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Team 3 - Dark Inertial Mapping by Julien, Lin, Meadows, and

1. ecce X DO7DO6DO5DO4DO3DO2 DO1 DOO 01500140013 DO 12001100 10D 09 DOB AM10131V1 DoclD024763 Rev 2 35 74 84 Digital interfaces LSM9DSO 6 2 2 6 2 3 36 74 SPI write Figure 15 SPI write protocol Spo c SFO MX XOCX X D7 DM DIS DIO MS AD5 AD4AD3 AD2 AD1 ADO AM10132V1 The SPI Write command is performed with 16 clock pulses The multiple byte write command is performed by adding blocks of 8 clock pulses to the previous one bit 0 WRITE bit The value is 0 bit 1 MS bit When 0 does not increment address when 1 increments address in multiple writes bit 2 7 address AD 5 0 This is the address field of the indexed register bit 8 15 data DI 7 0 write mode This is the data that will be written to the device MSb first bit 16 data DI 8 Further data in multiple byte writes Figure 16 Multiple byte SPI write protocol 2 byte example c VVVVVVVVVVVVVVVVVVVVVVVV OOO IO XX XIX OX 017 015 DM DIS 011 DIO DI15 0140113 0120111 0110019 DI8 MS 5 04 AD3 AD2 AD1 ADO AM10133V1 SPI read in 3 wire mode 3 wire mode is entered by setting the bit SIM SPI serial interface mode selection to 1 in CTRL REG2 XM 21h for the accelerometer and magnetic sensor and
2. Module specifications LSM9DSO Table 3 Sensor characteristics continued Symbol Parameter Test conditions Min Typ Max Unit G_SoDr maul rate sensitivity From 40 C to 85 C 2 ES change vs temperature Linear acceleration typical LA TyOff zero g level offset 60 mg accuracy 90 FS 245 dps 10 Angular rate G_TyOff FS 500 dps 15 dps typical zero rate level FS 2000 dps 25 LA Tco Linear acceleration 2010 9 Max delta from 25 C 0 5 level change vs temperature G TCOff Zero rate level change vs 0 05 dps C temperature M EF Maximum exposed field perming Piet onze 10000 gauss reading Sensitivity starts to degrade M DF Magnetic disturbing field Automatic S R pulse restores 20 gauss the sensitivity 9 i i 2 grange X Y Z axis LA ST Linear acceleration Salf test g g 60 1700 mg positive difference AST1 0 01 see Table 74 FS 245 dps 20 250 G ST Angular rate self test output FS 500 dps 70 400 dps change FS 2000 dps 150 1000 Top Operating temperature range 40 85 C 1 Typical specifications are not guaranteed 2 Verified by wafer level test and measurement of initial offset and sensitivity 3 Typical zero g level offset value after MSL3 preconditioning 4 Offset can be eliminated by enabling the built in high pass filter 5 Set Reset Pulse is automatically applied at each conversion cycle 6 Self test output change is defined as OU
3. DR 1 0 BW 1 0 ODR Hz Cutoff 00 11 95 25 01 00 190 12 5 01 190 25 01 190 50 01 190 70 10 380 20 10 380 25 10 10 380 50 10 11 380 100 11 00 760 30 11 01 760 35 11 10 760 50 11 11 760 100 A combination of PD Zen Yen Xen is used to set device to different modes power down normal sleep mode in accordance with Table 22 below Table 22 Power mode selection configuration Mode PD Zen Yen Xen Power down 0 5 a Sleep 1 0 0 Normal 1 CTRL_REG2_G 21h Table 23 CTRL_REG2_G register 00 00 1 1 HPCF3 HPCF2 HPCF1 HPCFO 1 These bits must be set to 0 to ensure proper operation of the device Table 24 CTRL REG2 description HPM1 High pass filter mode selection Default value 00 HPMO Refer to Table 25 HPCF3 High pass filter cutoff frequency selection HPCFO Refer to Table 26 DoclD024763 Rev 2 3 91 LSM9DSO Register description Table 25 High pass filter mode configuration HPM1 HPMO High pass filter mode 0 0 Normal mode reset reading HP RESET FILTER 0 1 Reference signal for filtering 1 0 Normal mode 1 1 Autoreset on interrupt event Table 26 High pass filter cutoff frequency configuration Hz HPCF 3 0 ODR 95 Hz ODR 190 Hz ODR 380 Hz ODR 760 Hz 0000 7 2 13 5 27 51 4 0001 3 5 7
4. 59 Table 83 5 4 59 Table 84 Magnetic data rate 59 Table 85 REG6 XMregister 59 Table 86 CTRL REG6 XM 60 Table 87 Magnetic full scale 60 Table 88 CTRL_REG7_XM register 60 Table 89 2 60 Table 90 High pass filter mode 1 60 Table 91 Magnetic sensor mode selection 61 Table 92 STATUS REG 61 Table 93 STATUS REG 61 Table 94 CTRL 62 Table95 CTRL REGdescription 62 Table 96 FIFO mode configuration 2 62 Table 97 FIFO
5. 67 Table 114 INT GEN 2 THS 1 67 Table 115 INT GEN 2 DURATION 67 Table 116 INT GEN 2 DURATION 67 Table 117 CLICK 1 67 118 CLICK CFG description due eG Goad ek pel ud rupe a Pa E x RE eng 67 Table 119 CLICK SRC register sce eg s eg erar p ba bee 4 68 Table 120 CLICK SRC 68 Table 121 CLICK THS register sinc eue marre i CER ennai 68 Table 122 CLICK SRC 68 Table 123 TIME LIMIT 69 Table 124 TIME LIMIT description 4 69 Table 125 TIME LATENCY 69 Table 126 TIME LATENCY description 69 Table 127 TIME WINDOW 69 Table 128 TIME WINDOW 69 Table 129 TIME WIND
6. VI C3 Interface Umintuitive sis doch aa ous A A Re QU UC Ie RO 4 Financial Burden V DW ye Bane SPN eS VI C5 Ideal Sampling Rate Unattainable MINO ee VI DI Team Member Absence s sls dies o e x seem e ane trt Sw PUR VI D2 Power Consumption Concerns Expectations VI D3 Eqinpment E0885a 6 5 ire etos ice es bon w gh gre entr E ENT SE si 8 VI D4 Personal Computer Failure lt a mx ue URSUS RUE a ee SE s VI D5 Data Hosting Downtimes 22er Tasks Completed in Fall 2014 Tasks Undertaken in Spring 2015 VIII A Problem Statement Revision sosa lll rre VIHB Deyice Test Platz s 4055 2A S Ee oe eR eee VILC Market Reviews sd Gans RR Rute ode t Rem ER modom mrs VIII D Mid Term Progress Review VIII E Feature Presentations and Reports VIII F Deployable Prototype VIII G End of Project Documentation Self Referential lt ugue E E mds Sensor Selection 222 22 222 n Rb RO RUP mn VIN H2 Establish Kinematic 1 V
7. 47 8 14 INTI CFG G 30h iie ee ette nce gb toe HR pre 47 8 15 INT1 SRC G 31h 48 8 16 INT1 XH 32 48 8 17 INT1 XL G 33h 49 8 18 INT1 34 49 8 19 INT1 5 G 35h 49 8 20 INT1 5 ZH G 36h 49 8 21 INT1 THS ZL G 37h 50 8 22 INT1 DURATION G 38 50 8 28 OUT TEMP L XM 05h OUT TEMP H XM 06h 52 8 24 STATUS REG 07 52 8 25 OUT XL M 08h OUT XH M 09h 52 826 OUTY L M 0MAh OUT 52 827 OUTZL M OCh OUTZ H 53 8 28 WHO AM I 0 53 8 29 INT CTRL M 12h 53 8 30 INT SRC REG M 13h 54 8 31 INT THS L M 14h INT THS H M f5h 54 8 32 OFFSETXL 16h OFFSET X H 17 54 8 33 OFFSETY L M 18h OFFSET 19 54 8 34 OFFSETZL M 1Ah OFFSETZ 1 54 8 35 REFERENCE 1
8. Table 67 INT SRC REG M description M PTH X Magnetic value on X axis exceeds the threshold on the positive side Default value 0 M PTH Y M PTH Z M NTH X Magnetic value on Y axis exceeds the threshold on the positive side Default value 0 Magnetic value on Z axis exceeds the threshold on the positive side Default value 0 Magnetic value on X axis exceeds the threshold on the negative side Default value 0 M NTH Y Magnetic value on Y axis exceeds the threshold on the negative side Default value 0 M NTH Z Magnetic value on Z axis exceeds the threshold the negative side Default value 0 MROI Internal measurement range overflow on magnetic value Default value 0 To enable this feature need to set to 1 MIEN bit in 8 29 NT CTRL REG M 12h MINT Magnetic interrupt event The magnetic field value exceeds the threshold Default value 0 INT THS L M 14h INT THS H M 15h Magnetic interrupt threshold Default value 0 The value is expressed in 16 bit unsigned Even if the threshold is expressed in absolute value the device detects both positive and negative thresholds OFFSET X L M 16h OFFSET X H M 17h Magnetic offset for X axis Default value 0 The value is expressed in 16 bit as two s complement left justified OFFSET Y L M 18h OFFSET Y H M 19h Magnetic offset for Z axis Default value 0 The value is expressed in 16 bit as t
9. 22 4 1 2 GYlOSCODC nerd eed Ge one 22 4 2 Linear acceleration main digital blocks 22 4 2 1 EIE 22 4 2 2 Bypass mode ausa Juss 23 4 2 3 gigueEn EET 23 4 2 4 Stream MOUE sea diri doceas tea obe tenente 23 4 2 5 Stream to FIFO mode 23 2 74 DoclD024763 Rev 2 51 LSM9DSO Contents 4 2 6 Retrieving data from 23 4 3 Gyroscope digital main blocks 24 4 3 1 gig Ur 24 4 3 2 Bypass mode ore yes ties per UE YE TE 24 4 3 3 FIEQ mode eruere tete Rubr da A d rin 25 4 3 4 Stream mode ae ae a eek Pac oe dd 26 4 3 5 Bypass to stream 27 4 3 6 Stream to FIFO mode 27 4 3 7 Retrieving data from 28 4 4 Temperature sensor 28 4 5 Factory calibration 28 5 Application 29 5 1 External capacitors 29 5 2 Soldering information 30 5 3 High current wiring
10. Block diagram and pin description LSM9DSO 1 1 Block diagram Figure 1 Block diagram Sensing Block Sensing Interface poer X bia CHARGE AMPLIFIER gt 2 JA d 2 L L MUX p z Y x CS XM x CS 5 nus Iu I M A SDO XM SA0 XM p MUX _ SDO G SA0 G z Y S SCL SPC x INT1 XM x INT2 XM CHARGE la f AMPLIFIER DEMODULATOR INT_G gt x 2 q I A bs bu LOW PASS ND Control poe EIE MUX A P FILTER P converter P Loge gt x B 2 Y X ANALOG CONDITIONING Feedback zu EN Feedback AUTOM AT C l pe CONTROL voma x AMBLER Drive TRIMMING INTERRUPT GEN REFERENCE CIRCUITS CLOCK CONTROL LOGIC FIFO alee TEMPERATURE PHASE SENSOR GENERATOR 10 74 DoclD024763 Rev 2 59 LSM9DSO Block diagram and pin description 1 2 Pin description Figure 2 Pin connections 2 Y DIRECTION OF DETECTABLE ACCELERATIONS X z x TOP VIEW og T 9 Ds gt o e lt 0 888 2 0 1 indicator 9 Q P d Vdd 10 18 1 J Res gt Y 40 Vdd Res Y DIRECTION OF BOTTOM DETECTABLE ANGULAR RATES Vdd VIEW Res INT2 XM GND INT1 XM 43 6 GND
11. Tolerance of Form and Position Symbol Databook A 1 Dimensioning and tolerancing schemes conform to ASME Y14 5M 1994 2 All dimensions are in millimeters 3 The Pin 1 Indicator is identified on top and or bottom surfaces of the package 4 A1 is defined as the distance from the seating plane to the land 5 N is the maximum number of terminal positions for the specified body size 6 The tolerance of the typical value is specified in table Tolerance of Form and Position 7 Dimensions b and L are specified For solder mask defined at terminal plating surface For non solder mask defined at solder mask opening DoclD024763 Rev 2 71 74 120 Package information LSM9DSO Figure 21 LGA 4x4x1 mm 24 lead outline BOTTOM VIEW A 7 25 nz 2 le1 2 AX Pin 1 indicator TOP VIEW SECTION A A NOT TO SCALE DETAIL B NOT TO SCALE DA NA 8382494 B 72 74 DoclD024763 Rev 2 Ly LSM9DSO Revision history 10 3 Revision history Table 134 Document revision history Date Revision Changes 24 Jun 2013 1 Initial release Updated LA So in Table 3 Updated Figure 4 Figure 5 and Table
12. LSM9DSO Register description Figure 18 INT1 Sel and Out Sel configuration block diagram Out Sel 1 0 00 gt 01 DataReg 1 FIFO gt LPF2 54 ADC LPF1 e HPF 1 INT1 Sel 1 0 10 11 dr cor dnterrup 011 generator 00 777777 i AM07949V2 8 7 REFERENCE DATACAPTURE G 25h Table 34 REFERENCE DATACAPTURE G register Ref6 Ref5 Ref4 Ref3 Ref2 Ref1 RefO Table 35 REFERENCE DATACAPTURE G description Ref 7 RefO Reference value for interrupt generation Default value 0 8 8 STATUS REG G 27h 3 Table 36 STATUS REG register ZYXOR ZOR YOR XOR ZYXDA ZDA YDA XDA Table 37 STATUS REG G description X Y Z axis data overrun Default value 0 0 no overrun has occurred 1 new data has overwritten the previous data before it was read Z axis data overrun Default value 0 0 no overrun has occurred 1 new data for the Z axis has overwritten the previous data Y axis data overrun Default value 0 0 no overrun has occurred 1 new data for the Y axis has overwritten the previous data X axis data overrun Default value 0 0 no overrun has occurred 1 new data for the X axis has overwritten the previous data DoclD024763 Rev 2 45 74 94 Register description LSM9DSO 8 9 8 10 8 11 8 12 46 74 Table 37 STATUS REG G description continued ZYXDA X Y Z axis new data ava
13. 45 STATUS REG G regisler n 45 STATUS REG 45 FIFO REG 46 FIFO CTRL REG 46 FIFO mode configuration 1 46 FIFO SRC REG G regisler x xxxix 654 oce oes eee ene ere cn ee RUE 47 FIFO SRC 47 INT 1 CFG G register asus 47 G descriptlon oo aS Bee ae 47 INT1 SRC 249555 chan Ee dud 48 INTI SRG G descriptio aee e Sa x oe 48 INTI THS XHG TOglSIOl noc E E 48 INT1 XH 48 DoclD024763 Rev 2 Ly 55 LSM9DSO List of tables Table49 1 THS XL 49 Table50 1 5 XL 49 Table 51 1 THS Gregist
14. 55 8 36 REFERENCE 1 55 8 37 REFERENCE 7 1 55 8 38 REGO XM 1 55 8 39 REG1 XM 20h 55 8 40 REG2 21 56 8 441 REG3 XM 22h 57 4 74 DoclD024763 Rev 2 53 LSM9DSO Contents 8 42 23 58 843 REG5 24h 59 8 44 6_ 25 59 8 45 7_ 26 60 846 STATUS REG 27h 61 847 OUTXL A 28h OUT XH 298 61 848 OUTY LA 2Ah OUT Y HA 2Bh 62 849 Z LA QUCh OUT Z 2DB 62 8 50 FIFO REG 2Eh 62 851 SRC REG FA 62 8 52 INT GEN 1 REG 30 63 8 53 INT GEN 1 5 31 64 854 INT GEN 1 6 2 22 22222 22 4 aden ca 64 8 55 INT GEN 1 DURATION 33h 65 8 56 INT GEN 2 REG
15. Accuracy s eue ere QR SSH LAr be OEE Bh a IX B2 Usability sos oe RE mer som s IX B3 Runtime zu A ARES ve ee hare Fe br URN eue 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 20 20 20 iii 4 Memory Card 4 er do esp eb ue ERE pp ghar ee 20 IX G Hardware Usage eoe sek ERR ue RR ERREUR CR UR RR Er Ere ele Uds 20 IX Cl Memory ono lau Sb ee ead up e d P qe Ud he 20 IX C2 Battery Install Instructions 2 20 IX C3 User Attachment 5 5 ux etse b dust ve dust RH BOE 20 4 Data Gathering Activation 0 21 SoftWare Usage ooh o weh De he AG gee ee eese gx 21 IX E Hardware Components soss 22 ko RR Rug 06 4 Ros to EG ER m Rs 22 IX F Software Components 2 22 25 55544 06 WOW VOR Eo pU GR ee 22 X Design Documentation 22 XI Hardware 23 XI A Block Diagram and Document at Block Level eee 23 Schematics and Documentation to Component Level 25 XII Software 27 XI A Block Diagram and Document at Block 1 27 Flowcharts Pseudocode and Documentation to Subr
16. Figure 20 Wait bit enabled e Wait bit 1 gt Interrupt disabled after duration sample sort of hysteresis Rate 4 dps Counter Duration Value Wait Enabled pens mn sd Duration value is the same used to validate interrupt t n Interrupt DoclD024763 Rev 2 51 74 100 Register description LSM9DSO 8 23 8 24 8 25 8 26 52 74 OUT TEMP L XM 05h OUT TEMP H XM 06h Temperature sensor data Refer to Section 4 4 Temperature sensor for details on how to enable and read the temperature sensor output data STATUS REG M 07h Table 61 STATUS REG M register ZYXMOR ZMOR YMOR XMOR ZYXMDA ZMDA YMDA XMDA Table 62 STATUS REG M description ZYXMOR Magnetic X Y and Z axis data overrun Default value 0 0 no overrun has occurred 1 a new set of data has overwritten the previous ones ZMOR Z axis data overrun Default value 0 0 no overrun has occurred 1 a new data for the Z axis has overwritten the previous one YMOR Y axis data overrun Default value 0 0 no overrun has occurred 1 a new data for the Y axis has overwritten the previous one XMOR X axis data overrun Default value 0 0 no overrun has occurred 1 a new data for the X axis has overwritten the previous one ZYXMDA X Y and Z axis new data available Default value 0 0 a new set of data is not yet available 1
17. ae 25 Steam MOC uices aos Deed Mee eae ee aerate anos 26 Bypass to stream 27 Stream to FIFO 2 27 LSM9DSO electrical connections 29 Read and write 34 SPI read protocol i1 ute pror oo wie ge NOS Gch ewe agen en RI 35 Multiple byte SPI read protocol 2 byte 35 SPI write 36 Multiple byte SPI write protocol 2 byte 36 SPI read protocol in 3 wire 37 INT1_Sel and Out Sel configuration block diagram 45 Wait bit disabled sucre esate nena 51 Wait bit enabled 51 LGA 4x4x1 mm 24 lead 72 DoclD024763 Rev 2 9 74 58
18. 3 DoclD024763 Rev 2 49 74 Register description 99 LSM9DSO 8 21 8 22 50 74 INT1 THS ZL G 37h Table 57 INT1 THS ZL G register THSZ7 THSZ6 THSZ5 THSZ4 THSZ3 THSZ2 THSZ1 THSZO Table 58 INT1_THS_ZL_G description THSZ7 THSZO Interrupt threshold Default value 0000 0000 INT1_DURATION_G 38h Table 59 INT1 DURATION G register WAIT D6 D5 D4 D3 D2 D1 DO Table 60 INT1_DURATION_G description WAIT WAIT enable Default value 0 0 disable 1 enable D6 DO Duration value Default value 000 0000 The D6 DO bits set the minimum duration of the interrupt event to be recognized Duration steps and maximum values depend on the ODR chosen The WAIT bit has the following definitions Wait 0 the interrupt falls immediately if the signal crosses the selected threshold Wait 1 if the signal crosses the selected threshold the interrupt falls only after the duration has counted the number of samples at the selected data rate written into the duration counter register DoclD024763 Rev 2 3 LSM9DSO Register description 3 Figure 19 Wait bit disabled e Wait bit 0 gt Interrupt disabled as soon as condition is no longer valid ex Rate value below threshold Rate 7 dps Counter Duration Value Wait Disabled t n t n Interrupt
19. 25 unless otherwise noted Parameter Ratings Drain Source Voltage 50 Gate Source Voltage 20 Drain Current Continuous Note 1 0 22 Pulsed 0 88 Maximum Power Dissipation Note 1 0 36 Derate Above 25 C 2 8 Ty Operating and Storage Junction Temperature Range 55 to 150 T Maximum Lead Temperature for Soldering 300 b Purposes 1 16 from Case for 10 Seconds Thermal Characteristics Resa Thermal Resistance Junction to Ambient Note 1 Package Marking and Ordering Information Device Marking Device ReelSze Tape width Quantity 55 855128 3000 unit 2005 Fairchild Semiconductor Corporation 55138 Rev C W 86558 124 Electrical Characteristics T 25 C unless otherwise noted Symbol Parameter Test Conditions Min Typ Max Units Off Characteristics Drain Source Breakdown Voltage Ves 0 V Ip 250 uA Breakdown Voltage Temperature Coefficient Zero Gate Voltage Drain Current On Characteristics 2 Ip 250 to 25 C Vps 50 V Ves 0V Vos 50 V Ves 0 V T 125 C Vps 30 V Vas 20V Gate Threshold Voltage Gate Threshold Voltage Temperature Coefficient AMGs h Vps Vas lp 1mA Ip 1 mA Referenced to 25 C Static Drain Source On Resistance Ves 10 V lp 0 22 Ves 4 5 V lp 0 22 Vos 10 V lp 0 22 A Ty 125 C On State Drain C
20. 2Fh Table 41 FIFO SRC register wTM OVRN EMPTY Fss4 rss3 FSS2 Fss1 Fsso Table 42 FIFO_SRC_REG_G description WTM Watermark status 0 FIFO filling is lower than WTM level 1 FIFO filling is equal to or higher than WTM level OVRN Overrun bit status 0 FIFO is not completely filled 1 FIFO is completely filled EMPTY FIFO empty bit 0 FIFO not empty 1 FIFO empty FSS4 FSS1 FIFO stored data level 8 14 INT1 30h 3 Table 43 INT1 G register AND OR LIR ZHIE ZLIE YHIE YLIE XHIE XLIE Table 44 INT1_CFG_G description AND OR combination of interrupt events Default value 0 AND OR 0 OR combination of interrupt events 1 AND combination of interrupt events Latch interrupt request Default value 0 LIR 0 interrupt request not latched 1 interrupt request latched Cleared by reading INT1 SRC reg Enable interrupt generation on Z high event Default value 0 ZHIE 0 disable interrupt request 1 enable interrupt request on measured value higher than preset threshold Enable interrupt generation Z low event Default value 0 ZLIE 0 disable interrupt request 1 enable interrupt request on measured value lower than preset threshold Enable interrupt generation on Y high event Default value 0 YHIE 0 disable interrupt request 1 enable interrupt request on measured value higher than preset threshold Enable interrupt ge
21. 90 Register description 8 8 1 8 2 3 Register description The device contains a set of registers which are used to control its behavior and to retrieve angular rate data The register address consisting of 7 bits is used to identify them and to write the data through the serial interface WHO AM 1 G 0Fh Table 18 WHO AM I register 1 1 0 1 0 1 0 0 Device identification register CTRL_REG1_G 20h Table 19 CTRL_REG1_G register DR1 DRO BW1 BWO PD Zen Xen Yen Table 20 REG1 description DR1 DRO Output data rate selection Refer to Table 21 BW1 BWO Bandwidth selection Refer to Table 21 Power down mode enable Default value 0 PD 0 power down mode 1 normal mode or sleep mode Zen Z axis enable Default value 1 0 Z axis disabled 1 Z axis enabled Yen Y axis enable Default value 1 0 Y axis disabled 1 Y axis enabled Xen X axis enable Default value 1 0 X axis disabled 1 X axis enabled DR 1 0 is used for ODR selection BW 1 0 is used for Bandwidth selection In Table 21 all frequencies resulting in combinations of DR BW bits are given Table 21 DR and BW configuration setting DR 1 0 BW 1 0 ODR Hz Cutoff 00 00 95 12 5 00 01 95 25 00 10 95 25 DoclD024763 Rev 2 41 74 Register description LSM9DSO Table 21 DR and BW configuration setting continued
22. J Nicas 2011 Metal detectors hit the jackpot Online Available http www wsj com articles SB 10001424053 111904233404576462 1616510318 14e D Schneider 2013 Nov New indoor naviga tion technologies work work where gps can t Online Available http spectrum ieee org telecom wireless new indoor navigation technologies work where gps cant Decawave 2013 Nov Product overview Online Available http www decawave com products overview gps repeaters com 2013 Nov Indoor gps coverage solutions Online Available http www gps repeaters com H G Carl Fischer Location and navigation support for emergency responders A survey Pervasive Computing IEEE no 1 pp 201 213 38 2009 P E R Forum 2014 The police response to active shooter incidents Online Available http www policeforum org assets docs Critical Issues Series theV 9620police V 20response 20to active 20shooter 20incidents V 202014 Invensense 2013 Oct Mpu 6000 and mpu 6050 product specification revision 3 4 Online Available http invensense com mems gyro documents PS MPU 6000A 00v3 4 pdf STMicroelectronics 2013 Lsm9ds0 Online Available https cdn sparkfun com assets f 6 1 0 LSM9DSO pdf K Blattenberger 2014 Copper wire properties amp gauge conversions Online Available http www rfcafe com references electrical wire cu htm A Spruce and S Co 2014 Shielded wire
23. ON 8c 19 Y OFF 20 Y OFF 21 VDD2 22 CS 23 NC 24 NC 25 GND2 26 NC 27 NC www honeywell com 40 4l HMC6343 PACKAGE OUTLINES PACKAGE DRAWING HMC6343 32 PIN LPCC dimensions in millimeters 0 34 0 03 0 57 0 03 Bottom View Nominal A height 9 00 BSC 6 40 BSC 0 8 Basic D1 6 40 BSC E 9 00 BSC el 1 fo eo MOUNTING CONSIDERATIONS The following is the recommend printed circuit board PCB footprint for the HMC6343 All dimensions are nominal and in millimeters Stencil Design and Solder Paste A 46 mil stencil and 100 paste coverage is recommended for the electrical contact pads The HMC6343 has been assembled successfully with no clean solder paste www honeywell com 5 42 HMC6343 BASIC DEVICE OPERATION The Honeywell HMC6343 magnetoresistive sensor circuit is a trio of magnetic sensors accelerometers and analog support circuits to measure magnetic fields Additionally a microcontroller is integrated for computation of direction and calibration With power supply applied the sensor converts any incident magnetic field in the sensitive axis direction to a differential voltage output In addition to the bridge circuit the sensors have on chip magnetically coupled offset straps for incident field adjustment The circuit is sensitive to power supply noise and adding a 1 0 microfarad ceramic capacitor is recommended on the positive supply to help reduce noise Also ca
24. SDO KXXXXXxXXx DO6 DOS DO4 DO1 DOO AM10129V1 CS is the Serial Port Enable and is controlled by the SPI master It goes low at the start of the transmission and goes back high at the end SPC is the Serial Port Clock and it is controlled by the SPI master It is stopped high when CS is high no transmission SDI and SDO are respectively the Serial Port Data Input and Output Those lines are driven at the falling edge of SPC and should be captured at the rising edge of SPC Both the Read Register and Write Register commands are completed in 16 clock pulses or in multiples of 8 in case of multiple bytes read write Bit duration is the time between two falling edges of SPC The first bit bit starts at the first falling edge of SPC after the falling edge of CS while the last bit bit 15 bit 23 starts at the last falling edge of SPC just before the rising edge of CS bit 0 RW bit When 0 the data DI 7 0 is written to the device When 1 the data DO 7 0 from the device is read In the latter case the chip will drive SDO at the start of bit 8 bit 1 MS bit When 0 the address remains unchanged in multiple read write commands When 1 the address will be auto incremented in multiple read write commands bit 2 7 address AD 5 0 This is the address field of the indexed register bit 8 15 data DI 7 0 write mode This is the data that will be written to the device MSb first bit 8 15
25. a he e pee eee dux Sus 13 IV D3 Graphical User Interface i oe tomo v AUR 13 IV D4 Deb pging 5 push S EE S 14 IV D5 Deployment exper I EIE eoe 14 Target Deadlines 14 Risk Assessment 14 lt 5 Sh D edt edere 14 VI Al Lose Accuracy Due to Drift ox Be 14 VI A2 Design Unable to Meet 15 VI A3 Positional Measurements Unavailable 15 VI A4 Overworked Exhaustion 15 VI A5 Lack ot In house Skill uite Re EIE IIR rU E a 15 VII VIII IX VI B VEC VI D et rg eh ct ton e tpe dob Ar eet dent wae Neca dioe d De ameet E ER Feature Exceeds Time Quota VI B2 Software Incompatibility VI B3 Communication VI B4 Insufiicient Hard wate ay ii RR RR TRI dy Be ae VI B5 Delay do to non project priorities T uou RR aE RRO db edge uk VI C2 File Structure Exceeds Filestructure
26. designed and created by a team of electrical and computer engineers the solution devised did not include what the team considers any mechanical aspects However the part of the device which could be interpreted as a mechanical aspect is the device housing which will be displayed and its design explained All design and models are property of Alexander Meadows Do not attempt to copy or duplicate the design of any part of this device housing A Device Housing Main Body The main body of the case is shown in Figure 10 with arrows added for clarity The red arrows point to the screw holes which attach the Arduino microcontroller to the case This is to help keep the wiring attached the MicroSD card attached and to assist in reducing the amount of impact wear that the microcontroller will experience The yellow arrow points to the hole that the wiring for the LED goes through The blue arrow points to the hole in the case that the button attaches to The extra plastic surrounding the hole is to ensure that that point doesn t become a weak point of the design The Orange arrow points to the slot in which the base of the case can slide in and out The slot is to provide both access to the device and stability to the device when it is fully closed B The Other Parts The main part of the case that attaches to the user s body is shown in Figure 11 by purple arrows These slots are used to hold the elastic and Velcro straps
27. gt 12 T TOP VIEW 0 X oo0oO0zzz orro a nw DIRECTION OF DETECTABLE MAGNETIC FIELDS TOP VIEW 3 DoclD024763 Rev 2 11 74 Block diagram and pin description 61 LSM9DSO 12 74 Table 2 Pin description Pins Name Function 1 Reserved Leave unconnected 2 Reserved Connect to GND 3 Reserved Connect to GND 4 Reserved Connect to GND 5 GND 0 V supply 6 GND 0 V supply 7 C1 XM Capacitor connection C1 8 SETC XM S R capacitor connection C2 9 SETP XM S R capacitor connection C2 10 Gyroscope data enable 11 Gyroscope programmable interrupt 12 Gyroscope data ready 13 INT1 XM Accelerometer and magnetic sensor interrupt 1 14 INT2 XM Accelerometer and magnetic sensor interrupt 2 15 Vdd Power supply 16 Power supply 17 Power supply 18 Power supply for I O pins Gyroscope I C SPI mode selection 19 1 SPI idle mode I C communication enabled 0 SPI communication mode 2 disabled Accelerometer and magnetic sensor SPI enabled 20 I2C SPI mode selection 1 SPI idle mode I C communication enabled 0 SPI communication mode 2 disabled 21 2 serial clock SCL SPI serial port clock SPC Gyroscope serial data output SDO 22 Angular rate sensor 2 less significant bit of the device address SAO Accelerometer and magnetic sensor SPI serial data output SDO 23 Accelerometer and magnetic sensor 2 less significant bit of
28. www latimes com local lanow la me n concrete list earthquake 20140121 story html 6 G G L Mulvany 2011 Firefighters balk at post 9 11 digital radios as failures risk lives Online Available http www mcclatchydc com 2011 09 06 123290 firefighters balk at new digital html rhz1 7 S S Ray Stedronsky Retired Firefighter Interview 2014 2015 8 P H H Jones 2002 Extreme work teams Using swat teams as a model for coording distributed robot Online Available http web stanford edu phinds PDFs Jones Hinds 2002 pdf 9 C R James Wong 2004 Urban search and rescue technology needs Identification of needs Online Available http www ncjrs gov pdffiles 1 nij grants 20777 1 pdf 10 Weick 1993 collapse of sensemaking in organizations The mann gulch disaster Online Avail able http www nifc gov safety mann_gulch suggested_reading The_ Collapse_of_Sensemaking_in_Organizations_The_Mann_Gulch pdf 11 F Bauer 2014 Oct Welcome to cal esar training Online Available http training cal esar org 12 S Rescue 2015 Mar Home Online Available https sierrarescue com 13 D Burchard 2014 Oct Kcsara academy http kcsara org training kcsara_academy 14 U S Coastguard 2015 Mar National search and rescue school Online Available http www uscg mil tcyorktown Ops SAR default asp 15 E M Rescue 2014 Mar About emr http www eugenemounta
29. 1 3D print housing For the deployable prototype to be ready for deployment an external housing was fabricated to protect the device from external forces This case underwent multiple revisions to switch from a waist mounted apparatus to a hip mounted one Given his experience in the Rhino software Alexander Meadows assumed responsibility for this task and provided 70 hours toward the design and printing of all enclosures 2 Battery selection The initial design of the product interfaced with the AtMega328 serial terminal for debugging purposes This required that the device be connected to the USB interface when in operation To undergo field testing the device required an auxiliary power source Alexander spent 15 hours surveying multiple batteries and performing timed tests to assess the quantitative performance of 3 off the shelf 9V batteries 3 Integrate Device into Housing Integrating the test plat form hardware into the printed enclosure required time to re assemble re wire and thoroughly test basic functionality operation of the device outside of the test environment This was initially performed by Alexander Meadows 30 hours but was taken over by the remaining team members 10 hours each prior to the Deployable Prototype Review 4 Performance Testing Performance testing details are documented further on in the document in the Wearability section of Hardware Test Plans and Results These were completed by Alexander Mead
30. 32 slots of data for X Y and Z When full the FIFO stops collecting data from the input channels Stream mode In Stream mode data from the X Y and Z measurements are stored in the FIFO A watermark interrupt can be enabled and set as in FIFO mode The FIFO continues filling until it is full 32 slots of data for X Y and Z When full the FIFO discards the older data as the new data arrives Stream to FIFO mode In Stream to FIFO mode data from the X Y and Z measurements is stored in the FIFO A watermark interrupt can be enabled WTMK EN bit in F FO CTRL REG 2Eh in order to be raised when the FIFO is filled to the level specified in the WTMK LEVEL bits of FIFO_CTRL_REG 2Eh FIFO continues filling until it is full 32 slots of 8 bit data for X Y and Z When full the FIFO discards the older data as the data new arrives Once a trigger event occurs the FIFO starts operating in FIFO mode Retrieving data from FIFO A read operation to the OUT X L A 28h OUT X H A 29h OUT Y L A 2Ah OUT Y H A 2Bh or OUT Z L A 2Ch OUT Z H A 2Dh registers provides the data stored in the FIFO Each time data is read from the FIFO the oldest X Y and Z data are placed in the OUT X L A 28h OUT X H A 29h OUT Y L A 2Ah OUT Y H A 2Bh and OUT Z L A 2Ch OUT Z H A 2Dh registers and both single read and read burst operations can be used DoclD024763 Rev 2 23 74 Functionality LSM9DSO 4 3
31. 3D game engine objects will be created and rendered at the positions specified in the CSV file This task was completed within 15 hours in the spring semester 7 Lines Connecting points with lines will require use of another gameobject to connect the small points This gameobject will have a user selected color and will require some extra logic when laying down its point This task was completed in 8 hours in the spring semester Compile Code To make use of the logic written in high level language the code must be Executable on an operating system To accomplish this the high level code must be free of bugs and produce expected logic outputs given a set of inputs Compiling the code is the last step and is an important feature because it is where we select our target platform During this task code will be parsed for compilation error to ensure intended operation of individual functions The development platform selected to render graphics will be robust enough to easily switch between web browser deployments all the way to deployment to an Android or iPhone device In order to develop a software environment that is stable extensive bug testing must be performed The following list comprises of the tasks that result in the full realization of a stable environment This task was completed in 10 hours total for full hand debugging to generate a working executable to be used by other members in the spring semester K Wearability
32. CTRL_REG4_G 23h for the gyroscope 3 DoclD024763 Rev 2 85 86 LSM9DSO Digital interfaces Figure 17 SPI read protocol in 3 wire mode c WuWwuwWwvwiuwwwwuwvx BUG S228 8 eS A DO7 DO DO DO4 DO1 DOO M 5 AD4 AD3 AD2 AD ADO AM10134V1 The SPI Read command is performed with 16 clock pulses bit 0 READ bit The value is 1 bit 1 MS bit When 0 does not increment address when 1 increments address in multiple reads bit 2 7 address AD 5 0 This is the address field of the indexed register bit 8 15 data DO 7 0 read mode This is the data that will be read from the device MSb first The multiple read command is also available in 3 wire mode 3 DoclD024763 Rev 2 37 74 Register mapping LSM9DSO 7 38 74 Register mapping The table given below provides a listing of the 8 bit registers embedded in the device and their respective addresses Table 17 Register address map Slave Register address Name Address Type Default Hex Binary Reserved Table 16 00 0 WHO AM I G Table 16 r OF 000 1111 11010100 Reserved Table 16 10 1F CTRL_REG1_G Table 16 rw 20 010 0000 00000111 CTRL_REG2_G Table 16 rw 21 010 0001 00000000 CTRL_REG3_G Table 16 rw 22 010 0010 00000000 CTRL_REG4_G Table 16 rw 23 010 0011 00000000 CTRL_REG5_G Table 16 rw 2
33. Default value 0 0 disable 1 enable P1 INT1 Inertial interrupt generator 1 on INT1 XM pin Default value 0 0 disable 1 enable P1 INT2 Inertial interrupt generator 2 on INT1 XM pin Default value 0 0 disable 1 enable P1 INTM Magnetic interrupt generator on INT1 XM pin Default value 0 0 disable 1 enable P1 DRDYA Accelerometer data ready signal on INT1 XM pin Default value 0 0 disable 1 enable P1 DRDYM Magnetometer data ready signal on INT1 XM pin Default value 0 0 disable 1 enable P1 EMPTY FIFO empty indication on INT1 XM pin Default value 0 0 disable 1 enable CTRL 4 XM 23h Table 80 CTRL REG4 XM register P2 TAP P2 INT1 P2 INT2 P2 INTM P2_DRDYA P2_DRDYM P2_Overrun P2_WTM Table 81 CTRL_REG4_XM description P2_TAP Tap generator interrupt on INT2_XM pin Default value 0 0 disable 1 enable P2 INT1 Inertial interrupt generator 1 on INT2 XM pin Default value 0 0 disable 1 enable P2 INT2 Inertial interrupt generator 2 on INT2 XM pin Default value 0 0 disable 1 enable P2 INTM Magnetic interrupt generator on INT2 XM pin Default value 0 0 disable 1 enable P2 DRDYA Accelerometer data ready signal on INT2 XM pin Default value 0 0 disable 1 enable P2 DRDYM Magnetometer data ready signal on INT2 XM pin Default value 0 0 disable 1 enable P2 Overrun FIFO overrun interrupt on INT2 XM pin Default
34. G register eme Reime aaa 41 CTRL REGI G register deles sex ee ace ete Rod uos e 41 REG1 41 DR and BW configuration 0 41 Power mode selection 42 2 Gregistor isole eee Xn xe ee cedex eoe be 42 REG2 42 High pass filter mode configuration 43 High pass filter cutoff frequency configuration 2 43 REGI G register nere pes pepe Acc baud nere Padi E 43 REG3 43 CTRL JREGA G register 5 22 eae 44 4 44 Self test mode 44 CTRL 5 44 CTRL REGS G descrlption uei iced ri qd 44 REFERENCE DATACAPTURE_G register 45 REFERENCE DATACAPTURE_G
35. However there is sure to be competition 3 Market Competition Due to the fact that the target market space is specifically emphasizing the Manager and search coordinator our main competitors are people who are currently able to gather and store data about a persons location These companies could quickly shift their focus and build a similar product to compete with the DIM system technology A primary competitors is Wiggle a company specializing in manufacturing systems that use Wi Fi mapping Wi Fi mapping is based off of the principle of the relative range of wireless access points and signal strength By knowing the locations and the ranges of each access point trilateration is utilized using the relative position of the signal detecting device to give an approximate location Wi Fi mapping is accomplished by manual location entering and records the wireless access point by using specialized apps This has been attempted successfully by Skyhook Skyhook has developed a relative position algorithm using existing technology and infrastructure by using Wi Fi access points However its accuracy is that of 3 to 10 meters so while it is better than outdoor civilian GPS it is not accurate enough to determine the position of a person or even the room they are in without creating a site specific app Even when there is a site specific app the location of a person is only accurate to approximately one and a half meters The main problem with sy
36. I ll give you more details as we progress Quoted text hidden Ray Stedronsky lt ladder106 gmail com gt Sun Sep 7 2014 at 1 24 PM To Yan Lin lt wildseven gmail com gt That whole system seems to be based on finding guys who are already lost It s kinda like the Stop Drop and Roll they used to tell us to teach school kids I NEVER liked that idea at all It s basic assumption is that you are ALREADY on fire when the major important point is NOT catching on fire and surviving in the first place We used to teach them to crawl and find doors instead https mail google com mail u 0 ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp sim 1484d90b 6 8 138 11 29 2014 Gmail Question for a design project So I like your idea much better Hey let s NOT get lost in the first place or if we do we find our own way back If you could combine the IMU with a HALO like tracking device that would send out a sonar type signal and give you a snapshot of the walls and furniture in your environment and update every one or two seconds like HALO you would have the perfect set up In all cases doing this in a hand held type box is just marginally OK We use thermal imaging cameras TICs they are hand held and too large If you bring this device right up to your facepiece in your mask you can see it Add to the fact that we already have our hands full and need
37. Line Test By Team D EM i ew ebur Y og e ehe qp en Ix 31 Medium Distance Test on 3rd Floor Hallway Riverside Hall By Team 31 Long Distance Test between Riverside Hall and Sequoia Hall By Team 32 LIST OF TABLES Product gt 22 14 Qd ts BON SUR CE es Ie LAS RE sete EH ea 8 Feature Documentation Deadlines and Completion Dates 14 Feature Self Referential Deadlines and Completion 14 Feature Local Data Storage Deadlines and Completion 14 Feature Software Deadlines and Completion Dates 14 Feature Wearability Deadlines and Completion Dates 14 Feature Self Referential Fall 2014 Completed Tasks with Hour Allocation 17 Feature Local Data Storage Fall 2014 Completed Tasks with Hour Allocation 17 Feature Wearable Fall 2014 Completed Tasks with Hour Allocation 17 Feature Software Fall 2014 Completed Tasks with Hour 17 Completed Course Assignments Fall 2014 Individual Member Contributions 17 Feature Documentation Spring 2015 Completed Tasks with Hour 18 Feature Software Spring 2015 Comp
38. code repository to start from Based on the ease of setup and the amount of available documentation the team opted to continue forward with the LSM9DSO As a requirement for the first technical milestone the team was tasked to present one significant feature of the prototype Between the four features the team narrowed the demonstration candidates down to Self Referential and Local Data Storage It was at this time the team arrived at its first real standstill half of the team voted to present an element of the self referential feature by way of manipulating the recorded sensor data whereas the other 2 members wanted to also incorporate local data storage The dispute was resolved by coin flip and in retrospect pursuing local data storage was the correct path to take The team ordered 4 Arduino microSD shields in order to easily interface the storage device to the microcontroller through the Serial Periphery Interface SPI For the first milestone Team DIM presented the manipulation of captured acceleration data in the serial terminal as velocity which was then stored in a Comma Separated Value file format to the microSD storage device A sampling rate of 20Hz was attained during the demonstration by utilizing the millis function within the Arduino library to create a fixed cycle length for each iteration of the logic loop in the microcontroller code Following the breadboard proof the team opted to employ a division of labor and assig
