From 823bed0a029be4b44badbd0713beb9e362f5c314 Mon Sep 17 00:00:00 2001 From: Matteo Cypriani Date: Tue, 2 Jul 2013 09:50:16 -0400 Subject: [PATCH] [canmet] Add README.org (work in progress) --- 2013-canmet/README.org | 404 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 404 insertions(+) create mode 100644 2013-canmet/README.org diff --git a/2013-canmet/README.org b/2013-canmet/README.org new file mode 100644 index 0000000..0ccbb69 --- /dev/null +++ b/2013-canmet/README.org @@ -0,0 +1,404 @@ +Scenarios + + +* File naming convention + +: sS_tT_YYYY-MM-DD_hh:mm[_info][+suffix][_similarity].extension + +With: +- S :: scenario number, on two digits. +- T :: test number; for a given scenario, the first test number is 01, + and each time the scenario is played the test number is + incremented. +- YYYY :: year. +- MM :: month. +- DD :: day. +- hh :: hour. +- mm :: minutes. +- info :: an optional informative string can be added, for example when + a scenario has to be run several times with different parameters; when + not obvious, the meaning of such suffixes should be documented in the + report files. +- suffix :: an optional suffix can be added, separated by a +; suffixes + have the following meanings: + + coord :: the real coordinate were added in the file; + + calib :: the file is a manual calibration file, containing + calibration requests (type 1) (+coord is implied, as + manual calibration requests always contain the mobile's + coordinates); it can be made from real calibration + requests, or from simple positioning requests with added + coordinates and adapted type. +- extension :: file extension: + + agg :: OwlPS Aggregator output file; + + txt :: experiment report; + + log :: OwlPS Positioner log file (recorded at the input); + + pos :: OwlPS Positioner results; + + out :: OwlPS Positioner standard output; + + err :: OwlPS Positioner standard error; + + ods :: results formatted in a spreadsheet. + +For the result files, the name of the similarity algorithm used to +compute the positions is added after the suffix. For now it can be one +of the following: +- mean, +- interval, +- interval2. + + +* Experiment rules and information + +Except if stated otherwise, all the scenarios follow these rules (or +should follow them for future tests). The description of the scenarios +has precedence over these common rules. Moreover, the report files +associated with each test should also warn about each noticed mistake, +and each exception made to these rules or to the scenario description. + +** TODO Deployment area + +FIXME présentation de la mine, description du niveau 70 +- tuyaux (cf. À mesurer) +- parois irrégulières + +** Hardware + +*** Wireless cards + +All the wireless devices (mobile terminal and capture points) are +equipped with Mini PCI MikroTik RouterBoard R52Hn IEEE 802.11a/b/g/n +cards. Since we work only with 802.11b/g, only one of the two MC +connectors of the card is used (cf. the next paragraph, /Antennas/). The +Linux driver for these cards is ath9k. The power transmission used is 25 +dBm. + +*** Antennas + +All the wireless devices are equipped with an RP-SMA triband 2.4/5.1/5.8 +GHz rubber ducky antenna, connected to the device with a RP-SMA to Type +N adapter and a 22 cm long cable with a MC connector plugged into the +wireless card. The gain of these antennas at 2.4 GHz is 3 dBi. + +*** Mobile terminal + +The mobile terminal is a MikroTik RouterBoard 411AH powered by a +portable car battery booster kit that provides 110 V AC power plugs (and +is freaking heavy!). + +*** Capture points + +Five capture points are used, all of the MikroTik brand but with +different models: +- CP1, CP2 and CP3: RouterBoard 433 (3 Ethernet connectors) +- CP5 and CP6: RouterBoard 411 +(There is no CP4.) + +*** Aggregation server + +Lenovo ThinkPad X200 running Debian GNU/Linux unstable (Linux 3.9). + +** Position of the capture points + +CP3 is put on a block of concrete, its antenna is at 0.70 m above the +floor, in vertical position, in direction of the ceiling. The other +capture points are attached to the ceiling and have their antennas in +vertical position, in the direction of the ground. + +The capture points' coordinates are given in the OwlPS Positioner's +configuration file [[./owlps-config/listeners-rb.csv]], and you can also +visuazise their positions on the map [[./figures/canmet70.svg]]. + +FIXME (cf. Position des bornes) + +CP2 sits on top of a plastic door with a wooden frame; its antenna is +20 cm south of the door. + +CP1, CP2 and CP5 are powered by a 24 V PoE (Power over Ethernet) switch +located next to CP1; CP3 and CP6 are powered by two PoE injectors +located next to CP3. + +** Network set up + +The capture points and the aggregation server are connected through an +Ethernet network. The deployment plan [[./figures/canmet_deployment.svg]] +shows the wiring used, that takes advantage of the fact than the +RouterBoard 433 have 3 ethernet connectors (the 3 ports of each board +are set up in a bridge). The IP network used in the wired deployment is +192.168.88.0/24. Each capture point has an address of the form +192.168.88.10x, where x is the capture point's number (CPx). The +aggregation server has address 192.168.88.254. + +To transmit autocalibration requests, the capture points are connected +through an ad hoc Wi-Fi network, and transmit requests to one of the +other nearby capture points (this can also be seen in the