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[canmet] Complete README.org

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Scenarios
OwlPS experiments at the CANMET mine, 2013


* Presentation

These experiments were conducted at the level -70 m of the CANMET
laboratory mine near Val-d'Or, QC, Canada, in June 2013. The main goal
was to test the behaviour of Wi-Fi positioning in underground mine
tunnels.


* File naming convention
@@ -53,11 +61,34 @@ 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
** Deployment area

These measurements took place at the level -70 metres of the CANMET
laboratory mine, which is pictured on the plan [[./figures/canmet70.svg]].

CANMET is a formerly exploited gold mine. At the level -70 m, the
tunnels are between about 2.50 and 3-metre wide, with some exceptions
such as larger rooms or recesses. The walls are very irregular, and the
actual width can vary by several dozens of centimetres depending on
where it is measured.

FIXME présentation de la mine, description du niveau 70
- tuyaux (cf. À mesurer)
- parois irrégulières
The drifts are fairly long, the three main sections used in this series
of experiments being around 130 metres long. They are relatively
straight, but turn enough that it is easy to loose the line of sight
between two devices that are a few dozens of metres apart.

In some tunnels, "doors" made of plastic blades hanging from the ceiling
are installed; they are represented by short grey lines on the map. The
short black line at the south of CP3 is a wooden wall with a door and a
plastic tarp window, that closes a small heated room used an office when
experimenting at this level of the mine.

Each tunnel section contains at least one water pipe (diameter 6 or 12
cm) and one compressed air pipe (diameter 6 cm). The southern tunnel
contains a second 6-cm pipe which is empty. All these pipes are metallic
and are attached to one of the walls of the drift. Additionally, an
important group of cables and wires (network, electricity, radio, etc.)
is attached to the ceiling.

** Hardware

@@ -66,7 +97,7 @@ FIXME présentation de la mine, description du niveau 70
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
connectors of the card is used (see the next paragraph, /Antennas/). The
Linux driver for these cards is ath9k. The power transmission used is 25
dBm.

@@ -99,37 +130,70 @@ Lenovo ThinkPad X200 running Debian GNU/Linux unstable (Linux 3.9).

** Position of the capture points

FIXME (cf. Position des bornes)

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.

CP2 sits on top of a plastic door with a wooden frame; its antenna is
20 cm south of the door.
CP1 hangs from metallic pipes attached to the ceiling near the middle of
the intersection of the northern and the eastern tunnels; its antenna
is:
- 2.20 m above the floor
- 2.70 m from the south wall
- 1.80 m from the north wall
- 2.27 m from the east angle
- 32 m from the door in direction of CP5 (west)
- approximately 74.50 m from CP2 (9.50 m from the small recess in the
east wall of the eastern tunnel, which is itself 65 m away from CP2)

CP2 sits on top of a plastic door with a wooden frame; its antenna is:
- in the middle of the tunnel (1.27 m from each wall)
- 2.40 m above the floor
- 0.20 m north of the door
- 64.50 m from CP3
- 18.20 m from the ventilation raise

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.

Ground coordinates:
- CP1: 128.25;142.40
- CP2: 160.85;78.30
- CP3: 177.90;18.15
- CP5: 72.10;122
- CP6: 121.80;-21.10
vertical position, in the direction of the ground. CP3's antenna is
also:
- 1.50 m from the east wall
- 3 m from the west wall
- 2.50 m from the south angle

CP5 is hanging from a metallic part from the trapdoor of the raise
70-D-101. It's antenna is:
- 2.20 m above the floor
- 1 m from the west wall of the recess
- 3.25 m from the south wall
- 15 m from the raise 110-D-105
- 26.50 m from the door in direction of CP1 (east)
- 58.50 m from CP1

CP6 is attached on top of the group of cables that run along the
ceiling. Its antenna is:
- 2.30 m above the ground
- 1.50 m from the south wall
- 0.50 to 0.60 m from the north wall
- approximately 75 m from CP3

Coordinates:
- CP1: 128.25;142.40;2.20
- CP2: 160.85;78.30;2.40
- CP3: 177.90;18.15;0.70
- CP5: 72.10;122;2.20
- CP6: 121.80;-21.10;2.30

The capture points' coordinates are also 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]].
visualise their positions on the map [[./figures/canmet70.svg]].