39. 1 a new set of data for the X axis has overwritten the pre vious one ZYXADA Acceleration X Y and Z axis new value available Default value 0 0 a new set of data is not yet available 1 a new set of data is available ZADA Acceleration Z axis new value available Default value 0 0 a new set of data for the Z axis is not yet available 1 a new set of data for the Z axis is available YADA Acceleration Y axis new value available Default value 0 0 a new set of data for the Y axis is not yet available 1 a new set of data for the Y axis is available XADA Acceleration X axis new value available Default value 0 0 a new set of data for the X axis is not yet available 1 a new set of data for the X axis is available 8 47 X L A 28h OUT X A 29h X axis acceleration data The value is expressed in 16 bit as two s complement left justified 3 DoclD024763 Rev 2 61 74 111 Register description LSM9DSO 848 OUT Y L A 2Ah OUT A 2Bh Y axis acceleration data The value is expressed in 16 bit as two s complement left justified 849 OUT 71 A 2Ch OUT Z H A 2Dh Z axis acceleration data The value is expressed in 16 bit as two s complement left justified 8 50 CTRL 2Eh Table 94 FIFO CTRL REG register FM2 FMO 4 FTH3 FTH2 FTH1 FTHO Table 95 FIFO CTRL REG description FM2 FMO FIFO mode selection Default value 0
40. 1 10 0 001 1 Vos DRAIN SOURCE VOLTAGE V t TIME Figure 9 Maximum Safe Operating Area Figure 10 Single Pulse Maximum Power Dissipation Rosalt r t Roja Resa 350 C W P pk e Ty Ta P Rosat SINGLE PULSE Duty Cycle D t4 t r t NORMALIZED EFFECTIVE TRANSIENT THERMAL RESISTANCE 0 1 1 TIME sec Figure 11 Transient Thermal Response Curve Thermal characterization performed using the conditions described in Note 1a Transient thermal response will change depending on the circuit board design BSS138 Rev C W TRADEMARKS 128 The following are registered and unregistered trademarks Fairchild Semiconductor owns or is authorized to use and is not intended to be an exhaustive list of all such trademarks ACEx ActiveArray Bottomless Build it Now CoolFET CROSSVOLT DOME EcoSPARK E CMOS EnSigna FACT FAST FASTr FPS FRFET GlobalOptoisolator GTO HiSeC i Lo ImpliedDisconnect IntelliMAX ISOPLANAR LittleFETTM MICROCOUPLER MicroFET MicroPak MICROWIRE MSX MSXPro OCX OCXPro OPTOLOGIC OPTOPLANAR PowerSaver PowerTrench QFET QS QT Optoelectronics Quiet Series RapidConfigure RapidConnect uSerDes ScalarPump SILENT SWITCHER SMART START SuperSOT 6 SuperSOT 8 SyncFET TinyLogic T
41. 2 13 5 27 0010 1 8 3 5 7 2 13 5 0011 0 9 1 8 3 5 7 2 0100 0 45 0 9 1 8 3 5 0101 0 18 0 45 0 9 1 8 0110 0 09 0 18 0 45 0 9 0111 0 045 0 09 0 18 0 45 1000 0 018 0 045 0 09 0 18 1001 0 009 0 018 0 045 0 09 8 4 CTRL_REG3_G 22h Table 27 CTRL_REG3_G register 1 Int1 I1 Boot Lactive PP OD I2 DRDY 12 WTM I2 ORun I2 Empty Table 28 REG3 description 1 Inti Interrupt enable on G pin Default value 0 0 disable 1 enable I1 Boot Boot status available on INT G Default value 0 0 disable 1 enable H Lactive Interrupt active configuration on INT Default value 0 0 high 1 low PP OD Push pull Open drain Default value 0 0 push pull 1 open drain I2 DRDY Date ready on DRDY_G Default value 0 0 disable 1 enable 12 FIFO watermark interrupt DRDY G Default value 0 0 disable 1 enable l2 ORun FIFO overrun interrupt on DRDY Default value 0 0 disable 1 enable I2 Empty FIFO empty interrupt on DRDY Default value 0 0 disable 1 enable 3 DoclD024763 Rev 2 43 74 92 Register description LSM9DSO 8 5 CTRL_REG4_G 23h Table 29 CTRL_REG4_G register BDU BLE FS1 50 ST1 STO SIM Table 30 4 description BDU Block data update Default value 0 0 continuous update 1 output registers not updated until MSb and LSb
42. 34 65 8 557 INT GEN 2 5 35 66 8 58 INT GEN 2 THS 36 67 8 59 INT GEN 2 DURATION 37h 67 8 60 CLICK 38h 67 861 CLICK_SRC 39h 2 leet aa 68 8 62 OHOK THS GAN Pu peu 68 862 TIME LIMIT GBR 2 tactics 69 8 64 LATENCY 69 8 65 TIME WINDOW 3Dh 69 8 66 TAS 3Eh eroe oh cits rri 69 8 67 Act 70 9 Package information 71 10 Revision history 73 ky 00 10024763 Rev 2 5 74 54 List of tables LSM9DSO List of tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 Table 39 Table 40 Table 41 Table 42 Table 43 Table 44 Table 45 Tabl
43. 4 3 1 4 3 2 24 74 Gyroscope digital main blocks Figure 5 Gyroscope block diagram Out Sel gt 00 gt 01 DataReg gt 0 sexta LPF2 as ADC H LPF1 Le HPF Le 1 INT1 Sel SPI a 10 11 Interrupt gt 01 generator gt 00 SCR REG CONF REG l INT GAMS250320131444FSR FIFO The LSM9DS0 embeds 32 slots of 16 bit data FIFO for each of the three output channels yaw pitch and roll This allows consistent power saving for the system since the host processor does not need to continuously poll data from the sensor but can wake up only when needed and burst the significant data out from the FIFO This buffer can work accordingly in five different modes Bypass mode FIFO mode Stream mode Bypass to Stream mode and Stream to FIFO mode Each mode is selected by the FIFO MODE bits in FIFO CTRL REG 2Eh A programmable watermark level FIFO Empty or FIFO Full events can be enabled to generate dedicated interrupts on the DRDY pin configured through CTRL REGS 22h and event detection information is available in FIFO SRC REG 2Fh The watermark level be configured to WTM4 0 in FIFO CTRL REG 2Eh Bypass mode In Bypass mode the FIFO is not operational and for this reason it remains empty As descri
44. 5 thst SDI input hold time 15 ns tso SDO valid output time 50 n so SDO output hold time 5 ldis SO SDO output disable time 50 1 Values are guaranteed at 10 MHz clock frequency for SPI with both 4 and 3 wires based on characterization results not tested in production Figure 3 SPI slave timing diagram cs tais c sec tn cs SPC SDI 1 tais so m 7 Note Measurement points done at 0 2 Vdd and 0 8 Vdd for both input and output ports 3 DoclD024763 Rev 2 17 74 Module specifications LSM9DSO 2 4 2 Sensor 2 inter IC control interface Subject to general operating conditions for Vdd and Top Table 7 2 slave timing values standard mode 7 fast mode 1 Symbol Parameter Unit Min Max Min Max SCL clock frequency 0 100 0 400 kHz tw SCLL SCL clock low time 4 7 1 3 a tw SCLH SCL clock high time 4 0 0 6 tsu SDA SDA setup time 250 100 ns th SDA SDA data hold time 0 3 45 0 0 9 us th sT START condition hold time 4 0 6 Repeated START condition tsu SR setup time wf pP us tsu SP STOP condition setup time 4 0 6 t Bus free time between STOP 47 13 w SP SR START condition 1 Data based on standard 12 protocol requirement not tested in production Figure 4 slave timing diagram r REPEATED a START START eT
45. EEPROM 0x05 Table 7 Operational Mode Register 2 Bit Designations 2 7 to OM 2 dO C These bits must be cleared for correct operation Measurement Rate 0 0 1Hz to 0 1 5Hz default 1 0 10Hz 1 1 Not Assigned User Hard lron Calibration The HMC6343 provides a user calibration routine with the 0x71 command permitting entry into the calibration mode and the 0x7E command to exit the calibration mode After entering the calibration mode rotate the device reasonably steady for 360 degrees about the Y Left Right axis and then 360 degrees about Z Up Down axis During the first rotation maintain the Y axis at Level as much as possible Maintain the Z axis upright as much as possible during the second rotation and until the exit calibration 12 www honeywell com 49 HMC6343 command is issued The first rotation can also be done by rotating 360 degrees about X Fore Aft axis Then exit calibration The calibration routine collects these readings to correct for hard iron distortions of the magnetic field These hard iron effects are due to magnetized materials nearby the HMC6343 part that in a fixed position with respect to the end user platform An example would be the magnetized chassis or engine block of a vehicle in which the compass is mounted onto Upon exiting the calibration mode the resulting magnetometer offsets are updated Example Communication For basic power up and c
46. Martino D Mellis GND GNDGNDGND Date 3 4 2014 11 06 30 AM Sheet 1 1 GND GND GND GND 37 Honeywell 3 Axis Compass with Algorithms HMC6343 The Honeywell HMC6343 is a fully integrated compass module that includes firmware for heading computation and calibration for magnetic distortions The module combines 3 axis magneto resistive sensors and 3axis MEMS accelerometers analog and digital support circuits microprocessor and algorithms required for heading computation By combining the sensor elements processing electronics and firmware into a 9 0mm by 9 0mm by 1 9mm LCC package Honeywell offers a complete ready to use tilt compensated electronic compass This provides design engineers with the simplest solution to integrate high volume cost effective compasses into binoculars cameras night vision optics laser ranger finders antenna positioning and other industrial compassing applications The HMC6343 utilizes Honeywell s Anisotropic Magnetoresistive AMR technology that provides advantages over other magnetic sensor technologies The sensors feature precision sensitivity and linearity solid state construction with very low cross axis sensitivity designed to measure both direction and magnitude of Earth s magnetic fields Honeywell s Magnetic Sensors are among the most sensitive and reliable low field sensors in the industry Honey
47. RESPECT TO THE USE AND OR SALE OF ST PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT ST PRODUCTS ARE NOT AUTHORIZED FOR USE IN WEAPONS NOR ARE ST PRODUCTS DESIGNED OR AUTHORIZED FOR USE IN A SAFETY CRITICAL APPLICATIONS SUCH AS LIFE SUPPORTING ACTIVE IMPLANTED DEVICES OR SYSTEMS WITH PRODUCT FUNCTIONAL SAFETY REQUIREMENTS B AERONAUTIC APPLICATIONS C AUTOMOTIVE APPLICATIONS OR ENVIRONMENTS AND OR D AEROSPACE APPLICATIONS OR ENVIRONMENTS WHERE ST PRODUCTS ARE NOT DESIGNED FOR SUCH USE THE PURCHASER SHALL USE PRODUCTS AT PURCHASER S SOLE RISK EVEN IF ST HAS BEEN INFORMED IN WRITING OF SUCH USAGE UNLESS A PRODUCT IS EXPRESSLY DESIGNATED BY ST AS BEING INTENDED FOR AUTOMOTIVE AUTOMOTIVE SAFETY OR MEDICAL INDUSTRY DOMAINS ACCORDING TO ST PRODUCT DESIGN SPECIFICATIONS PRODUCTS FORMALLY ESCC QML OR JAN QUALIFIED ARE DEEMED SUITABLE FOR USE IN AEROSPACE BY THE CORRESPONDING GOVERNMENTAL AGENCY Resale of ST products with provisions different from the statements and or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever any liability of ST ST and the ST logo are trademarks or registered trademarks
48. Urban Search and Rescue task forces To further enhance the results of search efforts a complementary software visualization aspect was built intended for use by Incident Support teams to aggregate the search data generated by these devices into a visual model Initially the team focused primarily on implementing kinematic model based on double integration of accelerometer data Due to complications that arose as the result of non uniform rotational data in conjunc tion with accumulated error over time the kinematic model required drastic revisions in order to fall within the drafted featureset within the Design Idea Contract Based on research conducted involving Pedestrian dead reckoning systems the system s kinematic model was changed to record and interpret human gait motion Based off of the testing performed the final product was capable of generating paths with an error of 5 over 90 meters The aim such a system for Search Rescue efforts in urban search environments would contribute toward the increase the number of lives saved by reducing search path redundancy in consequently scheduled searches II DESIGN IDEA AND REVISED SOCIETAL PROBLEM Initial research conducted during the Fall semester of 2014 showed that there was a compelling societal need for the improvement of Search and Rescue operator protocol Key resources of interest included topical journal review span ning topics from coordinated robotic search and rescue
49. a CAD tool such as rhino Once the design has been modeled it is ready for some simulated stress testing Once a CAD model of the device has been created it enables us to import it into a stress testing simulation en vironment One such tool to do this is a program called solid works This allows us to know which location in the design is likely to break first and thereby fortify that location and also see the effect different materials have on its structural durability 12 Once the design has been completed to an acceptable struc tural strength weight size and cost it then can go through two stages of implementation The first being where the design is 3D printed to ensure that the components actually fit and that they work in the designs connection locations Then if all the components can be secured to the housing wired together and the removable components can be accessed than the design will be sent out to be constructed out of the chosen material Once constructed the components will attached to the new housing and accuracy tests will be run again to ensure that the housing does not interfere with the operation of the device 4 Field Testing With the completion of the housing design and the housing for the components having been constructed this enables us to do field testing with the device This includes testing the housing strength testing the thermal response of the housing and giving the device to be worn by firs
50. a new set of data is available ZMDA Z axis new data available Default value 0 0 a new set of data for the Z axis is not yet available 1 a new set of data for the Z axis is available YMDA Y axis new data available Default value 0 0 a new set of data for the Y axis is not yet available 1 a new set of data for the Y axis is available XMDA X axis new data available Default value 0 0 a new set of data for the X axis is not yet available 1 a new set of data for the X axis is available OUT X L M 08h OUT X H M 09h X axis magnetic data The value is expressed in 16 bit as two s complement left justified OUT Y L M 0Ah OUT Y H M 0Bh Y axis magnetic data The value is expressed in 16 bit as two s complement left justified 3 DoclD024763 Rev 2 101 LSM9DSO 102 Register description 8 27 8 28 8 29 3 OUT 71 OUT 2 H M 0Dh Z axis magnetic data The value is expressed in 16 bit as two s complement left justified WHO AM XM 0Fh Table 63 WHO AM I XM register 0 1 0 0 1 0 0 1 Device identification register INT CTRL REG M 12h Table 64 INT CTRL REG M register XMIEN YMIEN ZMIEN PP OD IEA IEL 4D MIEN Table 65 INT CTRL REG M description XMIEN Enable interrupt recognition on X axis for magnetic data Default value 0 0 disable interrupt recognition 1 enable interrupt recognition Y
51. also can produce some power savings It also provides a fixed sampling rate which will prove to be important for kinematic equation calculations However the most important part is how this reduced sampling rate affects the overall quality of the data specifically how it will affect the post calculation data But being able to enable this mode and understanding how it works is required before the analysis of the quality of data is able to taken into consideration Self Testing is an important feature for any device that is to claim reliability While the MPU 6050 can run a self test it requires additional algorithms to fully test the functionality of both the accelerometer and the gyroscope This enables a warning system to be added to warn if the IMU is not functioning properly It also allows for a temporary fix of turning off the broken part of the IMU and removing its data from calculations while not losing all functionality However for this function to work it requires that upon startup that the device is holding still and may delay the startup time The added safety of being able to tell when part of it fails is far more important than shortening the startup time of the device as a malfunction which produces erroneous data could lead to much graver consequences As such including the self test is vital for reading data from the MPU 6050 LSM9DSO is an IMU with a total of 9 degrees of measurement What this means is that beyond th
52. area a foot or so off the floor where some visibility is possible The clean air is cooler and denser to it s always down low Most searches are done by the crew of a Truck or Ladder Company in a Fire Dept of any size Hoselines are NOT involved in a search because they take too long to deploy slowing the search process and wearing you out dragging 300 lbs of hose and water through the area Flashlights are only about 10 effective in smoke Searches are done while crawling to get below the heat either on hands and knees or on your stomach like a sniper You are wearing a breathing apparatus mask which limits your field of vision heavy coat and pants and heavy gloves that impair your tactical sense You are carrying tools that will allow you to breach a door or wall if necessary Searches are generally most effective with two man teams but sometimes as many as four are used for searches in a large open space like a warehouse https mail google com mail u 0 ui 2 amp i k 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp siml 14844900 2 8 134 11 29 2014 Gmail Question for a design project OK so now the How To The basic search method involves the walls You start at the front door for example and decide to keep the wall on your right hand side This is called a right hand search for obvious reasons The other way would be to start on the left for a
53. both of them to drag some 300 Ib fat ass out of the building a HUD type device that integrates with the breathing apparatus mask is by far the best way to use electronics R Quoted text hidden Yan Lin lt wildseven gmail com gt Sun Sep 7 2014 at 1 33 PM To Ray Stedronsky lt ladder106 gmail com gt There s another group in the class that s doing machine vision and attempts to read a room using multiple cameras to create a 3D map think The SONAR idea is really awesome but the one concern have is by using a signal that you need to recapture to form a snapshot of the walls and furniture you have to have several sensors that operate at a frequency that your transducers can reliably read the data back from assuming the environment isn t somehow distorting your signals Those are just concerns suppose may happen but thought along the same lines Google Image searched firefighter breathing apparatuses and you have a lot of real estate to work with on those visors sort of surprised it isn t already implemented at this point Quoted text hidden Ray Stedronsky lt ladder106 gmail com gt Sun Sep 7 2014 at 2 39 PM To Yan Lin lt wildseven gmail com gt It s a matter of cost and ruggedness The stuff gets hot wet mashed pounded on twisted caught on wires nails and bend metal That plus it has to go on in less than a minute No time to be doing the plug and play thing Also exposed wiring sucks Gets ripped o
54. bus bit format is an 8 bit Data Address send and a t bit acknowledge bit The format of the data bytes payload shall be case sensitive ASCII characters or binary data to the HMC6343 slave and binary data returned Negative binary values will be in two s complement form The default factory HMC6343 7 bit slave address is 0x32 for write operations 0x33 for read operations The HMC6343 Serial Clock SCL and Serial Data SDA lines do not have internal pull up resistors and require resistive pull ups Rp between the master device usually a host microprocessor and the HMC6343 Pull up resistance values of about 10k ohms are recommended with a nominal 3 3 volt supply voltage Other values may be used as defined in the Bus Specification 2 1 The SCL and SDA lines in this bus specification can be connected to a host of devices The bus can be a single master to multiple slaves or it can be a multiple master configuration All data transfers are initiated by the master device which is responsible for generating the clock signal and the data transfers are 8 bit long devices are addressed by fC s unique 7 bit address After each 8 bit transfer the master device generates a 9 th clock pulse and releases the SDA line www honeywell com 7 HMC6343 The receiving device addressed slave will pull the SDA line low to acknowledge ACK the successful transfer or leave the SDA high to negative acknowledge NACK Per the spec al
55. data DO 7 0 read mode This is the data that will be read from the device MSb first In multiple read write commands further blocks of 8 clock periods will be added When the MS bit is 0 the address used to read write data remains the same for every block When the MS bit is 1 the address used to read write data is incremented at every block The function and the behavior of SDI and SDO remain unchanged 3 DoclD024763 Rev 2 LSM9DSO Digital interfaces 6 2 1 3 SPI read Figure 13 SPI read protocol CS A _ SPC kd X NEM MN MEN NSW NW NC V SDI KJ X X X X XX X KX KK KK KX RW MS AD5 AD4 AD3 AD2 AD1 ADO SDO 0 0 0 006 005 004003 DO2 DO1 DOO AM10130V1 The SPI read command is performed with 16 clock pulses The multiple byte read command is performed by adding blocks of 8 clock pulses to the previous one bit 0 READ bit The value is 1 bit 1 MS bit When 0 does not increment address when 1 increments address in multiple reads bit 2 7 address AD 5 0 This is the address field of the indexed register bit 8 15 data DO 7 0 read mode This is the data that will be read from the device MSb first bit 16 data DO 8 Further data in multiple byte reads Figure 14 Multiple byte SPI read protocol 2 byte example sec so X X
56. due to unfamiliar environments or lack of orientation was a valid concern Team DIM was tasked with the creation of a device that would address the needs of rescue personnel and provide them a device that would expedite their efforts The features highlighted in the Design Idea Contract consisted of the following Self Referential Wearable Local Data Storage Visualization Software 4 Feature Self Referential One of the key features of Project DIM is the capability to generate position from solely the data provided from the devices inertial measurement unit Self Referential devices do not rely on any outside information to provide accurate output Our device is self referential and uses no outside signals to interpret where it is from an arbitrary starting location This feature will be referred to as Self Referential Position Calculation To fully utilize this feature it necessitates the utilization of collected data to generate a positional calculation from an initial start position The best way to understand a feature is to understand the decisions made during its implementation As our project started it was observed that communication in emergency situation can be unobtainable It was noted that there were several issues with devices that attempted to communicate in these situations and that these devices had been proven unreliable or the equipment was too heavy bulky cumbersome and expensive this led to these devices being le
57. effects 30 6 Digital interfaces 31 6 1 IPG serial interface 31 6 1 1 IC operation asque ade donactonn det risate 32 6 2 SPI bus interface 34 6 2 1 SPI read iaceo iore o wd 35 6 2 2 SIJR SPP 36 6 2 3 SPI read in 3 wire mode 36 7 Register mapping 38 8 Register description 41 8 1 WHO AM I G OFh o se cecs mieie ree m ad REA 41 82 CTRL REG1 G 20h 41 83 REG2 G 21h 42 84 REG3 G 22h 43 8 5 CTRL REG4G 23h co reres gai n IURE 44 86 REG5 G 24h 44 8 7 REFERENCE DATACAPTURE 25h 45 88 STATUS REG G 27h 45 Ky DoclD024763 Rev 2 3 74 52 Contents LSM9DSO 8 9 OUT X L G 285 OUT XH G 29h 46 810 OUT Y L G 2Ah OUT Y H G 2Bh 46 811 OUTZL G 2Ch OUT Z H G 2Dh 46 8 12 FIFO 2 46 8 13 SRC 2
58. enough to work in all situations The software we write needs to be portable and quickly deployable on almost any type of machine 1 Data Manipulation First part of the software develop ment cycle is too gathered from the device This means that the software has to be able to read in the information weather it is from a file or through a direct connection to the device After gathering the information from the IMU the software will need to do some post processing on the data and calculate or filter out any data to get more precise measurements Inputting the data into the software requires that the device allows for the easy transfer of detailed data regarding past calculated positions The most simplistic method to loading the data would be done through a file transfer As we previously mentioned the device we build will have local storage that keeps a running log of position Saving this file and moving it from the U S B card to the software is the first step of building the software Taking this information and calculating or filtering unnec essary data could be done to a deeper extent post processing This ensures that minimum processing is done on the device to ensure the lowest power consumption Outputting the data is an important feature of any software this allows the user to graphically view the data efficiently and glean the important details By using a graphical interface the use will be able to interpret the data without ha
59. essentially creating a dark device that can reverse track your movement so you can find your way back to where you started Navigation is calculated from predetermined street locations to find the shortest route The device isn t reliant on GPS because it doesn t work well in instances where a direct line of sight is obscured by rubble or an underground environment An example of where this is applicable is search and rescue in a collapsed building and you want to find your way back to your original exit quickly and reliably That said was wondering if you knew and might be able to share how this is typically done in an unfamiliar or damaged environment Our guess is in the case where there s a fire firefighters dragging the hose in and following it back seems reliable but I m not sure if that s actually how how it s executed in the real world in other regards Don t worry about it if you re extremely busy Just thought I d ask in case you knew off hand Hope all is well with you and Carole Say hi to her from me Yan Ray Stedronsky lt ladder106 gmail com gt Sat Sep 6 2014 at 6 50 PM To Yan Lin lt wildseven gmail com gt Yan 5 Happy to help I ll write up a description for how the FD does searches in buildings Hope that will help Would it be better if I just called you or would a written thing be best I ll do it this evening if your not short on time R Quoted text hidden Ray Stedronsky Davis CA Yan Lin lt
60. feedback would be fantastic but we re not in dire need of it we likely won t have to tackle the actual application portion until early next year We re just doing the preliminary proof of concept right now Thanks once again for the detailed account of the work you do Yan Quoted text hidden Ray Stedronsky lt ladder106 gmail com gt Sun Sep 7 2014 at 12 43 PM To Yan Lin lt wildseven gmail com gt If you guys could get something like this to work and get it small enough like iphone sized to carry you could sell the thing to many manufacturers of firefighting gear Integrating it into the breathing apparatus mask as a HUD would be excellent but however it s done it would be a life saving device One of the highest line of duty deaths in the FD is getting lost and disoriented If there s anything I can do to help let me know We have mazes already set up to train rectuits in searching breathing apparatus use etc Using those might be a good test site for your idea I d be very interested in helping out R Quoted text hidden Yan Lin lt wildseven gmail com gt Sun Sep 7 2014 at 1 06 PM To Ray Stedronsky lt ladder106 gmail com gt This was actually the engineering journal article that gave me the idea for contacting you about this topic specifically http spectrum ieee org static how new indoor navigation systems will protect emergency res ponders An IMU is extremely lightweight and has low battery consumption
61. for interfacing mobile device with mysql server Created an engine in php for use by internal programmers IRT Service Desk at CSUS 2010 current Faculty Staff Technology Consultant Student Faculty and Staff Technology Consultant Sacramento CA Taking phone calls and walk in appointments with users who needed help with personal and company machines Creating documentation and provisioned users for specific services MESA 2010 2014 Student Mentor Tutor Sacramento CA Mentoring incoming freshmen Tutoring lower division computer engineering and mathematics courses Togo s 2007 2010 Food Prep Cashier Livermore CA Managed restaurant wide closing responsibilities and customer service issues Provided quality customer service and prepared food Schooling California State University Sacramento Projected Graduation Spring 2015 Major Computer Engineering Minor Math GPA 2 83 Livermore High School Several college level courses Stats Econ English Computer Science GPA 3 0 Technical e Languages C C 7 years Visual Basic 7 years Java 5 years C JavaScript Python 3 years Web Design HTML 5 4 years PHP 2 year JQuery 2 year MySQL 2 year IDE Jgrasp Eclipse MS Visual Studio Game Engine Unity 3 years Project Anarchy 2 year Unreal Engine 2 year OS Android Windows Mac OS X Ubuntu Relevant Course Work e Numerical Analysis amp Applied e Mechanical Physics Mathematics Elect
62. honeywell com 43 HMC6343 Mounting Orientations The HMC6343 provides for three standard mounting orientations with a flat horizontal orientation Level as the factory default For vertical mounting there are two upright orientations with either the Xaxis or the Zaxis designated as the forward reference directions To change the forward reference direction temporarily send the appropriate command byte 0x72 0x73 or 0x74 for level or upright orientations For other orientations you can add or subtract 90 degree increments of deviation angle as required from the three choices The figure below shows pictorially the orientations To permanently change orientation poke EEPROM Operational Mode Register 1 0x04 with the appropriate binary bits set for Level Upright Edge UE or Upright Front UF The HMC6343 will operate in the selected orientation after a power up or reset command More on the EEPROM registers in the following sections IT zo oz 2 8 m r re X LEVEL UPRIGHT EDGE UPRIGHT FRONT 0x72 0x73 0x74 HMC6343 ORIENTATIONS Red Arrow is the Forward Direction COMMUNICATION PROTOCOL The HMC6343 communicates via a two wire bus system as a slave device The HMC6343 uses a layered protocol with the interface protocol defined by the PC bus specification and the lower command protocol defined by Honeywell The data rate is the standard mode 100kbps rate as defined in the Bus Specification 2 1 The
63. i _ fj XxX 1 buon E gt gt tus STOP Note Measurement points are done at 0 2 Vdd and 0 8 Vdd for both ports 3 18 74 DoclD024763 Rev 2 67 68 LSM9DSO Module specifications 2 5 Absolute maximum ratings Stresses above those listed as absolute maximum ratings may cause permanent damage to the device This is a stress rating only and functional operation of the device under these conditions is not implied Exposure to maximum rating conditions for extended periods may affect device reliability Table 8 Absolute maximum ratings Symbol Ratings Maximum value Unit Vdd Supply voltage 0 3 to 4 8 V Vdd IO I O pins supply voltage 0 3 to 4 8 V Input voltage on any control pin SCL SPC SDA Vin SDO XM SAO0 XM SDO G SA0 G CS G CS XM 0 3 to Vdd IO 0 3 V DEN G 3 000 for 0 5 ms g Apow Acceleration any axis powered Vdd 2 5 V 10 000 for 0 1 ms g 3 000 for 0 5 ms g AUNP Acceleration any axis unpowered tp 10 000 for 0 1 ms g Top Operating temperature range 40 to 85 C Storage temperature range 40 to 125 C ESD Electrostatic discharge protection 2 HBM kV Note Supply voltage on any pin should never exceed 4 8 V This device is sensitive to mechanical shock improper handling can cause permanent damage to the part This is an electrostatic sensitive device ESD improper handling can cause Y
64. inclusion of the test was the result of the double integration of accelerometer data to get displacement However this test was adapted as a way to test sensor stability over time Because of how the static threshhold is implemented it was expected that after 24 hours of runtime no steps would be generated as none of the accelerometer values generated by the z axis would generate values that crossed the threshhold As expected the resulting path did not deviate from the point of origin as depicted in Figure 5 B Speed Test Walk a repeatedly a mapped path while on the same data logging run at California State University Sacramento CA 95819 inside Riverside Hall 3rd floor 1 Test Results With the current gait implementation the static gait trigger is triggered based on the accelerometer s z axis reading crossing a pre determined thresh hold an increase in gait speed lead to potentially increasing the stepcounter Running versus walking presented a unique situation where the gait length was so wide that it actually led to assumed Fig 13 Drop Test resulted in a fracture in the enclosure By Team D I M shorter distances due to the pre determined gait length While it may be possible to finding a way to adaptively determine movement speed it lies outside of the primary scope of testing C Drop Test This test was done in two parts a 1 meter test and a 3 658 meter test Both tests were run without the hardware in the ho
65. mil c 27500 Online Available http www aircraftspruce com catalog elpages shieldwire php E H INC Product datasheet http data energizer com PDFs la522 pdf 2015 accessed April 04 2015 34 A Data sheets APPENDICES 35 36 ATmega328 i Power Supply VIN VIN 28 PC6 RESET PCO ADCO PC1 ADC1 AVCC PC2 ADC2 vec PC3 ADC3 vec PC4 ADC4 SDA A PC5 ADCS SCL NEA I GND AREF ADCG ai ud Y ZXMP6A13FTA 5V 2 E PDO RXD A 1H PB6 XTAL1 TOSC1 PD1 TXD PD2 INTO U2 4 lt PB7 XTAL2 TOSC2 PD3 INT1 5 cTP2 PDA XCK TO TP6 cTP3 PD5 T1 PD6 AINO PD7 AIN1 GND EN BP PB1 OC1A 2 55 0 1 MIC5205 PB3 MOSI OC2 GND 3 3V 150mA Out PB5 SCK k AREF ij ANM LED1 055 1 1 Blue N GND 3 VCCIO hara lus 3V3OUT open D USBDM Released under the Creative Commons D D iD USED Attribution Share Alike 3 0 License GND C10 C13 RESET D 2N7002PW http creativecommons org licenses by sa 3 0 uF A7pF 47pF C12 C15 Yelow TITLE RedBoard GND GND Design by Jim Lindblom FT231XS R Based on Arduino by M Banzi D Cuartielles T lgoe G
66. needs of Urban Search and Rescue Specifically they detail the high priority of a technology that could provide search tracking and monitoring to supercede rudimentary physical marking techniques A more sophisticated electronic method is desired to record track and identify areas that have been searched to prevent unnecessary redundant search Since then an Urban Search and Rescue Report was generated by FEMA in 2011 detailing the Task Force Cache List contents 2 In this document there contained no mention of the inclusion of any sort of previously requested indoor tracking technology Furthermore the mention of mobile computers being readily available through the cache position the Dark Inertial Mapping device as a prime candidate to fulfill such a request The system ideally works for coordination efforts at the hand of the Urban Search and Rescue Incident Support team applying primarily to collapse search efforts but also fulfilling the needs of wilderness and certain cave rescue searches The end devices form factor as well as its handsfree field operation allow for the inclusion of the device to minimally encumber the FEMA Task Force operatives around existing equipment Fire Rescue The original conception of the idea for an indoor tracking system resulted following the teams discussion with retired firefighter Raymond Stedronsky The topic of the discourse consisted of devising an engineering solution as a means to improve a r
67. panacea for the societal problem However indoor environments suffer due to the need for a direct line of sight to the satellites or a pre set connection to an internal access point When a disaster has compromised these pre established services they offer no valid solution A detailed assessment of Search and Rescue localization technologies is conducted in the Market Review section of this documentation One of the key features that numerous mapping systems share is their reliance on an external source This provides a level of accuracy but contains a high degree of risk when the operation of the entire device rests on connectivity with the base station Additionally these systems require additionally rescuers to enter a hazardous environment to extract the lost opera tives generating a distress beacon Through the creation of a dark self referential device Team DIM aimed to provide first response emergency personnel with an apparatus that is free from the complexities of compatibility and reliance with pre installed systems under time sensitive situations for self extraction from hazardous environments From research con ducted current methods necessitated a dependency on wireless communications systems in order to determine position and positional displacement This motivated Team DIM to create a system that they deemed Self Referential Such a system would be realized by ensuring that entire system was capable of attaining po
68. points compared From this data we could see the effect that traveling at high speeds has on the device The very last test to be done is field testing As this testing is dependent on the device being decently secured and able to be bumped around it is dependent on the housing of the device being either to the field testing stage or preferably complete In this test the device would be given to a third party for them to test while doing training After the training exercise was completed they would return the device to the starting point By doing this not only could they see the path they took but also the accuracy of the device We would give them a questionnaire to fill out and record any interactions with them for the purpose of reviewing it at a later point We would then take their suggestions consider them and implement the ones we deem possible and beneficial However once again field testing is dependent on the completion of the housing for the device As such it will be done later in the project B Wearable In order for the device to be easily used to record the path taken the device must be able to be worn by the user While it may start out being built on a breadboard for it to be wearable it must run off of battery power Also the housing for the device components must be both durable and lightweight Eventually the device would have to be tested in the field it was designed for search and rescue However to prev
69. rate is configured by MODR bits in CTRL 5 XM 24h register MD1 MDO Magnetic sensor mode selection Default 10 Refer to Table 91 Magnetic sensor mode selection Table 90 High pass filter mode selection AHPM1 AHPMO High pass filter mode 0 0 Normal mode resets x y and z axis reading REFERENCE X 1Ch REF ERENCE Y 1Dh and REFERENCE Y 1Dh registers respectively 0 1 Reference signal for filtering 1 0 Normal mode 1 1 Autoreset on interrupt event 60 74 DoclD024763 Rev 2 3 110 LSM9DSO Register description Table 91 Magnetic sensor mode selection MD1 0 MD1 0 Magnetic sensor mode 0 0 Continuous conversion mode 0 1 Single conversion mode 1 0 Power down mode 1 1 Power down mode 8 46 STATUS REG A 27h Table 92 STATUS REG A register ZYXAOR ZAOR YAOR XAOR ZYXADA ZADA YADA XADA Table 93 STATUS REG A description ZYXAOR Acceleration X Y and Z axis data overrun Default value 0 0 no overrun has occurred 1 a new set of data has overwritten the previous one ZAOR Acceleration Z axis data overrun Default value 0 0 no overrun has occurred 1 a new set of data for the Z axis has overwritten the pre vious one YAOR Acceleration Y axis data overrun Default value 0 0 no overrun has occurred 1 a new set of data for the Y axis has overwritten the pre vious one XAOR Acceleration X axis data overrun Default value 0 0 no overrun has occurred
70. read BLE Big little endian data selection Default value 0 0 Data LSb lower address 1 Data MSb lower address FS1 FSO Full scale selection Default value 00 00 245 dps 01 500 dps 10 2000 dps 11 2000 dps ST1 STO Self test enable Default value 00 00 Self test disabled Other See Table 31 SIM SPI serial interface mode selection Default value 0 0 4 wire interface 1 3 wire interface Table 31 Self test mode configuration ST1 STO Self test mode 0 0 Normal mode 0 1 Self test 0 x positive sign Y and Z negative sign 1 0 1 1 Self test 1 1 X negative sign Y 2 positive sign 1 DST sign absolute value in Table 3 8 6 CTRL REG5 24h Table 32 REG5 G register BOOT FIFO EN INT1 5 1 1 SelO Out Out 5 10 Table 33 REG5 description BOOT Reboot memory content Default value 0 0 normal mode 1 reboot memory content FIFO EN FIFO enable Default value 0 0 FIFO disable 1 FIFO enable HPen High pass filter enable Default value 0 0 HPF disabled 1 HPF enabled See Figure 18 INT1 Selt INT1 SelO INT1 selection configuration Default value 00 See Figure 18 Out Sel1 Out 5 10 Out selection configuration Default value 00 See Figure 18 44 74 3 10024763 Rev 2 93