deployment +plan): +- CP1 transmits to CP2 +- CP2 transmits to CP1 +- CP3 transmits to CP6 +- CP5 transmits to CP1 +- CP6 transmits to CP3 + +The IP network used in this ad hoc network is 192.168.89.0/24; the +addresses are equivalent to the addresses in the wired network +(192.168.89.10x). + +The mobile terminal is connected to a portable Wi-Fi access point (AP), +which is a smartphone running CyanogenMod 10.1.0. The positioning +requests are transmitted to the AP's IP address. Though it would have +been possible to use the ad hoc network created by the capture points +for this purpose, this would have implied to set up routing between the +capture points (to avoid having to change the destination host from one +capture point to another) and seemed a unnecessary complication. +Moreover, it allows to control the transmission of the positioning +requests simply by turning on and off the AP. + +** TODO Environmental parameters + +The temperature and humidity FIXME + +** OwlPS configuration + +*** Aggregator + +OwlPS Aggregator version v1.3.3-72-g4d8e9cf was used (slightly earlier +versions were also used in the first days of the experiments). + +OwlPS Aggregator is run with the default parameters as of the version +used, with autocalibration enabled. These parameters can be found in the +configuration file [[./owlps-config/owlps-aggregator.conf]]. + +These parameters are not very important, except for the delay between +two autocalibration orders. The default value is 1000 ms. + +*** Listener + +OwlPS Listener version v1.3.3-17-gdc60892 was used. + +The OwlPS Listener program runs continuously, with the autocalibration +activated. The exact parameters can be found in the configuration file +[[./owlps-config/owlps-listener.conf]]. + +The default autocalibration parameters are used, i.e.: +- 20 packets (-n20), +- 25 ms between two packets (-t25). + +*** Client + +OwlPS Client version v1.3.3-17-gdc60892 was used. + +The mobile terminal continuously sends positioning requests with the +following parameters: +- 20 packets (-n20), +- 10 ms between two packets (-t10), +- 800 ms between two requests (-F800). +Therefore, one request is transmitted approximately each second. +As stated above, the destination IP address is the AP's one (i.e. +192.168.43.1 in our setup). + +The complete command used to launch OwlPS Client is the following: +: owlps-client -i 192.168.43.1 -n20 -t10 -F800 + +** Measurement-related rules and information + +- When the terminal is static, it is put on a small wooden table (66 cm + high) and the altitude of the antenna's base is 0.70 m above the + floor. +- When the terminal is carried by an operator, the altitude of the + antenna's base is 1 m above the floor. +- When the terminal is static, either on the table or carried by an + operator, its antenna is vertical. +- When the terminal is static, either on the table or carried by an + operator, the measurements are taken for at least five minutes. +- In the scenarios in which an operator carries it and walks, the + terminal is attached to the belt, and the antenna can bend somewhat + due to body motion (the bending is approximately 45° forward). +- The default packet size is used; the packet size received by the + capture points is FIXME bytes for positioning requests and FIXME for + (auto)calibration requests. + +** Measurement procedure + +- The infrastructure (Listeners and Aggregator) must be started first + and at least two rounds of autocalibration request done (i.e. each + capture point must have sent at least two autocalibration requests) + before the mobile terminal is started. As a best practice, the + measurements should start at least 20 seconds after the Aggregator + is started. + +** TODO Measurement points + + +* Scenarios + +Scenarios are divided in three series, and the scenario number starts +with the series number: +- Series 0 :: the client terminal is static, with no operator in the + measurement area. +- Series 1 :: ditto, but in unfavourable locations. +- Series 2 :: the client terminal is carried by a human operator, which + can be either static or in motion. +- Series 3 :: the client terminal is attached to a vehicle. + +# FIXME This series of scenarios is schematised in the figure +# [[./figures/room.svg]]. + +** Series 0: empty area + +In these scenarios, the client terminal is static, on a wooden table +(cf. supra, /Measurement-related rules/). The measurements are taken +for at least 5 minutes. + +*** Scenario 01: dead end drift + +The client terminal is located at the emergency exit (end of the tunnel +at the west of CP6). More precisely, it is at about 2 m from the end of +the tunnel, 49 m from CP6, and in the middle of the tunnel (about 1.10 m +from each side). + +*** Scenario 02: next to CP6 + +The client terminal is located under CP6, but in the middle of the +tunnel (CP6 is not exactly in the middle of the tunnel, cf. supra, +/Position of the capture points/). + +*** Scenario 03: next to CP3 + +The client terminal is located next to CP3, in the middle of the tunnel, +at: +- 1.30 m from CP3, +- 1.80 m from the north-west wall. + +*** Scenario 04: against CP3 + +This is a test scenario in which the client terminal is very close to +CP3, in order to determine if the transmission with CP6, CP2 and CP1 is +the same for the two devices. Please see the report files for more +detail. + +*** Scenario 05: straight tunnel, middle and walls + +In this scenario, the