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Contents 1 TODO 2 Notes 2.1 RF cable assembly 2.2 Python Simulation 2.3 TinyOS 2.4 XML-RPC 2.5 GPS 2.6 Linux supported wireless 2.7 802.11 antennas 2.8 short PCI 802.11 cards 2.9 802.11 USB adapter with external antenna support 2.10 Zauras External Antenna

TODO

NestFoo: NESTFoo_Python

Monstro: Monsto_Truck

Reading Group

• MPC
• Robot localization / tracking

SEFE-MAL Studies

• Applications
  • Better navigation (driving around dark areas)
  • Reducing SEFE error
  • Reducing SEF (deploying/maintaning motes)
  • Cost function balancing the above (possibly also avoiding real obstacles)
• Comparison with
  • static SEF estimation
  • SLAM

Localization shoot-out

• Techniques
  • (Extendend) Kalman filter
  • Particle-Kalman filter
    • For each mote, sample N values from its pdf
    • Use all samples as input to a Kalman filter
  • Markov localization
  • Particle filter
  • ML-EKF
  • SEFE-MAL
• Environment
  • Latency
  • Noisy
  • Missing/spurious readings
  • Kidnapped

Control shoot-out

• Environment
  • Known state (or extended-state) with some error
• Techniques
  • Open-loop
  • Feedback
  • MPC

Outdoor Experiments

• Gather traces

Blue Sky / Brain Storm

• Compare what a _simple_ feedback controller would do versus a MAP controller; same result?

Notes

RF cable assembly

• HowTo use crimp coax connectors

Python Simulation

• SimPy is a discrete-event simulation engine

TinyOS

• java net/tinyos/sf/SerialForwarder -comm serial@COM9:telos
• motelist
• use java net/tinyos/tools/Listen and MOTECOM to listen to pcks at cmd line
  • MOTECOM=sf@localhost:9001
  • MOTECOM=serial@COM9:telos

XML-RPC

• xml-rpc howto
• apache xml-rpc
• java tutorial
• java platform docs

GPS

• VLHB.seconds: seconds of the week; 8 byte double; offset 16; seconds
• PRTKB.time: GPS time into the week; 8 bytes double; offset 16; seconds
• 0 = Sun 12:00am (pg.237)

Linux supported wireless

• Intersil's prism 2/25/3 chipset
• orinoco
• ralink rt2400 and rt2500 chipset

802.11 antennas

• http://www.radiolabs.com
• http://www.hyperlinktech.com/web/antennas_2400_out_omni.php
• http://www.netgate.com/index.php?cPath=23_33

short PCI 802.11 cards

• http://www.buffalotech.com/wireless/products/airstation/WLI2PCIG54S.html 2"
• http://www.linksys.com/products/product.asp?grid=33&scid=36&prid=635

802.11 USB adapter with external antenna support

• Buffalo WLI2-USB2-G54
• http://www.buy.com/retail/Product.asp?sku=10346779&SearchEngine=GoogleD&Type=GoogleD&Keyword=10346779&Category=Comp&dcaid=17260

Zauras External Antenna

• CF 802.11 card with external antenna connection?
• Convert CF slot to PC-card; use a PC-card 802.11 card