71. recognition Default YUPE value 0 0 disable interrupt request 1 enable interrupt request YLIE Enable interrupt generation on Y low event or on Direction recognition Default YDOWNE value 0 0 disable interrupt request 1 enable interrupt request XHIE Enable interrupt generation on X high event or on Direction recognition Default XUPE value 0 0 disable interrupt request 1 enable interrupt request XLIE XDOWNE Enable interrupt generation on X low event or on Direction recognition Default value 0 0 disable interrupt request 1 enable interrupt request DoclD024763 Rev 2 65 74 114 Register description LSM9DSO Table 110 Interrupt mode AOI 6D Interrupt mode 0 0 OR combination of interrupt events 0 1 6 direction movement recognition 1 0 AND combination of interrupt events 1 1 6 direction position recognition The difference between AOI 6D 01 and AOI 6D 11 is as follows AOI 6D 01 is movement recognition An interrupt is generated when the orientation moves from an unknown zone to a known zone The interrupt signal stays for a duration ODR AOI 6D 11 is direction recognition An interrupt is generated when the orientation is inside a known zone The interrupt signal stays until the orientation is inside the zone 8 57 INT GEN 2 SRC 35h This register contains the status for the inertial interrupt generator 2 Table 111 INT GEN 2 SRC regist
72. runtime test which determined that the battery would run out before the device generated any notable amount of heat G Moisture Test The moisture test was put on hold initially due to the lack of a suitable neoprene case While the test was to occur once a neoprene case had been purchased it eventually was not run due a combination of a lack of time and the actual case H Shatter Test The Shatter Test became obsolete when the housing partly broke during the drop test If the housing could not normally survive the fall from one story it most likely would not survive it if it was supercooled either I Battery Runtime Test This test was run by and at the home of Alexander Mead ows A web camera was setup to record the device during the testing process The device was then powered on being powered by a new Energizer lithium ion battery or a new Duracell alkaline battery and the recording started Fig 14 Short Distance Test around center tables in 3001 Riverside Hall By Team D I M 1 Test Results device ran for over 10 5hrs before losing power which is longer than the expected time between most search and rescue personnel s report periods What this result means is that a 9V can supply power to the device for an extended period of time Only the lithium ion worked for our application as it not only powered the device it did so for an extended period of time The N type battery did not successfully power the Ar
73. sensor and by the electrostatic test force For polarity please refer to Table 31 Self test mode configuration Linear acceleration main digital blocks FIFO The LSM9DS0 embeds 32 slots of data FIFO for each of the three output channels X Y and Z This allows consistent power saving for the system since the host processor does not need to continuously poll data from the sensor but it can wake up only when needed DoclD024763 Rev 2 Ly LSM9DSO 72 Functionality 4 2 2 4 2 3 4 2 4 4 2 5 4 2 6 3 and burst the significant data out from the FIFO This buffer can work accordingly in four different modes Bypass mode FIFO mode Stream mode and Stream to FIFO mode Each mode is selected by the FIFO MODE bits in F FO SRC REG 2Fh Programmable watermark level FIFO Empty or FIFO Full events can be enabled to generate dedicated interrupts on the INT1 XM INT2 XM pin configured through F FO SRC REG 2Fh Bypass mode In Bypass mode the FIFO is not operational and for this reason it remains empty For each channel only the first address is used The remaining FIFO slots are empty FIFO mode In FIFO mode data from the X Y and Z channels are stored in the FIFO A watermark interrupt can be enabled FIFO WTMK EN bit in F FO CTRL REG 2Eh in order to be raised when the FIFO is filled to the level specified in the WTMK LEVEL bits of CTRL REG 2 The FIFO continues filling until it is full
74. the same feature by providing communication and logic between the replacement devices 5 Ideal Sampling Rate Unattainable Sampling rate is important to the overall accuracy of the device because a larger provides more samples which allow for better precision and accuracy Because a significant amount of data will need to be logged an external card is necessary File write operations require an fileOpen before each write begins and a fileClose following each write In the event that the sampling rate exceeds that of the write speed data loss will occur To mitigate this extensive testing will be done to find a storage medium that allows for fast write speeds without running into the loss of data This test will run into the positional data to see what sorts of impacts a lowered sampling rate has directly on the algorithm developed Faster class cards will be purchased in order to see if this has any sort of impact on read write speed In the event hardware cannot mitigate the issue research will be done on more efficient software SD write algorithms with further implementation based on the results from the research D Minor 1 Team Member Absence In the event that a team member is absent we will continue working without them In case of team votes there vote will be counted as abstained making a two person majority all that is needed If an extended absence is required then we will make plans and divide the work assigned to that memb
75. watch the same episode on YouTube using a wireless connection This extra power consumption would become a problem in wearability as it would require the device to store more power internally and thereby have a larger battery which would increase the weight of the device making it more uncomfortable to wear Because of the combination of these three problems it would not be logical to pursue data storage using a wireless off device storage mechanism Since wireless off device data storage was decided against the implementation of local data storage has to be considered this can be broken into three parts storage medium storage connection and file type The feature of local data storage depends on the other features and parts of the device in order to work It requires data to be read from the sensors used in the self referential feature in order to have data to record The wearability feature requires that the device housing can fit the storage hardware without the device as a whole becoming burdensome to the wearer The software component feature had the most impact on the local data storage feature because not only did it help determine the file type used to record data to it also helped determine the data recording medium that would be used based off of what connection ports are available on the common laptop 7 Feature Visualization Software The software portion of the system is created using the Unity3D Game Engine The engine is used
76. with Hour Allocation Task Alex Andre Joey Yan Total Hrs Camera Rotation 0 0 8 0 8 Menu 0 0 15 0 15 Exit 0 0 9 0 9 Load 0 0 21 0 21 Display 0 0 20 0 20 Render Points 0 0 18 0 18 Compile 0 0 7 0 7 Sample Test 4 0 2 0 6 Recorded File Test 2 1 3 10 16 TABLE X Feature Software Fall 2014 Completed Tasks with Hour Allocation VIII TASKS UNDERTAKEN IN SPRING 2015 The intention behind the proposed featureset was to promote modularity in design and to allow for team members to work within their areas of expertise As such Yan Lin and Andre Julien focused primarily on the device interfacing on the AtMega328 platform This particular aspect of the 17 Task Alex Andre Joey Yan Total Hrs Assignment 1 15 5 15 5 15 5 15 5 62 Assignment 2 10 24 25 16 5 30 80 75 Assignment 3 19 5 58 0 32 Assignment 4 14 729 1 9 17 5 40 9 Assignment 5 2 1 5 8 12 5 24 Assignment 6 80 5 116 101 115 75 413 25 Assignment 7 23 5 29 5 22 52 127 TABLE XI Completed Course Assignments Fall 2014 Individual Member Contributions self referential feature involved the selection of sensors and establishing a kinematic model Additionally this team also implemented the Local Data Storage feature due to it being the key component to the integration of both hardware and software aspects Due to his expertise within the Unity3D software development kit Joseph Youngblood was assigned to th
77. withstanding an 11kg weight resting on it it did not survive drop tests While successfully surviving stress tests were not required as part of the test process they provided a means to determine if they met deployable prototype standards Due to the change in kinematic model team DIM decided to revisit the MPU 6050 sensor The original IMU selection process was based off of the LSM9DSO having a built in magnetometer which when fused properly would provide the device with a reference for orientation However due to uniform flux and the risk behind making last minute changes the device was kept strictly for the use of the accelerometer The reasoning for continuing work with the MPU 6050 was due to the vendor Invensense advertising that the device had a built in Digital Motion Processor capable of generating yaw pitch and roll at high sampling rates along with a number of other parameters one of which happened to include a built in pedometer feature While the team was aware that the vendor provided documentation was sparse at best Jeff Rowberg of I2Cdevlib wrote numerous sample sketches that exhibited the operation of the libraries with well commented code pertaining to each function call and its input and output parameters However despite improved documentation and progress made beyond initial compiler errors team DIM was unable to successfully implement pedometer functionality into their hardware sketch Using the experience wit
78. 00 FTH4 FTHO FIFO watermark level Default value 00000 Table 96 FIFO mode configuration FM2 FM1 FMO FIFO mode 0 0 0 Bypass mode 0 0 1 FIFO mode 0 1 0 Stream mode 0 1 1 Stream to FIFO mode 1 0 0 Bypass to Stream mode Interrupt generator 2 can change the FIFO mode 8 51 SRC REG 2Fh Table 97 FIFO_SRC_REG register WTM OVRN EMPTY FSS4 553 552 551 550 Table 98 SRC REG description WTM Watermark status WTM bit is set to 1 when FIFO content exceeds watermark level OVRN FIFO Overrun status OVRN bit is set to 1 when FIFO buffer is full 3 62 74 10024763 Rev 2 LSM9DSO Register description Table 98 FIFO REG description continued EMPTY Empty status EMPTY bit is set to 1 when all FIFO samples have been read and FIFO is empty 554 550 FIFO stored data level 554 550 bits contain the current number of unread FIFO levels 8 52 INT GEN 1 REG 30h 3 This register contains the settings for the inertial interrupt generator 1 Table 99 INT GEN 1 REG register AOI 6D ZHIE ZLIE YHIE YLIE XHIE XLIE ZUPE ZDOWNE YUPE YDOWNE XUPE XDOWNE Table 100 INT GEN 1 REG description And Or combination of Interrupt events Default value 0 Refer to Table 101 Interrupt mode 6D 6 direction detection function enabled Default value 0
79. 000 The D6 DO bits set the minimum duration of the Interrupt 2 event to be recognized Duration steps and maximum values depend on the ODR chosen CLICK CFG 38h Table 117 CLICK CFG register 20 25 YD YS XD xs Table 118 CLICK_CFG description ZD Enable interrupt double click on Z axis Default value 0 0 disable interrupt request 1 enable interrupt request on measured accel value higher than preset threshold ZS Enable interrupt single click on Z axis Default value 0 0 disable interrupt request 1 enable interrupt request on measured accel value higher than preset threshold YD Enable interrupt double click on Y axis Default value 0 0 disable interrupt request 1 enable interrupt request on measured accel value higher than preset threshold YS Enable interrupt single click on Y axis Default value 0 0 disable interrupt request 1 enable interrupt request on measured accel value higher than preset threshold DoclD024763 Rev 2 67 74 117 Register description LSM9DSO Table 118 CLICK CFG description XD Enable interrupt double click on X axis Default value 0 0 disable interrupt request 1 enable interrupt request on measured accel value higher than preset threshold XS Enable interrupt single click on X axis Default value 0 0 disable interrupt request 1 enable interrupt request on mea
80. 010 output OUTYHM Table 15 r 0B 000 1011 output OUTZLM Table 15 r 0C 000 1100 output OUTZHM Table 15 r 00 000 1101 output Reserved Table 15 0 000 1110 WHO I XM Table 15 r OF 000 1111 01001001 Reserved Table 15 10 11 INT CTRL REG M Table 15 rw 12 001 0010 11101000 INT SRC REG M Table 15 r 13 001 0011 output INT THS L M Table 15 rw 14 001 0100 00000000 INT THS H M Table 15 rw 15 001 0101 00000000 OFFSET M Table 15 rw 16 001 0110 00000000 OFFSET XH M Table 15 rw 17 001 0111 00000000 OFFSET Y L M Table 15 rw 18 001 01000 00000000 OFFSET M Table 15 rw 19 001 01001 00000000 OFFSET 21 M Table 15 rw 1A 001 01010 00000000 2 H M Table 15 rw 1B 001 01011 00000000 REFERENCE X Table 15 rw 1C 001 01100 00000000 REFERENCE Y Table 15 rw 1D 001 01101 00000000 REFERENCE Z Table 15 rw 1E 001 01110 00000000 CTRL REGO XM Table 15 rw 1F 001 1111 00000000 CTRL REG1 XM Table 15 rw 20 010 0000 00000111 CTRL REG2 XM Table 15 rw 21 010 0001 00000000 CTRL REG3 XM Table 15 rw 22 010 0010 00000000 CTRL 4 XM Table 15 rw 23 010 0011 00000000 CTRL REG5 XM Table 15 rw 24 010 0100 00011000 CTRL REG6 XM Table 15 rw 25 010 0101 00100000 CTRL REG7 XM Table 15 rw 26 010 0110 00000001 DoclD024763 Rev 2 39 74 88 Register mapping LSM9DSO Table 17 Register address map continued Slave Register address Name Address Type Default Hex Binary
81. 125 TIME LATENCY register TLA6 TLAS TLA4 TLAS3 TLA2 TLA1 TLAO Table 126 TIME LATENCY description TLA7 TLAO Click time latency Default value 0000 0000 8 65 TIME WINDOW 3Dh Table 127 TIME_WINDOW register TW7 TW6 TW5 TW4 TWS3 TW2 TW1 TWO Table 128 TIME WINDOW description TW7 TWO Click time window 8 66 THS 3Eh Table 129 TIME WINDOW register Acth6 Acth5 Acth4 Acth3 Acth2 Acth1 0 Table 130 TIME WINDOW description Acth 6 0 Sleep to Wake Return to Sleep activation threshold 1 LSb 16 mg DoclD024763 Rev 2 69 74 3 Register description LSM9DSO 8 67 DUR 3Fh Table 131 Act DUR register ActD7 Actos Actos Actb4 AcD3 Actp2 ActDO Table 132 Act DUR description ActD 7 0 Sleep to Wake Return to Sleep duration DUR Act DUR 1 8 ODR 70 74 DoclD024763 Rev 2 Ly 119 LSM9DSO Package information 9 Note 3 Package information In order to meet environmental requirements ST offers these devices in different grades of packages depending on their level of environmental compliance ECOPACK specifications grade definitions and product status are available at www st com ECOPACK is an ST trademark Table 133 LGA 4x4x1 mm 24 lead mechanical data see note 1 and 2 Databook Typ Note
82. 2 E eset Eus eee uet deer ee kde ue Se fou 30 XIV Battery Runtime ed he eel ae 30 Test Results noo Suh RET S a Ad Rudi sean A 31 XV Test Plan and Test Results for Software 31 ShortDistance Test xad Ars Ime ean Ee I Week e Sos ede es 31 1 de P e Sed 31 XV B Medium Distance Test 22 52 IE NON ACE 31 Teste Results dme xt muni noo AM ne Sul dO Ud TRIER E Ro Roses edis peed so ds ts 31 XVI Long Distance Test 32 XVI 2 Test Results s etos th MN iS Fee Pk vo osa Tr Aen ache 32 AVEA Unit Test 2o o nee ee Sob Se ee ae uiuat ue ated oe 32 XVEAT Test Results aoro Ee UE ARES qus 32 ANVEB Sample Data Test 2 4 4 0 3 56 he ORNS Rep gue ORS 32 XVEBT Results ge wm o Noc cete RU Re NUM 32 XVII Record Data File Test 33 XVIEA Test Results 4h REL quU bv tetigi Edel uu ERE LOS 33 XVIII Overload Test 33 XVIIA Test Results euet BASE ee age RN Rede S RS DV rt etes 33 XIX Conclusion 33 Glossary 33 References 33 Appendi
83. 4 010 0100 00000000 REFERENCE_G Table 16 rw 25 010 0101 00000000 Reserved Table 16 26 STATUS_REG_G Table 16 r 27 010 0111 output OUT_X_L_G Table 16 r 28 010 1000 output OUT_X_H_G Table 16 r 29 010 1001 output OUT_Y_L_G Table 16 r 2A 010 1010 output OUT_Y_H_G Table 16 r 2B 010 1011 output OUT_Z LG Table 16 r 2C 010 1100 output OUT_Z_H_G Table 16 r 2D 010 1101 output FIFO CTRL Table 16 rw 2E 010 1110 00000000 FIFO_SRC_REG_G Table 16 r 2F 010 1111 output INT1_CFG_G Table 16 rw 30 011 0000 00000000 INT1_SRC_G Table 16 r 31 011 0001 output INT1_TSH_XH_G Table 16 rw 32 011 0010 00000000 INT1_TSH_XL_G Table 16 rw 33 011 0011 00000000 INT1_TSH_YH_G Table 16 rw 34 011 0100 00000000 INT1_TSH_YL_G Table 16 rw 35 011 0101 00000000 INT1_TSH_ZH_G Table 16 rw 36 011 0110 00000000 INT1_TSH_ZL_G Table 16 rw 37 011 0111 00000000 INT1_DURATION_G Table 16 rw 38 011 1000 00000000 Reserved Table 15 00 04 DoclD024763 Rev 2 Ly 87 LSM9DSO Register mapping 3 Table 17 Register address map continued Slave Register address Name Address Type Default Hex Binary OUT_TEMP_L_XM Table 15 r 05 000 0101 output OUT_TEMP_H_XM Table 15 r 06 000 0110 output STATUS_REG_M Table 15 r 07 000 0111 output OUT_X_L_M Table 15 r 08 000 1000 output OUT_X_H_M Table 15 r 09 000 1001 output OUT_Y_L_M Table 15 r 0A 000 1
84. 500 gt 6 250 5 t 2 0 0 10 20 30 40 200 500 1000 Service hours Discharge mA 100 mA Continuous Discharge 500 mA Continuous Discharge 10 10 9 5 9 9 gt 8 2 8 a 8 7 S 7 o gt 6 9 6 5 5 0 2 4 6 8 0 0 0 8 1 2 1 6 Service hours Service hours Important Notice This datasheet contains typical information specific to products manufactured at the time of its publication Energizer Holdings Inc Contents herein do not constitute a warranty Form No EBC 4217 Page 1 of 1 131 Unity System Requirements 1 Generally content developed with Unity can run pretty much everywhere How well it runs is dependent on the complexity of your project More detailed requirements Desktop OS Windows XP Mac OS X 10 6 Ubuntu 10 10 SteamOS o Graphics card DX9 shader model 2 0 capabilities generally everything made since 2004 should work CPU 55 2 instruction set support o Web player supports IE Chrome Firefox Safari and others e iOS requires iOS 4 3 or later e Android OS 2 3 1 or later ARMv7 Cortex CPU OpenGL ES 2 0 or later e Blackberry OS 10 or later 132 11 29 2014 Gmail Question for a design project Gma i Yan Lin lt wildseven gmail com gt Question for a design project 11 messages Yan Lin lt wildseven gmail com gt Sat Sep 6 2014 at 5 43 PM To Ray Stedronsky lt ladder106 gmail com gt Hey Ray I m working on a design project for school and we re
85. 62 Table98 SRC description 1 62 Table 99 GEN 1 63 Table 100 INT GEN 1 REGdescription 63 Ky DoclD024763 Rev 2 7 74 56 List of tables LSM9DSO Table 101 Interrupt mode 63 Table 102 INT GEN 1 64 Table 103 INT GEN 1 SRC description 64 Table 104 INT1 THSregister 1 64 Table 105 INTI THS description ou orna coe tdeo ks st ek merken Rn 64 Table 106 INT1 DURATION register 65 Table 107 INT1 DURATION 65 Table 108 INT GEN 2 65 Table 109 INT GEN 2 REGdescription 65 Table 110 Interrupt mode sss oc kc ore cde EUR HR Ste scis RC d 66 Table 111 INT 2 SRC register ides te RE RE thaw eed ee es 66 Table 112 INT GEN 2 SRC description 66 Table 113 INT GEN 2 register
86. 7 05 Aug 2013 2 Updated Section 5 1 Updated Section 9 Package information Minor textual updates throughout Section 8 Register description DoclD024763 Rev 2 73 74 122 LSM9DSO Please Read Carefully Information in this document is provided solely in connection with ST products STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections modifications or improvements to this document and the products and services described herein at any time without notice All ST products are sold pursuant to ST s terms and conditions of sale Purchasers are solely responsible for the choice selection and use of the ST products and services described herein and ST assumes no liability whatsoever relating to the choice selection or use of the ST products and services described herein No license express or implied by estoppel or otherwise to any intellectual property rights is granted under this document If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein UNLESS OTHERWISE SET FORTH IN ST S TERMS AND CONDITIONS OF SALE ST DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH
87. 8 41 Lyr Table 74 REG2 XM description ABW 1 0 Accelerometer anti alias filter bandwidth Default value 00 Refer to Table 75 Acceleration anti alias filter bandwidth AFS 2 0 Acceleration full scale selection Default value 000 Refer to Table 76 Acceleration full scale selection AST 1 0 Acceleration self test enable Default value 00 00 self test disabled see Table 77 Self test mode configuration SIM SPI Serial Interface Mode selection Default value 0 0 4 wire interface 1 3 wire interface Table 75 Acceleration anti alias filter bandwidth ABW1 ABWO Anti alias filter bandwidth 0 773 2 0 194 2 1 362 2 1 50 2 Table 76 Acceleration full scale selection AFS2 AFS1 AFSO Acceleration full scale 0 0 29 0 1 49 0 0 69 0 1 89 1 0 169 Table 77 Self test mode configuration AST1 ASTO Self test mode 0 Normal mode 0 Positive sign self test Negative sign self test 1 Not allowed CTRL REG3 XM 22h Table 78 REG3 XM register P1 BOOT P1 TAP P1 INT1 P1 INT2 P1 INTM P1 DRDYA P1 DRDYM P1 EMPTY DoclD024763 Rev 2 57 74 106 Register description 107 LSM9DSO 8 42 58 74 Table 79 REG3 XM description P1 BOOT Boot INT1 XM pin enable Default value 0 0 disable 1 enable P1 TAP Tap generator interrupt on INT1 XM pin
88. 9 15 14 Fall Assignment 3 9 22 14 9 22 14 Fall Assignment 4 9 29 14 9 29 14 Fall Assignment 5 10 7 14 10 7 14 Fall Assignment 6 10 21 14 10 21 14 Fall Assignment 7 12 1 14 12 1 14 Spring Assignment 1 12 8 14 12 8 14 Spring Assignment 2 2 9 15 2 9 15 Spring Assignment 3 3 2 15 3 2 15 Spring Assignment 3 3 16 15 3 16 15 Spring Assignment 4 4 6 15 4 6 15 Spring Assignment 5 4 20 15 4 20 15 Spring Assignment 6 5 4 15 5 4 15 Spring Assignment 7 5 11 15 5 11 15 TABLE II Feature Documentation Deadlines and Completion Dates Task Due Date Date Completed Read Accelerometer 10 1 14 9 24 14 data Fuse Gyroscope Data 10 2 14 11 10 14 Puss Magnetometet 10 21 14 11 17 14 Data Data Filtering 11 25 14 11 17 14 Function for Position 2 11 15 12 28 14 TABLE III Feature Self Referential Deadlines and Completion Dates 14 Task Due Date Date Completed Record to Micro SD 10 21 14 10 1 14 card Implement Data 4 20 15 4 18 15 Storage Protocol New Search Session 4 18 15 4 20 15 TABLE IV Feature Local Data Storage Deadlines and Completion Dates Task Due Date Date Completed Camera Rotation 10 27 14 10 27 14 Menu 10 30 14 10 27 14 Exit 10 31 14 10 31 14 Load 11 6 14 11 6 14 Display 11 26 14 11 26 14 Render Points 10 31 14 10 31 14 Compile 10 29 14 10 29 14 Sample Test 3 5 15 3 14 15 Recorded File Test 2 18 15 2 18 15 Lines 11 6 14 11 6 14 Filter Da
89. AODR2 AODR1 AODRO BDU AZEN AYEN AXEN DoclD024763 Rev 2 55 74 104 Register description LSM9DSO Table 71 REG1 XM description AODR3 AODRO Acceleration data rate selection Default value 0000 0000 power down mode others refer to Table 72 Acceleration data rate configura tion BDU Block data update for acceleration and magnetic data Default value 0 0 continuous update 1 output registers not updated until MSB and LSB have been read AZEN Acceleration Z axis enable Default value 1 0 Z axis disabled 1 Z axis enabled AYEN Acceleration Y axis enable Default value 1 0 Y axis disabled 1 Y axis enabled AXEN Acceleration X axis enable Default value 1 0 X axis disabled 1 X axis enabled AODR S 0 is used to set the power mode and ODR selection The following table indicates all frequencies resulting from the combination of AODR 3 0 Table 72 Acceleration data rate configuration AODR3 AODR2 AODR1 AODRO Power mode selection 0 0 0 0 Power down mode 0 0 0 1 3 125 Hz 0 0 1 0 6 25 Hz 0 0 1 1 12 5 Hz 0 1 0 0 25 2 0 1 0 1 50 Hz 0 1 1 0 100 Hz 0 1 1 1 200 Hz 1 0 0 0 400 Hz 1 0 0 1 800 Hz 1 0 1 0 1600 Hz 8 40 CTRL REG2 XM 21h ABW1 Table 73 CTRL_REG2_XM register ABWO AFS2 AFS1 AFSO AST1 ASTO SIM 56 74 DoclD024763 Rev 2 Ly 105 LSM9DSO Register description
90. AccelerationX get set public float TimeSlice set public float Heading get set foreach var item in input_list if in_step true _headAverage item Heading 6fx _headAverage item Heading _curIndex 28 if item AccelerationX average lt offset step_counter in_step false can_step 1 _headAverage _headAverage Mathf PI 180 current position previous position new Vector3 step size Mathf Sin headAverage scale 0 0f step size Mathf Cos headAverage scale if previous position StartPoint DrawLineLocal current position previous position CurrentSet previous position else if can step lt 0 if item AccelerationX average gt offset in_step true _headAverage curIndex 2 current_position item Heading else can step This version of the software would see many tweaks to get to the current version These tweaks were mostly aesthetic and the most major allowed the user to graph multiple sets of data on top of each other starting at different positions We did this by adding a parent object typed as graphed data and when the clear data on screen is selected we find all objects with that type and delete them While these changes added small amounts in code they improved the functionality tremendously XIII MECHANICAL Since this solution to the social problem was devised
91. CALIFORNIA STATE UNIVERSITY SACRAMENTO DARK INERTIAL MAPPING END OF PROJECT DOCUMENTATION Authors Andre JULIEN Yan LIN Alexander MEADOWS Joseph YOUNGBLOOD Instructor Professor TATRO May 03 2015 Abstract Index Terms I II III IV VI CONTENTS 1 1 Introduction 1 Design Idea and Revised Societal Problem 1 Design Idea Contract oe nen E ev e rb ERREUR RECS RUE RU RO E 2 II A1 Backeround 5 acu RU ART NV It e E ee eS 2 II A2 Inertial Navigation suede Bo pene RC XR TERR OE SUR ter fee cr et Cep Dee ec 2 II A3 Sets aid exo x weh deas uem ek prr aco ee DR emm 2 II A4 Feature Self Referential 2 II A5 Feature Wearables VE RU ECCE RU 3 II A6 Feature Local Data Storage 3 II A7 Feature Visualization Software 2 22222 ern 3 II A8 Current Implementations 2 4 9 Dead Reckoning 4 II B Revised Societal Problem e e ae ia a a e T ee 4 II C Market REVIEW cox Go bron thy AP DES TR ALS cR tre RIDE RU URP RE AR RT reet 5 II C1 Public Sector i e si eos sooo roue x OS voe OR oe SUE RO s 5 II C2 Private SeCctoE 22 06 em eee e e oed ab docte t des Goth or 6 II C3 Matket Competition s s
92. Dark Inertial Mapping As part of a four person team implementing passive emergency personnel path mapping to facilitate incident command MIPS Pipeline Data path As part of a two person team implemented a six stage sixteen bit instruction MIPS pipeline data path using the Synopsys tool Implemented basic integer arithmetic floating point multiplication register forwarding and hazard detection KNOWLEDGE AND SKILLS Computer Languages C Perl Verilog X86 Assembly Java Turbo Pascal Visual Basic HTML Systems Linux Unix Mac OSX Windows Software Applications Quartus XIlinx ISE VIM Multisim PSpice GDB JGrasp MS Office Tools Synopsys Digilent Analog Discovery Oscilloscope Function Generator Communication Organization Leadership Extensive experience managing business workflow 6 years experience managing multidisciplined technical teams while coordinating with other essential departments Bilingual English French WORK EXPERIENCE Hardware Validation Engineering Intern Intel Corporation 9 14 Current Service Manager PCP Motorsports 8 04 8 11 Jr Systems Administrator PCP Motorsports 1 06 1 11 PDI Technician Service Writer PCP Motorsports 1 97 3 04 Package Handler United Parcel Service 1 96 1 01 ACTIVITIES AND ACCOMPLISHMENTS Dean s Honor List Member IEEE Tau Beta Pi Hold US Canadian and French Citizenship 142 Yan Lin 11740 Barbwire Ct Elk Grove CA 95624 530 574 4779 y
93. Hive is unavailable all of the assignment prompts and lectures have been uploaded to the teams Google Documents server for access If the Hive is unavailable during a submission period each teammate will attempt to submit the assignment in the event that the issue is client based If the issue is server based the instructor will be notified and provided a copy for review via e mail before the hand in deadline with all group members CCd To best mitigate this issue assignments and weekly reports should be completed and submitted by the end of the previous day 2 File Structure Exceeds Filestructure Limitations FAT32 file structure has an individual file limitation of 4 0GB per individual file This initially posed a concern to the group because of the uncertainty of length for individual rescue operations Because of the large amounts of individual posi tional datum of insigificant size it would require a significant session of continuous data logging to exceed this filesize To accommodate for this potential risk field technicians who operate in first response emergency rescue will be contacted to provide information regarding the average time of rescue in specific circumstances in order to ensure the final product meets these needs without imposing on the hard limits of the filestructure potentially by segmenting long files 3 Interface Unintuitive It is not atypical for software user interfaces to be designed in a manner that
94. IIEH3 Interface DevieeS Sw Ro Dw ee SA ee VIII H4 DEVICE Testne 222 m De oe ey we spe S Ec ee RE S Eocal Data Storage lt o oS Sea Ee els AU Cpu e Eu SERE Implement Data Storage 1 VIIE I2 New Search Session 5d he se be eb we BR XS ee be VIL Software une ee OR Ale ae PA A Gh Oe WR Vu VIII J Camera Rotation eoo ee RR REG um REG ea MIIEJ2 Ment cio awn ae Slee he e he Ie REG CIR eI Te eun RASERCRUE DITE EIS I CD UE ret bd ese ER Up Ee RES ne RUE vig d v es MITIS Display s 2c eres AE OR Pus mer RE POE OR Moe POSS VIN J6 Draw position point on 3 axis space VIEI Eies PET T MII JI8 Compile Code 865 be RR gm EEG mE e VMEK Wearabilityz o Re Ioue AUREIS CI leg a etes WE Tus 3D prnthousing 222222504206 ER RB RITE UE cR EE RS E VIII K2 Battery selection s 4 a c 22er rs VIN K3 Integrate Device into Housing es VIII K4 Performance 2 User Manual IX A Device Usage Overview oo ee teg og bed qua Cue ues Bep eu EIS xr EX B Limitations ETE Ro e REY eel RS edu
95. INYOPTO TruTranslation UHC UltraFET UniFET VCX Wire FACT Quiet Series Across the board Around the world The Power Franchise Programmable Active Droop POP Power247 DISCLAIMER PowerEdge SPM Stealth SuperFET SuperSOT 3 FAIRCHILD SEMICONDUCTOR RESERVES THE RIGHT TO MAKE CHANGES WITHOUT FURTHER NOTICE TOANY PRODUCTS HEREIN TO IMPROVE RELIABILITY FUNCTION OR DESIGN FAIRCHILD DOES NOT ASSUME ANY LIABILITY ARISING OUT OF THE APPLICATION OR USE OF ANY PRODUCT OR CIRCUIT DESCRIBED HEREIN NEITHER DOES IT CONVEY ANY LICENSE UNDERITS PATENT RIGHTS NOR THE RIGHTS OF OTHERS LIFE SUPPORT POLICY FAIRCHILD S PRODUCTS ARE NOT AUTHORIZED FOR USE AS CRITICAL COMPONENTS IN LIFE SUPPORT DEVICES OR SYSTEMS WITHOUT THE EXPRESS WRITTENAPPROVAL OF FAIRCHILD SEMICONDUCTOR CORPORATION As used herein 1 Life support devices or systems are devices or systems which a are intended for surgical implant into the body or b support or sustain life or c whose failure to perform when properly used in accordance with instructions for use provided in the labeling can be reasonably expected to result in significant injury to the user PRODUCT STATUS DEFINITIONS Definition of Terms 2 A critical component is any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or sys
96. If the bit was 1 Read a repeated START SR condition will have to be issued after the two sub address bytes if the bit is 0 Write the master will transmit to the slave with the direction unchanged Table 15 and Table 16 explain how the SAD Read Write bit pattern is composed listing all the possible configurations Linear acceleration and magnetic sensor address Table 15 Linear acceleration and magnetic sensor SAD read write patterns Command SDO 5 0 XM pin SAD 6 2 SAD 1 0 R W SAD R W Read 0 00111 10 1 00111101 3D Write 0 00111 10 0 00111100 3C Read 1 00111 01 1 00111011 3B Write 1 00111 01 0 00111010 3A Angular rate sensor address Table 16 Angular rate SAD read write patterns Command SAD 6 1 SAD 0 SDO G SAO0 pin R W SAD R W Read 110101 0 1 11010101 D5h Write 110101 0 0 11010100 D4h Read 110101 1 1 11010111 D7h Write 110101 1 0 11010110 D6h DoclD024763 Rev 2 33 74 83 Digital interfaces LSM9DSO 6 2 34 74 SPI bus interface The is a bus slave The allows writing and reading the registers of the device The serial interface interacts with the outside world through 4 wires CS SPC SDI and SDO Figure 12 Read and write protocol CS SPC M ux RE uu uuu uuum Wi SDI Ao Wc ACE d AA ek AAA AA DI7 DI6 DI5 DI4 DIS DI2 DM DIO MS 5 AD4 AD3 AD2 AD1 ADO
97. M RES XM accelerometer and magnetic sensor 1 0 11b 350 yA in normal mode 2 see CTRL REG5 _XM 24h Idd G Gyroscope current consumption in 61 m normal mode Idd G LP Gyroscope xu current 2 mA pis in sleep mode Idd Pdn Current consumption in power down 6 uA mode VIH Digital high level input voltage 0 8 Vdd IO V VIL Digital low level input voltage 0 2 Vdd IO V VOH High level output voltage 0 9 Vdd IO V VOL Low level output voltage 0 1 Vdd IO V Top Operating temperature range 40 85 Typical specifications are not guaranteed Magnetic sensor setting ODR 76 25 Hz Accelerometer sensor ODR 50 Hz gyroscope in power down mode Accelerometer and magnetic sensor in power down mode 2 709 mc Sleep mode introduces a faster turn on time compared to power down mode Accelerometer and magnetic sensor power down mode 5 Linear accelerometer magnetic sensor and gyroscope in power down mode b LSM9DSO is factory calibrated at 3 0 V 3 16 74 DoclD024763 Rev 2 LSM9DSO Module specifications 2 4 Communication interface characteristics 2 4 1 SPI serial peripheral interface Subject to general operating conditions for Vdd and Top Table 6 SPI slave timing values Value Symbol Parameter Unit Min Max te SPC SPI clock cycle 100 ns fc sPC SPI clock frequency 10 MHz tsu cs CS setup time 5 thics CS hold time 20 tsu SI SDI input setup time
98. MIEN Enable interrupt recognition on Y axis for magnetic data Default value 0 0 disable interrupt recognition 1 enable interrupt recognition ZMIEN Enable interrupt recognition on Z axis for magnetic data Default value 0 0 disable interrupt recognition 1 enable interrupt recognition PP OD Interrupt pin configuration Default value 0 0 push pull 1 open drain IEA Interrupt polarity for both accelerometer and magnetometer Default value 0 0 interrupt active low 1 interrupt active high IEL Latch interrupt request on accelerometer NT GEN 1 SRC 31h and INT GEN 2 SRC 35h registers and magnetometer NT SRC REG M 13h register Default value 0 0 interrupt request not latched 1 interrupt request latched Once the IEL is set to 1 the interrupt is cleared by reading for the accelerometer the INT GEN 1 SRC 31h and INT GEN 2 SRC 35h registers and for the magnetome terthe NT SRC REG M 13h register 4D 4D enable 4D detection on acceleration data is enabled when 6D bit in INT GEN 1 REG 30h is set to 1 MIEN Enable interrupt generation for magnetic data Default value 0 0 disable interrupt generation 1 enable interrupt generation DoclD024763 Rev 2 53 74 103 Register description LSM9DSO 8 30 8 31 8 32 8 33 8 34 54 74 INT SRC REG M 13h Table 66 INT REG M register M PTH X M PTH Y M PTHZ NTH X M NTH Y M NTH Z MROI MINT
99. MU is the initial sub activity requiring com pletion as the remainder of sensor implementation depends on this task The MPU 6050 has a number of adjustable on chip features that become available upon the establishment of the communication bus As such changing the sensitivity of the MPU 6050 is dependent on the I2C communication protocol working To change the sensitivity of the device it requires that the microcontroller can write to the internal registers of the IMUs The address for changing the sensitivity of the device can be located in the devices data sheet There are a number of benefits and disadvantages to reducing the device sensitivity One of the primary advantages of reducing the sensitivity is the reduction in noise obtained from the measured data However in doing so acceleration data within the sensitivity dead zone is not measured The MPU 6050 has four sensitivity modes for its accelerometer and gyroscope Research and testing will be conducted to ascertain a nominal setting that provides a minimal noise impact on the data as well as an acceptable level of sensitivity The IMU has the ability to lower its sampling rate to reduce its power consumption In the MPU 6050 data sheet has four low power modes listed with their respective accelerometer current draw These modes are 10A at 1 25Hz 20A at 5Hz 60A at 20Hz and 110A at 40Hz 33 While this produces a reduction in the frequency of data being read from the sensor it
100. OW 69 Table 130 TIME WINDOW 69 table 131 Act DUR register orere mee ee Ra yx Goa ode eer PR Ip RU eur a 70 Table 132 Act DUR description unu tae eee ee 70 Table 133 LGA 4x4x1 mm 24 lead mechanical data see note 1 4 2 71 Table 134 Document revision 1 73 8 74 3 DoclD024763 Rev 2 57 LSM9DSO List of figures List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 3 Block diagrami d alc bu x arabi abe EVE rb cd 10 EE ERR EE i LO IDOL 11 SPIslave timing diagram hcm RR ER RR RR E 17 2 slave timing diagram 18 Gyroscope block dlagram 2 eae x dudes FRE Rx eee 24 Bypass mode suae dono doro de Ge deg ox RE RET 25 FIFO MOJE
101. REG5 XM 24h register to 1 Both OUT TEMP H XM and OUT TEMP L XM registers must be read Temperature data is stored inside OUT TEMP L XM 05h OUT TEMP H XM 06h as two s complement data in 12 bit format right justified The output data rate of the temperature sensor is set by M ODR in CTRL REG5 XM 24h and is equal to the magnetic sensor output data rate Factory calibration The IC interface is factory calibrated The trimming values are stored inside the non volatile memory of the device Any time the device is turned on the trimming parameters are downloaded into the registers to be used during normal operation This allows the using the device without further calibration 3 DoclD024763 Rev 2 LSM9DSO Application hints 5 5 1 3 Application hints Figure 11 LSM9DS0 electrical connections XM G SA0_G SDO s 4 cs Pin 1 indicator 1 4 SDA L SDO XM SA0 L 1 4 cs _ 4 scusPC Res G 18 o vdd IO 4 1 1L VIEW Vdd 1 2 u 13 INT1 XM ELI EIE 100nF 10yF AL 4 7uF External capacitors The C1 and C2 external capacitors should be low SR value ceramic type construction typ rec
102. Refer to Table 101 Interrupt mode ZHIE Enable interrupt generation on Z high event or on direction recognition Default ZUPE value 0 0 disable interrupt request 1 enable interrupt request ZLIE Enable interrupt generation on Z low event or on direction recognition Default ZDOWNE value 0 0 disable interrupt request 1 enable interrupt request YHIE Enable interrupt generation on Y high event or on direction recognition Default YUPE value 0 0 disable interrupt request 1 enable interrupt request YLIE Enable interrupt generation on Y low event or on direction recognition Default YDOWNE value 0 0 disable interrupt request 1 enable interrupt request XHIE Enable interrupt generation on X high event or on direction recognition Default XUPE value 0 0 disable interrupt request 1 enable interrupt request XLIE XDOWNE Enable interrupt generation on X low event or on direction recognition Default value 0 0 disable interrupt request 1 enable interrupt request Table 101 Interrupt mode 6D Interrupt mode 0 0 OR combination of interrupt events 0 1 6 direction movement recognition 1 0 AND combination of interrupt events 1 1 6 direction position recognition DoclD024763 Rev 2 63 74 113 Register description LSM9DSO The difference between AOI 6D 01 and AOI 6D 11 is as follows AOI 6D 01 is movement recognition An interrupt is generated when the ori
103. STATUS_REG_A Table 15 r 27 010 0111 output OUT X L A Table 15 r 28 010 1000 output OUT_X_H_A Table 15 r 29 010 1001 output OUT YLA Table 15 r 2A 010 1010 output OUT_Y_H_A Table 15 r 2B 010 1011 output OUT Z LA Table 15 r 2C 010 1100 output OUTZHA Table 15 r 2D 010 1101 output CTRL REG Table 15 rw 2E 010 1110 00000000 FIFO_SRC_REG Table 15 r 2F 010 1111 output INT_GEN_1_REG Table 15 rw 30 011 0000 00000000 INT_GEN_1_SRC Table 15 r 31 011 0001 output INT_GEN_1_THS Table 15 rw 32 011 0010 00000000 INT_GEN_1_DURATION Table 15 rw 33 011 0011 00000000 INT_GEN_2_REG Table 15 rw 34 011 0100 00000000 INT_GEN_2_SRC Table 15 r 35 011 0101 output INT_GEN_2_THS Table 15 rw 36 011 0110 00000000 INT_GEN_2_DURATION Table 15 rw 37 011 0111 00000000 CLICK_CFG Table 15 rw 38 011 1000 00000000 CLICK_SRC Table 15 r 39 011 1001 output CLICK_THS Table 15 rw 3A 011 1010 00000000 TIME_LIMIT Table 15 rw 3B 011 1011 00000000 TIME _LATENCY Table 15 rw 3C 011 1100 00000000 TIME_WINDOW Table 15 rw 3D 011 1101 00000000 Act_THS Table 15 rw 3E 011 1110 00000000 Act DUR Table 15 rw 3F 011 1111 00000000 40 74 Registers marked as Reserved must not be changed Writing to those registers may cause permanent damage to the device The content of the registers that are loaded at boot should not be changed They contain the factory calibrated values Their content is automatically restored when the device is powered up DoclD024763 Rev 2 3 89 LSM9DSO
