VEHICLE DETECTION AND CLASSIFICATION USING MAGNETOMETER Data Acquisition

Team: Akshath S Bhat, Arvind K Deshpande, Kaustubh G Deshpande Guide: Prof. K V S Hari Statisti a! Si"na! Pro essin" #ab Department of $!e tri a! %ommuni ation $n"ineerin" &ndian &nstitute of S ien e

Contents
1 Intro uction !"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" 1
'.' Basi idea (............................................................................................... ' '.) *b+e tive (................................................................................................ '

# Anisotro$ic Ma%netoresisti&e Sensor !"""""""""""""""""""""""""""""""""""""""""""""""""""""""" #

).' Theor, of the A-. Sensor (.................................................................... )

' Har (are Descri$tion !"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" )

/.' SBT01 Sensor Board (...................................................................... 2 /.) T$#*SB mote P!atform (................................................................. 3

/.).' App!i ations (................................................................. 0 * So+t(are Descri$tion !""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" 1, - Ve.ic/e Detection !""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" 11
4.' -a"neti Si"na! Ana!,sis (............................................................... '' 4.) Data %o!!e tion (............................................................................... '' 4./ -odified Setup Simi!ar to A tua! .oad S enario (.......................... ') 4./.' $5perimentation usin" .emote %ontro!!ed %ar (.............. ') 4./.) $5perimention usin" a Skate Board (................................ '4 4./.).' $5periment no. ' (............................................. '3 4./.).) $5periment no. ) (............................................. '6 4.7 *r"anisin" the data o!!e ted into 8i!es9Dire tories (....................... )2 Appendi5 A Appendi5 B

List o+ Fi%ures
).' A-. Strip (............................................................................ / ).) :heatstone Brid"e %onstru tion (.......................................... 4 /.' SBT01 Sensor Board (............................................................ 2
/.) Te!osB mote atta hed ;ith SBT01 Sensor Board (............... 3

4.' Distortion in earth<s ma"neti fie!d aused b, a vehi !e (...... '' 4.) -a"netometer setup in a tua! road s enario (........................ ') 4./.' 4./.)
4././

Top vie; of .emote %ontro!!ed %ar (.................. '/ Side Vie; of .emote %ontro!!ed %ar ..................... '7 Three paths in ;hi h setup is passed (................. '7 Top vie; of setup mounted on the Skate Board (. '2 Side vie; of setup mounted on the Skate Board (. '2 :aveforms obtained ;ithout fiber bo5 (............... '3 :aveforms obtained ;ith fiber bo5 (.................... '0 :aveforms obtained ;hen mote is mounted on Skate Board (. '6 :aveforms obtained ;hen mote is fi5ed to bottom fa e of (.... )1 Skate Board

4./.7 4./.4 4./.2 4./.3 4./.0 4./.6

4./.'1 4./.''

Top vie; of setup fi5ed to the bottom fa e of the Skate Board ( )' Side vie; of the setup fi5ed to the bottom fa e of the Skate Board .. )'

List o+ Ta0/es

4./ A!! %ars overed b, usin" the t;o setups (........................................................ ))

VEHICLE DETECTION AND CLASSIFICATION USING MAGNETEOMETER

1" Intro uction

The net;ork of roads of a nation determine ho; ;e!! the entire nation is onne ted. &t is an inde5 of the rate of deve!opment of the ountr,. An, deve!oped or deve!opin" nation !ike &ndia has a "ood net;ork of roads. &t is a!so true that there are traffi on"estions espe ia!!, ities and to;ns. The number of man hours ;asted due to traffi on"estion and the amount of po!!ution are si"nifi ant!, hu"e. Therefore, there is a "reat demand for &nte!!i"ent Traffi S,stems ;hi h are apab!e of monitorin" road traffi to redu e de!a, and to smoothen the f!o; of vehi !es.

There are severa! different possibi!ities for a road traffi monitorin" s,stem. &ndu tion !oops, infrared sensin", pressure sensors, video ameras, to name a fe;, are te hno!o"ies that an be used. Ho;ever, some of the important hara teristi s ;hi h need to be taken into onsideration for !ar"e s a!e dep!o,ment are ost, ease of dep!o,ment, f!e5ibi!it, in dep!o,ment, maintenan e, !ife=time of the sensors used and po;er onsumption.:ire!ess sensor net;ork te hno!o", fits these re>uirements a!most perfe t!,.

1"1 1asic i ea
At an, "iven p!a e on the earth, there is a natura! ma"neti fie!d due to earth havin" a suitab!e ma"nitude and dire tion. There is a f!u tuation in the ma"nitude, but for pra ti a! ases it is assumed to be onstant onsiderin" the de"ree of variation. :henever a ferroma"neti substan e enters the vis init, of the earth<s natura! ma"neti fie!d, there is a distortion in the pre=e5istin" fie!d. The ommon!, used vehi !es on road are a!! havin" a definate meta!!i ?ferroma"neti @ ontent, ma, it be the en"ine or the hasis. Thus, ;hen a vehi !e enters the vis init, of a road, it auses distortions in the pre=e5istin" fie!d due to earth. The siAe and shape, thus meta!!i ontent of ea h and ever, ar is uni>ue to the parti u!ar mode! of a brand9maker of the ar. Thus the ma"neti fie!d distortions assosiated ;ith ea h ar is uni>ue. &f there is a ;a, to re ord these f!u tuations, then a si"na! an be asso iated to ea h vehi !e and the si"na! an be termed as si"nature si"na!.

