steady, drift • Jason • Sounder / tone detector • Pursuer (cooperative) • Time of flight / ranging • Kamin 4

  5. Local Data Aggregation, Transport • Local advertisement of readings • Local data aggregation • Group leader selection • Link-level acknowledgements • Geographic routes • Rotating parent selection • Jason 5

  6. Data Processing • Evader path estimation from magnetometer • Luca • Pursuer position estimation from sounder • Kamin 6

  7. Tracker • Calibrate to regular mote grid • Transform sensor readings to camera coordinate space • Actuate camera • Using PC: Shawn and Luca • Using mote: Phil 7

  8. Pursuer • Given estimated position data, catch evader • Limited robotic control (simple car) • Interfacing TinyOS to robot hardware • Sarah and Bruno • Incomplete 8

  9. Coming up next… • In-depth presentations on individual pieces of system 9

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