104. Sensor Data the breakout board for the LSM9DSO is the large IMU at 1 3 x 6 x 1 while weighing approximately 1 8 grams compared to the MPU 6050 whose size is 8 x 6 x 1 and weighs 1 1 grams The logic level converter which is used to change the Arduinos 5V output signals to 3 3V and vice versa in nec essary due to the required voltages for both the Arduino and the LSM9DSO Since they require different voltages to communicate it becomes necessary to shift the voltage to the required values for them to properly pass data The logic level converter does require that it be supplied with both 5V and 3 3V supplies as well as ground This means that just for the part to be able to be ready to use it requires 3 wires That said it is a relatively small part with a size of 0 63 x 0 52 x 1 and an approximate weight of 75 grams The micro SD shield for the Arduino is designed to fit directly on top of the Arduino to save space It also converts the Arduinos 5V logic to 3 3V logic so as to not burn out the micro SD cards Because it is designed to fit directly over the Arduino it is one of the larger pieces at 2 125 x 2 375 x 1 weighing approximately 11 6 grams However it does provide a prototyping surface located directly above the Arduino which can be utilized to reduce the total required space for the device The Arduino microcontroller is by far the largest and heav lest part but also the most important for th
105. TPUT mgl CTRL REG2 XM 21h ast1 0 enabled OUTPUT mgl CTRL REG2 XM 21h ast1 0 disabled 7 For polarity refer to Table 77 Self test mode configuration 8 ST1 0 disabled 9 For polarity refer to Table 31 Self test mode configuration 14 74 DoclD024763 Rev 2 Self test output change is defined as OUTPUT mg CTRL_REG4_G 23h 571 0 enabled OUTPUT mg CTRL_REG4_G 23h 3 LSM9DSO Module specifications 2 2 Temperature sensor characteristics The electrical characteristics concerning the temperature sensor are given in the table below Vdd 3 0 V 25 C unless otherwise noted Table 4 Temperature sensor electrical characteristics Symbol Parameter Test conditions Min Typ Max Unit Temperature sensor output TSDr 8 LSB C change vs temperature TODR Temperature refresh rate 7 po Hz Top Operating temperature range 40 85 C 1 Typical specifications are not guaranteed 2 Referto Table 84 Magnetic data rate configuration ky DoclD024763 Rev 2 15 74 64 Module specifications LSM9DSO 2 3 Electrical characteristics Vdd 3 0V T 25 C unless otherwise noted Table 5 Electrical characteristics Test 1 Symbol Parameter conditions Min Typ Max Unit Vdd Supply voltage 24 3 6 V Vdd IO Module power supply for I O 1 71 1 8 Vdd 0 1 HR setting CTRL REG5 Current consumption of the XM
106. The supplied DIM exe should be place in a folder on the computer where the visualization will be viewed All imported run data will need to be placed with in the same folder as the e 21 Fig 5 UI Functionality Navigation taken by team D I M Fig 6 UI Functionality Run Color By Team D I M executable Insert the card reader into the PC and transfer the run files to the folder containing the executable Double click on the DIM exe and launch the program UI navigation is as follows See Fig 5 1 Click the Icon then specify the settings you want to run on Move the data csv files into the same directory as the program Select the file from the select file button in the same directory 4 Select the color you want to use in the top right Fig 6 5 Right click to select where you started 6 Set your scale and step size as well as your offset if needed 7 Select Pedometer Function Controls Camera movement can be controlled by both directional arrow KEYS and W A S D keys screen relative Scroll wheel moves the camera stickily in the z axis up and down CTRL key locks the inputs not allowing for any input e Mouse movement turns the camera e R key resets the position that you are starting from to 0 0 0 the center of the map Right click anywhere on the map to set the starting point of the graphing the data 2 3 wm Buttons e Clear clears the screen e Pedometer
107. Vos 10V 15 2 2 5 Vos GATE TO SOURCE VOLTAGE V Figure 5 Transfer Characteristics 126 861554 Rosi NORMALIZED DRAIN SOURCE ON RESISTANCE 04 0 6 lp DRAIN CURRENT A Figure 2 On Resistance Variation with Drain Current and Gate Voltage lp 110mA T 125 C Roson ON RESISTANCE OHM 2 4 6 Vas GATE TO SOURCE VOLTAGE V Figure 4 On Resistance Variation with Gate to Source Voltage Ta 125 C 15 REVERSE DRAIN CURRENT 0 2 0 4 0 6 0 8 1 Vsp BODY DIODE FORWARD VOLTAGE V Figure 6 Body Diode Forward Voltage Variation with Source Current and Temperature BSS138 Rev C W 127 Typical Characteristics 861554 o o o BR CAPACITANCE pF Vas GATE SOURCE VOLTAGE V 02 04 06 08 1 12 14 16 18 10 20 30 40 Q GATE CHARGE nC Vos DRAIN TO SOURCE VOLTAGE V Figure 7 Gate Charge Characteristics Figure 8 Capacitance Characteristics 2 Roson LIMIT Vas 10V SINGLE PULSE Roya 350 C W Ta 25 C lt E z tr iva 2 4 4 a a P pk PEAK TRANSIENT POWER W 0
108. a receiver can t receive another complete byte of data until it has performed 32 74 DoclD024763 Rev 2 Ly 81 LSM9DSO 82 Digital interfaces 3 some other function it can hold the clock line SCL LOW to force the transmitter into a wait state Data transfer only continues when the receiver is ready for another byte and releases the data line If a slave receiver doesn t acknowledge the slave address i e it is not able to receive because it is performing some real time function the data line must be left HIGH by the slave The master can then abort the transfer A LOW to HIGH transition on the SDA line while the SCL line is HIGH is defined as a STOP condition Each data transfer must be terminated by the generation of a STOP SP condition In order to read multiple bytes it is necessary to assert the most significant bit of the sub address field In other words SUB 7 must be equal to 1 while SUB 6 0 represents the address of first register to be read In the presented communication format MAK is Master Acknowledge and NMAK is No Master Acknowledge Default address SDO SAO0 pins SDO 5 0 XM or SDO G SAO0 can be used to modify the least significant bit of the device address If the SAO pin is connected to the voltage supply LSb is T ex address 0011101b else if SAO pad is connected to ground the LSb value is 0 ex address 0011110b The slave address is completed with Read Write bit
109. acceleration data to a revised implementation utilizing a dead reckoning algorithm During the spring semester a market review was also conducted assessing and reviewing previous attempts by other teams to address similar issues in coordination of Search and Rescue efforts A Design Idea Contract 1 Background Based on research conducted by Team DIM it was made evident that the condition of Lost or Disoriented was considered an impactful cause of loss of life for first response emergency personnel Publications released by FEMA between the years of 2003 and 2012 provided the statistics of fatalities In these annual reports 3 the U S Fire Administration listed Lost or Disoriented as a category for nature of fatality containing resulting cause of fatality as a result of these factors Within the given years of the reports 10 personnel fatalities were reported in structure fire incidents where the nature of fatality was due to being lost or disoriented The nature of the deaths was primarily due to asphyxiation With the population increase in urban areas and the age and condition of buildings there is an increasing concern of death and injury in the case of a catastrophic event The University of California has released to Los Angeles city officials a list of about 1 500 old concrete buildings that are potentially at risk of collapse during an earthquake 4 Compounded with predictions that catastrophic events will incre
110. aces e Advanced gesture recognition e Gaming and virtual reality input devices Display map orientation and browsing Description LSM9DS0 is a system in package featuring 3D digital linear acceleration sensor a 3D digital angular rate sensor and a 3D digital magnetic sensor The LS8M9DSO has linear acceleration full scale of 29 4g 6g 8g 16g a magnetic field full scale of 2 4 8 12 gauss and an angular rate of 245 500 2000 dps The LSM9DSO includes an 2 serial bus interface supporting standard and fast mode 100 kHz and 400 kHz and an SPI serial standard interface The system can be configured to generate interrupt signals on dedicated pins and is capable of motion and magnetic field detection Thresholds and timing of interrupt generators are programmable by the end user Magnetic accelerometer and gyroscope sensing can be enabled or set in power down mode separately for smart power management The LSM9DSO is available in a plastic land grid array package LGA and it is guaranteed to operate over an extended temperature range from 40 C to 85 C Table 1 Device summary Part number Temperature range C Package Packing LSM9DSO 40 to 85 LGA 24 Tray LSM9DSOTR 40 to 85 LGA 24 Tape and reel August 2013 DoclD024763 Rev 2 1 74 This is information on a product in full production www st com 50 Contents LSM9DSO Contents 1 Block diagram and pin de
111. ake up and free fall interrupt signal according to a programmed acceleration event along the enabled axes Self test Accelerometer The self test allows the linear acceleration sensor functionality to be tested without moving it The self test function is off when the self test bit ST is programmed to 0 When the self test bit is programmed to 1 an actuation force is applied to the sensor simulating a definite input acceleration In this case the sensor outputs exhibit a change in their DC levels which are related to the selected full scale through the device sensitivity When the self test is activated the device output level is given by the algebraic sum of the signals produced by the acceleration acting on the sensor and by the electrostatic test force If the output signals change within the amplitude specified inside Section 2 1 Sensor characteristics then the sensor is working properly and the parameters of the interface chip are within the defined specifications Gyroscope The self test allows to test the mechanical and electric part of the sensor allowing the seismic mass to be moved by means of an electrostatic test force When the ST is activated by the IC an actuation force is applied to the sensor emulating a definite Coriolis force In this case the sensor output will exhibit an output change When the ST is active the device output is given by the algebraic sum of the signals produced by the velocity acting on the
112. ally done by feel only The lead man stops and calls for a radius search The second man clips his 20 ft rope onto the main line and goes out 20 ft The third man follows that 20 ft line then clips his 20 ft on and goes to the end etc Once the line or lines are taut the one two or three guys then start moving in a circle The man with the rope bag is the center and it s his job to tell the team when the circle is complete otherwise they just keep going As you can imagine this looks diagramatically like a large lollipop on map Variations on this would be used in a grocery store like area with large isles where the lead man would stop at an intersection and the short ropes could be deployed to the sides Other variations ate used depending on your creativity and how well drilled your team is So that s the short version of only one of the fun things you get to do as a fireman https mail google com mail u O ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp sim 1484d90b 4 8 136 11 29 2014 Gmail Question for a design project You guys should all try this at home ot at someone s apartment It s can be done by putting a hoodie on backwards and the hood over your face But the best way is to cover the inside of a pair of lab or shop goggles with a layer of wax paper then turn the lights out and use flashlight The very best learning exper
113. ally they could be referenced to a blueprint they do not have any initial position tracking nor are they capable of three dimensional positioning These devices have a heavy introduction cost its cost The components of portable unit alone add up to between US 2000 and 3000 not counting the fancy battery 28 This comes at a time when nearly three fourths of the countrys fire departments cant even afford spark safe radios at less than 750 a 28 FalTech GPS makes another competitive product called the GPS repeaters They operate by relaying the position of the exterior GPS receiver that is located outside the building through a broadcast station This signal is projected across the interior of a building 30 the repeater inside the building will relay the exact coordinates of the outdoor antenna to the interior of the building it will not provide co ordinates for the repeater unit itself 23 The data being received by all GPS devices within the building are actually receiving the GPS location of the external receiver rather than the device This demonstrates the inability of GPS to provide reliable indoor positioning even with the use of GPS repeaters Another popular field in search and rescue previously unmentioned was rescue robotics By creating a network of collaborative automated systems developers are capable of rapidly checking through terrain that has been ravaged by disaster This is in part due to awaren
114. anhlin gmail com OBJECTIVE A career in the Computer Engineering industry EDUCATION In Progress BS Computer Engineering CSU Sacramento May 2015 3 2 Sacramento State GPA Computer Engineering UC Davis April 2010 RELATED COURSES Senior Design Project Advanced Computer Organization Computer Hardware Design CMOS and VLSI Electronics Introduction to Microprocessors Current Semester KNOWLEDGE AND SKILLS Senior Project Indoor Pedestrian Mapping Utilizing Dead Reckoning In a 4 person team conducted research regarding the technological needs of Search and Rescue organizations Devised a device and accompanying software to improve the coordination efforts of both individual search personnel as well as search coordinators Computer Languages C Verilog Python MIPS X86 Assembly HTML Systems Windows OS X Linux Unix Software Applications Cadence PSPICE Cadence Virtuoso MultiSIM Microsoft Office VIM PROJECT EXPERIENCE MIPS Pipelined Datapath As part of a 2 person team developed a 6 stage pipelined datapath using the Synopsys tool Implemented basic integer arithmetic as well as floating point multiplication register forwarding and hazard detection in a 16 bit instruction format CMOS level design for Flash ADC Worked as part of a 2 person team to design both the gate level and layout levels for the decode logic 4 bit Flash Analog to Digital Converter using bubble suppress logic Overall design was impl
115. any units to the scene which results in increased data acquisition Finally low replacement costs compared with any robotic solution that currently costs as much as 50k USD 26 Low replacement cost enables the customer to reduce out of service times by have device inventory redundancy Between Governments and NGOs there is no device on the market that currently successfully addresss mapping GPS ob scured environments This creates an uncontested opportunity to penetrate this vacant segment By providing an extremely valuable additional tool to enhance and facilitate the command and control imperative team DIMs passive mapping device is positioned for a success and to be a leader in this vacant market segment while also potentially reducing casualties III FINANCIAL RESPONSIBILITY Due to the boom of maker culture in the past decade easy to use sensors and microcontrollers are available from a larger array of vendors at extremely competitive prices Devices that have very specific uses typically have higher price tags of which may not fall within the realm of reason for Project DIM and Senior Project In the event that a part is required but is a significant financial burden team members will assess the cost of the feature versus the significance of the feature to the core deliverable The team will then assess and brainstorm ways in whether this feature could be realized using separate components of more reasonably priced hardware and a
116. apping While a significant effort was placed on the DIM device to establish a valid kinematic model the DIM software represents a proposed solution to reducing search path redundancy for human operatives Upon each completed search the search coordinator can load the devices generated data into the software and better assess scheduling future searches With an aggregate search map this can eliminate repeated searches allowing for a better rate of survival for victim extraction For functionality the visualization software aspect has a complete dependency on valid data being generated from the DIM device The two core components within the visualization are the Pedometer function and the CalculatingData function The responsibility of the Pedometer function is to post process the accelerometer data generated by the MEMS device on the DIM device The way this is accomplished is through the implementation of a static gaitthreshold When a file is loaded this provides two key values to the software z axis acceleration and heading Acceleration was provided in gs 9 81 meters per second squared and heading was generated in degrees anti clockwise from North Each line is parsed values increase over a certain value a pedometer step is detected and a game object is created using this data For testing purposes a variety of static thresholds were tested to find an acceptable range in which steps were properly tracked In the internal versio
117. are non profit most of them have much smaller budgets and must use them wisely These groups generally are called upon by local emergency response establishments to respond to particular search and rescue events such as natural disasters and lost persons and are generally formed by persons of the community who are willing to take the time and energy to go through a training program and be willing to assist in a search effort when called upon This training is either done by more experienced rescue personnel within the organization as is done by the California Explorer Search and Rescue 11 or by going to a search and rescue school While there are multiple smaller search and rescue schools such as Sierra Rescue or King County Search and Rescue Association 12 13 the main one is the National SAR School run by the US Coast Guard and Air Force 14 Because these volunteer groups work in unison with local emergency crews they have a need to communicate what areas they have searched back to the local emergency crews who are organizing the search effort especially when doing a large scale search for missing person s These volunteer search and rescue organizations can be classified by the scale and locations that they serve Specif ically they can be classified local state and international Local Local search and rescue is groups like the Eugene Mountain Rescue 15 or Sacramento County Sheriffs Search and Rescue 16 that focus on do
118. ase more effective and reliable technologies are neces sary to assist Search and Rescue personnel We predict that the number of earthquakes with death tolls greater than 100 000 50 000 will increase in the 21st century to 8 73 3 20 5 4 3 from 4 7 observed in the 20th century 5 These figures suggested an increase in Search and Rescue missions that will require planning and coordination among rescue teams searching through buildings Collapsed structure rescue work is dangerous even with optimal safety practices being able to accurately determine when further risk becomes unwarranted may minimize overall risk to rescuers 6 With inefficient or nonexistent monitor ing of rescue personnel there is no information about what locations were searched so it would not be uncommon for an area to be searched repeatedly putting the rescuers in undue risk With accurate information search and rescue teams can quickly find holes in their patterns to ensure that all locations are checked 2 Inertial Navigation As a result of the research con ducted Team DIM was opted to devise a solution that would assist rescuers in expediting the extraction process of victims preventing unnecessary deaths due to unfamiliar environments low vision or disorientation an initial point of contact the members of Team DIM contacted Captain Ray Stedronsky The initial correspondence provided insight for the standard operating procedures that are ty
119. at is as short as possible By keeping the duration between sampled acceleration values as small as possible as that duration approaches zero seconds it is almost equivalent to the instantaneous acceleration at that point in time With this approximate instantaneous acceleration we can treat it as a constant for the purpose of positional calculation However if this introduces too much error we can include jerk the change in acceleration into our equations The jerk would be calculated by taking keeping the previous value of acceleration and calculating the difference with the new value of acceleration This difference would be the jerk which would be used in the calculation of that axiss position using the previous values of acceleration velocity and position Also as the amount of time between acceleration samples is very important for this to be implemented a measurement algorithm will be required to accurately measure the duration of time between samples since crystal oscillators oscillation rates can vary due to the temperature of the crystal Once the data has been filtered and run through the kine matic equations the data will have to be tested to ensure that it is producing a viable output As such the device will be moved in all three axes a set distance and then the data will be run through its conversion filtering and kinematic formulas That positional data will then be compared to the measured known distance that the device a
120. ater detail in the latter portions of this documentation As a result of the mitigation plan undertaken changes were made to the testing plan as well as the design in terms of both kine matic model and the corresponding interpretation of device data in the visualization software In order to still adhere to the original design idea contract the changes made to the device and software were strictly internal producing a similar experience in for demographic usage This consisted of maintaining the original accelerometer while integrating a high precision Honeywell HMC 6343 3 axis compass to accommodate for the problematic magnetometer incorporated in the 9DOF LSM9DSO package To measure the gait of the user the device is hip mounted to the operator during a performed search to record gait data This data is then analyzed by the visualization software which generates steps objects within the user environment utilizing PDR with a pre determined average gait size as well as a heading value generated from the new compass B Revised Societal Problem Based on a better understanding of the project the group began the Spring 2015 semester with a refinement of the origi nal problem statement From the original design idea contract the project s contextual shift moved from the extraction of the individual operator to enhancing the coordination efforts of search teams through the search coordination manager Stan dard operating procedures ty
121. ats that are available Then we would proceed by test ing how to write the chosen file type and what specifications go into that format Selecting the format is an important first step We will need to do some basic research on file formats that are currently used Once the team has done their research about the file format we will spend some time discussing what file format will be robust enough to save the sensor data After the debate we will need to make a final agreement and move forward with that file format 2 Connect SD shield to microcontroller After deciding the file format we will need to connect our microcontroller to a Micro SD card This will be done using a micro SD shield This shield attached directly to the top of the Arduino microcontroller Testing the connection from the microcontroller to the SD card is an important task This will be our first time we will be using the equipment so we need to plan extra time in order to account for our beginner level experience with the hardware It will be vital to test all aspects of the connection and the file making sure the file can handle data logs that become large and won t need the file to be split C Write code to save data to SD card After getting the connection to the SD card code for the micro controller is required to send and store the information on the SD card Validate file format Once the code has been written and the Microcontroller is interfacing properly with the se
122. bed in Figure 6 for each channel only the first address is used The remaining FIFO slots are empty When new data is available the old data is overwritten 3 DoclD024763 Rev 2 73 LSM9DSO Functionality 4 3 3 3 Figure 6 Bypass mode N yo 20 gt x Zi empty 2 y2 2 X31 Y31 231 07231 1 FIFO mode In FIFO mode data from the yaw pitch and roll channels is stored in the FIFO A watermark interrupt can be enabled 12 WMK bit in CTRL_REG3_G 22h in order to be raised when the FIFO is filled to the level specified in the WTM 4 0 bits of F FO CTRL REG 2Ebh The FIFO continues filling until it is full 32 slots of 16 bit data for yaw pitch and roll When full the FIFO stops collecting data from the input channels To restart data collection FIFO CTRL REG 2Eh must be written back to Bypass mode FIFO mode is represented in Figure 7 Figure 7 FIFO mode Xo yo Z0 Xi 24 X yo 22 X31 1 231 AMO07232v1 DoclD024763 Rev 2 25 74 74 Functionality LSM9DSO 4 3 4 Stream mode In Stream mode data from the yaw pitch and roll measurements is stored in the FIFO A watermark interrupt can be enabled and set as in FIFO mode The FIFO continues filling until it is full 32 slots of 16 bit data for yaw pitch and roll When full the FIFO discard
123. ble 67 SRC REG 54 Table 68 REGO XMregister 55 Table 69 REGO XM 55 Table 70 XMregister 55 Table 71 REG 56 Table 72 Acceleration data rate 56 Table 73 REG2 XMregister 56 Table 74 2 57 Table 75 Acceleration anti alias filter 57 Table 76 Acceleration full scale selection 1 57 Table 77 Self test mode 41 57 Table 78 CTRL_REG3_XM register 57 Table 79 CTRL_REG3 58 Table 80 CTRL_REG4 XMregister 58 Table 81 4 58 Table 82 CTRL_REG5S_XM register
124. cceleration gyroscopic pitch yaw and roll data to generate positional data from a given starting point The idea is to be able to start from an entrance of a building begin recording data and be able to create a bread crumb type of trail back to your origin Right now we just want to do a proof of concept but the idea is sort of like this https www youtube com watch v 6ijArKE8vKU Initially we re looking to just generate positional coordinates in a 3D space by double integrating acceleration data but apparently this is difficult due to the amount of noise devices create You need to create a Kalman filter to create a linear approximation of the data so it s smooth enough so when you integrate the data your noise doesn t generate issues in velocity as well as position From my understanding the visual component is not applicable due to smoke in a burning building but as a https mail google com mail u 0 ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 148409061703 98 amp 14840906 5 8 137 11 29 2014 Gmail Question for a design project result we think we can adapt it into a auditory cue that repeatedly tells you where you originally entered the room building etc when you want to exit The initial concept has a lot of applications The target product here is a dark device that can provide self referential positional data Sorry for the block of text Any
125. ces 35 A Datasheets ue eu Ote ete ER dod eR ER URS e HS AER SS A Codi CET P 35 B Xd EXE CV ee 8 140 3 tA amp ODO amp VII VIII XI XII XIII XIV XV LIST OF FIGURES HMC 6343 Three Axis Compass Team 15 Device Interior By Team 20 Device Strap Back By Team 21 Device Active Front By Team 21 UI Functionality Navigation taken by team 21 UI Functionality Run Color By Team 21 Basic Data flow By Team Re ew Pe RUE As RARE Rs 27 Basic Step Calculation By Team 27 Basic Step Calculation By Team 27 Main case body Team 29 Main case the other parts By Team 29 Static Time Test lu s som we ee m pep eese were eee V ERU ele s 29 Drop Test resulted in a fracture in the enclosure By Team 1 30 Short Distance Test around center tables in 3001 Riverside Hall By Team 31
126. ckly load data and select other options typical to most other software packages Basic menu to include options such as change the color of the lines as well as the individual points that are being generated other options include loading images in the background to overlay the data on top and options to load other csv files generated from the device This task was completed within 20 hours of work in the fall semester 3 Exit An important feature sometimes forgotten about being able to properly close the program This task was assigned and completed in 1 work hour in the fall semester 4 Load A basic feature to load the data that was saved from the device Loading will take place over USB but the file must be saved locally before it is loaded otherwise we can run into errors after the card has been ejected This task was completed after 16 hours of work in the fall semester 5 Display Displaying the data is a simple feature after it has been loaded to load the data into a three dimensional plane Creating points as small 3d game objects creating them at specific points x y z Upon completion of the interface rendering of the visual component will be implemented This will be accomplished by using the positional data generated by the device that is written to portable storage This task was completed within 40 non consecutive hours fall and spring semester 6 Draw position point on 3 axis space As described previously to draw the points
127. condary storage retesting the file is required Testing the file being created for both the accuracy of the data and the accuracy of the file format The last test we need to do is ensuring that the U S B device is working properly Test for robustness of the device as well as ensuring it can work in conditions that the device will be operated in 3 Test file compatibility with software Testing the file that is compatible is depended on the software we write to interface with the file This means that we must come to a beginning point of the software before we can test the connection between the device and the software 4 Make a button to enable disable data recording One issue with this implementation is that the file may need to be finalized or not being written to before the SD card can be removed This would stop any issue with file corruption from the ejection of a device prematurely Adding in an on off switch would allow the device to be turned into recording from recording mode to passive mode and a light would indicate which mode that was set in This 13 could be done by using a multicolored LED or using a flashing LED to indicate when the device is recording D Software Software is an important feature of any device It allows for the user to quickly get useful information from the device and use that information to make better decisions The software we write needs to be basic enough for any user to use however complex
128. ctually moved Once that data is valid the test will be repeated with the device at an angle and then finally while the device is rotating If the data 15 acceptable then the testing for movement is completed One of the main problems with accelerometers and gyro scopes is their tendency for noise When that noise becomes really apparent is when the accelerometers and gyroscopes are 10 not moving as they tend to indicate acceleration when there is none Because of this to thoroughly test both our filtering and calculations when the device is not moving the positional data output must show that it is not moving When the positional data that is output is acceptable then the testing for when the device is not moving is complete As the probability that the device and algorithms survive both with and without movement tests the coding and filtering for the device will go through many revisions to adjust the code for those cases As such beyond the initial creation of the algorithms the revisions required to enable the device to pass both tests will take time This activity also includes further optimization of the code as a result of later testing As testing and modifying the code will be an ongoing activity for the remainder of the project adjusting the code when we have further test case data will be ongoing throughout the semesters With every modification to the code after it has passed both tests for optimization or other reasons
129. d test it In order to field test it the software needs to go out to a group of people with varying technical abilities and ask them to complete a task monitoring how they work though the software and whether or not they are able to complete the given task Taking this information into account you should make your final changes and move to the last step 5 Deployment Deploying software is the last portion of building but it is very important that your target your deployment to the platforms that you want to use This means targeting windows computers and creating a simple installer so that the software can be quickly installed and run on any windows machine V TARGET DEADLINES The following is a tabulated list of expected due dates and actual completion dates of the projects tasks To avoid unnecessary filler and to assist in limiting the fatigue of reading a massive document the tasks and their explanation is listed only once in the Task Completed in Fall 2014 and Tasks undertaken in Spring 2015 sections of this report These deadlines were used to help keep us on track throughout the semester and most of them were met While the team did miss a few deadlines because of the modularity of the tasks explained in the Tasks undertaken in Spring 2015 section of this report the project was not delayed very much if one feature was delayed Task Due Date Date Completed Fall Assignment 1 9 8 14 9 8 14 Fall Assignment 2 9 15 14
130. duino and the alkaline 9V did not power the device for quite as long 8hrs so it did not provide as large a time buffer for search and rescue personnel to return XV TEST PLAN AND TEST RESULTS FOR SOFTWARE A Short Distance Test The Short Distance Test was conducted within the Senior Design Room Roughly 50 trials were conducted around the center table The perimeter of the path traversed consisted of a rectangular path of 9 144 meters by 3 048 meters The average gait length for a standard adult male is 2 5 feet or 0 762 meters Using a fixed gait length of 0 725 to accomodate for short steps because of a non standard movement path the test was run five times around the perimeter of the tables 1 Test Results Figure 14 shows the result of running the same test around the table with accumulated error over time Each separate color indicates a complete lap around the table What initially was targeted to be a poor static thresh hold for the pedometer function was actually the result of magnetic interference in the testing environment with the HMC 6343 Honeywell Three Axis Compass This is validated in Figure 2 where a line test is conducted The length of 9 144 meters is traversed with a total of 13 actual steps taken The point at the origin is always generated as part of the startup procedure Comparing the real world movement against the sensor data the user moves forward in a directly straight line However kept relatively stable t
131. e 105 INT1 THS description THS6 THSO Interrupt 1 threshold Default value 000 0000 64 74 DoclD024763 Rev 2 Ly LSM9DSO Register description 8 55 8 56 3 INT 1 DURATION 33h Table 106 INT1 DURATION register D6 D5 D4 D3 D2 D1 DO Table 107 INT1_DURATION description D6 DO Duration value Default value 000 0000 The D6 DO bits set the minimum duration of the Interrupt 1 event to be recognized Duration steps and maximum values depend on the ODR chosen INT_GEN_2_REG 34h This register contains the settings for the inertial interrupt generator 2 Table 108 INT_GEN_2_REG register AOI 6D ZHIE ZLIE YHIE YLIE XHIE XLIE ZUPE ZDOWNE YUPE YDOWNE XUPE XDOWNE Table 109 INT GEN 2 REG description AO And Or combination of Interrupt events Default value 0 Refer to Table 109 INT GEN 2 REG description 6D 6 direction detection function enabled Default value 0 Refer to Table 109 INT_GEN_2_REG description ZHIE Enable interrupt generation on Z high event or on direction recognition Default ZUPE value 0 0 disable interrupt request 1 enable interrupt request ZLIE Enable interrupt generation on Z low event or on direction recognition Default ZDOWNE value 0 0 disable interrupt request 1 enable interrupt request YHIE Enable interrupt generation on Y high event or on direction
132. e 46 Table 47 Table 48 6 74 Device s mtmary 2 nue mets ho o ede deoa 1 Pin description hh decens lege idea ee b 12 Sensor characteristics dune hoe oe Ru CR ne 13 Temperature sensor electrical characteristics 15 Electrical characteristics eere ree ra Sed Erden 16 SPI slave timing 17 2 slave timing 2522 2222 uses REPE weap dace bee 18 Absolute maximum 05 19 Serial interface pin description 31 2c terminology RE E etu 31 Transfer when master is writing one byte 32 Transfer when master is writing multiple bytes to slave 32 Transfer when master is receiving reading one byte of data from slave 32 Transfer when master is receiving reading multiple bytes of data from slave 32 Linear acceleration and magnetic sensor SAD read write 33 Angular rate SAD read write patterns 33 Register address 1 38 WHO AM I
133. e HMC6343 contains EEPROM non volatile memory locations registers to store useful compass data for processor routines The following Table shows the register locations content description and factory shipped defaults Table 1 EEPROM Registers Location mm ww fons foes Deviation Angle 1800 in tenths of a degree Deviation Angle 1800 in tenths of a degree 0x0C Variation LSB Variation Angle 1800 in tenths of a degree 0x00 0x0D Variation MSB Variation Angle 1800 in tenths of a degree 0x00 OxOF X Offset MSB Hard Iron Calibration Offset for the X axis 0x00 0x10 Y Offset LSB Hard Iron Calibration Offset for the Y axis 0x00 Filter LSB Heading IIR Filter 0x00 to OxOF typical Filter MSB Heading IIR Filter set at zero www honeywell com 9 HMC6343 Command Protocol The command protocol defines the content of the data payload bytes of protocol sent by the master and the slave device HMC6343 Note that angular outputs in tenths of a degree 0 3600 heading 30 900 tilt After the master device sends the 7 bit slave address the 1 bit Read Write and gets the 1 bit slave device acknowledge bit returned the next one to three sent data bytes are defined as the input command and argument bytes To conserve data traffic all response data Reads will be context sensitive to the last command Write sent All write commands shall have the addre
134. e ac celerometer and gyro that the MPU 6050 has it also has a magnetometer all with adjustable sensitivity The LSM9DSO has two communication methods that of SPI and I2C This IMU also has a low power mode as well as embedded self testing It also has a useful interrupt feature which can be used to start and stop data recording To communicate with the LSM9DSO we have the option between two communication protocols I2C and SPI The differences between the two communication techniques provide a tricky decision for us as there are advantages and disadvantages to both While SPI is faster than I2C at a blazing maximum speed of 10MHz compared to I2Cs maximum speed of 400 kHz it also requires using three wires instead of I2Cs two wires 34 The third wire stems from not having a bidirectional communication system thereby requiring separate wires to send and receive data Because of the additional data the magnetometer data being communicated to the microcontroller having a higher data transmission rate than the MPU 6050 could be beneficial As such more research into the advantages and disadvantages of both communication systems will have to be done before deciding which to implement Also because of the different register structure between the two IMUS the code can not be simply copied over Instead it would require adjustments to the register addresses referenced in the code in order to work Just like with the MPU 6050 the LSM9DSO ha
135. e effectiveness of smart energy devices for the California Energy Commission With a team of 9 researched the available devices developed a test plan and tested the devices My role in this project was to gather information concerning the capabilities of the devices and how to install them School Project Air G Working with another engineering student we designed built and programmed a glove based air guitar using flex sensors an accelerometer and an Arduino microprocessor It included user definable notes programmable tones volume control and variable tone length based off strumming speed School Project Three Bit Adder My partner and I designed a three bit added chip using only NAND and transmission gates This design process included calculating the how much each gate was driving We then laid out this design in L edit for a 5 micron process taking into consideration parasitic capacitance and cross talk ACCOMPLISHMENTS and ACTIVITIES Tau Beta Pi Engineering Honors Society Deans Honor Roll Delta Epsilon Iota Honor Society Campus Impact Award Working 10 hours per week while carrying 14 units per semester and maintaining a 3 9 GPA 144 Joey Youngblood 2501 Hurley Way Apt 53 Sacramento California 95825 925 858 0771 jyoungblood csus edu Work Experience LSD APPS 2014 current Lead Android Engineer Worked on developing an Android app that would be used by health and fitness professionals Built API