** 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
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
@@ -159,9 +223,11 @@ 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
** Environmental parameters

The temperature and humidity FIXME
The temperature and humidity could not be measured precisely during the
experiments. However, in the summer, it is known that the temperature
is between 5 and 7 °C, and the humidity is very high.

** OwlPS configuration

@@ -220,7 +286,7 @@ The complete command used to launch OwlPS Client is the following:
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
capture points is 108 bytes for positioning requests and 121 bytes for
(auto)calibration requests.

** Measurement procedure
@@ -232,7 +298,7 @@ The complete command used to launch OwlPS Client is the following:
measurements should start at least 20 seconds after the Aggregator
is started.

** TODO Measurement points
** Measurement points

For simplicity's sake, we defined a bunch of measurement points that
can be used in the description of the scenarios. They are named after
@@ -241,15 +307,19 @@ their proximity to the capture points.
- North tunnel:
- MP1 :: next to CP1 (s07_t02): 127;141
- MP11 :: east of CP1, line of sight: 155.50;158.50
- MP12 :: east of CP1, 10 m north: 155.50;168.50
- MP12 :: 10 m north of MP11: 155.50;168.50
- MP51 :: west intersection: 2;85.50
- MP52 :: between CP5 and the west intersection: 47.50;99.50
- East tunnel:
- MP3 :: next to CP3: 184;18.50
- MP3 :: next to CP3, in the middle of the tunnel, at 1.30 m from CP3
and 1.80 m from the north-west wall: 184;18.50
- MP31 :: water tank: 198;24
- MP32 :: recess south-west of CP3: 175.80;10.90
- MP22 :: between CP2 and CP3: 173;48
- South tunnel:
- MP6 :: next to CP6: 121.80;-21.50
- MP6 :: 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/): 121.80;-21.50
- MP61 :: emergency exit, at 2 m from the end of the tunnel, 49 m from
CP6, middle of the tunnel (about 1.10 m from each side):
75.50;-34.50
@@ -268,9 +338,6 @@ ewith the series number:
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
@@ -279,23 +346,15 @@ 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).
The client terminal is located at the emergency exit (MP61).

*** 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/).
The client terminal is located under CP6 (MP6).

*** 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.
The client terminal is located next to CP3 (MP3).

*** Scenario 04: against CP3

@@ -308,9 +367,9 @@ detail.

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;
the terminal:
1. in the middle of the tunnel (MP22), in which case it is in line of
sight with both CP2 and CP3;
2. against the east wall;
3. against the west wall.

@@ -334,7 +393,7 @@ from the plastic door).

*** Scenario 07: intersection, next to CP1

The client terminal is located at the intersection where CP1 sits.
The client terminal is located at the intersection where CP1 sits (MP1).
Please see the report files for the precise position.

** Series 1: empty area, difficult location
@@ -361,9 +420,9 @@ 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:
CP3, near the water tank (MP31). On the map, the wall of the water tank
is the red line at the end of the blue-coloured 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
@@ -377,8 +436,8 @@ at the east of this wall. Other distance indications:

*** 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.
The client terminal is located in the section at the west of CP1 (MP11
and MP12). Please see the report files for the precise location.

** Series 2: human operator

@@ -391,13 +450,13 @@ 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.
covered gallery (MP61, near the emergency exit), 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.

@@ -411,9 +470,9 @@ 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
The operator starts 40 m east 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.
the west of CP5 (MP51).

** Series 3: vehicle

@@ -429,7 +488,7 @@ 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.

Since it is too big to go at the very end of the tunnel near the
emergency exit, the vehicle starts from the last ore loading point (the
nearest from the emergency exit). 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.
emergency exit, the vehicle starts from the western ore loading point
(MP62). 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 (MP51).

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