1"# O02ecti&e3
The si"nature si"na! is a hara teristi of a ar and an be used to dete t and a!so !assif, the ars, if there is a kno;!ed"e of the si"nature si"na!s asso iated ;ith the ommon!, used vehi !es. The dete tion and !assifi ation of the vehi !es an add inte!!i"en e to the urrent da, traffi and an so!ve most of the prob!ems.

'

#" Anisotro$ic Ma%netoresisti&e Sensor

-a"neti sensors have t,pi a!!, been used for dire tion findin" or navi"ation, but other app!i ations have evo!ved over time. The te hno!o", for sensin" ma"neti fie!ds has a!so evo!ved driven b, the need for improved performan e. *ne of the ne;er t,pes of si!i on based ma"neti sensors are the Anisotropi -a"netoresistive ?A-.@sensors. A-. sensors dete t the distortions of the $arthBs ma"neti fie!d, ;hi h is uniform over a ;ide area on the s a!e of ki!ometres.

A ;ide s a!e dep!o,ment of a ;ire!ess net;ork of anisotropi ma"neti sensors is envisioned. These passive sensors are mounted on !o; po;er onsumin" ;ire!ess trans eivers a!!ed motes apab!e of ommuni atin" ;ith ea h other and a basestation. The sensors are apab!e of sensin" the ma"neti fie!d. Therefore, the fie!d indu ed due to a !ar"e permeab!e ob+e t, !ike a vehi !e, an be sensed. The idea is to p!a e an arra, of these sensors in ea h !ane, near the traffi !i"hts and at a ertain buffer !en"th a;a, from the traffi !i"hts. The sensors are apab!e of dete tin" vehi !es and a re ord of the number of veh i!es "oin" past it an be re orded. Thus, a rou"h estimate of the no. of vehi !es in the buffer an be made. This estimate of the >ueue !en"th an be sent to the traffi !i"ht ontro!!er, via the net;ork of ;ire!ess sensors. The traffi ontro!!er uses the information from a!! the !anes and adaptive!, ontro!s the traffi !i"ht onfi"uration to redu e avera"e de!a, and in rease throu"hput.*ne an a!so think of a more entra!iAed ontro! s,stem ;hi h mana"es the onfi"uration of severa! su essive traffi +un tions.

#"1 T.eor4 o+ t.e AMR Sensor

An A-. sensor is made b, depositin" a ver, thin !a,er of Perma!!o, on a Si!i on ;afer, patterned as a resistive strip. The properties of the thin A-. fi!m resu!t in a han"e in the resistan e ;hen an e5terna! fie!d is app!ied. The ma"netiAation - in a ferroma"neti materia! a!;a,s has the ma"nitude of the saturation ma"netiAation -S and on!, han"es in dire tion. The theor, of the A-. effe t an, therefore, be sp!it into t;o parts C $!e tri a! resistivit, as a fun tion of the dire tion of ma"netiAation ?D- @ in the resistive strip C The re!ation bet;een dire tion of ma"netiAation and e5terna!!, app!ied fie!d ?He5t @ %onsider a ma"netoresistive strip as sho;n in 8i"ure ).'. The e!e tri a! resistan e . is "iven b,,

8i"ure ).': A-. strip

. E 0 ,n

l l bd + bd cos2 = R0,n +R cos2

?).'@

;here F1,n and GF are materia! onstants and D is the an"!e bet;een the urrent densit, ve tor and the ma"netiAation ve tor. .1,n is the resistan e ;hen the urrent is perpendi u!ar to the ma"netiAation and G. is the ma5imum han"e in the resistan e due to the ma"neti fie!d. The spontaneous ma"netiAation !ies in the eas, a5is dire tion ;hi h is fi5ed b, shape anisotrop,. A ma"neti fie!d a!on" the heav, a5is ?perpendi u!ar to the eas, a5is@ provides a rotation of the ma"netiAation in the perma!!o, strip and thus a han"e of its resistan e. #et us )K assume that the eas, a5is is a!on" the H=a5is. :ith the tota! anisotrop, fie!d H1 E , the 0Ms an"!e I bet;een - and the eas, a5is is:

sin E for ='J

Hy Ho

?).)@

Hy J', ;here H, is the K= omponent of the app!ied fie!d. *utside this ran"e, Ho
Hy @ Ho

sin Esi"n?

:e introdu e t;o ne; resistan es .1,p and .1 :

.1,p E .1,n L G.

?)./@

.1E

Ro,p+Ro,n )

?).7@

.1 is the avera"e resistan e. Msin" $>uations ?).'@ and ?)./@,

.?D@ E .1,p L G. sin) D

?).4@

Msin" $>uation ?).)@, ;hen the urrent f!o; is a!on" the eas, a5is, ;e have

.?D@ E .1,p L G.? for NH, N O Ho and

Hy ) @ Ho

(2.6)

.?H, @ E .o ,p

(2.7)

for NH, N P H1 . The resistan e e5hibits a stron"!, non=!inear dependen e on the e5terna! fie!d. A!so, the si"n of H), annot be determined sin e . is a fun tion of H, . &n order to a!!eviate these disadvanta"es, barber po!e stru turesQ'R are introdu ed. -athemati a!!,, barber po!es are prepresented b, introdu in" an additiona! an"!e S E 74T , ;hi h represents the an"!e bet;een the eas, a5is and the urrent. The an"!e D in this ase is

D ELS Therefore, the hara teristi s of a barber=po!e A-. sensor are

?).0@

.?H, @ E .o U G. 8or NH, N J

Hy Hy ) .S> rt?'=? @@ Ho Ho

?).6@

Ho , it is fair!, !inear ;ith a non=!inearit, of !ess than 4V. &n most app!i ations, a ) sin"!e A-.=.esistor is not suited be ause it does not provide a Aero referen e and has a temperature oeffi ient of U1./V9K. The sensor is rea!iAed as a :heatstone brid"e ;ith four individua! resistors, as sho;n in 8i"ure ).). The resistan e han"es are onverted into a vo!ta"e output ;ithout a d omponent.
7

This setup a!so ompensates for the temperature dependen e of the resistors. The output vo!ta"e of a :heatstone brid"e an be des ribed b,:

Vout E VinG.

