enex - bentho/sp/download/f1.pdf¢  sure that the common Enex goal is reached ¢â‚¬¢ This group consists

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  • Environmental Explorer


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    Teachers in the lab

    • Benny Thörnberg Associate Professor in Electronics

    • Najeem Lawal Assistant Professor in Electronics

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    Our Vision


    CO 2 Feedback




    HG Kvicksilver



    P Fosfor

    Environmental metrology Data visualization Innovation


    Climate change

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    Overall project assignment

    • A wheel based robot is navigating autonomously along a rout defined by a set of waypoints,

    • Geo-tagged environmental parameters should be acquired along this rout and stored for later reporting at base station,

    • Battery power management should be developed. Is there energy enough in battery for another lap?

    • A geographic map over the defined rout should be used for visualization of measured data.

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    Environmental parameters

    • CO2 concentration in air

    • Concentration of dust particles in air

    • Air temperature and humidity

    • Air pressure

    • Sound level

    • Sunlight radiation intensity

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    Robot navigation

    • A GNSS receiver is used to traverse a rout as defined by a set of waypoints

    • A spinning LIDAR sensor is used to implement obstacle avoidance


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    Battery power management and communication

    • Wifi and battery charging is available only at Start/Stop,

    • Self learning of energy per lap. Can another lap be traversed on the energy left in battery?

    • Measurement data is communicated to a central data server, once every lap at point of Start/Stop.


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    Data visualization

    • How to visualize data from measurements?

    • Diagram showing measured parameters along the route?

    • Sampling in spatial and time domain


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    Four sub-projects

    Groups of two or three students are working together in each one of the following four sub- projects

    • Robot navigation

    • Power management and communication

    • Sensors

    • Data collection and visualization

    The common goal for these groups is to demonstrate Enex

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    Proposed project model

    Requirement specification

    Technical specification

    Design Construction and coding

    Verification Prototype and technical documentation

    Scientific report


    Steering group

    This project model should be implemented for each of the sub-projects

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    Regular meetings with the steering group

    • A steering group is coordinating development activities among the four subprojects to make sure that the common Enex goal is reached

    • This group consists out of

    • Teachers

    • One student from each of the four sub-projects

    • A 30 minutes meeting with the steering group is scheduled once every week for each sub-project.

    • Development activities since last meeting is discussed and documented in a project log of minutes from all meetings.

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    Requirement specification

    • A requirement specification captures the requirements a commissioner has defined for a product or prototype system to be developed.

    • Several of the requirements are common for the whole Enex project while some can be specific for any of the four sub-projects

    • Examples of such requirements are:

    • Function

    • Time-to-prototype and Time-to-market

    • Maintainability

    • Robustness and Safety

    • Unit cost and NRE cost

    • Size

    • Performance

    • Power, Energy and Battery operational time

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    Technical specification

    • Divide the functionality into an hierarchy of smaller modules

    • Specify how modules are dependent on each other, e.g. :

    • Communication interfaces

    • Source code interfaces

    • Physical dimensions

    • Connectors

    • Modularity and well defined dependencies enables for parallel development activities. As for example, writing c++ code for interfacing with several sensors, each one measuring different environmental parameters is a work that can be scheduled in parallel. Defining software interfaces and specifying which physical port to use for which sensor becomes crucial for a successful demo of Enex in the end.

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    Prototype and technical documentation

    • A working prototype of Enex should be demonstrated

    • Technical documentation includes:

    • Source code

    • Drawings

    • Descriptions for assembly and usage

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    Scientific report

    • You should write a scientific project report

    • Our hypothesis is that environmental parameter data can be acquired over large areas using a mobile wheel based robot

    • The verification process in the project model should generate results to support our hypothesis and prove that it is true.

    • Make sure that students individual contribution to the reported work is specified, hence who did what.

    • For further guidance on how to write a scientific report, have a look at, https://youtu.be/1SsEpMxO_AA

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    Seminar and demonstration of Enex

    • A seminar is scheduled at the end of the course

    • Students in each sub-project should make an oral presentation of their work.

    • The seminar is directly followed by a demonstration of Enex

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    Course aims

    • This course provides the student with a deeper knowledge in embedded sensor systems where non-functional design constraints such as energy, communication, performance, cost and integration in the surrounding environment must be considered.

    • In addition to collecting and using information from technical literature and related work in the field, the student should be able to model, simulate and implement a design according to requirement specifications.

    • Students will be trained to work in teams together with other students who are focusing on other fields of embedded sensor systems in related projects.

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    Course objectives

    After completion of the course the student should be able to:

    • analyze complex problems where a clear optimal solution is missing,

    • demonstrate the ability to formulate solutions to a given problem in a specific area of embedded sensor systems,

    • based on specifications model, simulate and implement the proposed solution to the given problem.

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    • 7.5 hp, P101 Project with documentation Grade A, B, C, D, E, Fx and F where A-E represent pass grade and Fx and F represent fail grade.

    • 1.5 hp, R101 Oral presentation and written report Grade Pass or Fail

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    Scheduled activities

    Week Lecture Lab Project meeting


    45 X X

    46 X

    47 X

    48 X

    49 X

    50 X

    51 X

    1 X

    2 X

    • Table shows pre-scheduled teaching activities

    • Prepare a first version of the requirement specification for the first project meeting

    • 25 minutes meetings are planned for each one of the four sub-projects

    • In addition to these activities, you need to spend enough of working hours together with your project members in lab

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    Short introduction to Robot Operating System - ROS

    • ROS is an open-source, light-weight, meta-level operating system for the control of any robot

    • A set of tools, libraries and conventions

    • Developments at Stanford University led to a first release of ROS 0.4 in 2009

    • www.ros.org is a vibrant community of contributors

    • Becoming de facto standard for robot programing

    • Comes with the permissive license, BCD

    Press photo from www.willowgarage.com

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    ROS Master

    • All other nodes are registered at the ROS Master upon start

    • The purpose of a ROS Master is to handle all inter-node communication

    • Start the Master at command prompt. Type,

    $> roscore

    ROS Master

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    ROS Nodes

    • A smaller single-purpose program for the management of services related to a robot, e.g. management of a motor or a sensor

    • Sets of nodes are organized in a packages

    • Nodes get registered at the ROS master at start

    • Start a ROS node with command, $> rosrun name_of_package name_of_node

    • Nodes can run distributed on different processors in a robot system

    ROS Master

    Node A Node B

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    Communication between ROS Nodes

    • Nodes communicate with each other by passing messages over a topic