5/5/2023 Final Report
5/3/23 Poster Submission
If you do not have the required fonts (Open Sans and Bahnschrift) the pptx file may show up incorrectly.
Thomas Status Report for 4/29
I think I figured out the error in the localization that we were seeing – the ToF is getting multiplied by 2 somewhere in the new pipeline, so dividing it back out now solves the issue. Temporary fix, but it makes our system work overall.
This past week, I’ve been working on the poster design and preparing it for our testing to get final accuracies tomorrow. The overall style looks goo,d now we just need to add graphs that show accurate the system is and how closely we’ve achieved our goals.
This keeps me on track with the schedule.
Thomas Status Report 4/8/2023
I figured out how to make the localization gradient descent converge better: we either need to fix the SIFS measure or optimize it some other way. All of our traces, even ones we thought were failures before, work with a value for the SIFS that doesn’t cause avalanching in the localization. I still need to figure an alternative to optimize for this SIFS initially, or if it needs to be fixed to a constant.
I also got the Matlab program running in the python engine – so our entire program stack can be run together now, just need to add in the data collection.
Next week, I’ll be working on polishing the AR interface for users (adding text, instructions, and consistent updates)!
Gantt Charts
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Team Status Report 4/1/2023
Last week, we actually verified all of our individual parts together and collected our first data traces. Results are promising, as we see increased accuracy from the higher clock speed of the ESP over the prototyping data we were using. No changes have been made to the system, but we’re considering working with a different infiltration method (RTS/CTS frames) if we can not get picoScenes measuring ack frames.
The biggest question mark for us is the clock drift in devices we saw occurring. This means that one of our wifi devices was taking longer and longer to respond to packets (due to overheating or clock slowdown), even if the distance between the RX/TX was the same. Our contingency plan for tackling this is using shorter windows, and possibly restricting the users movement to when we want them to. This would allow us to know when clock drift is occurring and when it is user movement causing an increase in ToF.
Thomas Status Report 4/1/2023
Hey, happy april fools.
Last week, Anish and I collected our first actual data trace with the ESP32 for ToF logging. I finished up scripts for self-localization and visualizing the data traces, while Anish coded the ESP back end for measuring ToF. This should put us back on track for our schedule and on pace to meet the demo on Wednesday.
General thoughts about the data: ToF is a super noisy measurement, we might need to increase our scanning time in the final system. The accuracy is a little low, but this is mainly due to some clock drift that’s happening in our transmitting laptop just because its super old. We’ll have to figure out how to distinguish the clock drift from actual SIFS timing or movement next week.
Next week, I’ll focus on preparing for the demo and improving the processing with the actual data we collected. Results are promising (the trace where we got everything working was within a meter of the target), but we need more testing to verify it.
Thomas Status Report 3/25
I couldn’t get the hardware to start integrating the entire system. Instead, I focused on getting the AR portion working, since, as I said last week, I think the localization system is as good as it will get without improving with real data. Currently, the AR portion is a python script, able to do self-tracking with updates every 50 mS and overlay spheres when a ‘target location’ is passed into it manually.
Next week will be doing what I should’ve been doing last week, integrating the system together and getting the basic ToF measurement working. Since PicoScenes doesn’t seem to be able to work with ACK packets, I’ll just reimplement the Scapy code already written by other members onto the Esp32.
Team Status Report 3/18
We cleared out a big obstacle this week – doing ToF measurements. We were donated a copy of PicoScenes Premium, which will allow us to integrate ToF and RSS sensing on the same platform/WiFi chip. This will make our system cheaper and simpler to implement than our previous plan of using an ESP32 chip for ToF.
Next week we will be actually wiring and hopefully starting to run our physical system. We feel like we’ve reached the limits of what we can do theoretically so we need to start collecting physical data to get feedback on our system.
Most significant risks right now are that our progress from our individual work may not transfer over into the integrated implementation. Now that we understand the solutions and how they work, we think that we would be able to reimplement them much quicker than our first time.