Hy Hy ) s>. rt?'=? @@ Ho Ho

?).'1@

*ne su h A-. brid"e an be used to measure the fie!d a!on" one dire tion. &f a ma"netometer omprises of t;o su h A-. brid"es p!a ed perpendi u!ar to ea h other, it an be used to measure the fie!d a!on" ) ortho"ona! a5esW simi!ar!, a /=a5is sensor.

8i"ure ).): :heatstone brid"e onstru tion.

'" Har (are Descri$tion '"1 S1T5, Sensor 1oar

SBT01 -u!ti=-oda!it, Sensor Board is used for Te!osB ;ire!ess motes. This sensor board has H-% '14) ma"netometer ;hi h is a dua! a5is ma"netometer. &n addition to this it a!so has the other sensors used for different purposes.

8i"ure /.': SBT01 Sensor Board

The features of the SBT01 Sensor Board are: Sensor board for Te!osB ;ire!ess sensor p!atform %an be dire t!, p!u""ed in to the e5terna! onne tor of Te!osB motes $i"ht Sensor hanne!s ;ith hi"h sensitivit, sensors = visua! !i"ht, infrared, a ousti , temperature, dua!=a5is ma"netometer and dua!=a5is a e!erometer Sma!!er form fa tor than Te!osB motes Po;er savin" mode Tin,*S and Xava ode support avai!ab!e %an be used for mu!ti=moda! survei!!an e and monitorin" app!i ations usin" sensor net;orks

'"# TELOS1 Mote 6/at+or7

8i"ure /.): Te!osB mote atta hed ;ith SBT01 Sensor board

T$#*SB -*T$ P#AT8*.- 8$ATM.$S

&$$$ 01).'4.7 %omp!iant

)41 kbps, Hi"h Data .ate .adio

T& -SP7/1 -i ro ontro!!er ;ith '1kB .A-

&nte"rated *nboard Antenna

Data %o!!e tion and Pro"rammin" via MSB &nterfa e

*pen=sour e *peratin" S,stem

&nte"rated Temperature, #i"ht and Humidit, Sensor

3

'"#"1 A$$/ications

P!atform for #o; Po;er .esear h Deve!opment

:ire!ess Sensor Yet;ork $5perimentation

Te!osB -ote TP.)7)1 is an open=sour e p!atform desi"ned to enab!e uttin"=ed"e e5perimentation for the resear h ommunit,. The TP.)7)1 bund!es a!! the essentia!s for !ab studies into a sin"!e p!atform in !udin": MSB pro"rammin" apabi!it,, an &$$$ 01).'4.7 radio ;ith inte"rated antenna, a !o;=po;er -%M ;ith e5tended memor, and an optiona! sensor suite. TP.)7)1 offers man, features, in !udin":

&$$$ 01).'4.7 omp!iant .8 trans eiver

Temp.9 Humidit,Sensor

#i"ht Sensor

).7 to ).70/4 GHA, a "!oba!!, ompatib!e &S- band

)41 kbps data rate

&nte"rated onboard antenna

0 -HA T& -SP7/1 mi ro ontro!!er ;ith '1kB .A-

#o; urrent onsumption

'-B e5terna! f!ash for data !o""in"

Pro"rammin" and data o!!e tion via MSB

Sensor suite in !udin" inte"rated !i"ht, temperature and humidit, sensor

.uns Tin,*S '.'.'' or hi"her

The Te!osB p!atform ;as deve!oped and pub!ished to the resear h ommunit, b, M% Berke!e,. This p!atform de!ivers !o; po;er onsumption a!!o;in" for !on" batter, !ife as ;e!! as fast ;akeup from s!eep state. The TP.)7)1 is ompatib!e ;ith the open=sour e Tin,*S distribution.

TP.)7)1 is po;ered b, t;o AA batteries. &f the TP.)7)1 is p!u""ed into the MSB port for pro"rammin" or ommuni ation, po;er is provided from the host omputer. &f the TP.)7)1 is a!;a,s atta hed to the MSB port no batter, pa k is needed. TP.)7)1 provides users ;ith the apabi!it, to interfa e ;ith additiona! devi es. The t;o e5pansion onne tors and onboard +umpers ma, be onfi"ured to ontro! ana!o" sensors, di"ita! periphera!s and #%D disp!a,s. Tin,*S is a sma!!, open=sour e,ener",=effi ient soft;are operatin" s,stem deve!oped b, M% Berke!e, ;hi h supports !ar"e s a!e, se!f= onfi"urin" sensor net;orks. The sour e ode soft;are deve!opment too!s are pub!i !, avai!ab!e at: http:99;;;.tin,os.net

