S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin ...

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Chapter 4 talks about the different Software components that had to be developed. This chapter is subdivided into three sections. The first one details the specifics of the Firmware components developed for the embedded processors. The second section describes the PC software that works as a front end to manage the Skin Patches. Finally the last section talks about the details of the communications software. Chapter 5 details the Results generated by the entire project. This chapter is also subdivided into three main sections. The first one gives the mechanical results of the hardware platform and describes how well they performed. The second presents all the results of the different sensing modalities and modes of operation of the Skin Patches, along with sensor performance and data plots. The last section gives a set of performance metrics under which the entire project performance was judged. The last part, Chapter 6, gives the conclusions derived from the Results Chapter, while also giving some suggestions for possible applications and future work. 1.3 System Overview Now, a brief system overview of the entire project is provided to give a broad idea of the different components that will make up the S.N.A.K.E. Skin system. For a more detailed treatment of the different components, the reader is advised to read Chapters 3 and 4. Based on the problem definition and motivations set up before, the current work will there- fore focus on the design and implementation of a novel type of sensor network that inherits a subset of the characteristics of the human skin. As such, this Artificial Sensate Skin, will be implemented in a flexible substrate as a dense, low-power, and dynamically adaptable Wired Sensor Network. Its design also contemplates that it will be highly scalable and portable, so that it can be formed and “grown” to cover surfaces of different shapes and sizes. 20
Hardware Each Skin Patch is composed of one or many Skin Nodes, each of which is capable of sensing six different physical quantities. Each node is also given processing power, a direct connection to its immediate neighbors, and a connection to a fast backbone bus. Finally, nodes are capable of actuating through the use of an on-board, multi-color LED. This means that each node is an independent and autonomous entity within the Sensor Network. Data extraction and network management is done through a different entity: the Brains. These devices ensure the reliability of the network and deal with administrative tasks like network re-programming, data collection, and overall synchronization. They also arbitrate the use of the backbone bus. Software Several different Software components were also created to control the network. First, since each node is capable of changing its behavior by changing its code, application software and a simple Operating System were created. Second, application firmware was developed to indicate the nodes when and how to obtain data from its sensing channels. Finally, a graphical front end was be developed so that a personal computer can be used to gather data and control the network. 21
Page 1: Author S.N.A.K.E.: A Dynamically Re
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Page 9 and 10: Table of Contents Abstract 3 Acknow
Page 11 and 12: List of Figures 2-1 Created by MIT
Page 13: E-1 OpenGL Control Header File . .
Page 17 and 18: Chapter 1 Introduction “Imaginati
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Page 24 and 25: living tissue. Particularly in the
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Page 36 and 37: human skin. The following design pr
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whisker is epoxied to the package o
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Sound The only sensing modality add
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Figure 3-20: Brain regular PCB fabr
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3.4.3 Communications unit The Commu
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Chapter 4 Software “A Scientist d
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Networks. Why is this relevant? Mai
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Figure 4-1: Bootloader memory map C
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Bit Flag Name Description 0x01 FILE
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Figure 4-3: Sampling timing example
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We also mentioned before that there
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Code Instruction Description 0xA0 R
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Component Description 1 Indicates t
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last chapter. Figure 4-5: Automatic
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An important point to stress is tha
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(a) Rotation control (b) Zooming co
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4.3 Communications Software The las
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4.3.2 Peer to Peer Peer to peer com
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Chapter 5 Analysis of Results and E
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Figure 5-1: Stress concentration po
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of the assembled skin patch don’t
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Node SG1 SG2 R(X) R(Y) Δ(X) Δ(Y)
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Or, ∆R = R3 R3 R3 + RC (5.2) Howe
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R3 Microstrain 162Ω −99.7337969
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Figure 5-3: Strain Gage electronic
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(a) Data from both strain gages (b)
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(a) Pressure data being extracted f
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many of these did not work as expec
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Data plots were also extracted for
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(a) Temperature sensor data plots (
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Figure 5-12: Raw microphone data wi
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(a) Activity sensor data (b) Whiske
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5.3 Performance Metrics We have pre
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(a) I 2 C data when a 1500Ωs resi
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Component # per node Current consum
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Finally, since power is readily ava
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Chapter 6 Conclusions and Future Wo
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surface can be used to sense pressu
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Implement P2P Communications: curre
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Appendix A Abbreviations and Symbol
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Appendix B Bill of Materials 149
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Appendix C Schematics and PCB Layou
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1 1 2 2 3 3 4 4 D D C C B B A A Tit
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Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
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P0Cin02 P0East06 P0North06 P0South0
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Cain P0C ain01 P0Cain02 L1 P0L101 P
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Figure C-10: Node Bottom Overlay 16
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4 3 2 1 A A Brain Communications Ac
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C3v P0C3v01 P0C3v02 Cavcc P0Cavcc01
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Appendix D Firmware 167
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C:\Documents and Settings\Gerardo\M
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Appendix E PC Code 183
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1 c:\Documents and Settings\Gerardo
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12 c:\Documents and Settings\Gerard
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Bibliography [1] John C. Ansel. Ski
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[33] Joseph Jacobson, B Comiskey, C
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[68] Vilis Tutis. The physiology of
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