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nimmerverse-sensory-network/architecture/organs/IR-Position-Array.md
dafit d895fd9103 feat: Add IR-Position-Array organ spec + update Organ-Index v1.2 
New organ: IR Position Array (8x ESP32-S3 AI CAMs as indoor GPS).
Updated Organ-Index with 4 new organs: Position-Time Beacon,
IR Position Array, Crafting Eye, Godseye.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
2026-01-30 08:29:48 +01:00

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# IR Position Array Organ
**Room-scale organism tracking via IR beacon triangulation.**
> *"The organisms can't see their own backs. They know themselves through each other."*
---
## Overview
The IR Position Array is **infrastructure** — fixed cameras that run 24/7, tracking all organisms via their IR beacons. This is the nimmerverse's indoor GPS.
---
## Hardware Specification
| Component | Spec | Quantity | Status |
|-----------|------|----------|--------|
| **Camera** | ESP32-S3 AI CAM (night vision) | 8× | Received 2026-01-05 |
| **IR Sensitivity** | Native (night vision LEDs + sensor) | - | Built-in |
| **Resolution** | OV2640/OV5640 | - | TBD confirm |
| **Power** | 5V wired (ceiling PSU) | - | Planned |
| **Enclosure** | 3D printed custom case | 8× | To design |
### Upgrade from Original Spec
| Original (Nimmerswarm-Interface) | Actual |
|----------------------------------|--------|
| 4× PS3 Eye (IR filter removed) | 8× ESP32-S3 AI CAM (native IR) |
| USB hub / extension | WiFi streaming (no USB!) |
| ~80 CHF cameras | Already purchased |
**8 cameras > 4 cameras = better coverage, more triangulation angles, redundancy.**
---
## Architecture
```
CEILING (8× fixed cameras, star power from central PSU)
┌─────────────────────────────────────────────────────┐
│ │
│ [📷1] [📷2] [📷3] │
│ ╲ │ ╱ │
│ ╲ ┌────────────┴────────────┐ ╱ │
│ ╲ │ │ ╱ │
│ [📷4]──╲──│ ⚡ CEILING PSU │─╱──[📷5] │
│ ╲ │ (center, 5V hub) │╱ │
│ ╲└─────────────────────────┘ │
│ ╲ │ ╱ │
│ ╲──────────┼──────────╱ │
│ │ │
│ [📷6] │ [📷7] │
│ │ │
│ [📷8] │
│ │
│ 🤖────📍 IR beacon │
│ organism │
│ │
└───🚪───────────────────────────────────────────────┘
(0,0) origin
```
---
## Dual-Spectrum Design
From [[../interfaces/Nimmerswarm-Interface]]:
| Spectrum | Channel | Purpose |
|----------|---------|---------|
| **Infrared** | IR Position Array | WHERE organism is (24/7, day/night) |
| **Visible** | 3x3 LED Matrix | WHAT organism is doing (state broadcast) |
**Zero crosstalk. Two independent data streams.**
---
## Processing Pipeline
```
8× ESP32-S3 AI CAM
│
│ WiFi/MJPEG streams
▼
┌─────────────────────────────────┐
│ PROCESSING NODE │
│ (The Womb / RTX 6000 Max-Q) │
│ │
│ • Receive 8 camera streams │
│ • Detect IR beacon blobs │
│ • Multi-camera triangulation │
│ • Structure from Motion (SFM) │
│ • Output: (x, y, z) @ 30fps │
└─────────────────────────────────┘
│
│ NATS publish
▼
┌─────────────────────────────────┐
│ nats://nimmerverse/position/ │
│ │
│ { │
│ organism_id: "crawler_001", │
│ x: 1.234, │
│ y: -2.567, │
│ z: 0.05, │
│ confidence: 0.95, │
│ timestamp: 1704499200.123 │
│ } │
└─────────────────────────────────┘
│
▼
PHOEBE (ground truth storage)
```
---
## Algorithm: Low-Cost-Mocap
Standing on shoulders of [Low-Cost-Mocap](https://github.com/jyjblrd/Low-Cost-Mocap) by @jyjblrd:
| Component | Their Solution | Our Adaptation |
|-----------|----------------|----------------|
| Multi-camera triangulation | OpenCV SFM bundle adjustment | Same |
| Camera calibration | `camera_params.json` | Same process |
| 3D reconstruction | Epipolar geometry | Same math |
| Markers | Visual markers on drones | IR LEDs on organisms |
| Communication | ESP32 wireless | NATS messaging |
