Introduction Trilateration method and system architecture Experimental results, conclusion and future work XBee Positioning System with Embedded Haptic Feedback for Dangerous O ff shore Operations: a Preliminary Study F. Sanfilippo 1 and K. Y. Pettersen 2 1Department of Maritime Technology and Operations, Aalesund University College, Postboks 1517, 6025 Aalesund, Norway, [fisa, hozh]@hials.no 2Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7491 Trondheim, Norway, kristin.y.pettersen@itk.ntnu.no MTS/IEEE OCEAN’15 F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Introduction Trilateration method and system architecture Experimental results, conclusion and future work Summary Introduction 1 Trilateration method and system architecture 2 Experimental results, conclusion and future work 3 F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Introduction Background Trilateration method and system architecture Motivation factors Experimental results, conclusion and future work Underlying idea Current situation Safety of o ff shore installations is a crucial issue: Increasingly demanding marine operations are at the heart of the maritime industrial cluster. These advanced operations are associated with a high level of uncertainty on board of an o ff shore installation because such an installation usually operates in a dynamic environment in which technical, human and organisational malfunctions may cause accidents. F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Introduction Background Trilateration method and system architecture Motivation factors Experimental results, conclusion and future work Underlying idea Motivation factors The O ff shore Safety Case regulations holds operators responsible for identifying the major hazards and to reduce risks to As Low As is Reasonably Practicable (ALARP) [1] . The regulations specifically state that Quantitative Risk Assessments (QRA) must be used when preparing the Safety Case. However, this formal risk estimation does not necessarily correspond with an individual’s perception of risk. Improving the user’s risk perception plays a crucial role in e ff ective risk reduction: There is an urgent need to develop faster methods and tools that enhance an individual’s perception and assessment of dangerous situations on board a vessel so that accidents can be avoided. [1] J Wang. “O ff shore safety case approach and formal safety assessment of ships”. In: Journal of Safety Research 33.1 (2002), pp. 81–115. F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Introduction Background Trilateration method and system architecture Motivation factors Experimental results, conclusion and future work Underlying idea An XBee-based positioning system with embedded haptic feedback Haptic Actuator XBee Trilateration Dangerous Area Haptic Feedback Underlying idea: Identify and isolate dangerous areas by adopting a node positioning algorithm based on an XBee network. Several on board areas and zones can be dynamically identified according to di ff erent operational scenarios. Di ff erent access permissions can be set individually for all the crew members in accordance with their specific duties. An intuitive haptic feedback is provided to the operator by means of a vibration motor embedded in the helmet. F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations ModGrasp , not only an engineering tool but mostly a scientific tool:
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework Design choices The XBee radio communications modules allow for building a low-power, low-maintenance, and self-organising network: Low-cost: the system is built with XBee modules are bi-directional. low-cost o ff -the-shelf components. Unique addressing. Each XBee unit Modularity and flexibility. has a unique serial number. This means that two (or more) units can Reliability: the system is easy to be set up to communicate exclusively maintain, modify and expand by with each other, ignoring all signals adding new features. from other modules. Non-invasive approach: the XBee modules have a built-in system requires minimal changes data-packet building and to the environment to be error-checking to ensure reliable data monitored. transmission. The XBee protocol allows for a number of radio channels. By setting di ff erent units on di ff erent radio channels, additional interference can be avoided. F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework Trilateration method Received Signal Strength Indicator (RSSI): y The received RSSI is a function of the distance between the transmitter and the receiver. (x b , y b ) (x a , y a ) Tracking of moving objects can be d b (x, y) achieved if both moving objects and (x c , y c ) d a some reference objects are using d c Radio frequency (RF) signals to x communicate. Using the RSSI value, the distance to a node can be estimated and a trilateration calculation can be performed against other nodes with known positions. Trilateration is a method of determining the relative position of objects using the geometry of triangles in a similar fashion as triangulation. The adopted method was introduced in [2] and it is based on the calculation of the intersection of three spheres of which the radius is obtained from the distance estimated from the RSSI value. In order to work this model requires that the blind node must be inside the intersection of three reference nodes. [2] Shaifull Nizam Othman. “Node positioning in zigbee network using trilateration method based on the received signal strength indicator (RSSI)”. In: European Journal of Scientific Research 46.1 (2010), pp. 048–061. F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework Modular organisation Zone 1 Anchor Crane Handling Workspace ... Zone Zone Zone n Di ff erent zones to be actively monitored can be dynamically identified according to di ff erent operation scenarios. These zones can be easily configured and dimensioned according to di ff erent operational scenarios. F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework System architecture Safe Area Dangerous Area Client: fixed node 3 XBee Module Server XBee Explorer Controller Controller RSSI Crew member: blind Client: fixed node 2 node XBee Module RSSI Vibration Motor Controller XBee Module RSSI Controller Client: fixed node 1 XBee Module Controller F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework Blind node and clients wiring schematics Only for the blind node F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework Real circuit embedded in the operator’s helmet F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
Design choices Introduction Trilateration method and system architecture Trilateration method and system architecture Hardware Experimental results, conclusion and future work Logic of the framework Logic of the framework Initialise the serial channel Initialise the serial channel Initialise the XBee network Initialise the serial channel Initialise the XBee network Read any Initialise the available data XBee network from the clients Configure one output pin for the motor Read any Read RSSI and available data corresponding Read any from the blind client address available data node from the server Filter RSSI Read RSSI and values Check position corresponding and actuate node address motor Localise node Forward data to Retrieves RSSI the server values and broadcasts them Send position to to the clients the Figure 2: Clients corresponding blind node Figure 1: Blind node Figure 3: Server F. Sanfilippo and K. Y. Pettersen Positioning System with Embedded Haptic Feedback for O ff shore Operations
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