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研究生： 高裕閔
Gao, Yu-Min
論文名稱： EcoSTS: 運用於沿岸沉積物追蹤與模擬之極微型無線運動感測系統實作
EcoSTS: A Compact and Contactless Motion Measurement System for Coastal Sediments Tracking
指導教授： 周百祥
Chou, Pai H.
口試委員: 蔡明哲
Tsai, Ming-Jer
曹孝櫟
Tsao, Shiao-Li
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 資訊工程學系
Computer Science
論文出版年： 2012
畢業學年度： 100
語文別： 英文
論文頁數： 63
中文關鍵詞： Eco 、無線感測平台 、動作追蹤 、嵌入式 、感測器 、沉積物
外文關鍵詞： Eco, Wireless sensor platform, Motion tracking, Embedded, Sensor, Sediment
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    • 本文提出了運用於沿岸沉積物追蹤與模擬的動作監測系統，稱之為
    EcoSTS。EcoSTS 主要由動作感測器EcoSSG 與PC 端的EcoSTS
    Commander 所組成。EcoSSG 是一個無陀螺儀動作感測器，我們用它來
    模擬石礫在水中或洋流中的移動情形，同時我們將資料即時存放在感
    測器上的儲存裝置，以便後續應用。我們用直徑4 公分的防水球做為
    整個裝置的包裝，並使整體密度與砂石密度雷同，更能精確模擬沉積
    物。EcoSTS Commander 主要負責操控整個系統，並將所蒐集的資料
    做有效的分析與應用。為了更完善整個系統，我們設計了無線燒錄的
    技術，可以及時修正錯誤或是更新程式。另一方面，我們更加入了磁
    力開關與無線充電的裝置，讓使用者可以用全然無線的方式對EcoSSG
    進行操控與開發。為了驗證我們的系統，我們和美國的Wave Research
    Lab 合作，他們有大型的洋流模擬環境，我們得以在擬真的環境下進
    行測試。測試的結果，EcoSTS 可以有效的在模擬環境中監測沉積物
    的運動情形。我們希望可以利用這套系統協助研究者有效觀察海底的
    未知領域，更進一步可以有效預測各種沉積物活動。在沿岸工程的開
    發與改進上，甚至水中與海中的流體力學等研究都可以有長足的幫助
    與進步。

    In this thesis, we propose EcoSTS, a system for in-situ motion measurement with specific application
    to motion tracking and simulation of coastal sediments. EcoSTS consists of a collection of EcoSSG
    (smart sediment grains) as motion sensors and EcoSTS Commander for controlling them from a PC.
    An EcoSSG is a gyro-free inertial measurement unit (GF-IMU) that measures the motion of its enclosure
    in the form of a rock in response to wave forces, and it records the sensing data in its on-board
    memory. Its enclosure measures 4-cm in diameter and is made of ceramic material whose density resembles
    that of sand. EcoSTS Commander supports data transfer wirelessly from the EcoSSGs to the
    PC and data post-analysis. We implement wireless reprogramming for firmware update and battery
    charging wirelessly through the enclosure. In addition, we include a magnetic switch to turn on or off
    the EcoSSG without contact. EcoSTS has been tested by our collaborators in Wave Research Lab in
    Oregon, USA. Experimental results validate the ability to track the motion of sediments with high accuracy.
    We expect EcoSTS to be able to help researchers in fluidic dynamics and coastal engineering
    confirm their models of sediment motion underwater for the purpose of predicting coastline evolution
    and object motion in water in general.

    Abstract i Acknowledgments i Contents 1 1 Introduction 7 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 Smart Sediment Grains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3 Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.4 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.5 Thesis Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2 Background and Related Work 11 2.1 Underwater Sediments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.2 Video-Based Sediments Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3 In-Situ Motion-Tracking Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3.1 Gyro-Free IMUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.3.2 PipeProbe and TriopusNet . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.3.3 Compact Wireless Sensor Platform . . . . . . . . . . . . . . . . . . . . . . 17 3 Problem Statement 19 3.1 Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.2 Functional Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.3 Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 1 4 EcoSTS Overview 22 4.1 EcoSSG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.1.1 Sensing Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.1.2 Power Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.2 Host PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.2.1 EcoSTS Commander . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.2.2 Wireless Reprogrammer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 5 Implementation of Hardware 27 5.1 Sensing Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 5.2 Power Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 5.2.1 Hardware for Power Subsystem . . . . . . . . . . . . . . . . . . . . . . . . 30 6 Implementation of Software 35 6.1 EcoSSG Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 6.1.1 Working Flow of EcoSSG . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 6.1.2 Wireless Reprogrammer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 6.2 EcoSTS Commander . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 6.2.1 EcoSTS GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 6.2.2 EcoSTS Handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 7 Evaluation 40 7.1 Wave Flume Experiments in Oregon . . . . . . . . . . . . . . . . . . . . . . . . . . 40 7.1.1 Experimental Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 7.1.2 Experimental Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 7.1.3 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.1.4 3D Model Demonstration for Tracking Result . . . . . . . . . . . . . . . . . 49 7.2 Wireless Charger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 7.2.1 Experimental Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 7.2.2 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 2 8 Conclusions and Future Work 57 8.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 8.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 8.2.1 New EcoSSG Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 8.2.2 Power Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 8.2.3 Recharging Techniques Improvement . . . . . . . . . . . . . . . . . . . . . 58 8.2.4 Longer Term Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 8.2.5 Tracking Mechanism Improvement . . . . . . . . . . . . . . . . . . . . . . 59 8.2.6 Improvement of Wireless Reprogramming . . . . . . . . . . . . . . . . . . . 59 8.2.7 Real Sediments Tracking in The Ocean . . . . . . . . . . . . . . . . . . . . 60

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