The sensors turn red when they detect
a sound. Upon detecting a sound, they
transmit the time at which they detect
the sound and their current location.
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This example shows a SoundSource
(concentric circles icon) moving through
a field of sensors (SoundSensor
actors, with translucent circle icons)
that detect the sound and communicate with
a Triangulator actor (overlapping ellipses
icon). The Triangulator performs sensor
fusion to triangulate the location of
the sound source. It generates a plot
with estimated locations.
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The SoundSource and Triangulator actors
are composites, while the SoundSensor
nodes are defined in Java. In all
cases, you can look inside to view
the implementation.
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SoundSensor actors
(instances of
GraphicalLocator)
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Triangulator composite
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SoundSource composite
(which moves)
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Authors: Philip Baldwin, Xiaojun Liu, and Edward A. Lee
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100 meters
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Every two seconds, send a sound.
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Every second, move the sound source.
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Create a set of pulses
Create a set of pulses
Create a sequence of tokens with increasing value
Create a sequence of tokens with increasing value
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Location coordinate system has
Y increasing downwards, but plotter
has Y increasing upwards.
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Use information about detected events to triangulate
the location of the originator of the event. If a
location can be found, then plot that location.
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We use the Matlab actor here, to illustrate
that it can be made to work. It would
be much simpler to use the Scale actor.
The Matlab actor reads a Matlab function
definition from a .m file.
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Detected Sound Positions
meters
meters
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