Motes And Radios
Wireless Sensor Mote Boards and Chips
For each of these pictures below, the text describing the picture is above the picture. Most of these are boards floating around the different groups in MAST. A few are pointers to other hardware that might be interesting.
Made by Eric Steltz from Fearing Group. PIC 16-bit processor, total mass of 0.4 g. Fabbed at Boardworks in Oakland. Fearing Group has some YAGI antennas, 100 W amplifiers and Sensormatic RFID readers left over from the glider project.
- Fernando's Image Processing Board, Fearing Group:
40MHz dsPIC microcontroller, 2Mb Flash Mem, and VGA Camera (all ~1 g) + bluetooth daughtercard module (not pictured, another ~1g). The camera is color, but can be used in black and white mode and set to output QVGA (160 x 120 pixels). The dsPIC will be used to do optical flow computations at 25 fps.
- Ankur's Mote:
3 gyros, 3 accelerometers, Atmel 802.15.4 radio, TI MSP430 16-bit 16 MHz processor with hardware multiplier. Mass is 2 g. Board draws 20 to 30 mA (no optimization via software). Used to collect data and send out over the radio to a laptop which does the thinking about control. Fabbed at Advanced Circuits. Assembled by hand by Ankur.
- Subbu's mote, formerly of Pister Group:
3 accelerometers, Dust single-chip radio/mote, chip antenna, Li-poly battery. Size is 12 mm x 13 mm. Mass is 2 g (the battery is part of the 2 g).
Maharbiz Group Beetle Mote:
Total mass with battery is 2 g. Use a Chipcon processor + radio with a dipole antenna. Inside Cory, the radio works well for about 10 m.
CITRIC camera mote: Songhwai Oh's and Sastry's Groups
- Trio Mote, Sastry Group:
4 pyroelectric motion sensors, microphone, magnetometers, 802.15.4 radio, microcontroller
Bayen Group Drifter Electronics made by Andrew Tinka:
Board diameter is 4.2 inches. Gumstick processor board is 80 mm x 20 mm and comes with the Bluetooth option (which didn't work well), so will be switched out for the Digi Maxstream Zigbee radio. The gumstick has a flash card (pictured) and runs Linux. The Telit board is a cell phone, but will be switched out for a Motorola G44 GSM OEM cell phone module. These drifters are meant to be used in the delta. The sensors are GPS and salinity sensors. Cell phones are used for long-range communication, but it takes 30 seconds to set up a connection. Once set, throughput is 1 to 10 kbps. The Zigbee radios are shorter range but more convenient to work with.
Tomlin Group: STARMAC Electronics (Mike Vitus):
Uses a Gumstick as the central processor with an 802.11 Wifi daughtercard for communications. The IMU is the Microstrain GX1. The board is 5 in x 5 in and does Kalman filtering and GPS calculations (carrier phase differential GPS). The groundstation only sends joystick commands and GPS correction data. Four brushless motors drive the four rotors (board has 45 A passing through it). This second generation board was revised by MindTribe (Palo Alto) which did the redesign, and got the boards fabbed and stuffed for $20K (delivered 20 stuffed boards w/o GPS). A Hokyo LIDAR and cameras are still to be added.