136. e entirety of the visualization software component The team assigned to Self Referential had to work closely with Youngblood in order to maintain parity data generated from the hardware and its respective interpretation on the software front Having a strong background in electronics engineering along with past experience with both designing and fabricating 3D printed components Alexander Meadows was assigned with handling the Wearable feature A Problem Statement Revision Revising our problem statement report to show our further understanding of the social problem we are solving This was broken into two parts research and writing The task of finding and summarizing sources was given to Joey and Alex while the main task of writing was given to Yan with support from Alex This is the only task assigned to Yan this week B Device Test Plan This assignment tasked us with writing a report about our test plan for our device The report was broken down into four main parts test plan writing metrics timeline and review Yan and Joey were assigned to write the test plan how the device or software is going to be tested Yan was assigned this part due to his writing skills while Joey was assigned because of his familiarity with software testing The creation of metrics and their explanation of why they are reasonable was assigned to Andre because of his down to earth nature The timeline portion of the report was assigned to the current
137. e rapid prototyping process It is used to control and communicate with all the other components of the device as well as acts as a regulated power supply That being said it does weight 28 grams and is large in size at 2 95 2 1 x 33 The total wiring weight is dependent on how many wires are used as well as what type of wire is used The standard weight of a 20 gauge wire is 3 5 lb per 1000 ft 35 so if the weight of the wire becomes a problem we could switch to using aircraft wire which is much lighter at 1 1 16 per 1000 ft 36 Therefore we do have options to minimize the total weight of the wiring besides just using less wire in our device 2 Battery Implementation A portable system either has a power storage system to power the device for when it is not connected or a form of power generation However in order for a device to be wearable it also requires that the device is lightweight Because of the size and added weight that a power generation system would cause a battery power supply system is the most viable option But not only do we need to test how much power the device is using while running we also have to research the required runtime in order to select the appropriate battery size The testing for how much power the device is using is a straightforward test It involves running the device in its highest power usage mode where each IMU sampling rate is at its maximum and it is consistently writing to the Micr
138. e the position it requires that the sampling rate of the data be known as it is vital for kinematics In order to reduce noise the sensitivity of the IMUs must be adjusted This has to be implemented in at least two different types of IMUs the MPU 6050 and the LSM9DSO For this subtask to be complete we must be able to get data from the sensors in which we will post process The MPU 6050 uses I2C communication protocol and has a default sensitivity of 2G This IMU has a low power mode in which it only samples the data at select intervals This low power mode will be further investigated and most likely included in later versions of the device The MPU 6050 also has self testing functionality in which each axis can be tested I2C communication protocol is used to read and write to addressed register banks located in the MPU 6050 This is done by using a two line communication bus One of these lines called SCL is dedicated to the communication clock which is produced by the microcontroller This clock is used for synchronization between the sensor and the microcontroller for transferring data along the other bus line called SDA In the SDA line the changing of bits either up or down for preparation for sending the next bit must happen while the clock on SCL is low else it could be interpreted as an early termination signal and error can and will occur Understanding and implementing the I2C protocol to be able to communicate to and from the I
139. eam decided to purchase the Honeywell HMC 6343 Three Axis Compass This particular risk actually occurred during the first project term for Team DIM in the Self Referential feature of the project Upon discovering that the team struggled to get an accurate Yaw through the LSM9DSO 9DOF sensor the team conducted research on devices that could provide accurate yaw Of the devices found the team decided to purchase the Honeywell HMC 6343 Three Axis Compass 3 Positional Measurements Unavailable The effect of positional measurements being unavailable is being reduced by using the kinematic equations so as to enable position to be calculated from either velocity acceleration or jerk measurements when the increment between measurements is known While this can introduce some error the error can be reduced by appropriate filtering algorithms 4 Overworked Exhaustion The effects of being over worked to exhaustion is being reduced by including time for a minimum of two hour naps while pulling all nighters and using stimulants mainly caffeine The risk of this is also being reduced by including a day within our schedule to not work on senior project that day In order to reduce the probability of this occurring the weeks tasks will be assessed following the course lecture on Tuesdays with a timeline for what needs to be completed throughout the week in order of priority These tasks will be distributed to team members according to their curre
140. ects of going long distances is mainly for observing the error created over a long period of recording time while in motion This test would be performed by starting the device at a fixed position and then traveling a long distance only to return the device to the same starting position By starting and ending at the same point we can see the amount of drift incurred by a long time recording data while moving without having to measure how long the distance actually is This method may also be implemented in the small distance test if traveling a fixed distance creates problems The quality of the data would determine based off of how far apart the starting point and the ending point is The long time test is an extended version of the no move ment test In this test the device is left in a still location and then retrieved after the low battery warning goes off This is to test the drift that occurs naturally due to noise From the data gained from this test the amount of noise from holding still should be more apparent as would its effect on the positional data To test the various effects that different speeds have on the accelerometer data we would test it similarly to the long distance test in that we would choose a speed to test the device at and then transport the device for a set period of time at that speed Once that time was completed the device would be brought back to the exact same starting position and the starting and ending
141. emented using the Cadence Virtuoso tool using a 0 18um process MIDI Arduino interface I2C Programmer As part of a 3 person group tasked with the implementation of a slave device using 12C for a MIDI Arduino interface that received file structure data and displayed it to an 8x12 LCD WORK EXPERIENCE Instructional Student Assistant California State University Sacramento 2 14 5 14 Provided assistance to laboratory instructor and students in the 117L Network Analysis laboratory for Spring 2014 Answered conceptual queries provided troubleshooting for PSPICE and circuit builds and graded student lab reports IS Support Desk Analyst Specialty Care 9 11 3 12 Facilitated the transition of services from former company during acquisition while maintaining previous responsibilities IT Specialist Active Diagnostics 12 09 9 11 Supported end users with IT related problems Established and maintained a routine preventative maintenance system for electronic medical equipment ACTIVITIES AND ACCOMPLISHMENTS Dean s Honor Roll Spring 2014 143 Alexander Meadows Folsom CA 95630 Alexander s meadows gmail com EDUCATION BS Electrical Electronics Engineering CSU Sacramento 3 927 2015 AS Multidisciplinary Math and Science Folsom Lake College 4 0 May 2012 EIT Certified Related Courses Device Physics Applied Electromagnetics Network Analysis Lab Advanced Analog Circuits Lab CMOS amp VLSI Feedback Systems Signa
142. ent for both IMUS is in units of g this requires the received data to be adjusted by a factor of the average gravitation constant of earth While this is not a difficult calculation the decimal precision will have to be taken into account as it can introduce error in later calculations Figuring out how many decimal places are required and how they affect the accuracy of the calculated positional data is another test that will have to run Because accelerometers and gyroscopes are naturally prone to noise filtering is another main activity in the project The main filtering technique we are attempting to utilize is geometric filtering Geometric filtering is where multiple sensors are positioned in a known geometric configuration and the position between them is precisely measured and used and a constant for checking their relative positions Because of the use of multiple IMUs we can also use weighted filtering for our data where the sensors whose measured data agree have a greater impact on the output of the filter than those whose measurement data disagrees The Kinematic equations state that it is possible to find a new position if a constant acceleration is held for a known duration and the initial position and velocity are known There is a problem with this for our application mainly that our acceleration is not constant To circumvent this problem we are going to treat the acceleration as if it were a constant value with a duration th
143. ent it from causing problems if there are any malfunctions it would first be tested during drills For this feature to be realized it must not only have decent battery life but also be light and durable 1 Build Components on breadboard Almost every device that includes microcontroller at some point in time is built on a breadboard to ensure that both the circuit and communication between parts work This project will also require a breadboard proof to ensure the device is possible For a better understanding as to what this requires we shall look at each part to note not only what it requires in terms of wiring but also what type of communication protocol it uses to exchange data with other parts The two IMUS that will be used include the MPU 6050 and the LSM9DSO The MPU 6050 requires a minimum of four wires to function two for data communication and two for power minimum of four or five wires is required for the LSM9DSO with two or three dedicated to data communication and two for power While both can be run off of 3 3V the MPU 6050 can also run off of five volts and does not require the use of a logic level converter unlike the LSM9DSO I2C protocol can be used by both IMUs however SPI is another communication option for the LSM9DSO which requires three wires for data communication hence the variable minimum wire count for this type of IMU For more information re garding communication methods refer back to Reading
144. entation moves from an unknown zone to a known zone The interrupt signal stays for a duration ODR AOI 6D 11 is direction recognition An interrupt is generated when the orientation is inside a known zone The interrupt signal stays until the orientation is inside the zone 8 53 GEN 1 SRC 31h This register contains the status for the inertial interrupt generator 1 Table 102 INT GEN 1 SRC register 0 IA ZH ZL YH XL XH XL Table 103 INT GEN 1 SRC description IA Interrupt Status Default value 0 0 no interrupt has been generated 1 one or more interrupts have been generated ZH Z high Default value 0 0 no interrupt 1 Z high event has occurred 2 Z low Default value 0 0 no interrupt 1 Z low event has occurred YH Y high Default value 0 0 no interrupt 1 Y high event has occurred YL Y low Default value 0 0 no interrupt 1 Y low event has occurred XH X high Default value 0 0 no interrupt 1 X high event has occurred XL X low Default value 0 0 no interrupt 1 X low event has occurred Reading at this address clears the NT GEN 1 SRC 31h IA bit and the interrupt signal on the corresponding interrupt pin and allows the refreshment of data in the INT GEN 1 SRC 31h register if the latched option was chosen 8 54 INT GEN 1 THS 32h Table 104 INT1 THS register 0 THS6 THS5 THS4 THS3 THS2 THS1 THSO Tabl
145. eoe 48 Ry m ele Sele e 6 II C4 Market Penetration s i wie aod BARRE oce RO De BUE eO ees 7 Financial Responsibility 8 Work Breakdown Structure 8 IV A Self R ferential ie Le Reda Ree eov Rum a 8 IV Al Read Sensor zs Re fee ee Re doe hohe we 8 IV A2 Calculating Position from 9 IV A3 Test ACCURACY Pole IEEE UR te RE 10 IV B Wearable sio t E coe bE EE ht Ape or P REND EUH qe 11 IV B1 Build Components on breadboard 11 IV B2 Battery Implementation ensis eee ee abe een web Ge ee chee hg es 11 IV B3 Create Housing i ag om tte eg B o eee S alee S ber eed ole Ss 12 4 Field Testing aus xe guava Ato AA 12 IV C stores Data Locally s ke ve RE E ode Reed Aud BOX ee ee 13 IV Cl select file formats on re Ru Be weeds ip ae ach ex 13 IV C2 Connect SD shield to microcontroller 13 IV C3 Test file compatibility with software 13 4 Make a button to enable disable data recording 13 IV D Softwares edan oe prx e dea ELEC EX 13 IV D1 Data 13 IV D2 Drawing
146. er 49 Table 52 1 THS 49 Table 53 INTI THS Giregister se 49 Table54 INT1 THS 49 Table 55 1 ZH Gregister 49 Table56 1 THS ZH 49 Table 57 1 ZL 50 Table 58 1 ZL 50 Table 59 1 DURATION 50 Table 60 1 DURATION Gdescription 50 Table 61 STATUS REG Mregister 52 Table62 STATUS 52 Table 63 AM I XMregister 1 53 Table 64 CTRL REG 53 Table65 CTRL REG 53 Table 66 SRC REG 54 Ta
147. er 0 IA ZH ZL YH YL XH XL Table 112 INT_GEN_2 SRC description IA Interrupt status Default value 0 0 no interrupt has been generated 1 one or more interrupts have been generated ZH Z high Default value 0 0 no interrupt 1 Z high event has occurred 2 Z low Default value 0 0 no interrupt 1 Z low event has occurred YH Y high Default value 0 0 no interrupt 1 Y high event has occurred YL Y low Default value 0 0 no interrupt 1 Y low event has occurred XH X high Default value 0 0 no interrupt 1 X high event has occurred XL X low Default value 0 0 no interrupt 1 X low event has occurred Reading at this address clears the NT GEN 2 SRC 35h IA bit and the interrupt signal on the corresponding interrupt pin and allows the refreshment of data in the INT GEN 2 SRC 35h register if the latched option was chosen 66 74 DoclD024763 Rev 2 Ly LSM9DSO 116 Register description 8 58 8 59 8 60 3 INT GEN 2 THS 36h Table 113 INT GEN 2 THS register 0 THS6 THS5 THS4 THS3 THS2 THS1 THSO Table 114 INT GEN 2 THS description THS6 THSO Interrupt 1 threshold Default value 000 0000 INT GEN 2 DURATION 37h Table 115 INT GEN 2 DURATION register 0 D6 D5 D4 D3 D2 D1 DO Table 116 INT_GEN_2_DURATION description D6 DO Duration value Default value 000 0
148. er to process multiple IMU data The impact is solely related to time required to debug converted code 3 Communication Breakdown Communication breakdown is intrinsic to every group project Since a break down will always occur at some point once it is discovered the group must briefly examine the assigned task documentation along with meeting notes and figure out where the communication went wrong if possible The damage if any must be assessed followed by a solution to repair any damage from the break down caused Finally the repair must be implemented 4 Insufficient Hardware If the currently selected hardware configuration is insufficient then a more appropriate alternative must be ordered and implemented in a timely manner as to not 5 Delay do to non project priorities These delays will inevitably occur Most are easily solved by communicating to teammates your current status and how long the delay will impact your particular portion This must then be measured against any dependencies that exist as a result of the delay Another team member may have to increase their workload to compensate for the delay C Medium 1 Hive Down From team members experience in a previ ous class that used the ECS Hive service it was not uncommon for the ECS Hive to experience downtime The Senior Design course uses the Hive as a content management system as well as a submission portal for course documents In the event connectivity to the
149. er to the rest of the team and do our best to incorporate them in any votes we are having during their time away 2 Power Consumption Concerns Expectations Because of our inexperience with using devices powered by battery we have included extra time and resources dedicated to getting the device to work on a battery power supply We are predicting that there will be issues either getting the power supply to work and function properly with the device We have dedicated extra time in order to complete this task as well as extra funds predicting that we may ruin one or two things while working with the device We have also considered the fact that we may get done sooner than expected and if that is the case we will add extra tasks to the design requiring that we create a breadcrumb trail back to the starting location 3 Equipment Loss While this issue could be caused by many different things such as a car break in or even equipment being misplaced we have a simple solution to buy a new one We will have to take into account the shipping time of most of the equipment we buy and delay sections of the project possibly moving ahead of tasks we are on and attempting to predict their outcome in order to work on subsequent tasks 4 Personal Computer Failure Similar to the issue listed above with a similar standing policy with a slight twist We all have personal computers and because of that we would be able to use the machine that was given to us and a
150. ess in position and environmental telemetry between devices to maximize the search efficiency While robotic search systems have advanced to the point that they could be tested to be used in urban search and rescue humans still do not want to trust the robots autonomous systems for search and rescue and prefer to remotely control them rather than allowing the robot to utilize its search programing Additionally due to the the dynamic nature of environments humans are capable of interpreting unfamiliar data reactively whereas in rescue robotics this can lead to errors based on their programming Because of this distrust and the cost of the robots humans will still be needed and used as search personnel especially in areas that cannot afford the robots Also their positioning is still dependent on GPS and sending wireless data back to their base thus limiting their range because of this communication requirement An extensive evaluation of competing products was performed in Location and Navigation Support for EmergencyResponders authored by Fischer and Gellersen in 2009 31 In their study they analyzed 9 different products using distinct movement models and provided insight on the shortcomings of each implementa tion These varied from positional drift over time to sensitivity to environmental changes The methods that employed beacons ran the risk of loss in position as a result of the beacons being moved or destroyed Wireless implemen
151. et Reset Pulse and to the magnetic sensor readout chain the offset is dynamically cancelled The Zero gauss level does not show any dependency on temperature or power supply 3 2 6 Zero rate level 3 The zero rate level describes the actual output signal if there is no angular rate present zero rate level of highly accurate MEMS sensors is to some extent a result of stress to the sensor and therefore the zero rate level can slightly change after mounting the sensor onto a printed circuit board or after exposing it to extensive mechanical stress This value changes very little over temperature and time DoclD024763 Rev 2 21 74 71 Functionality LSM9DSO 4 4 1 4 1 1 4 1 2 4 2 4 2 1 22 74 Functionality The LSM9DSO is system in package featuring digital accelerometer a 3D digital magnetometer and a 3D digital gyroscope The device includes specific sensing elements and two IC interfaces capable of measuring both the acceleration magnetometer and angular rate applied to the module and to provide a signal to external applications through an 5 2 serial interface The various sensing elements are manufactured using specialized micromachining processes while the IC interfaces are developed using a CMOS technology that allows the design of a dedicated circuit which is trimmed to better match the sensing element characteristics The LSM9DS0 may also be configured to generate an inertial w
152. eter ODR 50 Hz or accelerometer in power down mode refer to Table 72 AODR setting 8 44 CTRL REG6 XM 25h Table 85 REG6 XM register o MFS1 MFSO 0 0 00 007 007 1 These bits must be set to 0 for the correct operation of the device 3 DoclD024763 Rev 2 59 74 108 Register description 109 LSM9DSO Table 86 REG6 XM description MFS1 Magnetic full scale selection Default value 01 MFSO Refer to Table 87 Magnetic full scale selection Table 87 Magnetic full scale selection MFS1 MFSO Magnetic full scale 0 0 2 gauss 0 1 4 gauss 1 0 8 gauss 1 1 12 gauss 8 45 CTRL_REG7_XM 26h Table 88 CTRL_REG7_XM register AHPM1 AHPMO AFDS o o MLP MD1 MDO 1 These bits must be set to 0 for the correct operation of the device Table 89 CTRL_REG7_XM description AHPM1 High pass filter mode selection for acceleration data Default value 00 AHPMO Refer to Table 90 High pass filter mode selection AFDS Filtered acceleration data selection Default value 0 0 internal filter bypassed 1 data from internal filter sent to output register and FIFO MLP Magnetic data low power mode Default value 0 If this bit is 1 the MODR is set to 3 125 Hz independently from the MODR settings Once the bit is set to 0 the magnetic data
153. etion of a search path this data was interpreted with respect to human gait patterns Using this data search maps were created within a virtual space to simulate the paths travelled by the operatives allowing for the generation of localization data in areas that were unable to sustain a reliable level of GPS service The two project terms spanning Fall 2014 through Spring 2015 provided the timeline for the creation of the Dark Inertial Mapping system The fall term was used to find a societal problem with compelling evidence supporting this claim and to propose an engineering solution to address it Despite a number of changes that occurred as the result of the prototype review at the end of the Fall project term the managed to revise the device to reflect a new kinematic model while still falling within feature set enumerated in the original Design Idea Contract A market view was conducted in order to assess the With an enhanced understanding of the device s intended use and role the original problem statement was revised to target Search Coordination Managers As a result software was updated accordingly to provide a better user experience for the end product The system as a whole intends to increase the rate of survival in search and rescue operations by enhancing coordination through the reduction of redundancy in search path planning 33 GLOSSARY IMU Inertial Measurement Unit 8 11 13 15 20 24 infill The process of creating a
154. ft behind due to its inhibiting nature These issues were problems that wanted to mitigate and Team DIM decided that our device should be a self contained light weight and low cost system This meant that the proposed system had to be made up of inexpensive and lightweight parts Since obtaining signals out of these environments sometime takes a large antenna and a signal generator to send out we were not able to use communication on our device Team DIMS device will be able to track its position on its own and could not rely on outside communication for assistance or back up This became the core parameter of our project and was taken as a benchmark of reliability to be self sufficient and require no set up of communication devices during a time of crisis This would minimize impact on the search and rescue teams who implemented our device Because the hardware was chosen to be both passive and self referential the only visualization tool was through the software package Thusly the hardware depends on the software to display its results The hardware and software choices were made as a joint effort such as choosing the file type and choosing what data is saved Furthermore when testing the device more requests for functionality were made for the software These features were added to help testing and typically proved to improve the software The hardware components were also limited to the specificity that they could be wearable This meant
155. ftware and the output would be manually compared to the expected output These test were run and had no complications giving the expected output These fake data sets will be used for future cases to ensure that the software is working before releasing a build This test does not work with the unit test and will need to be manually run XVII RECORD DATA FILE TEST Ensure that the file saved by the device is readable by the program Test Results Using the results obtained in the distance testing it is evident that the data recorded by the device is being parsed correctly by the software XVIII OVERLOAD TEST Testing where the user running the software attempts to break the software by clicking many inputs in rapid succession A Test Results This test resulted in crashes because Unity projects do not do a good job of memory management In order to keep these crashes to a minimal there will be an introduction of a lock after clicking This will lock the user from clicking too many things at once and will result in less crashes XIX CONCLUSION Urban Search and Rescue operations typically suffer from signal damping and reflection as a result of building geometry In order to address the needs of Search and Rescue teams under these conditions Team DIM assessed the responsibilities of both Task Forces and Incident Support teams Based on the interaction a wearable solution was created that generated kinematic data Upon compl
156. g in 300 hours across two project terms 3 Interface Devices Test sketches were analyzed in order to verify functionality of the individual components To adhere to the proposed kinematic model this was the preliminary task that was undertaken to ensure that any further development could continue on the hardware aspect of the device This task primarily involved writing an Arduino sketch that was capable of reading sensor data and writing to an external storage in terface While minor adjustments and sensor selection differed during the two project terms the majority of sketches produced originated from the original codebase presented during the Breadboard Proof assignment In the spring project term this was revised to include start and stop functionality to enhance overall user experience Overall 50 hours were required to complete device interfacing 4 Device Testing Details regarding device testing are detailed in the latter half of the documentation and were the emphasis of project oriented work hours during the Spring 2015 project term To meet internal metrics 250 hours were cumulatively spent by all members of the group towards the extensive testing and improvement of the device given test results Local Data Storage 1 Implement Data Storage Protocol With the primary focus of rapid prototyping the default Arduino SdFat library was used in order to store sensor data onto an external storage medium This task was comple
157. h mitigation during the change in kinematic model the choice to run testing on the LSM9DSO implementation while exploring the MPU 6050 option mitigated the risk of an unfinished product XI HARDWARE A Block Diagram and Document at Block Level A flowchart has been included to provide a better under standing of how our system works and what will happen if specific thing occur like pushing the devices button This details when a file is created and when the files is closed It also explains what will happen if the user attempts to record without an SDcard in the device 24 Close the file Yes Device is powered on Create new file to store recorded data to File Created Button pressed Change LED to blinking instead of solid Read data from sensors p Record data to MicroSD card Button pressed Terminate Process By Alexander Meadows Title D I M Device Flowchart Document Number 41 Rev Date Saturday May02 2015 Sheet 1 of B Schematics and Documentation to Component Level If it is ever required for repair the wiring schematic of the device is included on the following page The inclusion of this wiring schematic does not authorise the reader users to do repairs or duplicate the device Do not tamper with and or destroy the device Team D I M and its members are not res
158. he compass fluctuates exhibiting amorphous behavior in terms of heading 31 Fig 16 Medium Distance Test on 3rd Floor Hallway Riverside Hall By Team D I M B Medium Distance Test Walk a repeatedly a mapped path 5 times while on the same data logging run at California State University Sacramento CA 95819 inside Riverside Hall 3rd floor The Medium Distance Test was conducted on the second floor of the Riverside Engineering building following the completion of the Short Distance test The subject began at the South side stairwell to the corner of the hallway for a distance of 11 2776 meters Upon reaching the corner the subject would turn 90 degrees anti clockwise and traverse the distance to the end of the hall for a distance of 52 73 meters The subject would then turn another 90 degrees anti clockwise and walk another 11 2776 meters to the exit to the North Stairwell To test for the amount of error during the traversal the same path was taken in reverse to view how far from the start point the search path deviated 1 Test Results Figure 3 shows the device results from conducting the medium distance test Upon initial inspection the heading was compromised following the 90 degree an Fig 17 Long Distance Test between Riverside Hall and Sequoia Hall By Team D I M ticlockwise turn To find out the cause of these issues a serial terminal print test was performed to evalulate the sensor readings for the duration
159. he team divided the labor to maximize test efforts with an emphasis of the tests being placed on feature functionality Based on the primitive nature of the visualization software at this point a number of changes were made by the hardware test team to ease the interpretation of data These requests eventually led to the implementation of a number of key features that contributed to end user usability During short test runs it was easy to distinguish discrete steps As paths increased in size discrete step objects denoting paths would overlap making it difficult to determine if a path turned when it intersected another path Additionally multiple search 23 paths were difficult to distinguish from each other as loading path data by default rendered as a red step object These were remedied with the addition of step objects to connect consecutive step objects as well as a swatch palette to assign colors to individual search paths This level of clarity expedited the empirical data interpretation process during testing For additional clarity a map underlay option was added to the software in order to allow SAR coordinators to import a scal able map underlay for enhanced visual context of generated data Accompanying this was the ability for dynamic path placement so that operatives could start from different points Initial stress tests with casing proved that the case fabricated contained structural weaknesses While the case was capable of
160. his would demonstrate to them the accuracy of the device After they have had a chance to experience the device and see its capabilities we would like to get their input to be able to further improve the device be it about the housing the functionality or the softwares user interface To do this we will ask them to fill out a feedback questionnaire which will ask about not only its functionality but also any features they would like to see implemented By getting this feedback from the targeted user base we can use their feedback to improve the design However with each attempted improvement or feature we add we also have to re run the accuracy tests and housing tests if there are any modifications to the device itself The only case in which those tests would not have to be run would be for modifications to the software That is not to say that modifications to the software do not require testing instead it requires a different kind of testing just on the software itself C Stores Data Locally Storing data locally serves two purposes It allows for a log or recollection of the device so that it knows not only its current location but where it has been It also allows for the bulk of data processing to occur after the device has been used 1 Select file format Selecting the file format is an impor tant task because it will standardize our methods of communi cation The first thing we would need to do is research some file form
161. honey comb like structure to use less plastic while 3D printing 26 PDR Pedestrian Dead Reckoning A mapping method em ploying the use of human gait patterns to generate displacement path from a previously known posi tion 1 4 7 17 PLA Polylactic Acid 26 ACKNOWLEDGMENT The authors would like to thank Raymond Stedronsky for his technical consultation regarding standard operating pro cedures of search and rescue work Additionally the authors would like to thank Professor Russ Tatro Dr Fethi Belkhouche for their feedback and support regarding implementation and design REFERENCES 1 Urban search amp rescue participants Jul 2014 Online Available https www fema gov urban search rescue participants 2 Kleiner 2007 Mapping and exploration for search and rescue with humans and mobile robots Online Available http www freidok unifreiburg de volltexte 4548 pdf diss pdf 3 Administration 2011 Summary incident report 2005 2010 Online Available http apps usfa fema gov firefighter fatalities fatalityData reportBuilder 4 J S T L Holzner 2013 Global earthquake fatalities and population Online Available https profile usgs gov myscience upload folder ci2013Feb2015013642954Holzer 205 620FatalitiesV 20 20Spectra 202013 5 D S Lin Xia 2014 Uc quake researchers give 1 list of old concrete buildings Online Available http
162. icant bits with the least significant bit zero filled As described earlier the default factory value is 0 32 and the legal bounded values are between 0x10 and OxF6 This slave address is in EEPROM address 0x00 Users can change the slave address by writing to this location Any address updates will become effective after the next power up or after a reset command Software Version This EEPROM software version number byte contains the binary value of the programmed software Values of 0x05 and beyond are considered production software Deviation Angle Correction Typically the HMC6343 X axis or Z axis is designated the forward direction of the compass and is placed mechanically towards the forward direction of the end user product The deviation angle is used to correct for mechanical angle errors in package orientation by adding the deviation angle to the internal compass heading before the result is placed as the computed heading Two EEPROM Bytes are used to store the deviation angle and the binary value is in tenths of a degree and in two s complement form for a 1800 representation The deviation angle MSB is located in EEPROM register OxOB and the LSB in Ox0A Variation Angle Correction The wariation angle or declination angle of the HMC6343 is the number of degree that must be added to the internal compass heading to convert the magnetic north reference direction to the geographic true north reference direction This angle i
163. ience comes by having someone video the guy doing the search so he can watch his actions later Hope that explains it well enough Call with questions and tell me exactly what you guys are trying to do Once you come up with something practical I can likely tell you if you re gonna be rich or that your idea sucks R Quoted text hidden Ray Stedronsky Davis CA Yan Lin lt wildseven gmail com gt Sun Sep 7 2014 at 12 27 AM To Andre Julien lt andreejulien gmail com gt sjsharks23 gmail com alexander s meadows gmail com Quoted text hidden Yan Lin lt wildseven gmail com gt Sun Sep 7 2014 at 12 33 PM To Ray Stedronsky lt ladder106 gmail com gt Ray This is extremely useful information Thank you so much for the time you took to write it all up as well as the information I ll give a short rundown of the idea we have We ve done a bunch of research regarding GPS and we realized one of the faults is the system is that you can get a signal in indoor environments subterranean locations and areas with thick foliage canopies The way a few companies have done indoor positioning is by using Wi Fi indoor GPS repeaters etc This doesn t really help when you have a mass of different implementations for indoor navigation and you need to quickly extract people from a building safely To address the issue and potentially apply it to search and rescue teams we re looking at using inertial measurement units and exploiting a
164. ike Rescue Global who blend NGOs Military Government Academia and private rescue tools that are portable require minimal training and are cost effective can provide invaluable assistance in accomplishing command and control Using positional telemetry in GPS obscured environments map generation can be accomplished using a fixed initial point These maps can provide invaluable data to expedite extractions by mapping previously searched areas Such an application can be used to better coordination efforts by multiple Search and Rescue teams Telemetry from multiple devices can be combined to generate a composite map allowing for the assessment of search efficiency Fur thermore visualization of such data can improve coordination efforts between Search and Rescue teams which can result in a decrease in time to rescue resulting in more lives saved Off the shelf components rapidly deploy able low comparative replacement cost are all features that make Team DIMs passive mapping and visualization package a superior choice for dynamic large scale emergency incidents The device visualization feature can easily be realized with any laptop with ability to run Windows 7 or later A built in or external card reader can be used to access the visualized mapped data for dynamic command and control situations Second the data acquisition unit is no larger than a box of matches and weighs less than 1 kg This facilitates the transportation and use of m
165. ilable Default value 0 0 a new set of data is not yet available 1 a new set of data is available ZDA Z axis new data available Default value 0 0 new data for the Z axis is not yet available 1 new data for the Z axis is available YDA Y axis new data available Default value 0 0 new data for the Y axis is not yet available 1 new data for the Y axis is available XDA X axis new data available Default value 0 0 new data for the X axis is not yet available 1 new data for the X axis is available OUT X L G 28h OUT X H G 29h X axis angular rate data The value is expressed as two s complement OUT Y L G 2Ah OUT Y H G 2Bh Y axis angular rate data The value is expressed as two s complement OUT Z L G 2Ch OUT Z H G 2Dh Z axis angular rate data The value is expressed as two s complement FIFO CTRL REG G 2Eh Table 38 FIFO REG G register FM2 FM1 FMO WTM4 WTMS3 WTM2 WTM1 WTMO Table 39 CTRL REG description FM2 FMO FIFO mode selection Default value 00 see Table 40 WTM4 WTMO FIFO threshold Watermark level setting Table 40 FIFO mode configuration FM2 FM1 FIFO mode 0 0 0 Bypass mode 0 0 1 FIFO mode 0 1 0 Stream mode 0 1 1 Stream to FIFO mode 1 0 0 Bypass to Stream mode DoclD024763 Rev 2 3 95 LSM9DSO Register description 8 13 FIFO SRC REG
