Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification †
Abstract
:1. Introduction
1.1. Background
- data acquisition at the same timing in every sensor; and
- highly dense data.
1.2. Related Works
1.3. Our Previous Researches
1.4. Robot Control with Sensory Feedback
1.5. Purpose
- good data synchronization (approximately ten microsecond order);
- high sampling rate (over 500 Hz); and
- general-purpose property (not requiring special hardware).
1.6. Applications
- Robot control, which can achieve switch control using the recognition about the transition of contact/noncontact state, and an intelligent control using sensor fusion with multiple sensors’ data.
- Intelligent transport system (ITS), which can perform collision avoidance, lane change, and fully automated driving control.
- Security and surveillance, which can perform the tracking of a number of humans in a huge facility, and robust target tracking under occlusion.
2. Method for Clock and Data-Acquisition Synchronization
2.1. Clock Synchronization
2.2. Data-Acquisition Synchronization
- When the first acquisition triggers, the master refers to the clock and sends the time stamp of the trigger, , and the sampling time, , to the slave via Ethernet.
- The sent data arrive at the slave after a network delay.
- The slave calculates the next acquisition timing as , and triggers the acquisition at time . The master also triggers the acquisition at .
3. Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition
3.1. High-Speed Tactile Sensor Node
3.2. High-Speed Vision Node
- The background image was acquired previously. In the tracking method, the target image was extracted by background subtraction.
- Binarization for the obtained image was executed, and the image centroid of the target was calculated based on the image moments given by
- Once the object image was acquired and the centroid of the object was measured, a region of interest (ROI) was controlled around the centroid. The ROI size was set as 200 × 200 pixels to reduce the computational load in the experiments.
3.3. General-Purpose Acceleration Sensor Node
3.4. General-Purpose Gyro Sensor Node
3.5. Overall System
4. Experimental Verification
- Evaluation of clock synchronization (Section 4.1);
- Experiment 1 in high-speed tactile and vision sensor network system (Section 4.2.1);
- Experiment 2 in high-speed tactile and vision sensor network system (Section 4.2.2);
- Experiments in tactile and acceleration network sensor system with various sampling times (Section 4.3); and
- Experiments in tactile, gyro, and acceleration sensor network system (Section 4.4).
4.1. Accuracy Evaluation of Clock Synchronization
4.2. Result of High-Speed Tactile and Vision Sensor Network System
- Experiment 1: A ball is moved above or on a table by a human. If the ball is above the table, the output of the tactile sensor is zero and the ball position is measured by the vision. Meanwhile, if the ball is on the table, the output of the tactile sensor is obtained and the ball position is also measured by the vision.
- Experiment 2: A ball bounces on a table. If the ball touches the table, the impact force is obtained by the tactile sensor. Otherwise, the force is not obtained by the tactile sensor. In both cases, the ball position can be obtained by the vision.
4.2.1. Experiment 1 [14]
4.2.2. Experiment 2
4.3. Result in High-Speed Tactile and Acceleration Sensor Network System
4.4. Result in High-Speed Tactile, Acceleration, and Gyro Sensor Network System
5. Conclusions
5.1. Summary
5.2. Future Work
Author Contributions
Funding
Conflicts of Interest
References
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Yamakawa, Y.; Matsui, Y.; Noda, A.; Ishikawa, M.; Shimojo, M. Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification †. Micromachines 2018, 9, 325. https://doi.org/10.3390/mi9070325
Yamakawa Y, Matsui Y, Noda A, Ishikawa M, Shimojo M. Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification †. Micromachines. 2018; 9(7):325. https://doi.org/10.3390/mi9070325
Chicago/Turabian StyleYamakawa, Yuji, Yutaro Matsui, Akihito Noda, Masatoshi Ishikawa, and Makoto Shimojo. 2018. "Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification †" Micromachines 9, no. 7: 325. https://doi.org/10.3390/mi9070325
APA StyleYamakawa, Y., Matsui, Y., Noda, A., Ishikawa, M., & Shimojo, M. (2018). Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification †. Micromachines, 9(7), 325. https://doi.org/10.3390/mi9070325