MuFUwECoRe

Multifunction Underwater Environmental Condition Recorder

The Team Multi-Function Underwater Environmental Condition Recorder Team

MuFUsoftCoRe MuFUhardCoRe

Mikey S. Siegel Rick Bal

Felix Lawi Andrew W. Hill

Dev Gopalkrishnan Ben P. McIntosh

Overview• We are redesigning a bio-logger to record underwater

behavior of elephant seals and other marine mammals

• It is expected to be able to:– Function continuously for 1 year

– Withstand pressure of 2MPa (3000 psi)

– Function accurately at 0°C - 40°C

– Fit comfortably on an elephant seal’s head

Elephant Seals

• Travel twice a year up to 12,000 miles

• Return twice a year to molt and breed

• Average dive is 600 meters for 30 minutes

• Longest dives up to 1500 meters for 2 hours

Block diagram

Power Generation

16 B

it E

xter

nal A

/D

TemperatureTMP36

ConductivityCustom

Strain gaugeCTS109

AccelerometerADXL203E

1-D MagnetometerHMC1051

PressureTAB Sensor

MSP430F1611

GPSLassen IQ

RF LinkWI232DTS

Flash m

emorySD

RF Bee

per

Custom

2-D MagnetometerHMC1052

Solar Cell

Rechargable Battery

Main Board

Component Side Solder Side

Auxiliary Modules

Cradle RF Board

Temperature and Salinity

• Most solar radiation is absorbed quickly

• 90% of ocean is below thermocline

• Both temperature and salinity used for calibration

• Used for physiological research

Temperature Sensor

• Analog Devices TMP37

• Uses bandgap sensor• Analog approach for

compensation and control

Salinity Sensor

• Linear relationship between conductivity and ion concentration (i.e. salinity)

• Salt water can be modeled as a resistor

Pressure

• An air filled balloon is 0.26% of original size at 1200 meters

• Pressure and depth are linear

• Also used for calibration

• Again, provides physiological information

Pressure Sensor

• Keller Series 1 TAB• Tape Automated Bonding

allows for high pressures• Again, analog for control and

calibration

Accelerometers and Magnetometers

• Goal: Picture 3-D position and orientation• Compass system: 3-axis magnetometer + 2-axis accelerometer• Compass: determine heading (yaw)• Accelerometer: determine pitch and roll

Speed Sensor

• Flexible wire attached to strain gauge

• Strain is proportional to water speed

Trimble Lassen IQ

• Low Power Consumption

• Good Signal Acquisition Time

• Dual Signal Acquisition Modes

• Inexpensive

Wireless Data Acquisition

• Radiotronix Wi232• Low Power

consumption• Easy to use:

– Completely transparent

– Only 4 signals needed

RF Beeper

• Calibrated to 150MHz to match Wildlife Devices receiver

• Uses crystal-locked phase loop for optimum frequency stability

Storage• CompactFlash

– Open source– Large physically– High power draw

• MMC– Low power– Physically small– Closed specification (acquired!)– Doesn’t work

• Secure Digital– Like MMC (small, low power, closed specification)– Actually works

User Interface

•Java GUI = platform independent

•All access to Mufu is through identical AUI

•Mode of communication is transparent to GUI (i.e. RF or serial) and Mufu

•Infrastructure exists to make Mufu fully user customizable

AUI ( ASCI I User I nt er f ace)

MuFUwECoRe

User

Java GUI (Graphical User Interface)

Serial Connection

Cradle

RF Connection

Scheduling System

• Sampling Regime: Dictates the frequency of each task• Any task can be scheduled in this way including:

– Sensor reads– Memory writes– Battery power checks

• An arbitrary number of regimes can be defined– Near surface of water– At surface of water– On beach

• User accessible regime switching is problematic– Must be hand coded based on many factors – Must be logically consistent

• Tasks are passed to SST (Super Simple Tasker) RTOS for execution

Data Flow

Data Collector

Sensor Read Tasks

Write to Storage

CompressionFlash

Memory

Data Flow

•Data Collector stores sensor data in flexible, efficient form

•Compression not yet implemented

•Empty blocks are returned to Data Collector

•Each component is a user controllable independent task

Task Distribution

• I didn’t do shit

0

10

20

30

40

50

60

70

80

90

0 2 4 6 8 10

Week

Engineer-hours

Meetings

Documentation

Schematic

Layout

Power

Sensor Testing

Research

RF Software

Manufacture

9%

5%

13%

32%6%

5%

9%

18%

3%

Meetings

Documentation

Schematic

Layout

Power

Sensor Testing

Research

RF Software

Manufacture

Special Thanks

Brent Wright, CMPE 123, Cyrus Bazeghi, Diana Robins, Erika Seagraves, Frank, Gabriel Elkaim, Guy Oliver, Hans Thomas, Anheuser-Busch, Jason Hassrick, Jo Chou, John Burr, Matt Kassawara, MBARI, Phuong Mai, Steve Petersen