*"So+t(are Descri$tion
Genera! .e>uirement: A #aptop !oaded ;ith a !inu5 operatin" s,stem ?Mbuntu most preferab!e@ .efer the Appendi5 A to kno; ho; to insta!! tin, *S. Tin, *S ).'.1 ;as used. The Te!osB mote is onfi"ured b, deve!opin" the odes usin" Tin, *S. These odes are ;ritten, ompi!ed and do;n!oaded into Te!osB mote dire t!, b, p!u""in" it into MSB interfe e. The ode on the memor, of Te!osB mote an be erased and a different pro"ram for a different operation an be do;n!oaded a"ain. The pro"rams ;ere ;ritten and used for the fo!!o;in" operations : '. To provide Start Si"na! and use mote as a .emote. ). To o!!e t the data samp!es ?t;o omponents of the ma"neti fie!d@ o!!e ted b, the ma"netometer from the data o!!e tion s ene and store in the on= hip memor, at '11HA, Samp!in" .ate. /. To read the Te!osB mote ;hi h is onne ted to the !aptop after data a >uisition.
4. To transfer the data samp!es stored in the on= hip memor,, to the !aptop and save the

samp!es in a te5t fi!e. These sour e odes are present in the dire tor,: Sour e odes. These odes are deve!oped b, SSP !ab, $%$ dept., &&S .

'1

-" Ve.ic/e Detection

The first important re>uirement for a traffi survei!!an e s,stem is the apabi!it, to dete t the presen e of a vehi !e. Based on su h dete tion, statisti s su h as vehi !e ount, traffi f!o; speed and o upan , an be estimated. The >ua!it, of vehi !e dete tion determines the performan e of a!! dependent app!i ations. The ana!,sis of si"na!s from a ma"neti sensor are presented in !ater hapters.

-"1 Ma%netic Si%na/ Ana/4sis

The theor, of the Anisotropi -a"netoresisitve?A-.@ sensor is dis ussed in Q).'R. &t is noted that the earthBs ma"neti fie!d is uniform over a ;ide area on the s a!e of ki!ometres and that an A-. sensor is apab!e of dete tin" distortions in the fie!d. A permeab!e ob+e t in a homo"enous ma"neti fie!d "ives rise to an indu ed ma"neti fie!d. Therefore, ;hen a vehi !e enters the vi init, of the sensor, the perturbation of the fie!d an be dete ted b, the sensor. This is the basi prin ip!e invo!ved in usin" an A-. sensor for vehi !e dete tion, see 8i"ure 4.' .

8i"ure 4.': Distortion in the earthBs ma"neti fie!d aused b, a vehi !e.

Dependin" on the meta!!i onfi"uration and omposition inside a vehi !e, different ma"neti si"natures are indu ed b, different vehi !es.

-"# Data Co//ection

The Te!osB mote is to be p!a ed in the road ondition ?midd!e of !ane or side !anes@ to sense the ma"neti fie!d omponents. The Te!osB mote is havin" SBT01 board onne ted to it, ;hi h has dua!
a5is ma"netometer ?H-%'14)@ But this re>uires us to ensure that the vehi !e is movin" at a onstant ve!o it, over the mote and the proper are is a!so taken in prote tin" the mote from bein" run=over b, the vehi !es and "ettin" dama"ed. The setup in a tua! road s enario is sho;n in the 8i"ure 4.).

''

8i"ure 4.): -a"neteometer setup in a tua! road s enario

-"' Mo i+ie Setu$ Si7i/ar to Actua/ Roa Scenario

The ma"netometer re ords the ma"neti fie!d omponents ;henever the f!u5 !ines asso iated ;ith it is ut b, a Vehi !e. $ssentia!!, there must be a re!ative motion bet;een the vehi !e and the ma"netometer. *;in" to the diffi u!ties in the a tua! road s enario, the data o!!e tion is done in parkin" !ots, ;here the vehi !es are stationar,. 8or satisf,in" the riterion of re!ative motion the sensor is set in motion. &n some ;a,s the onditions of onstant ve!o it, and prote tion of mote are ensured. The e5periments are arried out b, fi5in" the ma"netometer setup ?Te!osB mote@ to a .emote %ontro!!ed %ar and in some ases to a Skate Board.

-"'"1 E8$eri7entation usin% Re7ote Contro//e Car

A remote ontro!!ed ar is mounted ;ith the Te!osB mote to ;hi h SBT01 sensor board is p!u""ed. The mountin" is done usin" a fiber ase ;hi h en apsu!ates the mote. $5periment is done and it is ensured that the fiber ase does not inf!uen e the ma"netometer readin"s ?.efer 4./.).'@.8i"ures 4./.' Z 4./.) sho; the photo"raphs of the setup. The orientation of the ma"netometer is su h that it re ords the K and [= omponents of the ma"neti fie!d. The spe ifi ations of the remote ontro!!ed ar used is as fo!!o;s: ;orkin" fre>uen ,: 76 -hA Batter, t,pe: 6v p!u""in re har"ab!e,Yi=%d batter, ma5. Speed: /) kmph The remote ontro! ar is havin" !east number of meta!!i remote ontro!!ed ars. The dimension of the remote ontro!!ed ar is as fo!!o;s: hei"ht: ).0<<
')

omponents un!ike other onventiona!