166. ing search and rescue in the area around their city or in their county Because these groups focus on a smaller area their budgets are smaller and most of the equipment is provided by the volunteers themselves 8 However because they are responsible for a smaller area the teams are smaller 45 persons for Sacramento county sheriffs search and rescue As such low cost is important to these organizations Beyond the previously mentioned organizations there are at least 10 teams in Will County 17 1 team in Travis County 18 40 volunteers in New York Search Rescue 11 and 160 volunteers in the El Dorado County Sheriffs Search and Rescue Unit 19 Even with ignoring city specific search and rescue teams because the United States contains 3007 counties if the average was 35 people in search and rescue per county that is still a market of over 100 000 people State State scale search and rescue teams focus their efforts within the confines of their state borders While the groups are generally larger and slightly better funded they are comprised mostly of volunteers With numerous organizations such as Central Massachusetts Search and Rescue Team 20 Texas Search and Rescue 21 and California Explorer Search and Rescue 22 some with over 160 members 14 the possible market increases further Unfortunately most of these organizations do not include information about how many members they have making it difficult to pin dow
167. ing to errors in compass heading computation Keep currents higher than 10 mA a few millimeters further away from the sensor IC 3 DoclD024763 Rev 2 LSM9DSO 80 Digital interfaces 6 6 1 3 Digital interfaces The registers embedded in the L5M9DSO0 may be accessed through both the 2 and SPI serial interfaces The latter may be SW configured to operate either in 3 wire or 4 wire interface mode The serial interfaces are mapped to the same pins To select exploit the I C interface the CS line must be tied high i e connected to Vdd IO Table 9 Serial interface pin description Pin name Pin description I C SPI mode selection CS 1 SPI idle mode 2 communication enabled 0 SPI communication mode 2 disabled 2 serial clock SCL SPI serial port clock SPC 2 serial data SDA SDA SDI SDO SPI serial data input SDI 3 interface serial data output SDO SCL SPC SPI serial data output SDO SDO 2 ou I C less significant bit of the device address 2 serial interface The LSM9DSO is a bus slave The I C is employed to write data into registers whose content can also be read back The relevant IC terminology is given in the table below Table 10 2 terminology Term Description Transmitter The device which sends data to the bus Receiver The device which receives data from the bus The device which initiates a transfer ge
168. inrescue org how to join 16 S C Search and Rescue 2015 Mar About us a breif history Online Available http sacsar com aboutus html 17 willcountyema org 2015 Mar Search amp rescue sar team Online Available http www willcountyema org searchrescue php Online Available Online Available 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 K Grimes 2015 Mar Travis county search amp rescue Online Available http www tcsar org C of El Dorado 2015 Mar Search and rescue Online Available http www edcgov us Government Sheriff Divisions Support Search Rescue aspx CMSART 2015 Mar About cmsart Online Available http IIww w cmsart org cmsart T Search and Rescue 2015 Mar About texsar Online Available http www texsar org about Cal ESAR 2015 Mar About cal esar Online Available http www cal esar org home T A Cross 2015 Mar The global red cross network Online Available http www redcross org about us history global red cross network W Stafford 2015 Mar Poised to build haiti s future Online Avail able http www compassion com sponsordonor compassionmagazine poisedtorebuildhaitisfuturesummer2010 L R Committee 2015 Mar Emergency response relief Online Available http www rescue org our work emergency response
169. is clunky and difficult to use for the end user This is usually the result of engineers being wrapped up in their work to the point of having complete familiarity only to be unaware of the amount of time they invested to develop the prerequisite knowledge to operate the device as intended To ensure that the final deliverable does not become so difficult to use that the target demographic disregards it the development team will communicate with field technicians and garner feedback from mockups to see what sort of designs are usable In the event that usability or key components of the featureset are compromised a reasonable middle ground along with well written operation documentation for the end user operation should be the solution 4 Financial Burden Due to the boom of maker culture in the past decade easy to use sensors and microcontrollers are available from a larger array of vendors at extremely competitive prices Devices that have very specific uses typ ically have higher price tags of which may not fall within the realm of reason for Project DIM and Senior Project In the event that a part is required but is a significant financial burden team members will assess the cost of the feature versus the significance of the feature to the core deliverable 16 The team will then assess and brainstorm ways in whether this feature could be realized using separate components of more reasonably priced hardware and attempt to implement
170. l transitions in the SDA line must occur when SCL is low This requirement leads to two unique conditions on the bus associated with the SDA transitions when SCL is high Master device pulling the SDA line low while the SCL line is high indicates the Start S condition and the Stop P condition is when the SDA line is pulled high while the SCL line is high The fc protocol also allows for the Restart condition in which the master device issues a second start condition without issuing a stop bus transactions begin with the master device issuing the start sequence followed by the slave address byte address byte contains the slave address the upper 7 bits bits7 1 and the Least Significant bit LSb The LSb of the address byte designates if the operation is a read LSb 1 or a write LSb 0 At the 9 clock pulse the receiving slave device will issue the ACK or NACK Following these bus events the master will send data bytes for a write operation or the slave will clock out data with a read operation All bus transactions are terminated with the master issuing a stop sequence C bus control can be implemented with either hardware logic or in software Typical hardware designs will release the SDA and SCL lines as appropriate to allow the slave device to manipulate these lines In a software implementation care must be taken to perform these tasks in code Slave Address The slave address byte consists of the 7 most signif
171. le file readFloat calculate current velocity calculateVelocity calculate current position calculatePosition printf the current position is and the current velocity is 9f current position current acceleration set values previous accelerationzcurrent acceleration precvious position current position previous velocity current velocity Over time our needs started to change and the ability to see the data being changed became more and more a necessity we then switched to using C in a game engine called unity While this code was much more robust and would require a build before running it allowed for more features to be implemented Most important of those features was the ability to use 3 dimensions to view the data We also started adding basic filters to our system such as the empirical filter that would take the initial inputs and set them all to 0 and the bound filter that would drive values that were close to 0 within a range of 0 to 0 These filters would help smooth the data and added another level of complexity to our software Furthermore we would parse the data into an object allowing for quick manupulation of a list of objects after the list is populated from the files We also added a basic weighted filter to the heading to smooth it and attempt to filter out some of the bad data we are getting from the compass initially 50 1 clock_frequency 1 public class Line public float
172. le this slowed down the sketch this led us to switch from a function called millis to a function called micros however this did not speed up performance either Finally we realized that it was our bad implementation and changed the code to resemble the code below setup setup time 42 logTime micros 1000UL SAMPLE INTERVAL MS 1 logTime 1000UL SAMPLE INTERVAL MS loop time between samples logTime 1000UL SAMPLE INTERVAL MS p The software package has gone through massive changes starting as a command line driven program that was written in C and over time becoming a GUI with some simple controls to view the data At the beginning of the year we needed some basic software to help with rapid prototyping of our device The features needed to be that it was easy to edit for any team member could be quickly deployed We came up with a basic console C program to fit those exact needs the code was easy to change and you only needed the one file in order to run it The basic pseudo code listed below was built of the core mathematical functions calculate velocity and generate position This code was initially tested for along a single axis to validate the position algorithm set values to 0 float previous acceleration previous position current position current velocity current position 0 int clock frequency float delta time Open file while file has contents input from fi
173. left hand search Start at your front door for example although any entry point will work Walk or crawl along always keeping the wall on your right side If you imagine yourself doing this you ll see that eventually you will arrive back at the front door To speed the process up under fire conditions a team will travel crawling together with the second man just behind and off to the side of the first So the first man has the wall on his right the second will have the left leg of the first man on his right and be behind and slightly to the left covering more floor area a left hand search will be the opposite You te trying to cover as much ground as fast as possible because it s hot and any humans inside don t have much survival time left You notice things like floor coverings Carpet means living room bedroom hallways Tile linoleum means bathrooms kitchens etc You will also note that doors swing open a specific way when you are inside a living area Bedroom doors swing inward and this can be felt when crawling down the hallway Inward swinging doors set deeper into the door frame and this is easy to feel Outward swinging doors in living areas generally closets heat ac cupboards and also the door leading into the garage in ranch style houses with attached garages This is critical information because once a bedroom is located the team splits One man stays by the doorway while the other enters the bedroom to do a
174. leted Tasks with Hour Allocation 18 Feature Local Data Storage Spring 2015 Completed Tasks with Hour 18 Feature Wearability Spring 2015 Completed Tasks with Hour Allocation 18 Dark Inertial Mapping End of Project Documentation Andre Julien Yan Lin Alexander Meadows and Joseph Youngblood Department of Computer and Electrical Engineering California State University Sacramento Sacramento CA USA Email andrejulien Q csus edu yanlin csus edu alexander s meadows gmail com jpy28 G csus edu Abstract Search and rescue personnel typically conduct oper ations within under two categories field search and coordination management In urban environments where building geometry contributes to signal dampening and reflection popular localiza tion methodologies such as GPS cannot be employed effectively The Dark Inertial Mapping system seeks to address technical deficiencies seen within the popular methods of search and rescue under these circumstances This is accomplished using a hip mounted wearable device that utilizes a PDR algorithm to generate displacement allowing for the search coordinator to analyze and efficiently deploy consequent searches to search efficiency The wearable device generates and stores displacement data and includes accompanying software dedicated to the visual interpretation of device data The intended aim for such a sy
175. ll the FIFO discards the older data as the new data arrives Once a trigger event occurs related to NT1 30h events the FIFO starts operating in FIFO mode Refer to Figure 10 Figure 10 Stream to FIFO mode 21 1 Xo Yo 20 Xo Yo Zo X y 21 X 21 2 2 22 X2 yo 22 X30 230 X31 231 4 x X31 Ys 231 Stream Mode FIFO Mode Trigger event AMO07236v1 DoclD024763 Rev 2 27 74 76 77 Functionality LSM9DSO 4 3 7 4 4 4 5 28 74 Retrieving data from FIFO A read operation from the OUT X L G 28h OUT X H G 29h OUT Y L G 2Ah OUT Y H G 2Bh or OUT Z L G 2Ch OUT Z H G 2Dh registers provides the data stored in the FIFO Each time data is read from the FIFO the oldest pitch roll and yaw data are placed in the OUT X L G 28h OUT X H G 29h OUT Y L G 2Ah OUT Y H G 2Bh and OUT Z L G 2Ch OUT Z H G 2Dh registers and both single read and read burst X Y amp Z with auto incremental address operations can be used When data included in OUT Z H G is read the system again starts to read information from addr OUT X L G Temperature sensor The LSM9DS0 features an embedded temperature sensor Temperature data can be enabled by setting the TEMP bit in the
176. lready in senior design lab to work on in the case that our machine failed Additionally collaborative documentation work is started in Google Documents Completion of any Project DIM related work will be uploaded to Google Documents as well as the ECS Hive if it is required for submission Completed code is uploaded to the BitBucket account with proper documentation attached to each users commit 5 Data Hosting Downtime We have decided to back up all of our online data in order to minimize the possibility of this issue Since our data is hosted on both Google drive and on the hive we see a very low possibility that we would be unable to get to any of these services in order to get our information VII TASKS COMPLETED IN FALL 2014 Task Alex Andre Joey Yan Total Hrs Read Accelerometer 32 23 11 18 84 data Fuse Gyroscope Data 19 33 6 17 75 Fuse Magnetometer 3 24 0 24 51 Data Data Filtering 13 20 7 15 55 Function for Position 37 34 9 17 97 TABLE VII Feature Self Referential Fall 2014 Completed Tasks with Hour Allocation Task Alex Andre Joey Yan Total Hrs Record to Micro SD 1 3 6 23 33 card TABLE VIII Feature Local Data Storage Fall 2014 Completed Tasks with Hour Allocation Task Alex Andre Joey Yan Total Hrs Battery Interfacing 6 0 0 0 6 TABLE IX Feature Wearable Fall 2014 Completed Tasks
177. ls amp Systems Modern Communication Systems Differential Equations Electronics II Probability and Random Signals Senior Project In progress as of Spring 2015 SKILLS Problem Solving Methodically search for the source of a problem applying both research and creative thinking when an unknown problem arises An example of this is getting a 32 bit driver to work on a 64 bit machine by using a virtual machine Design Knowledge of designing circuits to fit practical needs Including troubleshooting and debugging Experience using FPGAs and Microprocessors Designed a CPU in Verilog and a three bit adder chip in both P Spice and L edit Project Management Including delegation based on skill and specialty economic and time consideration Motivation and communication with project members and leadership through example An example of this is leading the Bayside Folsom Church tech team as their production manager improving setup and tear down efficiency by 30 minutes Computer Skills P Spice Multisim Quartus II ModleSim L Edit XSI Putty Notepad Rhino GitHub and VM ware Known Languages include Basic levels of C Verilog JavaScript and Spin WORK EXPERIENCE Production Manager Bayside Church Folsom Campus 6 14 to present Student Researcher CSUS Smart Grid 11 13 8 14 Lab Assistant CSUS EEE department 1 14 5 14 Learning Assistant CSUS MSTI 8 13 5 14 PROJECTS Paid Research Smart Energy Device Test Plan Determined th
178. lt in functions to calculate step rather than using our own post processing function Deployable Prototype Review Prepare our team Deployable prototype presentation Taking a lot of information from our previous presentations adding in more quantitative analysis to our presentations according to professor Tatros request Practiced our presentation as individuals and as a group to ensure that it flowed and was best quality We did multiple full walk through demos to make sure that the device worked as promised G End of Project Documentation Final documentation is the last set of documentation we turn in and is due may 4th and encompasses our entire project We will take a lot of information from our first end of term documentation to avoid re writing a lot of sections This should keep the work down but this document will take 2 weeks to finalize and will be a group effort to finish Task Andre Alex Joey Yan Total Hrs Assignment 1 6 1 10 15 10 41 1 Assignment 2 11 15 12 12 42 Assignment 3 13 14 6 13 46 Assignment 4 08 14 17 23 62 Assignment 5 17 6 15 31 69 Assignment 6 12 8 11 20 51 Assignment 7 24 17 25 30 96 TABLE XII Feature Documentation Spring 2015 Completed Tasks with Hour Allocation H Self Referential 1 Sensor Selection In order to have a means to generate displacement data the motion of the operator needed to be analyzed The key component of the hardware device aspect
179. man survival environment were breathing apparatus are not required For usable data the device should be used in and area less than 50 meters such as a medium to small structures areas 3 Run time run time of the device has been tested to exceed 9 hours of powered or running use using at minimum a new Energizer Lithium battery 37 4 Memory Card The Micro SD card has a maximum of 100 logged runs After 100 runs the individual runs must be deleted from the SD card for data gathering to continue The limitation is file names not their respective size The file size limitation correlates to the storage size of the Micro SD card selected C Hardware Usage The order of the items enumerated in this section are also the operation order For example the MicroSD card must me installed into its respective shield on the device before it is powered Battery is connected 1 Memory Card The SD card must be inserted or re moved only into the second shield Fig 2 when the battery is disconnected The SD card must be firmly inserted a locking click will be heard For extraction the end of the SD card must be pressed towards the the non open end of the housing an unlocking click will be heard The SD card is now ready for insertion into the card reader and the associated computer containing the visualization software 2 Battery Install Instructions The battery must be connect to the leads shown in Fig 2 then placed top of the SD
180. me in which the drift is observed by the device and adjusts the variables within a filtering algorithm to adjust its measurements so as to remove most of its effects Also by the inclusion of multiple IMUs either by the same or different manufacturers in a geometric pattern with known distances the drift of the IMUs will be py m X in different directions with different values but by using a relative positioning constant filter the effects of the drift by the devices is reduced 2 Design Unable to Meet Expectations While it is still possible for the design to be unable to meet the expectations of the design idea contract by having the contract be loosely worded and semi vague it is less likely that the design will not meet the listed expectations However in the event that it is unable to a design idea contract change will be requested if and only if all other means or solutions have resulted in unacceptable results However in the event that it is unable to a design idea contract change will be requested if and only if all other means or solutions have resulted in unacceptable results This particular risk actually occurred during the first project term for Team DIM in the Self Referential feature of the project Upon discovering that the team struggled to get an accurate Yaw through the LSM9DSO 9DOF sensor the team conducted research on devices that could provide accurate yaw Of the devices found the t
181. mentation of the Self Referential fea tures By determining the kinematic model at an early stage a visualization software prototype was drafted with the in tention of use for both final system implementation as well as validation of sensor data Selection of the AtMega328 microcontroller platform was primarily for the intent of rapid prototyping The team acknowledge the limitations of such a device prepared for any changes in deployment platform if deemed necessary For the course deadline of the bread board proof the team created a hardware sketch for the AtMega328 platform capable of capturing sensor data and saving it to a local storage medium while internally maintaining a steady sampling rate This fulfilled a majority of the Local Data Storage feature at an early stage and allowed a majority of the first project term s prototyping efforts to be focused on the Self Referential and Visualization Software aspects of the 22 proposed system In order to generate a positional estimation from human movement Team DIM purchased a number of IMUS to better understand the capture of movement in discrete time and to test with a selected microcontroller The first two sets of IMUs ordered consisted of the Invensense MPU 6050 and the Sparkfun distribution of the LSM9DSO The MPU 6050 is a cheap popular IMU among microcontroller enthusiasts whereas the LSM9DSO was slightly more ex pensive but contained better documentation and an example
182. n Mode 0x82 Reset the Processor 083 J Enter Sleep Mode from Run Mode EEPROM Address Data Byte Read from EEPROM EEPROM Address 2 Writeto EEPROM 10 www honeywell com 46 HMC6343 Timing Upon power application to the HMC6343 wait nominally 500 milli seconds before sending the first 2 command typically a 0x32 byte followed by a 0x50 byte for the usual heading pitch roll Depending on the command sent a delay time should be inserted before clocking out the response bytes send 0x33 clock back response bytes The following table indicates the response delay times for various commands Table 3 HMC6343 Command to Response Delay Times Prior Response Delay Command Commanded Action Response Bytes amp Description Time hex milli seconds Power Applied VDD1 3 low to high No Response Data 500 nominally 6 binary data Bytes AXMSB AxLSB 0x40 dud AyMSB AyLSB AzMSB AzLSB 1 6 binary data Bytes MxMSB MxLSB MyMSB MyLSB MzMSB MzLSB 1 Post Mag Data 0x45 6 binary data Bytes HeadMSB HeadLSB 0x50 Post Heading Data PitchMSB PitchLSB RollMSB RollLSB 1 Post Tilt Dat 6 binary data Bytes PitchMSB PitchL SB 0x55 53 RollMSB RollLSB TempMSB TempLSB 1 0x65 Post OP Mode 1 OP Mode 1 1 0x71 Eden Ser No Response Data 0 3 Mode 0x72 Level Orientation X forward Z up default No Response Data 0 3 0x73 Upright Sideways X f
183. n an exact numerical value That being said even if the average is 80 members half of Texas Search and Rescue membership 14 state scale search and rescue organizations would still provides an additional market of 4000 people International The main market for private non profit organization comes from international organizations because of their massive size The Red Cross alone has 13 million volunteers 23 while others like the Disaster preparedness and Emergency Response Association do not state their membership count Other organizations while they do not specialize in search and rescue do assist when the need arises 24 or prepare locations for a disaster 25 of these organizations because of their desire to save as many lives as possible increase the market size immensely to be in the millions D Private Sector For Profit Beyond just search and rescue non profit organizations there is a potential market as an augment to metal detectors to improve their search efficiency theoretically increasing their returns With the increase of gold prices high quality metal detector sales have greatly increased to be in the hundreds of millions 26 This indicates that more people are willing to spend money on this hobby and that they are taking it seriously In England and Wales alone it is averaged between 15 449 and 16 777 active metal detector users alone 27 This user base further increases the potential market for our device
184. n each member with an aspect that could lead to the realization of a feature Joseph Youngblood was tasked with the creation of the visualization software whereas Andre Julien and Alexander Meadows would focus on self referential positional displacement generation leaving Yan Lin to improve the local data storage feature Leading up to second milestone of the Midterm Technical Review the project made good progress with all tasked features up to the completion of sensor fusion The visualization software was developed through the Unity Software Development Kit a graphically oriented game engine The software was capable of loading a CSV file and plotting the calculated displacement on the virtual plane This plane could be navigated through a fly camera that ould allow for the repositioning of the view of the plotted positional displacement Similarly the SD write code from the first milestone was cleaned up and repurposed from a code segment into a function This function was tested in a number of sketches and successfully generated a CSV file with the desired parameters Due to an oversight on the Breadboard Proof milestone the team was able to optimize the millis comparison logic and use micros for better preci sion As a result sampling rate was improved to exceed 20Hz but its bounds remain to be tested pending the finalization of the self referential algorithm The greatest struggle came to the implementation of the Self Referen
185. n of this software this is a soft threshold where the values can be modified to assess the impact of different thresholds on the resulting map CalculatingData is the software implementa tion of a pedestrian dead reckoning algorithm This function parses through the game objects generated by the Pedometer function and calculates their placement through the Cartesian coordinates of the allocated game space determining the x and y axis displacements through trigonometric manipulation of the generated heading and pre determined gait sizes 8 Current Implementations Aside from the reliable yet rudimentary standard search and rescue procedures employed by first response emergency personnel a number of other approaches have been taken to address interior mapping needs In an article posted in September 2013 on IEEE Explore a number of safety systems were evaluated with first responders as their target audience 3 One particular safety system titled the PASS Personal Alert Safety System generates a piercing distress beacon for rescuers to follow However in one instance of its use due to the deteriorating state of the building along with the unfamiliar environment rescuers could not locate the audio beacon This eventually led to the loss of life for the lost firefighters and those who attempted to locate them In a world that quickly embraced navigation and tracking technology it would seem that these applications would be an instant
186. ncrete While the device was powered and recording data Alex placed a 516 dumbbell on the device and observed its 30 effects for one minute 4 minutes for the 25lb weight He then took off the 516 dumbbell and replaced it with a 1016 dumbbell once again observing the added weights effects He repeated this process with 1516 2016 and 2516 dumbbells each time observing the effects of the weight on the housing 1 Test Results No observable deformities were seen nor any cracking under any weight The data recording and power was maintained throughout the test This test went better than expected result of having some deformities and cracking What this result means is that the case can withstand having some weight put on it E Shake Test The Housing will be vigorously shaken by hand for 3 minutes at California State University Sacramento CA 95819 Rm 3001 1 Test Results Upon initial inspection of hardware assem bly inside the enclosure it was apparent that the components were not securely affixed to enclosure The test was aborted in order to mitigate imminent hardware component damage The inclusion of an Arduino base holder in the next housing version will enable the test to be performed at a later time Dissipation Test The dissipation test was not run because it became obsolete due to there being no heat problems or observable heat generation during prolonged usage of the device This was determined during the battery
187. nerates clock signals and terminates a Master transfer Slave The device addressed by the master There are two signals associated with the 2 bus the serial clock line SCL and the serial data line SDA The latter is a bidirectional line used for sending and receiving the data to from the interface Both lines must be connected to IO through external pull up resistors When the bus is free both lines are high The 2 interface is compliant with fast mode 400 kHz 2 standards as well as with normal mode DoclD024763 Rev 2 31 74 Digital interfaces LSM9DSO 6 1 1 operation The transaction on the bus is started through a START ST signal A START condition is defined as a HIGH to LOW transition on the data line while the SCL line is held HIGH After this has been transmitted by the master the bus is considered busy The next byte of data transmitted after the start condition contains the address of the slave in the first 7 bits and the eighth bit tells whether the master is receiving data from the slave or transmitting data to the slave When an address is sent each device in the system compares the first seven bits after a start condition with its own address If they match the device considers itself addressed by the master Data transfer with acknowledge is mandatory The transmitter must release the SDA line during the acknowledge pulse The receiver must then pull the data line LOW so that it remains s
188. neration on Y low event Default value 0 YLIE 0 disable interrupt request 1 enable interrupt request on measured value lower than preset threshold DoclD024763 Rev 2 47 74 96 97 Register description LSM9DSO Table 44 INT1 CFG G description continued Enable interrupt generation on X high event Default value 0 XHIE 0 disable interrupt request 1 enable interrupt request on measured value higher than preset threshold Enable interrupt generation on X low event Default value 0 XLIE 0 disable interrupt request 1 enable interrupt request on measured value lower than preset threshold 8 15 INT1 SRC G 31h Interrupt source register Read only register Table 45 INT1 SRC G register 0 IA ZH ZL YH YL XH XL Table 46 INT1_SRC_G description IA Interrupt active Default value 0 0 no interrupt has been generated 1 one or more interrupts have been generated ZH Z high Default value 0 0 no interrupt 1 Z high event has occurred ZL Z low Default value 0 0 no interrupt 1 Z low event has occurred YH Y high Default value 0 0 no interrupt 1 Y high event has occurred YL Y low Default value 0 0 no interrupt 1 Y low event has occurred XH X high Default value 0 0 no interrupt 1 X high event has occurred XL X low Default value 0 0 no interrupt 1 X low event has occurred Reading at
189. nformation is provided to the HMC6343 from external latitude and longitude data processed through a World Magnetic Model equation to compute variation angle or by lookup table Two EEPROM Bytes are used to store the variation angle and the binary value is in tenths of a degree and in two s complement form for a 1800 representation The deviation angle MSB is located in EEPROM register OxOD and the LSB in 0 0 Magnetometer Offsets The Magnetometer Offset bytes are the values stored after the completion of the last factory or user hard iron calibration routine Additional value changes are possible but will be overwritten when the next calibration routine is completed Note that these offset values are added to the sensor offset values computed by the set reset routine to convert the raw magnetometer data to the compensated magnetometer data These values are written into EEPROM addresses OxOE to 0x13 and loaded to RAM on the power up 8 www honeywell com 44 45 HMC6343 Heading Filter This allows for an Infinite Impulse Response IIR filter to be employed on current and previous heading data outputs Typical values are 0 to 15 with a factory default of zero The filter is only applied in run mode where a continuous stream of data is present At the 5Hz default update rate a filter value of 4 would weight the latest heading with the previous four headings of regressive weightings for a second s worth of filtering EEPROM Registers Th
190. nt progress on their currently assigned task as well as based on their expertise and familiarity in the area The Gantt chart will assist in ensuring that the team does not fall too far behind and provides quickly available information for upcoming milestones and deadlines 5 Lack of In house Skill The risk of having a lack of in house skills was first mitigated during the creation of the team as our members have a wide variety of skills and experience However in the event that this occurs two members of the team will be assigned to learn the required skill so as to enable more than one person to have that skill later on if one is incapacitated B Major 1 Feature Exceeds Time Quota The corrective action for this risk is dependent on which feature exceeds the time quota Since calculation of the correct positional data is the krux of our project exceeding the time quota would the semester time to do the project So there is no resolution or alternative to this feature Conversely on a less critical feature the feature might be omitted base upon factors such as time left in the semester and the criticality of that feature An exact resolution cannot be articulated since the current project status and time remaining are unknown 2 Software Incompatibility If software incompatibility oc curs we will need to port our algorithms to the new language This scenario is if we transition from the arduino to a more powerful micro controll
191. o be self referential portable and used locally saved data to generate a visual representation of the path the end user traveled The device was aimed to fufill the woes of indoor navigation as a result of poor GPS reception and a lack reliability of indoor positioning systems in the face of a disastrous emergency It was through this effort and an additional mitigation plan that the team understood why the Right Hand Method was a preferred method in emergency responder self extraction The absolute simplicity as well as the reliability are the primary reasons for its repeated inclusion in firefighter safety training over the course of several decades While the possibility exists to replace the technique with technology prolonged use of a device in extreme heat can tamper with the life of the device as well as reliability of any sensors As this can result in operator and survivor death the method was not ideal and the target demographic was reassessed The initial assessment of the target demographic behind the societal problem statement was not completely erroneous It was during validation testing of the visualization software during the mitigation plan that the team members noted the suitability for such an implementation toward the search coordination efforts Upon further research the team discovered Search and Rescue teams requesting better methods for enhancing their search pattern efficiency According to a requisition document auth
192. oSD card and testing the current draw This test will be repeated with lower sampling rates depending on how much error they introduce The former result will be considered the worst case for power usage while the latter would be the actual power usage Both of them would be considered at room temperature In order for the device to best serve its target audience of first response emergency personnel we need to know the required runtime for the device This can be based off of the run time of other pieces of equipment such as air tanks which have a fixed runtime Also it can be based off of the upper average of the total time they are responding to a call Whichever is longer will then be considered the lower limit for the required runtime With the data acquired from the previous two activities the required amp hours can then be calculated Based off of this and with consideration of weight and cost a battery can be selected from currently available options ideally with a higher amp hour rating than what is required After the appropriate size battery has been selected it will be added to the device and a total runtime test will be done on the device to ensure it meets the runtime requirements 3 Create Housing Once all the components have been decided on and the device is working on the breadboard the total size required by the components would be measured Then we would research the thermal limit durability weight and cost
193. ob For example If you re working in the suburbs with mainly tract ranch style housing it s obvious when entering the front door which way tight left most of the living spaces or bedrooms are located If you re downtown or in an area with lots of apartments you learn over time that certain floorplans are used over and over For example some downtown apartments are layed out with the bedrooms to the left on the right side of the hallway and on the right on the left side etc etc with lots of variations This is just one of the reasons that experience is passed down from older to newer firefighters OK now Large Area searches This involves a 200 ft length of rope with 4 20 ft lengths of individual rope The rope is marked with a series of knots and metal rings about the size of a silver dollar The knot ring sequence gives you your distance down the rope every 50 ft Remember that you generally can t see well at all so visual cues don t work The search is done with 2 to 4 firefighters and would be done in warehouses supermarkets etc The rope is anchored to a strong point when you make entry and the rope bag is carried with the first man inside He picks the direction The second man counts the knots rings and calls out distance The others just follow along on the rope Using auditory clues you can usually tell when you in a large open space At this point the individual ropes can be deployed Remember this is usu
194. of the Dark Inertial Mapping system was the utilization of MEMS 18 Task Andre Alex Joey Yan Total Hrs Display 00 00 25 00 25 Lines 00 00 15 00 15 Compile Code 00 00 14 00 14 Filter Data 00 00 14 00 14 TABLE XIII Feature Software Spring 2015 Completed Tasks with Hour Allocation Task Andre Alex Joey Yan Total Hrs Implement Data Storage Protocol 09 0 o9 20 New Search Session 00 05 00 00 05 TABLE XIV Feature Local Data Storage Spring 2015 Completed Tasks with Hour Allocation Task Alex Andre Joey Yan Total Hrs 3D print housing 20 00 00 00 20 Battery selection 15 00 00 00 15 Performance Testing 18 00 00 00 18 Integrate Device into 18 00 00 00 18 Housing TABLE XV Feature Wearability Spring 2015 Completed Tasks with Hour Allocation devices The MPU6050 and the LSM9DSO were primary candidates for the selection The LSM9DSO was the primary sensor used in the Fall project term for the initial kinematic model Additionally the Honeywell HMC 6343 compass was included to address a deficiency the team had regarding head ing The MPU6050 had a built in Digital Motion Processor that allowed for minimal overhead in generating metrics such as yaw pitch roll as well as a pedometer step counter Both Yan and Andre spent an extensive amount of time attempting to implement this feature but we
195. of ST in various countries Information in this document supersedes and replaces all information previously supplied The ST logo is a registered trademark of STMicroelectronics All other names are the property of their respective owners 2013 STMicroelectronics All rights reserved STMicroelectronics group of companies Australia Belgium Brazil Canada China Czech Republic Finland France Germany Hong Kong India Israel Italy Japan Malaysia Malta Morocco Philippines Singapore Spain Sweden Switzerland United Kingdom United States of America www st com 74 74 DoclD024763 Rev 2 Ly 123 xtd FAIRCHILD October 2005 a SEMICONDUCTOR BSS138 N Channel Logic Level Enhancement Mode Field Effect Transistor General Description Features These N Channel enhancement mode field effect _ _ transistors are produced using Fairchild s proprietary 0 22 A 50 V 3 50 Vas 10 V high cell density DMOS technology These products 6 00 Ves 4 5 V d 4 poesi High density cell design for extremely low Roson performance These products are particularly suited for Rugged and Reliable low voltage low current applications such as small servo motor control power MOSFET gate drivers 21 industry standard SOT 23 surface mount other switching applications packag SOT 23 G Absolute Maxi mum Rati ngs