client terminal is located precisely between CP3 +and CP2, which is a straight tunnel section. Measurements are taken with +the terminal. +1. in the middle of the tunnel, in which case it is in line of sight + with both CP2 and CP3; +2. against the east wall; +3. against the west wall. + +When against the walls, the terminal may not be in line of sight of the +two CPs any more. Please see the report files for a precise indication +of the terminal position. + +*** Scenario 06: straight tunnel, middle and recess + +This scenario is very similar to the previous one, except the mobile +terminal is located in front of the ventilation raise in tunnel section +between CP2 and CP1. Two measurements are taken: +1. the terminal is in the middle of the tunnel, in line of sight with + CP2 (and good visibility from CP1, despite the lack of line of + sight); +2. the terminal is in the recess of the west side of the tunnel, at + about 50-60 cm from the wall, with no line of sight from both CPs. + +At the first position, the client terminal is at 18 m from CP2 (18.20 m +from the plastic door). + +*** Scenario 07: intersection, next to CP1 + +The client terminal is located at the intersection where CP1 sits. +Please see the report files for the precise position. + +** Series 1: empty area, difficult location + +*** Scenario 11: ore loading point + +The ore loading points are what appear as six short north-south-oriented +tunnels in the southern tunnel where is CP6. In this scenario, the +client terminal is in the second loading point from the east of the +tunnel, that is between CP6 and CP3, at 13 m from CP6. It is in the +middle (east-west) of the loading point, at 4.50 m north of the middle +of the east-west tunnel (that is, about 5.50 m from the south wall). +Obviously, the terminal is not in line of sight with either CP6 or CP3. + +*** Scenario 12: recess, south-west of CP3 + +The client terminal is located in the recess at the south-west of CP3 +(north wall of the south tunnel). More precisely, it is 12.20 m from +CP3 and at about 0,75 m from the north and west walls of the +recess. The west wall of the recess is at 13.50 m from CP3 (and +therefore at 75 - 13.50 = 61.50 m from CP6). The terminal is in line of +sight with CP3, but not with CP6 or CP2. + +*** Scenario 13: uncovered area + +The client terminal is located at the end of the tunnel at the east of +CP3, near the water tank. On the map, the wall of the water tank is the +red line at the end of the blue-colored walls; the terminal is at 1.50 m +at the east of this wall. Other distance indications: +- the terminal is at 10 m from the plastic door and the door is at 6.50 + m from the west wall of the main tunnel; +- therefore, the terminal is at 16.50 m from the west wall of the main + tunnel; +- CP3 is at 5.80 m from the same point of the west wall of the main + tunnel; +- the terminal is at 1.90 m from the south wall of the room; +- the terminal is at 1.30 m from the north side of the water tank, and + at 4 m from the north wall of the room; +- walking, CP3 and the terminal are separated by about 17.50 m. + +*** Scenario 14: other non-covered area + +The client terminal is located in the section at the west of CP1. Please +see the report files for the precise location. + +** Series 2: human operator + +*** Scenario 21: dead end drift + +This scenario is similar to the scenario 01, but the client terminal is +carried by a human operator. Please see the report files for the +description of the variations experimented. + +*** Scenario 22: walking along all the tunnels + +In this scenario, the operator walks from the south-west end of the +covered gallery, near the emergency exit, at 2 m from the west wall, +and goes all the way along the covered sections of tunnel to stop under +CP5. In order to ease the treatment of the data, he stops next to each +capture point and turns off the access point, hence preventing +positioning requests to be sent. After about 30 seconds, the AP is +started again, the operator waits for 5 to 6 seconds (the time needed by +the client terminal to reconnect to the AP), then starts walking again. + +See the report files for precise timing. + +*** Scenario 23: walking in a non-covered area + +This scenario is similar to scenario 13, but the operator carries the +mobile terminal from the middle of the main tunnel, facing the plastic +door (at 6.65 m from CP3, 4.85 m from the door and 1.70 m from the west +wall) to the water tank. The operator stops at about 0.50 m in front of +the water tank. + +*** Scenario 24: walking in the northern tunnel + +The operator starts 40 m west of CP1, in line of sight and walks the +tunnel west, in direction of CP1 and CP5, to end at the intersection at +the west of CP5. + +** Series 3: vehicle + +*** Scenario 31: driving along all the tunnels + +This scenario is similar to scenario 22, but the mobile terminal is +mounted on a small mine transporter of the following dimensions: +- width: 1.40 m +- length: 2 m +- height: 1.90 m + +The terminal is attached at 1.70 m above the ground level, and is at +0.30 m from the left side of the vehicle. + +The vehicle starts from the the nearest ore loading point from the +emergency exit (it was to big to go at the very end of the tunnel). It +then follows almost the same path as in scenario 22, stopping next to +each capture point in the same way. After CP5, the vehicle continues to +the west intersection.