!en"th: '4.4<< ;idth: 3.4<< hei"ht of the fiber bo5 havin" mote ;ithin: )<<. Therefore, tota! hei"ht: 7.0<<

Figure 5.3.1: Top view of Remote Controlled Car Te!osB mote inside fiber ase 8i5ed Dire tion ontro!!er .emote

The remote ontro!!ed ar as sho;n in the above fi"ure in mounted ;ith the fiber ase and mote usin" doub!e sided "umtapes and bro;n tapes. The dire tion onro!!er is fi5ed so that the setup moves in on!, strai"ht !ines. The motor of the remote ontro!!ed ar is modified, so that the ar moves ;ith onstant speed on e it over omes initia! a e!eration.
Yote: The Te!osB mote is oriented inside the fiber bo5 in su h a dire tion so that it re ords K and [= omponents of the ma"neti fie!d.

'/

8i"ure 4./.): Side Vie; of the .emote %ontro!!ed %ar Antenna of the .emote %ar

The remote ontro!!ed ar havin" the mote is passed be!o; the vehi !es in three different paths viA., !eft path, midd!e path Z ri"ht path as sho;n in 8i"ure 4././. A data o!!e tion samp!e video is a!so taken to provide better understandin" for the reader.

#eft path

-idd!e path .i"ht path 8i"ure 4././: Three paths in ;hi h setup is passed '7

Msin" the remote the remote ontro!!ed ar is passed in these / paths. The remote ar is kept a;a, from the vehi !e<s inf!uen e ?sa, '' in hes infront@, it is turned on, mote is turned on, start si"na! is "iven in the other mote ?mote A@ onfi"ured for sendin" out start si"na! ;ire!ess!,. Yo; the mote on the remote ontro!!ed ar ?mote B@ is !eft undisturbed for a fe; se onds so that it re ords the earth<s onstant ma"neti fie!d. Then the setup is moved in the path usin" the remote ontro! so that ma"netometer re ords distortions in fie!d. After it overs entire vehi !e, the remote ontro!!ed ar is stopped at onsiderab!e distan e from the vehi !e. The mote B is a"ain !eft undisturbed as in the be"innin". The data o!!e ted is transferred into the !aptop and the mote is a"ain onfi"ured for a ne; data o!!e tion.

-"'"# E8$eri7entation usin% a S9ate 1oar

Parkin" !ots are often havin" pavement stones and uneven f!oorin" ;hi h ause the remote ontro!!ed ar to drift, han"in" the ve!o it, of the setup. This an produ e errors. A Skate Board an be used in su h ases. &t has the ;hee!s ;hi h have "ot a provison to move on!, in !inear dire tions, un!ike a remote ontro!!ed ar. The dire tion is fi5ed. &f are is taken to move the Skate Board at onstant speed, then the Skate Board an serve the same purpose of remote ontro!!ed ar. *ne end of the Skate Board is tied firm!, ;ith a !on" p!asti strin" ?rope@. A fiber ase en apsu!atin" mote B, is fi5ed to the skate board usin" doub!e sided "um tapes. The orientation of the ma"netometer is su h that it re ords the K and [= omponents of the ma"neti fie!d. The dimensions of the skate board is as fo!!o;s: hei"ht: 7<< !en"th: )/.4<< ;idth: 2<< hei"ht of the fiber bo5: )<< Therefore tota! hei"ht ;hen fiber bo5 is mounted: 2<< &n ertain ases it ;as rea!ised that the "round !earan e of the vehi !e J 2<< &n su h ases the fiber asin" ;as fi5ed to the bottom fa e of the Skate Board. An e5periment ;as a!so ondu ted to see if the position of the mote ;hen fi5ed to top9bottom fa e inf!uen e the readin"s of the ma"netometer ?.efer 4./.).)@. Based on the resu!ts of this e5periment, Skate Board ou!d be used in both the ;a,s. 8i"ures 4./.7 to 8i"ure 4./.3 sho; the top vie;s and side vie;s of the setup used.

'4

Top fa e of skate board

Te!osB mote inside fiber ase

.o!! of p!asti strin" tied to one end

8i"ure 4./.7: Top vie; of setup mounted on the Skate Board

8i"ure 4./.4: Side vie; of setup mounted on the Skate Board

This setup is used in the same ;a, !ike the remote onto!!ed ar ;hi h ;as used before. The same pro edure is fo!!o;ed to re ord the ma"neti fie!d omponents. %are is taken to pu!! the setup ;ith onstant ve!o it,.A data o!!e tion samp!e video is a!so taken to provide better understandin" for the reader.
Yote: The Te!osB mote is oriented inside the fiber bo5 in su h a dire tion so that it re ords K and [= omponents of the ma"neti fie!d.

'2

-"'"#"1 E8$eri7ent no" 1 Ai73 To stud, the effe t ;hen a Te!osb mote is en !osed ;ithin a fiber bo5. E8$/anation3 &n this e5periment, the Te!osb mote is mounted on a skate board ;ithout an, en !osure. The readin"s are taken usin" this arran"ement b, po;erin" the mote. But ;e have to prote t the Te!osb mote from e5terna! fa tors !ike rain, dust and a!so possib!e dama"e due to insuffi ient !earan e mid;a, throu"h the vehi !e, durin" our e5periments. Hen e ;e first en !ose the Te!osb mote ;ithin a fiber ase and then arr, out the e5perimentations, as usua!. &n order to do so, ;e must stud, the effe t on the ma"neti fie!d ;hen the Te!osb mote is en !osed ;ithin the fiber ase. E8$eri7enta/ setu$3 Case1: The Te!osb mote is mounted on the skate board ;ithout an, en !osure. The mote ;as po;ered and the entire set=up ;as rotated in an anti !o k;ise dire tion, t;i e. The samp!es, thus obtained ;ere p!otted in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.2: :aveforms obtained ;ithout fiber bo5

The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is:

'3

)'64='364E711 units. Case #: The Te!osb mote is first en !osed inside a fiber ase ;ith over and then mounted on top of the skate board. The mote ;as po;ered and the entire set=up ;as rotated in an anti !o k;ise dire tion, t;i e ?simi!ar to ase)@. The samp!es, thus obtained ;ere p!otted in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.3: :aveforms obtained ;ith fiber bo5

The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is: ))11='360E71) units. In+erence3 8rom the above p!ots and observations, it is !ear that there is \no appre iab!e han"e] in the peak=peak ma"neti fie!d. Thus ;e an state that both the e5perimenta! ases ,ie!d the same resu!t. Hen e, o;in" to the fa t that ;e "et added prote tion and a!so ne"!i"ib!e han"e in the ma"neti fie!d ;hen ;e en !ose the mote ;ithin the fiber ase, ;e ontinue to do so in our further e5perimentations.

'0

-"'"#"# E8$eri7ent no" # Ai73 To stud, the effe ts ;hen a Te!osb -ote is mounted to top fa e and fi5ed to bottom fa e of the skate board. E8$/anation3 :hen the Te!osb mote is mounted on the skate board, it is pra ti a!!, ver, diffi u!t to "et enou"h road !earan e for fe; of the vehi !es !ike H,undai Verna, 8ord fi"o under test be ause of the additiona! hei"ht the mote brin"s in. Hen e the idea is to fi5 the mote to the bottom fa e of the skate board so that ;e an ne"ate the additiona! hei"ht of the mote. :hen su h a pra ti a! onsideration is put to use, the ob+e tive of "ettin" enou"h road !earan e is a hieved. The ne5t on ern is ;hether this t,pe of arran"ement ;ou!d have an, effe t on the readin"s. Hen e an e5periment is ondu ted to thro; !i"ht on this pra ti a! aspe t of e5aminin" ;hether both the arran"ements ,ie!d simi!ar resu!ts or not^ E8$eri7enta/ setu$3 Case1: The Te!osb mote is mounted on top fa e of the skate board. The mote is po;ered and the entire set=up is rotated in an anti !o k;ise dire tion, on e. The samp!es, thus obtained are p!otted in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.0: :aveforms obtained ;hen mote is mounted on Skate Board '6

The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is: ))64='6)3E/20 units. Case #: The Te!osb mote is fi5ed to bottom fa e of the skate board. The mote is po;ered and the entire set=up is rotated in an anti !o k;ise dire tion, on e ?e5a t!, simi!ar to %ase'@. The samp!es, thus obtained are p!otted in the -at!ab. The p!ot is "iven be!o;:

8i"ure 4./.6: :aveforms obtained ;hen mote is fi5ed to bottom fa e of Skate Board

The peak to peak han"e in the -a"neti fie!d observed from the above fi"ure is: ))66='6/)E/23 units. In+erence3 8rom the above p!ots and observations, it is !ear that there is \no appre iab!e han"e] in the peak=peak ma"neti fie!d. Thus ;e an state that both the e5perimenta! ases ,ie!d the same resu!t. Hen e, o;in" to the fa t that ;e "et !earan e as ;e!! as prote tion and a!so ne"!i"ib!e han"e in the ma"neti fie!d ;hen ;e fi5 the mote to bottom fa e of the skate board, ;e ontinue to do so in our further e5perimentations.

)1

Bottom fa e of skate board

Strin" tied firm!, to the ;hee! frame

8i"ure 4./.'1: Top vie; of setup fi5ed to the bottom fa e of the Skate Board

Te!osB mote inside fiber bo5 8i"ure 4./.'': Side vie; of setup fi5ed to the bottom fa e of the Skate Board

The above setup an pass easi!, under the ars havin" !ess "round !earan e.The e5periments ;ere performed ;ith the above mentioned setups and fo!!o;in" vehi !es ;ere overed for e5tra tin" the si"nature si"na!s.The "enera! pro edure to onfi"ure the Te!osB motes is "iven in the Appendi5 B. The tab!e 4./ sho;s a!! ars overed b, usin" the t;o setups.

)'

Tab!e 4./: A!! ars overed usin" the t;o setups S/" no '. Na7e o+ t.e Car -aruti 011 Nu70er o+ cars co&ere 2

).

-aruti 011?o!d@

/.

-aruti SuAuki A!to

7.

-aruti *mni

4.

-aruti *mni?o!d@

2.

-aruti SuAuki S;ift

3.

-aruti SuAuki S;ift DAire

'

0.

-aruti SuAuki [en

6.

-aruti SuAuki [en $sti!o

'1.

-aruti SuAuki :a"on.

''.

-aruti SuAuki :a"on.?duo@

'

').

-aruti SuAuki S57

))

'/.

-aruti SuAuki .itA

'

'7.

-aruti $steem

'4.

H,undai Santro

'2.

H,undai Santro Hin"

'3.

H,undai A ent

'

'0.

H,undai $!antra

'6.

H,undai i'1

)1.

H,undai i)1

'

)'.

H,undai Verna

'

)).

H,undai GetA

)/.

H,undai Sonata

'

)7.

Tata &ndi a

)4.

Tata &ndi"o

)/

)2.

Tata Yano

)3.

Tata Sumo

'

)0.

Vo!ks;a"en Vento

'

)6.

Ba+a+ Auto

'

/1.

%hevro!et Beat

/'.

%hevro!et Spark

'

/).

Honda %ivi

'

//.

Honda %it,?ne;@

/7.

