Endeavour
Mote updateK. Pister
Endeavour
Goals
• Make lots of autonomous sensor nodes
• Get CS people excited about using them
• Design new and exciting hardware
Endeavour
COTS Dust - RF Motes
• Atmel Microprocessor• RF Monolithics transceiver
• 916MHz, ~20m range, 4800 bps• 1 week fully active, 2 yr @1%
N
S
EW 2 Axis Magnetic Sensor
2 Axis Accelerometer
Light Intensity Sensor
Humidity Sensor
Pressure Sensor
Temperature Sensor
Endeavour
COTS Dust - Distributed Algorithms
• 1”, $100 Sensor nodes are easy• algorithms?
-0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5-1
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1
2
3
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Endeavour
COTS Dust - Optical Motes
Laser mote
• 650nm laser pointer
• 2 day life full duty
CCR mote
• 4 corner cubes
• 40% hemisphere
Endeavour
CCR Interogator
Top View of the Interrogator
CCD Camera Lens
Frequency-Doubled Beam45o mirror
Polarizing Beamsplitter
Quarter-wavePlateFilter
0.25% reflectance on each surface
YAG Green Laser Expander
Endeavour
Video Semaphore Decoding
Diverged beam @ 300m
Shadow or full sunlight
San Francisco (Coit Tower) to
Berkeley (Cory Hall)
Endeavour
1 Mbps CMOS imaging receiver
Photosensor
Signal ProcessingA/D Conversion
SIPO ShiftRegister
CRC CheckLocal Bus Driver
Off ChipBus Driver
Pixel Array
Put an asynchronous receiver
at every pixel
Funded by DARPA/MTO/STAB
0.25 um CMOS in fab
Endeavour
24” Bat
40 mph top speed30 minute loiterautopilot: pressure
sensor, gyros, XLs2 planes, 1 ground station,
in 1 suitcase
spyplanes.com
Endeavour
Marine LOE 4
3 MAVs participated, 1 flew
7 sortieson station in minutes
Endeavour
Micro Mote - First Attempt
300 um
Endeavour
2D beam scanning
laser
lens
CMOS ASIC
Steering Mirror
AR coated dome
Endeavour
6-bit DAC Driving Scanning Mirror
10 20 30 400
0.2
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0.8
Time (seconds)
Nor
mal
ized
bea
m p
ositi
on
• Open loop control
• Insensitive to disturbance
• Potentially low power
Endeavour
~8mm3 laser scanner
Two 4-bit mechanical DACs control mirror scan angles.
~6 degrees azimuth, 3 elevation
> 1Mbps
IRDA on steroids
Virtual window
Endeavour
Virtual Keyboard
Interfaces for people with Disabilities?