196. of the test Walking North through the hallway gave a rough heading between 350 degrees and 10 degrees During multiple instances when the team walked past Riverside 3005 the heading flipped 180 degrees to point in the south direction until a certain distance past the entrance of the room This location is portrayed in Figure 3 using the yellow arrow The repeated paths across the entrance of this room yielded compromised heading results which was noted and the basis for discovering the impact of magnetic interference caused by wireless network transmitters XVI LONG DISTANCE TEST Walk any repeatable path outside on campus at California State University Sacramento 95819 2 Test Results results from the Medium and Short distance tests suggested that the use of the Dark Inertial Mapping device indoors would be susceptible to magnetic interference generated by electrical wiring and wireless re peaters This test was conducted outdoors both to encompass a larger search path as well as using a third case to test for sensor interference The tested path consisted of the South east corner of the Riverside building northward to Sequoia Hall a displacement westward then a return path to the original position The result shown in Figure 4 suggest that the Long distance test may suffer greatest from the static step threshhold generated by the pedometer algorithm due to a lack of precision A Unit Test Unit tests are a secondar
197. of various materials for use in creating the housing of the device Once a material is selected and its processing limitations are known we can design the housing and simulate structural stress on the design Once the housing design is acceptable we would implement the design and finally secure the components to the housing The total size of all the components must be considered when designing the components housing As such both the dimensions of the components must be known but also the weight of the components as to provide a near constant weight of which the housing will add to The weighing of the components is to ensure that the final device does not weigh an unnecessary amount The purpose of researching the possible materials of which the housing can be made of is to produce a list of reference data which includes the maximum temperature durability weight and cost This will then be referenced to during the process of designing the housing of the components in order to provide a sense of both how much the housing would weigh but also how strong the housing would be In order to design the housing it would first take into consideration the required layout of the components and which ones have to be accessible Based off this information the total weight of the components and the list of different materials a basic design can start being formulated Once a basic structural design has been decided on it then would be modeled using
198. ommended value 200 mOhm Reservoir capacitor C1 is nominally 4 7 uF in capacitance with the set reset capacitor C2 nominally 0 22 uF in capacitance The device core is supplied through the Vdd line Power supply decoupling capacitors C4 100 nF ceramic 10 pF Al should be placed as near as possible to the supply pin of the device common design practice All the voltage and ground supplies must be present at the same time to have proper behavior of the IC refer to Figure 11 The functions of the device and the measured acceleration magnetic field data are selectable and accessible through the 2 SPI interfaces The functions the threshold and the timing of the three interrupt pins INT G INT1 XM and INT2 XM can be completely programmed by the user through the 2 SPI interfaces DoclD024763 Rev 2 29 74 78 79 Application hints LSM9DSO 5 2 5 3 30 74 Soldering information The LGA package is compliant with the ECOPACK RoHS and Green standard It is qualified for soldering heat resistance according to JEDEC J STD 020 Leave Pin 1 Indicator unconnected during soldering Land pattern and soldering recommendation are available at www st com mems High current wiring effects High current in wiring and printed circuit traces can be culprits in causing errors in magnetic field measurements for compassing Conductor generated magnetic fields will add to the Earth s magnetic field lead
199. ompassing using the defaults the flowing order of operations is recommended 1 Apply power to the VDD pins nominally 3 3 volts 2 Wait at least 500 milli seconds for device initialization The HMC6343 is in the default Run Mode 3 Send 0x32 and 0x50 to command the Heading and Tilt Data to be clocked out next 4 Wait at least 1 milli second to allow the HMC6343 to process the command 5 Send 0x33 and clock back six more response Bytes from the HMC6343 These will be the Heading Pitch and Roll Byte pairs binary format in tenths of a degree with 2 s compliment on pitch and roll angles 0 to 3600 heading 900 pitch and 900 roll 6 Repeat steps 3 5 every 200 milli seconds or longer to get fresh data from the default 5Hz update rate ORDERING INFORMATION HMC6343 3 axis Compass with Algorithms Tubes HMC6343 demo Development Kit Demo Board USB Cable and Demo Software HMC6343 eval Evaluation Board Board FIND OUT MORE For more information on Honeywell s Magnetic Sensors visit us online at www magneticsensors com or contact us at 800 323 8295 763 954 2474 internationally The application circuits herein constitute typical usage and interface of Honeywell product Honeywell does not warranty or assume liability of customer designed circuits derived from this description or depiction Honeywell reserves the right to make changes to improve reliability function or design Honeywell does not assume any liability arising ou
200. ompensating for change in orientation of the device along the X and Y axes pitch and roll respectively the team was unable to produce a solution to generate a reliable change along the Z axis yaw Due to the concern for a lack of progress in this regard the team opted to undertake a mitigation plan involving a change in kinematic model to a pedestrian based approach utilizing a dead reckoning algorithm to generate displacement The initial hardware sketch produced to assess the viability of such a mechanism proved promising Given the middle row of tables around inside Riverside 3001 spanning 9 144 meters by 3 048 meters a path was successfully traversed around resulting within one step of the starting distance While initially distance traversed was a concern the fact that the algorithm properly returned to the starting position just as it had empirically was a positive step forward for overall progress Using this new kine matic model the team would progress into the Spring project term where a focus was placed on testing the functionality of the device using internal metrics Additionally to progress toward a deployable prototype Alexander Meadows began work on the device enclosure which would allow the wearable feature to be realized Using the Rhino3D software an initial enclosure was created to fit the size of the device with ample room for affixing the sensors as well as a battery During this time device testing took place T
201. ored by the Savannah River National Laboratory in 2004 one of the highest priority requests for Search operations was for Search Tracking and Monitoring A detailed process of making physical marks with paint is used to identify areas that have been searched A more sophisticated electronic method is desired to record track and identify areas that have been searched to prevent unnecessary redundant search 9 Supplemented with documentation addressing the importance of coordination and the high cost of failure when it is poorly implemented 10 team DIMs primarily focus remained in Search and Rescue efforts but aimed to address one of the core aspects of what differentiates successful search from an unsuccessful search To determine the value of such a device and the areas in which such a product would thrive a market review was conducted on a number of devices that were contoured toward Search and Rescue operatives C Market Review In order for a product to succeed within its target demo graphic the team behind the innovation must understand the market in which device will thrive This understanding requires knowledge of the consumer base as well as utilization of such to form a marketing strategy to sell the product successfully To accomplish this an analysis of the potential market in both the public and private sector was conducted Additionally similar products existing within the same marketplace were analyzed for thei
202. orward Y up No Response Data 0 3 Orientation Upright Flat Front PS 0x74 Z forward X up No Response Data 0 3 0x75 Enter Run Mode No Response Data 0 3 0x76 Enter Standby Mode No Response Data 0 3 Exit User Calibration Mode Ox7E No Response Data 50 0x82 Reset the Processor No Response Data 500 0x83 Enter Sleep Mode No Response Data 1 0x84 Exit Sleep Mode No Response Data 20 Read from EEPROM OxE1 1 binary data Byte 10 OxF1 Write to EEPROM RAM No Response Data Data Settling Time 10 www honeywell com 11 47 48 HMC6343 Operational Mode Registers EEPROM registers 0x04 and 0x05 contain bits that are read for operational mode status and for setting the Run Mode measurement rate The tables below describe the register contents and interpretation It is recommended that Operational Mode Register 1 and 2 written only to change default orientation and update measurement rate Table 4 Operational Mode Register 1 EEPROM 0x04 as ones oue Table 5 Operational Mode Register 1 Bit Designations 1 7 Calculating compass data if set read only OM1 6 Calculating calibration offsets if set read only 1 5 IIR Heading Filter used if set 1 4 Run Mode if set OM1 3 Stdby Standby Mode if set OM1 2 Upright Front Orientation if set OM1 1 Upright Edge Orientation if set OM1 0 Level Orientation if set Table 6 Operational Mode Register 2
203. outine Level 27 XII Mechanical 28 XIII A Device Housing Main Body 28 Phe Other Parts ccd e TRU uri Rer dues 0 OTS me CIE tex Rub asus mod rb 29 Part Creations S S qute WI EIS gw ete epu WE SCR 29 XIV Test Plan and Test Results for Hardware 29 XIV A Static Timed Test 22252255255 o Ee o eec uote oe e ue RAM RON de n 29 XIV A1 results s deser X eub CE dep xS 29 XIV B Speed Test mx EU Fue Ra eR Re CR Pees Beh Poe ee Ee IN 29 XIV BI Test Results nece e RN ee A we Re ce eb one IRURE Kate OG RC ce eo 29 Drop Test uv dope epe ANOS Suae gy 30 XIV CT STest Results s EH s de gor aerei S E MISSE ES 30 XIVD Crush Test Ree eeu ow eR RR ERR GE ab EUR Be ee Bh ed dad 30 Test Results 2 oo RUE ome Ee UY I AE AP eg RUE TRU d 30 XIVE Shake Test 2 3 uq oe ek vt Dese RAD DADO RES RU RUE feck Bak RC HO ce ets 30 RIVEL Test Results uerb Re RR PR Ne tee ar VUE TORMENTA Vie 30 DIVE Dissipation e ace sen e do eh E ttp sees qu Stasi ue Re eoe teo b ew we 30 XIV G Moist re Test a cocos des S53 we be c md eu Be Sa US ise ale 30 Shatter Test 51
204. ows and encompassed 150 work hours IX USER MANUAL This manual will provide the user with an overview of how to setup and use the currently implemented hardware and software features of the prototyped device The setup and operation instructions provided are predicated on the use of the same hard and soft components listed For hardware and software to work as designed the steps in this manual must be followed in the order presented This user manual will to cover any any Windows Operating system setup or configuration guides please contact Microsoft customer service with OS related questions A Device Usage Overview The dark inertial mapping device is intended to map one or more user s traveled path within a 2 dimensional plane while attached to the user s person The mapping data then may be extracted from the device via a microSD card and docked with a computer running the accompanying visualization soft ware From the mapped paths displayed on the visualization software user s can extrapolated the path s traveled by the device wearer B Limitations The limitation of this device are enumerated below but not limited to 1 Accuracy At 90 meters traveled the device will generate and error greater than or equal to 596 deviating from the true path by 5 meters from the radius of the 92 meter recorded point 20 Fig 2 Device Interior By Team D I M 2 Usability Conditions This device is intended for use in a hu
205. p mode Power up VDD 3 3V 8 mA Compass Function Field Range total applied magnetic field 2 gauss de gauss if exposed to gt 5gauss Heading Accuracy At Level 3 3V 3 0 deg RMS 15 tilt 60 tilt Heading Output Data 16 0 3 degrees mem mmm Tilt Accuracy 0 to 15 3 3V 1 degrees TitRepeatabilty 302 degrees Offset Straps Offset DC Current 10 mA gauss Field applied in sensitive direction rr Resistance Ta 40 to 125 C 1800 2700 4500 ppm C General Operating Ambient 40 C 22 1 11 Storage Ambient unbiased 55 125 C eee oo Imm 14 O o o Peak Reflow Temp 30 seconds 2 C Tested at 25 C and 3 3V except stated otherwise 2 www honeywell com HMC6343 FUNCTIONAL DIAGRAM Mag Sensors Magnetic ASIC Micro Controller Temp Sensor PIN CONFIGURATIONS Pin Number Description Pin Number Description f a X OFF GND2 N N N N N N N 19 20 21 22 23 24 25 26 27 29 30 31 32 33 34 35 6 www honeywell com NC NC 39 HMC6343 NC 9 NC8 NC 7 NC 6 NC 5 NC 4 VDD1 3 NC2 NC 1 BOTTOM VIEW z o vas 96 1910 SO S LE GGA eL ON ON VE L ON ON tL ON TOS ADS 26 91 440 2 ON LE 91 440 Z ON 0 6c
206. permanent damage to the part 3 DoclD024763 Rev 2 19 74 69 Terminology LSM9DSO 3 3 1 3 2 3 2 1 3 2 2 3 2 3 3 2 4 20 74 Terminology Set reset pulse The set reset pulse is an automatic operation performed before each magnetic acquisition cycle to degauss the sensor and to ensure alignment of the magnetic dipoles and thus the linearity of the sensor itself Sensitivity The methods to determine sensitivity and offset are given below in the following paragraphs Linear acceleration sensor sensitivity Sensitivity describes the gain of the sensor and can be determined by applying 1 g acceleration to it As the sensor can measure DC accelerations this can be done easily by pointing the axis of interest towards the center of the Earth noting the output value rotating the sensor by 180 degrees pointing to the sky and noting the output value again By doing so 1 g acceleration is applied to the sensor Subtracting the larger output value from the smaller one and dividing the result by 2 leads to the actual sensitivity of the sensor This value changes very little over temperature and time The sensitivity tolerance describes the range of sensitivities of a large population of sensors Magnetic sensor sensitivity Sensitivity describes the gain of the sensor and can be determined by applying a magnetic field of 1 gauss to it Angular rate sensitivity An angular rate gyroscope is a device that
207. pically employed for search and rescue operations in interior environments 7 In these situations the priority is placed on covering as much ground as fast as possible due to the rapidly diminishing survival conditions Search and rescue responders are paired and typically use a right hand method to traverse hallways until they can find a room When room is located one rescuer stays at the door while the other checks the room and acts as an exit beacon for their partner For large areas a long rope typically 200 feet is used with segmented knots every 50 feet This rope is anchored to a sturdy point at the entry area A 20 secondary foot rope with a metal ring at the end is affixed to the rescuer and the larger rope is inserted through the ring The knot ring sequence presents a rough estimation of distance every 50 feet and ensures that the operative does not stray too far from the rope leading to the exit These methods have been a long standing navigation methods in the search and rescue field as they have proved reliable given typical interior design methodologyIf a wall is followed continuously the navigator should return to their starting point Additionally they require no dependence on external sources Using these principles Team DIM sought out to make a device was both capable of determining displacement as well as providing a rudimentary map of the path traveled 3 Feature Set Upon establishing that the loss of life
208. pically have search operators use visual cues to traverse their environment when available Ad ditionally they employ the use of spray paint to mark and pro vide information regarding their surroundings to other teams Due to the amount of improvisation that occurs in this regard a degree of their success relies on the plans laid out by the coordination manager Without synchronization of information between rescue teams victim searches cannot be coordinated efficiently 2 In some instances coordination of efforts are addressed by automation in Search and Rescue robots In this field similar concerns exist when designing systems that allow automated coordination and communication An increase in the distance covered reduces the efficiency and likelyhood of communication and collaboration 8 Additionally machines are limited to their interpretation of data While human com munication suffers a similar issue regarding communication of contextual visual data analyzing only team search paths for redundancy can better assist coordination staff to improve repeated search efforts and encompass more terrain in less time During the Fall 2014 project term team DIM sought out to design a prototype in order to specifically address the problem statement shortcomings of standard technologies The problem statement was initially targeted toward the extraction of firefighters in a dynamic environment The device design consisted of a device that was t
209. ponsible for any damage whether it be property physical and or emotional that occurs during the use maintenance and or existence of the device 25 Button SD Shield Logic Level Converter 55138 LSM9DSO Arduino Uno Microcontroller By Alexander Meadows itle DIM Device Wiring Schematic Size Document Number Rev A 42 D Saturday May 02 2015 Sheet 2 Dataflow Dark Inertial Mapping E Fig 7 Basic Data flow By Team D I M Step Calculation Fig 8 Basic Step Calculation By Team D I M XII SOFTWARE A Block Diagram and Document at Block Level The Dark Inertial Mapping project consists of a software and a hardware portion The visualization software was de veloped in the Unity3D game development engine Using the kinematic model and testing results additional features within the software component were added to facilitate internal testing and promote ease of use for the target demographic of search and rescue coordination managers B Flowcharts Pseudocode and Documentation to Subroutine Level The SD card shield was implemented to fulfill requirements for the Breadboard Proof deadline and demonstrated the local storage feature which was detailed in the Design Idea Contract It also limited the print statements and created less overhead The SparkFun microSD shield was selected as our storage interfacing unit as installa
210. produces a positive going digital output for counter clockwise rotation around the sensitive axis considered Sensitivity describes the gain of the sensor and can be determined by applying a defined angular velocity to it This value changes very little over temperature and time Zero g level The zero g level offset TyOff describes the deviation of an actual output signal from the ideal output signal if no acceleration is present A sensor in a steady state on a horizontal surface will measure 0 g for the X axis and 0 g for the Y axis whereas the Z axis will measure 1 g The output is ideally in the middle of the dynamic range of the sensor content of OUT registers 00 data expressed as two s complement number A deviation from the ideal value in this case is called Zero g offset Offset is to some extent a result of stress to the MEMS sensor and therefore the offset can slightly change after mounting the sensor onto a printed circuit board or exposing it to extensive mechanical stress Offset changes little over temperature see Zero g level change vs temperature LA TCOff Table 3 The Zero g level tolerance TyOff describes the standard deviation of the range of Zero g levels of a population of sensors 3 10024763 Rev 2 70 LSM9DSO Terminology 3 2 5 Zero gauss level The zero gauss level offset describes the deviation of an actual output signal from the ideal output if no magnetic field is present Thanks to the S
211. quick search of that area Most bedrooms cluttered so while you are still doing a right hand search you re running into dressers piles of clothes bicycles beds that have to be searched themselves both on top making sure you don t miss a bunk bed and underneath for hiding kids and lots of other things It s easy to get spun around in a bedroom so it s the job of the guy at the door to keep track of time and also to answer your yells if you get lost You can generally follow the sound back to him since bedrooms aren t that large Also bedrooms are nice because they have door and at least one window This means that if fire conditions go to shit you both can crawl inside the bedroom shut the door that will keep the fire out for at least a minute or two break the window letting fresh air inside and improving visibility and giving you a way to bail out to the exterior Once one bedroom is done you go out continue the right hand path and find another Generally you trade jobs with the searcher of the previous room taking the doorway job on https mail google com mail u O ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp siml 1484d90b 3 8 135 11 29 2014 Gmail Question for a design project the next one to share the workload Knowing the area you ate working in and the general way buildings are constructed is a major part of the firefighter s j
212. r merits and shortcomings in addressing the target demographic This research is utilized to propose a strategy intended to target potential investors as well as clients for market penetration 1 Public Sector FEMA A primary organization that falls within these confines is the Federal Emergency Management Agency FEMA From statistics provided FEMA 1 the participants within the National Urban Search and Rescue Response System can be categorized within three distinct groups FEMA establishes policy and leads coordination of the national systems Within the continental United States there are 28 FEMA Urban Search and Rescue Task Forces who are trained and equipped by their parent organization to handle structural collapse Incidental Support Teams are trained to support the Urban Search and Rescue Task Forces by logistical electronic and coordination means Within each Urban Search and Rescue Task Force there are 62 positions In the event that an emergency occurs tasks force typically have more than 130 well trained emergency responders prepared for action The teams are composed of firefighters engineers medical professionals canines and their handlers and Urban Search and Rescue managers Based on the provided statistics this shows a potential customer base of over 3000 units for FEMA Urban Search and Rescue alone 2004 FEMA sponsored the publication of an article by the National Institute of Justice detailing the technological
213. re unable to meet the internal deadlines set by the team to get this properly working As such the final implementation uses the LSM9DSO in conjunction with the HMC 6343 to generate data capable of producing both a step and a direction This task encompassed 100 hours during the Spring project term 2 Establish Kinematic Model The original kinematic model aimed to double integrate acceleration data detected by the accelerometer Using fused data from both the gyroscope and the magnetometer the team would be able to detect the overall displacement of the device when moved However this implementation has well known problems that is the result of accumulated error Accelerometers are inherently noisy devices and as such the integration of minor acceleration readings over a long period of time lead to a large amount of unintended displacement Additionally because the Z axis of rotation having no cardinal reference such as gravity rotations are prone to drift Due to all of the aforementioned issues along with the LSM9DSO providing non uniform heading values from the stock vendor drivers the team opted to change kinematic models between project terms to address the design deficiency As such the team utilized PDR using the same MEMS components but interpreting the data provided in a different way in order to still meet the key feature set enumerated in the Design Idea Contract This task was addressed by all members of the group culminatin
214. reful layout practices should be enforced to keep high current traces gt 10 a few millimeters away from the sensors Also since the sensors are typically sensing the earth s magnetic field direction avoid employing RF EMI shields using ferrous metals or coatings BASIC SCHEMATIC INTERFACE HMC6343 VDD2 VDD1 VDD3 2 2 DATA CS CS CTRL GND2 GND1 Offset Straps The three offset straps have a spiral of metallization that couples in the sensor element s sensitive axis The straps will handle currents to buck or boost fields through the 4 gauss linear measurement range but designers should note the thermal heating on the die when doing so With most applications the offset strap is not utilized and can be ignored Designers can leave one or both strap connections Off and Off open circuited or ground one connection node Operational Modes The HMC6343 has three operational modes Sleep Standby and Fun Sleep mode is defined as having the analog circuitry powered off and has the lowest power consumption while power is applied to the VDD pins Standby mode has the HMC6343 fully powered but with no measurements performed and the processor is waiting for commands to perform Run mode is fully engaged in continuous measurements at the set rate and ready to receive further commands The operational mode settings are stored in EEPROM register 0x04 and shown further the HMC6343 protocol definition 6 www
215. rical Physics e Differential Equations e Artificial Intelligence Computer Hardware Design Computer Networks amp Internets e Advanced Logic Design
216. s adjustable sensitivity for each of its sensors However the adjustable range is different than that of the MPU 6050 in that is has five levels of sensitivity for its accelerometer and only three levels for its gyroscope The magnetometer has four levels of sensitivity to choose from Because of the difference in available sensitivity levels and given that it is produced by a different company than the MPU 6050 research and testing will be conducted to ascertain the nominal sensitivity level for each part of sensor Just like with the MPU 6050 that nominal sensitivity level is the setting in which there is a minimal noise impact on the data but the data still has an acceptable level of sensitivity The LSM9DSO has a low power mode which similar but different than the MPU 6050s low power mode Instead of having four fixed modes the sampling rates of the accelerometer and magnetometer are adjustable to reduce their power consumption For the accelerometer there are 10 available sampling rates to choose from not including a powered off mode which draws little to no current the data sheet does not say The magnetometer has 6 sampling rates to choose from once again not including when it is in its powered off mode Because of the large variety of sampling rates and no listing of their respective current usages testing will have to be done to find the optimal low power state while still transmitting an acceptable level of data The self testing f
217. s the older data as the new data arrives Programmable watermark level events can be enabled to generate dedicated interrupts on the DRDY pin configured through CTRL REG3 22h Stream mode is represented in Figure 8 Figure 8 Stream mode Xi Yi Z Xo yo Z0 Xi Y1 21 X Yo 22 X30 230 n af D 99 07234 1 26 74 DoclD024763 Rev 2 Ly LSM9DSO Functionality 4 3 5 4 3 6 3 Bypass to stream mode In Bypass to stream mode the FIFO starts operating in Bypass mode and once a trigger event occurs related to NT1 30h events the FIFO starts operating in Stream mode Refer to Figure 9 below Figure 9 Bypass to stream mode 2 XoYiZi Yo e gt 1 e 2 MI 21 21 2 2 22 Empty 4 X30 230 X31 1 1 C Bypass mode Stream mode Trigger event AMO7235v1 Stream to FIFO mode In Stream to FIFO mode data from the yaw pitch and roll measurement is stored in the FIFO A watermark interrupt can be enabled on pin DRDY_G by setting the I2 WTM bit in CTRL REGS 22h to be raised when the FIFO is filled to the level specified in the WTM4 0 bits of CTRL REG 2Eh The FIFO continues filling until it is full 32 slots of 16 bit data for yaw pitch and roll When fu
218. scription 10 1 1 Block 10 1 2 Pin description eec paises aotearoa han ete RERO ds 11 2 Module specifications 13 2 1 Sensor characteristics 13 2 2 Temperature sensor characteristics 15 2 3 Electrical characteristics 16 24 Communication interface characteristics 17 2 4 1 SPI serial peripheral interface 17 2 4 2 Sensor 2 inter IC control interface 18 2 5 Absolute maximum ratings 19 3 Terminology 2 ee eee heen ane ER MERE 20 3 1 Set reset pulse 20 3 2 Sensitivity 20 3 2 1 Linear acceleration sensor sensitivity 20 3 2 2 Magnetic sensor sensitivity 20 3 2 3 Angular rate 20 3 2 4 Zero g level 20 3 2 5 Zero gauss level 21 3 2 6 Zero rate level bak Ree EP P nup 21 4 Functionality 22 4 1 RIESCO CLE EE 22 4 1 1 Accelerometer
219. shield large flat side of the battery down and must be wrapped in and appropriated insulating material Verity that the red LED is on signifying the device is ready to begin data recording 3 User Attachment Once the battery has been installed the device housing must be closed The orange bottom plate on the left side of Fig 2 must be inserted through backing plate shown in Fig 3 Then the colored securing bands orange and blue must be wrapped around the device The device is now Fig 3 Device Strap Back By Team D I M mmm i RNAS SN Fig 4 Device Active Front By Team D I M ready for attachment to the user The device MUST be secured to the users right leg using the elastic Velcro straps between the knee and the inseam Preferably clothes with non smooth textures should be worn 4 Data Gathering Activation The device has an exposed LED which indicates the device status along with a button to enable and disable data recording When the LED is solid red Fig 4 the device is ready to record When the LED is flashing rapidly that indicates the device is recording data Once the device is on battery attached and the LED is solid red depressing the button will begin data recording Pressing the button again will disable data recording and create a new file on the SD card with the file name number one greater than the previous D Software Usage The host PC must Microsoft Windows 8 1 or greater
220. sitional displacement from an arbitrary starting point without reliance on an external system One of the ways in which self referential could be attained is by the storage of orientation and displacement data locally Microcontrollers typically have a limited amount of fast on board memory reserved for the storage of compiled code For persistent data collection over a prolonged period of time this data should be stored locally by way of a storage controller and a removable disk Successful recording of useful displacement data allows for the software feature to utilize the data and generate visual representation of positional displacement For a device to be wearable the apparatus must be operational without a dependency on a persistent connection to a stationary power source Given the time constraints of a failing structure this may necessitate an operating time of less than an hour In situations where the building is simply difficult to recognize due to its dilapidated nature it may require a larger battery to fit these requirements By building a software suite the locally stored data can be visualized and from this a rudimentary map providing details about search patterns and traversal paths can be generated This can provide valuable information that can assist in the reduction in redundancy and increase search efficiency 9 Dead Reckoning Mitigation The overall breakdown of the software and hardware components is discussed in gre
221. ss byte least significant bit cleared factory default 0x32 These commands then follow with the command byte and command specific binary formatted argument bytes in the general form of Command Byte Argument Binary MS Byte Argument Binary LS Byte The slave HMC6343 shall provide the acknowledge bits between each data byte per the protocol Response byte reads are done by sending the address byte factory default 0x33 with the least significant bit set and then clocking back response bytes last command dependant Table 2 shows the HMC6343 command and response data flow Table 2 HMC6343 Interface Commands Responses Command Byte Argument 1 Byte Argument 2 Byte Response Bytes Command Description Binary 0 40 MSB LSB Data Post Accel Data AXMSB AxLSB 6 Bytes AyMSB AyLSB AzMSB AzLSB 0x45 MSB LSB Data Post Mag Data MxMSB MxLSB 6 Bytes MyMSB MyLSB MzMSB MzLSB Post Heading Data HeadMSB 0x50 o P HeadLSB PitchMSB PitchLSB y RollMSB RollLSB Post Tilt Data PitchMSB PitchLSB 0x55 e Bor RollMSB RollLSB TempMSB y TempLSB 0x65 Post OP Mode 1 Read the current value of OP Mode 1 0x71 DEBE MERI Enter User Calibration Mode Level Orientation X forward Z up 0x72 1 e Upright Sideways Orientation 0x73 X forward Y up Upright Flat Front Orientation 0x74 Z forward 0x75 Enter Run Mode from Standby Mode 0 7 Exit User Calibratio
222. stem to provide a better level of search path information regarding field search personnel to the search coordination manager By reducing path redundancy the device aims to save more lives through enhancing search coordination efficiency Index Terms test process tests results self referential wear ability data storage software testing mapping I INTRODUCTION Urban Search and Rescue is the location extraction of and provision of aid to civilians trapped in confined spaces 1 Organizations such as FEMA have implemented infras tructures to expedite these search efforts through division of labor based on the nature of work performed The two primary roles associated with the execution of search activity are Task Forces and Incident Support teams 1 With the assistance of technology these teams are capable of coordinating to efficiently relay information regarding a catastrophic event However in urban areas satellite based localization technology such as GPS have proven to be unreliable due to signal dampening and reflection caused by building geometry In these situations PDR based localization algorithms are typ ically employed 2 Realizing the difficulties of of generating search paths explicitly from memory and verbal exchange Team DIM comprising of Andre Julien Yan Lin Alexander Meadows and Joseph Youngblood set out to create a passive wearable device capable of generating and approximating search path data from
223. stems that use Wi Fi mapping is that they not only require the mapping of the wireless networks before use it also requires that those networks remain constant thus requiring local power to be available While it may work in a static environment any changes will make the pre existing Wi Fi maps to become incorrect This includes changes to the structure of the envi ronment and or loss of power to those networks 28 Another competitor is DecaWave who make Radio Frequency Chip systems They operate by calculating either the time response or the phase response between the transmitter and the battery powered tag to track positional change of the chip while the chip is within range of the transmitter DecaWave is a wideband wireless transceiver which uses low power tags and radio pulses to measure the distance between the tag and transmitter 29 The technology boasts an accuracy of 10 cm at up to 5 meters per second With transmitters being portable it is possible to use them to find a tagged item The transmitter has an impressive 300 meter line of sight range However the transmitter has at most a range of 40 meters without line of sight While it is capable of tracking tag locations in real time relative to the transmitter it lacks an integrated three dimensional mapping system Radio Frequency Chips not only require the prior installation of transceivers in most cases but they also require the installation of battery powered chips While ide
224. sured accel value higher than preset threshold 8 60 CLICK SRC 39h Table 119 CLICK SRC register DClick SClick Sign 2 Y Table 120 CLICK SRC description IA Interrupt active Default value 0 0 no interrupt has been generated 1 one or more interrupts have been generated DClick Double click enable Default value 0 0 double click detection disabled 1 double click detection enabled SClick Single click enable Default value 0 0 single click detection disabled 1 single click detection enabled Sign Click sign 0 positive detection 1 negative detection 2 7 click detection Default value 0 0 no interrupt 1 Z high event has occurred Y Y click detection Default value 0 0 no interrupt 1 Y high event has occurred X X click detection Default value 0 0 no interrupt 1 X high event has occurred 8 62 CLICK_THS 3Ah Table 121 CLICK_THS register 3 Ths6 Ths4 Ths3 Ths2 Ths1 ThsO Table 122 CLICK SRC description Ths6 ThsO Click threshold Default value 000 0000 3 68 74 DoclD024763 Rev 2 118 LSM9DSO Register description 8 63 TIME LIMIT 3Bh Table 123 TIME LIMIT register rus TLI4 TLI2 TLI1 TLIO Table 124 TIME LIMIT description TLI7 TLIO Click time limit Default value 000 0000 8 64 TIME LATENCY 3Ch Table
225. t of the application or use of any product or circuit described herein neither does it convey any license under its patent rights nor the rights of others U S Patents 4 441 072 4 533 872 4 569 742 4 681 812 4 847 584 and 6 529 114 apply to the technology described Caution This part is sensitive to damage by electrostatic discharge Use ESD precautionary procedures when touching removing or inserting CAUTION ESDS CAT 1A Honeywell 12001 Highway 55 Honeywell Plymouth MN 55441 Form 900357 Tel 800 323 8295 October 2008 www honeywell com 2008 Honeywell International Inc Lk yy life augmented LSM9DSO iNEMO inertial module 3D accelerometer 3D gyroscope 3D magnetometer LGA 24 4 4 1 0 mm Features 3 acceleration channels 3 angular rate channels 3 magnetic field channels 2 41 6 8 16 g linear acceleration full scale 2 4 8 12 gauss magnetic full scale 245 500 2000 dps angular rate full scale 16 bit data output SPI IC serial interfaces Analog supply voltage 2 4 V to 3 6 V Power down mode low power mode Programmable interrupt generators Embedded self test Embedded temperature sensor Embedded FIFO Position and motion detection functions Click double click recognition Intelligent power saving for handheld devices ECOPACK RoHS and Green compliant Datasheet production data Applications e Indoor navigation e Smart user interf
226. t responders during one of their drills Besides the simulated stress testing we also have to test the actual structural integrity of the device This would require assistance from the mechanical engineering department as the electrical engineering department does not have the required equipment to run the tests With this in mind if we can not get their assistance we will attempt to test the housing durability by other means such as blunt force dragging on the ground and dropping from various heights If the housing does not meet what we deem as an acceptable durability the housing will return to the design stage Because heat can modify the size and shape of various materials it is important to look at how various levels of heat can warp and possibly weaken the design This can either be done with the assistance of the mechanical engineering department or with the use of an oven By repeatedly heating and cooling the device it should show some physical strain and possibly warping It will also show if and where thermal insulation should be installed to keep the components from overheating The final stage of housing testing is to give the device to actual first responders for them to test using it during a drill This would require them to start the device at a known fixed location and then after the drill is completed return the device to the same location Then we would take the recorded data and show them the path they took Also t
227. ta 3 15 15 3 30 15 TABLE V Feature Software Deadlines and Completion Dates Task Due Date Date Completed 3D print housing 4 9 15 2 11 15 Battery selection 2 9 15 2 9 15 Performance Testing 4 18 15 3 22 15 viuis DEVICE 4 12 15 2 21 15 ousing TABLE VI Feature Wearability Deadlines and Completion Dates VI RISK ASSESSMENT With a project proposal comes a level of anticipated risk The members of Team DIM have assessed to the best of their knowledge the potential risks they may encounter during the entirety of the course categorized based on the impact on the overall project such a risk may pose Based on these risks individual mitigation plans were produced Table 2 provides a Risk Assessment Matrix in which each risk has been classified based on their severity as well as the anticipated frequency of their appearance Severe 1 Lose Accuracy Due to Drift In the event that our data loses accuracy due to the effects of drift we will first check to see if it falls within the accuracy specifications we desire If it does then the problem becomes less severe otherwise we will test and observe what would cause this drift and then instigate the integration of a drift filtering algorithm which would negate the effects of the drift based on the observed tested and calculated average drift that is observed This would be further mitigated by introducing a longer startup ti