Honda %it,?o!d@

'

/4.

8ord 8i"o

/2.

8ord 8iesta

'

/3.

Dae;oo -atiA

/0.

Dae;oo %ie!o

'

/6.

To,ota %oro!!a S$ )7

'

71.

To,ota &nnova

7'.

8iat #inea

'

7).

8iat Petra

'

7/.

8iat Pa!io

'

77.

-ahindra #o"an

'

74.

-ahindra Xeep

'

72.

Skoda * tavia

73.

Skoda #aura

'

70.

.eva $!e tri %ar

'

76.

*pe! %orsa

'

41.

*pe! %orsa Sai!

'

)4

-"* Or%anisin% t.e ata co//ecte into Fi/es;Directories $a h ar amon" the various ars overed as sho;n in Tab!e 4./ is "iven a dire tor, name based on the name9mode! of the ar. This dire tor, ontains a!! the asso iated fi!es. A!! the asso iated fi!es are named in the fo!!o;in" "enara! order:

J ar nameP_Jorder of the arP_JpathP.Je5tensionP 8or $5amp!e: #et us sa, that ;e have re orded the ma"neti fie!d data samp!es in three paths name!, !eft, ri"ht and midd!e for a -aruti SuAuki 011. The data samp!es are found in a te5t fi!e. Thus, the e5tension of the fi!es ;i!! be .t5t. The ar name is most !ike!, to be 011. The order of the ar re!ates to the tota! number of ars of the same t,pe overed ti!! the parti u!ar ar. That is, if ) -aruti SuAuki 011 ars ;ere a!read, overed ear!ier, then the present ar ;ou!d be "iven the order /. &n ase of ar ;hi h ;as overed on!, on e, then Jorder of the arP is omitted. The path name ou!d be !eft, midd!e or ri"ht for ;hi h the data samp!es ;ere o!!e ted. &n some ases the ar mode!s are a!so indi ated usin" ne;9o!d. 8or e". Honda %it,, ;hi h has o!d9ne; mode!s. 011 and *mni a!so have ne;9o!d mode!s. &f mu!tip!e readin"s are taken for a same path then, path_tria! no. is indi ated. Msin" the te5t fi!e for ea h path, an asso iated -AT#AB fi"ure havin" .fi" e5tension and a fi"ure of .+pe" e5tension are e5tra ted. The photo"raph?s@ of the ar and diffi u!ties?if an,@ is9are presented. A J ar nameP.do fi!e "ives a!! the information asso iated ;ith a parti u!ar ar in ea h dire tor, of ars. These ars are found in dire tories: Vehi !e dete tion_r_ ars or Vehi !e dete tion_s_ ars. A fi!e map ;hi h "ives a pi ture of the dire tories is present. Asso iated ;ith ea h main dire tor, there is a .$AD-$.t5t ;hi h "ives the summar, of ontents9inforamation of ea h dire tor,. T;o video fi!es ea h in above mentioned main dire tories are present in .mov e5tension.

)2

A$$en i8 A

Insta//in% Tin4OS 1" Tin4OS on Fe ora

The pro edure for insta!!in" Tin,*S on 8edora has been des ribed here.

1. As root, op, the ontents of the "iven Tin4OS<Setu$ fo!der into the 9o$t fo!der.

2. Go to the 9o$t fo!der and e5e ute the fo!!o;in" ommand :

s. tin4os:insta//"s..

3. *n e the e5e ution is omp!ete, the tin4os:#"8 fo!der is reated in the o$t fo!der.

*" Ye5t, "o to the fo!der +ava : c ;o$t;tin4os:#"8;su$$ort;s 9;2a&a

5. &n the 2a&a fo!der, e5e ute the make ommand : 7a9e

)" This omp!etes the insta!!ation of Tin,*S.

#" Tin4OS on U0untu

#"1 De+au/t Version The pro edure for insta!!in" the defau!t Tin,*S version on Mbuntu 0.'1 has been des ribed here. A simi!ar pro edure an be used for insta!!in" Tin,*S on other versions of Mbuntu.

'. Add the repositor, for Tin,*S to the repositor, a he. *pen the fi!e ;etc;a$t;sources"/ist as sudo and append the fo!!o;in" !ines to it : =re$ositor4 +or Tin4OS e0 .tt$3;;tin4os"stan+or "e u;tin4os; ists;u0untu +eist4 7ain ). Mpdate the repositor, a he. .un the fo!!o;in" ommand : su o a$t:%et u$ ate

/. Note3 &f ,ou have an o!der version of Tin,*S insta!!ed, remove it: su o a$t:%et re7o&e tin4os and then pro eed. 7. .un the fo!!o;in" ommand to insta!! the !atest re!ease of Tin,*S and a!! its supported too!s: su o a$t:%et insta// tin4os This ;i!! disp!a, a messa"e askin" ,ou to hoose bet;een avai!ab!e versions. Se!e t the appropriate version. 8or e5amp!e :

