Electronic technologies at DIMES NEXUS Lab. Inertial/GPS navigation Electronic Olfaction Test Equipments and Methodologies Robotics.

Transcription

1 Electronic technologies at DIMES NEXUS Lab Inertial/GPS navigation Electronic Olfaction Test Equipments and Methodologies Robotics Calogero Pace November 2013

2 Components Prof. Calogero Pace Assegnisti Gianluca Borgese (Frascati, progetto MaTeRiA) Dottorandi Carlo Giordano (STM, Effetti delle radiazioni sui PowerMOSFETs) Jorge Hernandez (Senescyt, PowerMOSFET Reliability) Tecnici a contratto Sebastiano Meduri

3 Inertial/GPS navigation Designing a lightweight, compact and low-cost electronic system to support direct georeferencing techniques Methods to acquire data (eg: aerial photograph) together with the geographical position and attitude of the acquiring system (eg: the camera) Photogrammetry What does it need?? Navigation System + Camera A Navigation System measures navigation states: position, velocity and attitude of a body (the camera) in motion for every sample instant in a reference system

4 Inertial/GPS navigation How do we use it? Instead of using an aeroplane as usual /h (cost per hour of renting an aeroplane) Radio-controlled helicopter Control of all photogrammetry operations (flight, photo shooting, etc) Typical RC Helicopter features Fuel or electricity supply Transmission range : 500m 1.5km Maximum payload weight : 5kg 20kg Price : about Good position and velocity stability

5 A compact wireless GPS/inertial system for direct georeferencing applications System architecture 3.3V 5V Main board Power board

6 A compact wireless GPS/inertial system for direct georeferencing applications System Components Atmel ATMega8 Microcontroller Analog Devices ADIS16350 Inertial sensor MaxStream XBEE Radio transceiver Fastrax UP500 GPS module 8bit RISC architecture 8Kbytes Flash memory 1Kbytes SRAM 512Bytes EEPROM USART, SPI, TWI interfaces 16bit, 8bit Timers 10bit ADC 3.3V operating voltage 10mA power supply current MEMS 3-axial accelerometer and gyroscope, thermometers 14bit resolution SPI communication Sample rate 819.2Hz Data and configuration registers Calibration, Filtering and other facilities 5V operating voltage 57mA power supply current ZigBee standard 2.4GHz ISM 250kbps RF Data rate USART communication Double 100Bytes buffered about 20m/50 m transmission range 3.3V operating voltage 50mA power supply current GPS L1 C/A code 5Hz fix rate USART communication NMEA sentences WAAS/EGNOS correction PPS signal Backup battery 3.3V operating voltage 60mA power supply current

7 System prototype

8 Electronic Nose System

9 Related Gases 1. Hydrogen ppm. 2. Methane ppm. 3. Ethane ppm. 4. Propane ppm. 5. Butane ppm. 6. Pentane ppm. 7. Hexane ppm. 8. H2S 0 20 ppm. 9. Oxygen ppm.

10 Why Array of Sensors? Sensor output (resistance or voltage value) may correspond to different concentrations of many different gases.

11 Selected Sensors Gas Sensors. 1. TGS-2611 (Hydrogen and Hydrocarbons Sensor). 2. TGS-6810 (Methane and LP Gases Sensor). 3. TGS-6812 (Methane, Hydrogen, and LP Gases Sensor). 4. TGS-825 (Hydrogen Sulfide Sensor). 5. KE-50 (Oxygen Sensor). Auxiliary Sensors 1. XFPM (Pressure Sensor). 2. HTG3535 (Temperature and Humidity Sensor).

12 TGS-6810 Features: 1. Linear Output. 2. Compact Size. 3. Small Sensitivity to Alcohol. 4. Sensitive to both Methane and LP Gas. Applications: 1. Residential LNG and LPG Alarms. 2. Detectors for LNG and LPG.

13 TGS-2611 Features: 1. Low Power Consumption. 2. High Sensitivity to Methane. 3. Long Life. 4. Uses Simple Electrical Circuit. Applications: 1. Domestic Gas Alarms. 2. Portable Gas detectors. 3. Gas Leak Detector for Gas Appliances.

14 KE-50 Features: Long life (10 years in ambient air). Virtually no influence from CO2, CO, H2S, NOx, H2. Operates in normal ambient temperatures. Stable output signal. No external power supply required for sensor operation. No warmup time is required. Applications: 1. Medical-Anesthetic instruments, respirators, oxygen-enrichers. 2. Biotechnology-Oxygen incubators. 3. Food industry-refrigeration, greenhouses. 4. Safety - Air conditioners, oxygen detectors, fire detectors.

15 Electronic Nose

16 Graphical User Interface

17 Training Lab.

18 Principal Component Analysis

19 Support Vector Machine

20 Robotics, CHT s.r.l.

21 A compact wireless GPS/inertial system for direct georeferencing applications