**Original use:** Indoor drone swarms
**Our use:** Organism positioning in nimmerhovel
*Respect to the fellow ape who did the groundwork.*
---
## Camera Placement Strategy
### Nimmerhovel Dimensions
- **X:** 4.5m (along wall from kitchen door)
- **Y:** 3.75m (into room toward windows)
- **Z:** 2.04m (floor to sloped ceiling)
- **Origin:** (0,0,0) at kitchen door corner
### 8-Camera Coverage
| Camera | Position (approx) | Orientation | Coverage |
|--------|-------------------|-------------|----------|
| CAM-1 | Corner (0, 0, ~2.0m) | Down 45°, into room | Origin quadrant |
| CAM-2 | Corner (4.5, 0, ~2.0m) | Down 45°, into room | Right-front |
| CAM-3 | Corner (0, -3.75, ~2.0m) | Down 45°, toward door | Left-back |
| CAM-4 | Corner (4.5, -3.75, ~2.0m) | Down 45°, toward door | Right-back |
| CAM-5-8 | Mid-walls / center | TBD | Fill gaps |
**8 cameras = no blind spots, multiple angles on every point.**
### Mounting
- **Ceiling mount** via 3D printed enclosure with mounting tabs
- **Angle:** ~45° down from ceiling plane
- **Power:** Star topology from ceiling PSU (center)
- **Cable runs:** Max ~3m from PSU to any camera
---
## Lifeforce Economics
| Metric | Value | Rationale |
|--------|-------|-----------|
| **Type** | Generator | Provides ground truth |
| **Rate** | +0.5 LF per position fix | Training data value |
| **Cost** | ~0.1 LF per frame (infra) | Always-on baseline |
| **Net** | Positive (generates value) | Core infrastructure |
**Every position fix = verified training data for organism navigation.**
---
## IR Beacon Specification
On each organism:
| Component | Spec |
|-----------|------|
| **LED Type** | IR LED (850nm or 940nm) |
| **Pattern** | Unique pulse code per organism |
| **Power** | From organism Akku |
| **Visibility** | Detectable by all 8 cameras |
```
ORGANISM
┌─────────────────────┐
│ │
│ ┌───────────────┐ │
│ │ 3x3 VISIBLE │ │ ← State broadcast (RGB)
│ │ LED Matrix │ │
│ │ 🔴⚫🟢 │ │
│ └───────────────┘ │
│ │
│ 📍 IR LED │ ← Position beacon (invisible)
│ │
│ [🔋 Akku] │ ← Mobile power
│ │
└─────────────────────┘
```
---
## Integration Points
| System | Interface |
|--------|-----------|
| **NATS** | `nats://nimmerverse/position/stream` |
| **Phoebe** | `organism_positions` table |
| **S2 Cells** | Position → S2 cell ID at L1 (1cm) resolution |
| **Virtual Garden** | Ground truth for prediction verification |
| **Vision Organ** | Separate stream (visible spectrum state recognition) |
---
## Dependencies
| Dependency | Status | Notes |
|------------|--------|-------|
| 8× ESP32-S3 AI CAM | Received | Hardware ready |
| Ceiling PSU | Planned | Power distribution |
| 3D printed enclosures | To design | Camera mounting |
| Printer station | Blocked | Waiting on Baumarkt materials |
| NATS messaging | Planned | Transport layer |
| The Womb (RTX 6000) | Waiting | Processing node |
---
## Calibration Procedure
1. **Camera intrinsics** — Checkerboard calibration per camera
2. **Extrinsics** — Multi-camera pose estimation (bundle adjustment)
3. **Origin alignment** — Align to GPS beacon at (0, 0, 2.0m)
4. **Verification** — Known position test with ruler measurements
---
## Status
| Phase | Status |
|-------|--------|
| Hardware acquisition | Complete |
| Enclosure design | Not started |
| Enclosure printing | Blocked (printer station) |
| Physical mounting | Not started |
| Camera calibration | Not started |
| Software pipeline | Not started |
| Integration test | Not started |
---
**Created**: 2026-01-05
**Version**: 1.0
**Based on**: [[../interfaces/Nimmerswarm-Interface]] (Dual-Spectrum Architecture section)
**Philosophy**: "They know themselves through each other."
*The eyes that never blink. The infrastructure that makes position truth.*
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