su o a$t:%et insta// tin4os:#"1", 4. Sin e ;e are usin" te!osb motes, ;e need to uninsta!! the brai!!e drivers: su o a$t:%et re7o&e 0r/tt4 2. :e need to edit the `9.bashr fi!e to set environment variab!es and define a!iases. C *pen the tin4os:0as.rc fi!e present in the Tin,*S Setup fo!der. C %han"e a!! o urren es of tin4os:#"8 to tin4os:#"1",. C %han"e the %#ASSPATH env=variab!e as be!o;: CLASS6ATH>?CLASS6ATH3?TOSROOT;su$$ort;s 9;2a&a;tin4os"2ar3" ?The . in !udeda@ C -ake sure that the env variab!e T*S.**T is: TOSROOT>@;o$t;tin4os:#"1",A C Yo;, op, the ontents of this fi!e and append it to the `9.bashr fi!e. 3.To the bashr fi!e, add the fo!!o;in" ode snippet: if Q =f 9opt9tin,os=).'.19tin,os.sh R W then . 9opt9tin,os=).'.19tin,os.sh fi 0. %han"e the o;nership of the 9opt9tin,os=).'.1 dire tor, to ,our username. .un the fo!!o;in" ommand an,;here outside the 9opt9tin,os=).'.1 dire tor,: c.o(n :R userna7e ;o$t;tin4os:#"1", 6. %han"e permissions on an, seria!, usb or para!!e! devi es ,ou are "oin" to use: c.7o ))) ; e&; e&icena7e

'1. Kou an use the ommand 7ote/ist to kno; ;here ,our mote is onne ted. ''. $5e ute the fo!!o;in" ommand in the tin,os=).'.1 dire tor,: tos:c.ec9:en& &"nore the ;arnin"s for +ava or "raphviA and pro eed. '). Yo; e5e ute: c ;o$t;tin4os:#"1",;tos;/i0;tos0oot su o 7a9e te/os0 &t shou!d ompi!e ;ithout errors. &f it doesnBt, "o throu"h a!! the previous steps arefu!!, and re=e5e ute the ommand. '/. Yo; e5e ute: c ;o$t;tin4os:#"1",;su$$ort;s 9;2a&a su o 7a9e a// &f there are errors disp!a,ed on ernin" XY& !ibraries, then "enera!!, the prob!em is the presen e of mu!tip!e insta!!ations of +ava.

A$$en i8 1

Ste$s to 0e to 0e +o//o(e +or con+i%urin% Te/os1 7ote 1" To con+i%ure Te/os1 7ote B7ote AC to sen t.e start si%na/ to 7ote1 =P!u" the mote A to MSB interfa e =*pen Ter7ina/

:Su$er User privi!e"es have to be obtained

:T,pe a$$s ?To enter into the dire tor, in Tin, *S@

=$nter the dire tor, testin%Lo%. :T,pe c testin%Lo%;

:T,pe 7ote/ist ?To he k if the mote is onne ted to MSB interfa e@ The fo!!o;in" s reen appears if its onne ted proper!,.

=$nter into the dire tor, StartS; :T,pe c StartS;

=T,pe 7a9e te/os0 insta//", ?To ;rite the ode StartS into the mote A@

Yo; the mote A is onfi"ured and read, to be used for "ivin" Start si"na! to mote B. %ome out of the dire tor, b, t,pin" c ""

#" To con+i%ure Te/os1 7ote B7ote 1C to sense t.e 7a%netic +ie/ co7$onents a+ter it is recei&es a Start si%na/ +ron 7ote 1" =P!u" the mote B to MSB interfa e =T,pe 7ote/ist ?To he k if the mote is onne ted to the MSB interfa e@ The fo!!o;in" s reen appears if its onne ted proper!,.

=$nter into the dire tor, SenseLo% =T,pe c SenseLo%

=T,pe 7a9e te/os0 insta//"1 ?This is to ;rite the ode Sense#o" into the mote B@
Yote: The number inde5 <'< used in 7a9e te/os0 insta//"1 user defined. Ho;ever it must be different from the inde5 used for StartS.

Yo; the Te!osB mote, mote B is read, to sense the ma"neti fie!d omponents on e the Start si"na! is re eived.

'" To con+i%ure t.e Te/os1 7ote B7ote 1C so t.at ata co//ecte 04 it can 0e rea 04 a /a$to$ an a te8t +i/e .a&in% t.e ata is %enerate " =$nter the dire tor, tR/o% =T,pe d tR/o%

=T,pe 7a9e te/os0 insta//"1 ?This is to ;rite the t.!o" ode into the mote, so that the data o!!e ted an be read b, the !aptop@
Yote: Sin e a ne; ode is ;ritten into same mote ie mote B, here the same numberin" inde5 as used for Sense#o" an be used.

Yo;, retain the above Termina! ;indo; and open a ne; termina! ;indo;. #et the t;o ;indo;s be a!!ed #eft=hand Side ;indo; ?#HS@ and .i"ht=hand Side ;indo; ?.HS@.

=T,pe t#s+, in the .HS. This opens the Seria! 8or;arder of the Tin, *S.

Yo;, in #HS t,pe ";co//ectsa7$/es 1 ?This is to ;rite the pa kets of data for;arded b, seria! for;arder into a te5t fi!e a!!ed <sdata<@

*n e the ";co//ectsa7$/es 1 ommand is t,ped the samp!es are ;ritten and the s reen is sho;n be!o;. The samp!es are ;ritten into a te5t fi!e Ds ataD ;hose path is o$t;tin4os:#"1",;a$$s;testin%Lo%;tR/o%.

*n e ;ritin" of data samp!es stops, stop the seria! for;arder b, !i kin" on Sto$ Ser&er button.

Then, !ose one of the ;ido;s after >uittin" Seria! 8or;arder. &n the remain" ;indo; e5e ute the ommand c$ s ata ;.o7e;a9i0.at;Des9to$;. This opies the sdata.t5t into Desktop. The s reen is sho;n be!o;.

The te5t fi!e an be renamed and used for further ana!,sis usin" -AT#AB.