Yamakawa Yuji, Matsui Yutaro, Noda Akihito, Ishikawa Masatoshi, Shimojo Makoto
Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan.
Graduate School of Information Technology and Science, The University of Tokyo, Tokyo 113-8656, Japan.
Micromachines (Basel). 2018 Jun 27;9(7):325. doi: 10.3390/mi9070325.
In this paper, we develop a new sensor network system with a high sampling rate (over 500 Hz) based on the simultaneous synchronization of clock and data acquisition for integrating the data obtained from various sensors. Hence, we also propose a method for the synchronization of clock and data acquisition in the sensor network system. In the proposed scheme, multiple sensor nodes including PCs are connected via Ethernet for data communication and for clock synchronization. The timing of the data acquisition of each sensor is locally controlled based on the PC's clock locally provided in the node, and the clocks are globally synchronized over the network. We construct three types of high-speed sensor network systems using the proposed method: the first one is composed of a high-speed tactile sensor node and a high-speed vision node; the second one is composed of a high-speed tactile sensor node and three acceleration sensor nodes; and the last one is composed of a high-speed tactile sensor node, two acceleration sensor nodes, and a gyro sensor node. Through experiments, we verify that the timing error between the sensor nodes for data acquisition is less than 15 μs, which is significantly smaller than the time interval of 2 ms or a shorter sampling time (less than 2 ms). We also confirm the effectiveness of the proposed method and it is expected that the system can be applied to various applications.
在本文中，我们基于时钟与数据采集的同时同步，开发了一种具有高采样率（超过500Hz）的新型传感器网络系统，用于整合从各种传感器获取的数据。因此，我们还提出了一种传感器网络系统中时钟与数据采集同步的方法。在所提出的方案中，包括个人计算机（PC）在内的多个传感器节点通过以太网连接，用于数据通信和时钟同步。每个传感器的数据采集定时基于节点本地提供的PC时钟进行本地控制，并且时钟在网络上进行全局同步。我们使用所提出的方法构建了三种类型的高速传感器网络系统：第一种由一个高速触觉传感器节点和一个高速视觉节点组成；第二种由一个高速触觉传感器节点和三个加速度传感器节点组成；最后一种由一个高速触觉传感器节点、两个加速度传感器节点和一个陀螺仪传感器节点组成。通过实验，我们验证了数据采集的传感器节点之间的定时误差小于15微秒，这明显小于2毫秒的时间间隔或更短的采样时间（小于2毫秒）。我们还证实了所提出方法的有效性，并且预计该系统可应用于各种应用。