228. table low during the HIGH period of the acknowledge clock pulse A receiver which has been addressed is obliged to generate an acknowledge after each byte of data received The 12 embedded inside the LSM9DSO behaves like a slave device and the following protocol must be adhered to After the start condition ST a slave address is sent once a slave acknowledge SAK has been returned an 8 bit sub address SUB will be transmitted the 7 LSb represents the actual register address while the MSB enables the address auto increment If the MSb of the SUB field is 1 the SUB register address will be automatically increased to allow multiple data read writes Table 11 Transfer when master is Suring one byte to slave Slave Table 12 Transfer when master is writing multiple bytes to slave Master ST SAD W SUB DATA DATA SP Slave SAK SAK SAK SAK Table 13 Transfer when master is receiving reading one byte of data from slave Master ST SAD SUB SR SAD R NMAK Table 14 Transfer when master is receiving reading multiple bytes of data from slave Master ST SAD W SUB SR SAD R MAK MAK NMAK SP Slave SAK SAK SAK DATA DAT DAT Data are transmitted in byte format DATA Each data transfer contains 8 bits The number of bytes transferred per transfer is unlimited Data is transferred with the Most Significant bit MSb first If
229. tations frequently had problems with penetrating the thickness of the structure and experienced loss in signal and tracking over time Methods that used PDR experienced drift and unpredictable error but showed that the issues could be ameliorated by fusing the data with correctional methodologies One particular method used Simultaneous Localization and Mapping in conjunction with PDR However due to the low level of visibility in live buildings this particular method is ineffective incurring errors both fused methods While there are multiple companies that attempt to accomplish the task of positional tracking using a variety of technology there is a consistent recurrence of pre installation requirements with reliance on local power and only twodimensional tracking therefore they lack the means to truly address the problem of positional recording of personnel independent of external systems 4 Market Penetration One of the greatest challenges in any event command is the coordination or personnel A successful outcome can only be accomplished if command and control is established early The Incident Commander must demonstrate clear expedited and decisive leadership 32 illustrates the need for tools to assist in accomplishing the command and control directive This approach is valid for all emergency events from active shooter scenarios to urban search and rescue to subterranean extraction From government run events to organization l
230. team leader Alex because it falls into the realm of organization and planning The final review of the report is to be performed by all members of the team to provide the highest probability that any typos will be caught C Market Review The market research report tasks us with not only under standing and presenting what market and which consumers would purchase the device Also any competition and related pricing information needs to be researched and detailed to show what market the device would enter if it is to go to market Using the information gained from our research we will then put together a plan for how to market our device This information will be presented in the report as well as orally in the presentation D Mid Term Progress Review Is the Individual Feature Presentation This assignment has both a written and an oral component The assignment will start with coordination of our lab instructor selecting one of our design idea features to discuss We will then write on the suggested topics from the assignment 5 documents and put that information into our specific Latex document which will format it into IEEE format for us Lastly we will prepare a verbal presentations E Feature Presentations and Reports The internal team meeting consisted of a short discussion of where the team is currently and what needs to be done this week beyond the usual weekly report We talked about the current status of using the DMP bui
231. ted prior to the breadboard proof and was completed by Yan Lin in 20 work hours 2 New Search Session In order to allow multiple files to be stored on a single device and prevent new search sessions from overwriting previously recorded data a mechanism was implemented detect existing files within the file system and name new search sessions in ascending order This task was completed by Yan Lin in 5 hours J Software The software implementation will make use of the local storage feature in order to generate a visual realization of recorded positional data This task was allocated 48 total work days in order to complete all individual sub tasks required for full realization of the software interface feature but does not include the time spent testing complementary functionality of the device 1 Camera Rotation Using Euler angles we will rotate the camera or the field of view that the user gets while looking through our program allowing for the arrows to represent commands of lateral movement then using the mouse to represent pitch and roll Commands will be very similar to a video game allowing users who are experienced with video games to quickly figure out the software Furthermore we have pre written script to handle the movement that we can quickly import and use with our code This task was completed within the allocated time of 30 hours 2 Menu basic Menu system will allow the user to select through familiar options to qui
232. tem or to affect its safety or effectiveness Formative or In Design Advance Information Preliminary First Production No Identification Needed Full Production Obsolete Not In Production This datasheet contains the design specifications for product development Specifications may change in any manner without notice This datasheet contains preliminary data and supplementary data will be published at a later date Fairchild Semiconductor reserves the right to make changes at any time without notice in order to improve design This datasheet contains final specifications Fairchild Semiconductor reserves the right to make changes at any time without notice in order to improve design This datasheet contains specifications on a product that has been discontinued by Fairchild semiconductor The datasheet is printed for reference information only Rev 117 Pouer Indicator 3 3U Mi UCC GND 1A 2A 3A 4A 1 2 ay 47 Nis 5A 6A SY 6v E RRDUINO SHIELDNOHOLES GND GND Released under the Creative Commons Attribution Share Alike 3 0 License http creativecommons org licenses by sa 3 8 Design by Ryan Owens HEX_CONUERTER SHIELD SHIELD SHIELD SHIELD 129 e TITLE microSD_Shield v13 Document Number Sheet 1 1 PRODUCT DATASHEET ENERGIZER LA522 Advanced Lithi
233. that attach the device housing to the user In the final design it is secured to the top of the case by epoxy However the prototype used rubber bands Figure 4 The part indicated by the pink arrow is used for attaching the sensors to the housing It slides into the topmost slot of the device housing which allows access to the sensors during the prototyping stages However it is affixed in place in the final design The orange arrow points to the bottom of the housing It is designed in a grid for both strength and weight There is a small notch designed in so as to make grabbing the piece easier as it is the internal access point of the device 29 Fig 12 Static Time Test C Part Creation The parts of the device housing were made using 3D printing on a Duplicator 4 using PLA with 30 infill The choice of having the parts have infill was threefold The first reason is that it makes the parts more flexible and thereby less likely to break Second it makes the device slightly lighter as the case contains less plastic The final deciding factor was that it shortened the printing time which was about nine hours for all the parts Since the device housing is made out of XIV TEST PLAN AND TEST RESULTS FOR HARDWARE A Static Timed Test Run the device in a fixed location at California State University Sacramento CA 95819 inside Riverside Hall 3rd floor Test times are 1 5 15 30 12 and 24 hours 1 Test results Initially the
234. that large and bulky equipment could not be added to the hardware even though initial prototypes had a laptop connected This also meant that the hardware in order to be self sufficient needed to have its own power supply This power supply will need to easily last the entire time that a search and rescue mission will last Lastly the choice of using a micro controller with limited memory compounded with the self referential inability to wirelessly send the data dictated that external storage was added to the device This tied together the choice of being self referential and storing data locally Requiring that to be self referential the device needed to store data locally 5 Feature Wearable Wearability is the feature that in the end will define the actual marketability of the device components being equal if the end user cannot affix remove comfortably and most importantly safely wear the device it will never be utilized The required mounting point for the device is on either hip of the end user The device should be inserted into a soft moisture resistant exterior housing which will protect the device along with padding the device for user comfort An appropriate solution was found by using a readily available product An Energizer Lithium battery was chosen since its output exceeded the real world run time that a user would need 6 Feature Local Data Storage For data storage team D I M was faced with two options Wireless off de
235. the device address SAO 24 SDA 2 serial data SDA 3 DoclD024763 Rev 2 LSM9DSO 62 Module specifications 2 Module specifications 2 1 Sensor characteristics Vdd 3 0 V T 25 C unless otherwise noted Table 3 Sensor characteristics Symbol Parameter Test conditions Min Typ Max Unit 2 4 LA FS Linear acceleration 16 g measurement range 8 16 2 M ti 4 M_FS gauss measurement range 8 12 245 Angul t URS loo 500 dps measurement range 2000 Linear acceleration FS 2 g 0 061 Linear acceleration FS 4 g 0 122 LA So Linear acceleration sensitivity Linear acceleration FS 6 g 0 183 mg LSB Linear acceleration FS 8 0 0 244 Linear acceleration FS 16 g 0 732 Magnetic FS 2 gauss 0 08 Magnetic FS 4 gauss 0 16 M GN Magnetic sensitivity E and Magnetic FS 8 gauss 0 32 LSB Magnetic FS 12 gauss 0 48 Angular rate FS 245 dps 8 75 E mdps G So Angular rate sensitivity Angular rate FS 500 dps 17 50 digit Angular rate FS 2000 dps 70 LA TCSo Linear acceleration sensitivity From 40 C to 85 15 change vs temperature M TCSo Magnetic sensitivity change From 40 C to 85 3 vs temperature a The product is factory calibrated at 3 0 V The operational power supply range is from 2 4 V to 3 6 V DoclD024763 Rev 2 13 74 63
236. the device will have to be tested again both with and without movement to ensure that it still meets an acceptable quality of output data Just like with adjusting the code in response to test data retesting will be an ongoing activity throughout the semesters to ensure that we do not break what we have working and to provide additional test data which can be used for further optimization 3 Test Accuracy Accuracy is the main concern of the project as if it is not accurate enough while recording data the data would be useless To assist in ensuring or at least defining an operational range for the device a series of tests are required These tests include short and long distance testing long recording time testing testing at various speeds and finally field testing After each phase of testing the results will be analyzed and optimizations will be implemented if possible As such these tests will be repeated many times The small distance tests main purpose is to be a tumbling and odd environment test This includes but is not limited to walking skipping hopping climbing over tables and spinning in a chair stairs running jumping hustle and waltz These actions would be repeated over a measured known fixed distance The effect on the accuracy of the measured fixed distance would then be compared to a smooth version of the device traveling the same distance to observe the error created by the erratic movement The testing of the eff
237. this address clears the INT1_SRC IA bit and eventually the interrupt signal on the INT_G pin and allows the refresh of data in the INT1_SRC register if the latched option was chosen 8 16 INT1 THS XH G 32h Table 47 INT1 THS XH G register THSX14 THSX13 THSX12 THSX11 THSX10 THSX9 THSX8 Table 48 INT1_THS_XH_G description THSX14 THSX8 Interrupt threshold Default value 000 0000 3 48 74 DoclD024763 Rev 2 98 LSM9DSO Register description 8 17 INT1 THS XL G 33h Table 49 INT1 THS XL G register THSX7 THSX6 THSX5 THSX4 THSX3 THSX2 THSX1 THSXO Table 50 INT1 THS XL G description THSX7 THSXO Interrupt threshold Default value 0000 0000 8 18 1 THS 34h Table 51 INT1 THS YH G register THSY14 THSY13 THSY12 THSY11 THSY10 THSY9 THSY8 Table 52 INT1_THS_YH_G description THSY14 THSY8 Interrupt threshold Default value 000 0000 8 19 INT1_THS_YL_G 35h Table 53 INT1_THS_YL_G register THSR7 THSY6 THSY5 THSY4 THSY3 THSY2 THSY1 THSYO Table 54 INT1_THS_YL_G description THSY7 THSYO Interrupt threshold Default value 0000 0000 8 200 INT1 THS ZH 36h Table 55 INT1 THS ZH G register THSZ14 THSZ13 THSZ12 THSZ11 THSZ10 THSZ9 THSZ8 Table 56 INT1 THS ZH G description THSZ14 THSZ8 Interrupt threshold Default value 000 0000
238. tial feature Initial tests to validate the positional generation were performed through a slide test collecting acceleration data across one of the sensors axis on a float surface Following the law of Newtons third law of motion in order to detect a stop the device necessitates an equal force in the opposite direction To implement this the Arduino sketch included an accumulator value that added all mono directional accelerations up to the detection of an opposite force When the force of an opposing magnitude was detected it applied the accumulated value to the velocity value in order to differentiate between a true stop state and a situation where velocity is constant resulting in zero acceleration Figure 10 depicts the sliding test showing the results of the added compensation The device always starts at the origin which is denoted by the light blue vertical stripe The device was moved along the positive X axis stopped then moved along the negativeX axis Vertical shifts occurred during these slide tests and were caused by the sensitivity in the Y axis Oftentimes the slide test would be stopped but due to a non ideal stop motion caused by the tester this would result in accelerations read in the Y axis Due to an unforeseen circumstance regarding human gait movement the displacement algorithm was unable to generate acceleration for walking patterns Despite having success with sensor fusion to generate fused data necessary for c
239. tion would provide straight forward given the use of the stacking headers The use of stackable headers allow for an expansion in utility while maximizing the amount of free pins on the microcontroller The imple mentation consisted of a test sketch that acceleration data from an IMU sensor pushed the data on the stack calculated the velocity on the microcontroller and stored the velocity data locally on a microSD card via the Sparkfun microSD shield void logData Write data to file log time in micros Write ADC data to CSV record for uint8 t 1 0 1 lt DEVICE COUNT file print data i 0 5 Start with i 27 Software Dark Inertial Mapping Software sketch Arduino Software sweet Data manipulation and Input CSV fle Imperial Fig 9 Basic Step Calculation By Team D I M file write file print 0 file print data i 1 5 file write file print 0 file print data i 2 5 file write file print data i 3 5 11 1 After we did that we realized that the Arduino was not deterministic so we added in functionality to calculate the difference in time between the two measurements this would give our post processing calculations a new level of accuracy sense they use a delta time in them We originally had a bad implementation and this caused the time to be calculated each clock cyc
240. tions There are ways around using other functions and you can write in most libraries using something called fakes which represent outside software using predefined values However the more fakes you have to write the more you have to define your inputs and change the data that you are getting from the unit tests After finishing our basic unit testing and seeing that those test only test one function at a time it was easy to see that the data was not worth the time it would take to build the unit tests After determining that the data gathered from this was not pertinent and would not help the software improve there was a testing switch and the software was then ran through a graphical user interface test The users of the software responded very positively to the new tools added into the software and tested all their functionality to ensure that the software has no hiccups in its workings B Sample Data Test Create test cases from a predefined output and run them through the software comparing the output to the predefined output 1 Test Results These test used test cases that were created using predefined data that was built from a desired output These test were used for both types of files that are being passed to the software The preprocessed file that passes when step occurred and what the persons heading was when that step occurred as well as the non processed raw data file For this test the test cases would run through the so
241. to SWAT team coordination protocol Based on the information found a solution to meet the technical needs of Search and Rescue teams was proposed in form of the Design Idea Contract For counsel regarding field operations and standard operating procedure the team consulted Ray Stedronsky a retired Captain from Truck 106 Metro Fire with more than three decades of field experience Due to technical issues that occurred during the Fall Project Semester the team required a change in kinematic model in order to meet the original contractual obligation detailed under the Design Idea Contract by the term deadline The original kinematic model was based on translational motion assuming a static orientation of the device itself To calculate displacement the device recorded acceleration data to external storage Due to the low throughput of the AtMega328 platform data was post processed in the visualization software in order to maximize sampling rate of sensors However this led to the requirement of rapid orientation analysis to determine the linear accel eration with respect to the frame of reference of the earth Critical issues consisted of poor sampling rate accumulated error in integration of accelerometer data non symmetrical heading along with a large number of corner cases attributed to device orientation To mitigate the risks associated with an undeliverable design the project switched from the original intent of double integration of
242. to generate a 3D game space capable of providing a visual representation for gait data The soft ware allows for the loading of multiple search paths over a user defined map backdrop and dynamic point selection Provided a pre determined average gait size each individual gait reading that triggers a pre defined step threshold creating a step object The position of additional step objects generated utilize basic dead reckoning principles The software connects these individual step objects and allows the assignment of color for clarity for the end user The primary aim of this implementation is to provide a better visual approximation of search paths contoured toward search coordinators for improved search efficiency through reduced redundancy The rendering engine provided by the Unity3D environment acts as the middle layer between recorded gait data and final display Unity provides the tools to generate a gamespace which can be populated with game objects Every visual aspect within the environment is rendered as a game object This results in a 3D environment that can be traversed using a flycamera developed by Joseph Youngblood The overall intent of Project DIM is to facilitate search coordination for Search and Rescue Coordina tion Managers The goal of the Dark Inertial Mapping system was to create a device that required minimal interaction could be easily incorporated into search operatives equipment that would allow for search path m
243. ttempt to implement the same feature by providing communication and logic between the replacement devices IV WORK BREAKDOWN STRUCTURE In this section of the documentation the specifics and implementation of the features for the device will be described Product Price Qty Total SparkFun RedBoard 19 95 4 79 80 NmicroSD Shield 14 95 4 59 8 HMC6343 Breakout 149 95 2 299 9 Stackable Headers 7 50 4 30 0 Stackable Headers 12 95 4 51 8 Logic Level Converter 2 95 4 11 8 Total 533 1 TABLE I Product pricing in detail This includes explanations of the subtasks and the respective activities which comprise the subtasks These activities will be further broken down if necessary to provide absolute clarity on the tasks required to attain realization of each proposed feature A Self Referential The key feature of the proposed device is that it is self referential meaning that it has no dependency on an external system This is to circumvent the connectivity problems face by devices that employ GPS or ad hoc connections For this feature to be realized we must first read the sensor data then calculate position from the data and finally test the accuracy of the device 1 Read Sensor Data Interfacing a sensor with a micro controller typically necessitates the use of a communication protocol for incoming and outgoing data Not only does this require the communication protocol in order to properly calculat
244. udimentary method of extraction The onset of wearable computing has led to innovations in the field of creating a more futuristic firesuit among other modern tech nologically augmented versions of existing hardware While the initial discussion mentioned the utilty that a heads up navigational display could provide for fire rescue personnel during emergency extraction an emphasis was placed on the necessity of a high degree of reliability for the device Because rescue personnel would be entrusting their well beings to such a device failure to do so would marr its reputation in the field as well as a reluctance to revisit such a device for future use Due to the extreme nature of the environments for this particular uses there is a chance that the sensors used for determining orientation and gait could have their accuracies compromised Furthermore due to the alteration in gait pat terns when traversing a dynamic environment matching the gait pattern the device detects may not be possible for the reliable generation of search paths While the device does not ideally fit the needs within fire rescue in a live fire the device is still capable of fitting the needs of firefighters for post disaster search and rescue survey for reducing the redundancy in search pattern coordination 2 Private Sector While government search and rescue efforts are valuable private volunteer groups are also part of the search and rescue market As these groups
245. um A apowvanceo urHium lt MAN 3d Industry Standard Dimensions Classification Chemical System Designation Nominal Voltage Operating Temp Storage Temp Max Discharge 130 Energizer 1 800 383 7323 USA CAN www energizer com Lithium 9V Lithium Manganese Dioxide Li MnO ANSI 1604LC 9 0 volts 40 C to 60 C 40 F to 140 F 40 C to 60 C 40 F to 140 F 1000 mA continuous Specifications mm inches Safety Features Positive Temperature Coefficient Switch PTC i Burst Proof Venting Holes 15 EDU bad Typical Weight 33 9 grams 1 2 oz Yum m Typical Volume 21 4 cubic centimeters 1 3 cubic inch Jacket Plastic Label Terminal Miniature Snap 12 95 0 510 Shelf Life 10 Years 12 45 0 490 Typical Li Content 1 35 grams 0 048 oz 26 50 1 043 s UL UN Listed MH47482 24 50 0 965 HD i i 49 00 1 929 ae 46 40 1 827 EU Milliamp Hours Performance 21 C Continuous Discharge to 5 4 volts 1000 5 750 l 8 500 AX E 250 Laboratories component Recognition 0 E 5 25 100 Typical Discharge Performance 21 C Discharge mA 25mA Continuous Discharge Continuous Discharge to 5 4 volts 10 1000 lt 5 9 750 2 8 9 g 7
246. unctionality of the LSM9DSO allows the IMU to test the functionality of its accelerometer and gyroscope while the device holds still It then outputs the results of the test in which the microcontroller can read and compare with the known values of what the output should be Just like with the MPU 6050 including the self test is vital for reading data from the LSM9DS0O for reliability of the device The interrupt feature can be useful in that it stops the transmission of data between the device and the microcontroller By not having the IMU consistently communicate to the microcontroller it will lower the power usage of both devices It can also be helpful when used for debugging Since it allows us to enable and disable reading data from the device thereby allowing us to see how each individual LSM9DSOs data affects the data after post processing 2 Calculating Position from Data Calculating position from the data created by reading the sensors is the major subtask of the project because not only does it require the data received to be converted to acceleration with the correct units it also requires that noise be filtered out of the system Once that is completed by using the kinematic formulas we have to calculate position Then those calculations and filterings need to be tested for drift both when the device is moving and when it is not Adjustments to the filtering and resetting will occur as necessary Because the unit of measurem
247. urrent Vas 10 V Vos 5V Forward Transconductance Input Capacitance Output Capacitance Reverse Transfer Capacitance Vps 10V lp 20 22A Vps 2 25 V f 1 0 MHz Gate Resistance Ves 15 mV f 1 0 MHz Turn On Delay Time Turn On Rise Time Turn Off Delay Time Turn Off Fall Time Total Gate Charge Gate Source Charge Gate Drain Charge lp 0 29 A Ramn 6 Q Drain Source Diode Forward Voltage Ves 0 V ls 0 44 A Note 2 Notes 1 2 Rosa the drain pins R is guaranteed by design while R 1 350 C W when mounted minimum pad yt Scale 1 1 on letter size paper Pulse Test Pulse Width lt 300 us Duty Cycle lt 2 0 is the sum of the junction to case and case to ambient thermal resistance where the case thermal reference is defined as the solder mounting surface of is determined by the user s board design BSS138 Rev C W 861554 125 Typical Characteristics a N a 4 o z 5 a a 3 DRAIN SOURCE ON RESISTANCE Ip DRAIN CURRENT 1 DRAIN CURRENT A T 7 Vas 10 6 0 0 5 1 1 5 2 25 Vps DRAIN TO SOURCE VOLTAGE V Figure 1 On Region Characteristics 0 25 50 75 100 125 T JUNCTION TEMPERATURE C Figure 3 On Resistance Variation with Temperature T
248. uses the pedometer function to claclulate the persons location Load Image loads the image selected from the select File e Calculate uses a more robust method to calculate the persons position Select File Opens up the select file feature Options e Scale the scale of the squares IE 1 is 1 meter by 1 meter Step Size the size of one calculated step BG Length Length of the underlayed image e BG Height Height Offset If this is 1 it will find the offset from the file else it this will be the offset to subtract from the data E Hardware Components The device hardware components are as follows e SparkFun RedBoard DEV 12757 ROHS e SparkRun 9 Degrees of Freedom IMU Breakout LSM9DSO SEN 12636 ROHS e SparkFun HMC 6343 Honeywell Three Axis Compass 1 MicroSD Card 4GB MicroSD Shield Retail RTL 09899 ROHS e Wiring and connectors e SparkFun Logic Level Converter Bi Directional BOB 12009 ROHS Computer able to run Windows 8 1 or greater MicroSD card reader for a Windows PC running Win dows 8 1 or greater Custom 3D printed enclosure Velcro elastic straps Software Components The below list is pertains to the components used to generated the device functionality and UI environment e Arduio IDE Windows 8 1 or Greater e Unity Game engine 4 5 or later X DESIGN DOCUMENTATION During the Fall project term Team DIM placed a heavy emphasis on the imple
249. using as it would not be financially responsible to do so at this point in time 1 Test Results purpose of the 1 meter test is to observe the effect of a typical drop that the device could experience This test was performed by Alexander Meadows in Riverside 3001 Using a tape measure he measured out a meter in height and aligned the bottom of the case with the one meter mark Moving the tape measure away he then dropped the housing onto the tiled floor picked it up and looked over the case for damage There was no visible damage to the housing This means that the housing can hold up to the average drop from about waist height The purpose of the 3 658 meter drop test is to observe the effects of a more significant drop such as falling from one floor to another This test was performed by Yan Lin in the Riverside stairway He took the housing to the stairway and dropped it from the second floor The housing split apart into individual pieces because the top cover was not glued on That being said the housing did take damage from the fall creating a crack along the corner and edge of one side as seen in the figure below which was an expected result What this result means is that the device housing could be further reinforced and that future drop tests should be done on a housing which has the removable side glued shut as planned for the final device D Crush Test This test was run by Alex at the Well weight lifting area on co
250. ut a short time It s like giving stuff to a bunch of very strong 4 year olds Then there s cost The breathing app is very expensive as is https mail google com mail u O ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp siml 1484d90b 7 8 139 11 29 2014 Gmail Question for a design project But you re tight you have space to carry units on the backpack and lots of clear mask to work a HUD into Would be nice to get all that stuff plus your radio in one package Quoted text hidden https mail google com mail u O ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp sim 1484d90b 8 8 140 B Resume 141 Andre Julien andrejulien csus edu EDUCATION In progress BS Computer Engineering CSU Sacramento GPA 3 59 Dec 2015 AS Mathematics and Physical Science American River College Programming Certificate American River College Courses Advanced Computer Design Advanced Logic Design Computer Interfacing Computer Hardware Design C Programing Data Structures and Algorithm Analysis Java Language Programing Electronics 1 Probability and Random Signals PROJECTS Dual Stage Facial Detection with Proximity Activation Lock As part of a three person team implemented a dual stage lock by interfacing a web camera the Raspberry Pi and the Parallax microcontroller
251. value 0 0 disable 1 enable P2 WTM FIFO watermark interrupt on INT2 XM pin Default value 0 0 disable 1 enable 3 DoclD024763 Rev 2 LSM9DSO Register description 8 43 CTRL 5 XM 24h Table 82 REG5 XM register TEMP EN M RES1 RESO ODR2 ODR1 ODRO LIR2 LIR1 Table 83 REG5 XM description TEMP EN M RES 1 0 Temperature sensor enable Default value 0 0 temperature sensor disabled 1 temperature sensor enabled Magnetic resolution selection Default value 00 00 low resolution 11 high resolution M ODR 2 0 Magnetic data rate selection Default value 110 Refer to Table 84 Magnetic data rate configuration LIR2 Latch interrupt request on INT2 SRC register with INT2 SRC register cleared by reading INT2 SRC itself Default value 0 0 interrupt request not latched 1 interrupt request latched LIR1 Latch interrupt request on INT1 SRC register with INT1 SRC register cleared by reading INT1 SRC itself Default value 0 0 interrupt request not latched 1 interrupt request latched Table 84 Magnetic data rate configuration M ODR2 M ODR1 M ODRO Power mode selection 0 0 3 125 Hz 0 1 6 25 Hz 1 0 12 5 Hz 1 1 25 Hz 0 50 Hz 0 0 1 100 Hz 1 0 Reserved 1 1 Reserved 1 Available only for accelerom
252. vice data storage or local data storage D I M chose the latter rather then the former because while storing the data on the device seems rudimentary it is the least likely to have problems created from the environment and relative distance from the main base This is one of the reasons why wireless data transference and off device storage was decided against The problem with wireless data transference and off device data storage is threefold Not only is wireless connectivity not reliable it is limited by range and requires significantly more power The first problem stems from the extreme reliability required by a pedometrical positioning system for reference to previous position If a single step is erroneously sent or is not received by the base station then the entirety of the following positions sent will be off by one step in any number of possible directions The second problem of wireless systems having limited range stems from wireless signals range dropping when there is something blocking the signals path such as walls houses and people Because of this it is not guaranteed that the signal will be able to reach the base station which would create positional accuracy problems The third and final problem of wireless power consumption which is observable using the everyday smart phone and YouTube If one watches an episode of Dragnet on their smart phone from the phones memory the power usage is much less than if they were to
253. ving to go through extensive training 2 Drawing While seeing the data represented by a series of numerical values would be useful the software becomes invaluable when it represents data graphically and illustrates the data as a map in 3 dimensional spaces Drawing the data into 3dimensional space is inherently difficult to facilitate this the software package unity will be implemented to create the visualization of the data points The first step is to draw all of the positional points without any connection After placing the dots in the 3 dimensional planes we will connect the dots with lines in order to show movement over time This not only helps to show movement it also helps to keep seperate runs identifiable 3 Graphical User Interface All programs need to allow for users to easily use the built in functions Usually this entails the use of a graphical user interface Allowing for users to select obvious on screen options to control their program will create a friendly user experience Because the data is represented in 3 dimensional form the user needs to be able to traverse the data moving up down left and right as well as rotating the camera Another navigational tool that will be implemented is a menu system Menus are vital to all software that allow for user input They give the user an efficient logical interface to the software 4 Debugging One of the last steps after producing a working piece of software is to fiel
254. well continues to maintain product excellence and performance by introducing innovative solid state magnetic sensor solutions Honeywell s magnetic sensor solutions provide real solutions you can count on FEATURES Compass with Heading Tilt Outputs gt 3 axis MR Sensors Accelerometers and a Microprocessor in a Single Package Compass Algorithms 9x9x1 9mm LCC Surface Mount Package Low Voltage Operations gt EEPROM Memory gt Digital Serial Data Interface Moderate Precision Outputs gt Lead Free Package Construction gt Flexible Mounting BENEFITS Acomplete compass solution including compass firmware P digital compass solution with heading and tilt angle outputs in a chip scale package For computation of heading and magnetic calibration for hard iron Small size easy to assemble and compatible with high speed surface mount technology assembly Compatible with battery powered applications store compass data for processor routines gt Interface easy to use 2 wire communication for heading output Typical 2 Heading Accuracy with 1 Pitch and Roll Accuracy Complies with RoHS environmental standards Can be mounted on horizontal or vertical circuit boards HMC6343 SPECIFICATIONS Characteristics Conditions Min Typ Max Units Power Supply Current All VDD pins connected together Run Mode 10Hz Output 5 5 Standby Mode 1 0 mA Slee
255. wildseven gmail com gt Sat Sep 6 2014 at 7 04 PM To Ray Stedronsky lt ladder106 gmail com gt Ray A phonecall would be great so you don t have to type it all up I ll be on campus working on this for few hours so feel free to call whenever have a few days before need to hand this in This information is going to be https mail google com mail u O ui 2 amp ik 845609d72b amp view pt amp q ladder 106 40gmail com amp qs true amp search query amp th 1484d90b17b3eb98 amp sim 1484d90b 1 8 11 29 2014 Gmail Question for a design project really useful for my group members and myself in doing the initial pitch think you have my number but in the event that you don t it s 530 574 4779 My partners and really appreciate your assistance in this matter Yan 133 Ray Stedronsky lt ladder106 gmail com gt Sat Sep 6 2014 at 11 20 PM To Yan Lin lt wildseven gmail com gt Yan Got involved with other stuff sorry Since it s now 2230 I ll write it up Feel free to call with questions or for clarification Some basic conditions and principles Fires make black smoke Most of the stuff in living areas today is plastic and burns like any hydrocarbon Heated gasses and smoke rise to the ceiling in a room and fill the room from top to bottom Depending on how much the fire is contained within the room or building and how much clean airflow is possible into the fire area there MAY be a clear or semi clear
256. wo s complement left justified OFFSET Z L M 1Ah OFFSET Z H M 1Bh Magnetic offset for Y axis Default value 0 The value is expressed in 16 bit as two s complement left justified 3 DoclD024763 Rev 2 LSM9DSO Register description 8 35 REFERENCE X 1Ch Reference value for high pass filter for x axis acceleration data 8 36 REFERENCE Y 1Dh Reference value for high pass filter for y axis acceleration data 8 37 REFERENCE Z 1Eh Reference value for high pass filter for z axis acceleration data 8 38 REGO XM 1Fh 8 39 3 Table 68 REGO XM register BOOT FIFO WTM EN 00 001 HP Click 51 HPIS2 1 These bits must be set to 0 for the correct operation of the device Table 69 REGO XM description BOOT Reboot memory content Default value 0 0 normal mode 1 reboot memory content FIFO EN FIFO enable Default value 0 0 FIFO disable 1 FIFO Enable WTM EN FIFO programmable watermark enable Default value 0 0 disable 1 Enable HP Click High pass filter enabled for Click function Default value 0 0 filter bypassed 1 filter enabled HPIS1 High pass filter enabled for interrupt generator 1 Default value 0 0 filter bypassed 1 filter enabled HPIS2 High pass filter enabled for interrupt generator 2 Default value 0 0 filter bypassed 1 filter enabled CTRL_REG1_XM 20h Table 70 CTRL_REG1_XM register AODR3
257. y project that is built that imports the function of the project you are building and runs it and then you write cases for the program to alert you if the function has failed 32 1 Test Results main testing decided upon for the software was unit testing Originally it was believed that unit tests would help to gage the validity of the software and ensure that its functionality was all correctly configured Due to the complexity of creating a unit test for a software that has already been written it was decided that the results obtained from these test would not be worth the effort to create them To eliminate these potential issue most unit tests that are written while the software is being developed Typically the development team will use the method of test driven development This method changes the order of writing code writing the unit tests first then writing the code that you are testing This lengthens the time of development but reduces the time needed for changes or updates allowing the developer to use the previously developed test cases to ensure that the software is working correctly even after changes Unit test are tough to write in post production because they do not import the entire project To ensure precision the unit test only opens and uses that set of code for that individual function However this means that unit testing only works well in cases where the code is only dependent on itself and not any other func

Team 3 - Dark Inertial Mapping by Julien, Lin, Meadows, and

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