By Jose Ramiro Martinez-de Dios, Adrian Jimenez-Gonzalez, Alberto de San Bernabe, Anibal Ollero
Testbeds are gaining expanding relevance in study domain names and likewise in commercial purposes. even if, only a few books dedicated to testbeds were released. To the simplest of my wisdom no ebook in this subject has been released. This booklet is especially attention-grabbing for the transforming into group of testbed builders. i think the ebook can also be very attention-grabbing for researchers in robot-WSN cooperation.
This publication presents unique description of a method that may be thought of the 1st testbed that permits complete peer-to-peer interoperability among heterogeneous robots and ubiquitous platforms comparable to instant Sensor Networks, digital camera networks and pervasive computing structures. The procedure structure contains modules that enables complete bidirectional verbal exchange among robots and WSN. One robotic can
The publication describes the present state-of-the-art in improvement of testbeds integrating Cooperating item applied sciences. It describes intimately the testbed specification and layout utilizing specifications extracted from surveys between specialists in robotics and ubiquitous platforms in academia and undefined. The ebook additionally describes the testbed novel structure and its and software program parts. furthermore, it comprises information on consumer aid instruments to facilitate its use corresponding to distant use utilizing a digital inner most community and units of functionalities of curiosity for contributors from the robotics, WSN and robot-WSN groups. eventually, the e-book illustrates its features and prospects describing the implementation of a few of the experiments which were played. Examples from the robotics, WSN and robot-WSN groups are described.
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Extra resources for A Remote Integrated Testbed for Cooperating Objects
7 WSN nodes deloyed in the CONET Integrated Testbed: (left-to-right) Crowbow Mica2, Telosb, Micaz, Iris and Advanticsys CM5000 and CM5000-SMA Ez-compass-3A MC-1513 GPS Imaging source 21BF04 camera Distance (m) Color (RGB) Infrared image Accelerat. (m/s2 ) Color (RGB) Light (intensity) Longitude (◦ ) Latitude (◦ ) Altitude (m) Velocity (m/s) Angle (◦ ) Magnetic field (Gauss) Accel. 4–4 (m) Resolution 640 × 480 (px) FOV = (57,43) (◦ ) Freq. 5 (m) Freq. 4 Resolution 640 × 480(px) Freq. 3 Main features of WSN sensors used in the CONET Integrated Testbed 650 20 <1 <1 <1 <1 <1 <1 <1 Power (mW) Main specifications Resolution 352 × 288 (px) Freq.
The Monitor PC, connected to the WSN base, is synchronized with the robots using NTP. The Monitor PC uses NTP time as reference to the FTSP leader. Thus, all robots and WSN nodes are synchronized. 4 Testbed Room Characterization A set of experiments were carried out to characterize the testbed room in order to facilitate experimentation. 1 Radio Channels Characterization The testbed is equipped with two WSN sniffers for network surveying. 4 GHz band. The second registers all packets interchanged in the WSN network.
Six different models of WSN nodes are currently available at the CONET Integrated Testbed, four from Crossbow4 : TelosB, Iris, MicaZ and Mica2, and two from Advanticsys5 : CM5000 and CM5000-SMA, see Fig. 7. 4 Hardware 35 CM5000-SMA are equipped with SMD (Surface Mounted Devices) sensors whereas the rest need to be equipped with MTS400 or MTS300 sensor boards. 6 A detailed description of the sensors currently available is provided in Sect. 4. 11b/g/a) that links the Monitor PC and the team of robots and an ad-hoc network used by the WSN nodes.