【正文】
ment systems, such as, for example, Coordinate Measurement Machines (CMMs) because of their limited working volume [7,1]. MScMS working principle is very similar to that of wellknown NAVSTAR GPS (NAVigation Satellite Timing And Ranging Global Positioning System) [8]. The main difference is that MScMS is based on ultrasound (US) technology to evaluate spatial distances, instead of radiofrequency (RF).MScMSis easily adaptable to different measuring environments and does not require plex procedures for installation, startup or calibration [6]. The aim of this paper is to describe the online diagnostics tools implemented in the system in order to continuously monitor measurement reliability. 2. The concept of “reliability of a measurement” If we refer to the field of CMMs, the concept of “online metrological performance verification” is strictly related to the notion of “online selfdiagnostics” [5,9]. In a same sense, this approach is “plementary” to that of uncertainty evaluation [10–15]. In general, the online measurement verification is a guarantee for the preservation of a measurement system characteristics (including accuracy, repeatability, and reproducibility) [16,17]. The effect of a measuring system degradation is the production of “nonreliable measurements”. In general, we can define the concept of “reliability of a measurement” as follows. 3. MScMS technological and operating features MScMS prototype is made up of three main ponents (see Fig. 1) [6]: a constellation (work) of wireless devices (Crickets), opportunely arranged around the working area。 a puting and controlling system (PC), receiving and processing data sent by the mobile probe, in order to evaluate objects geometrical features. The measuring probe is a mobile system hosting two wireless devices, a tip to touch the surface points of the measured objects and a trigger to activate data acquisition (see Fig. 2) [6]. Given the geometrical characteristics of the mobile probe, the tip coordinates can be univocally determined by means of the spatial coordinates of the two probe Crickets [6]. 4. MScMS diagnostic system Fig. 5. An example of 2D mass–spring system. Three reference nodes (_x1, _x2, _x3) with known position are linked by springs to the point to be localized (_xP ). Being based upon US technology, MScMS is sensible to many influencing factors. US signals may be diffracted and reflected by obstacles interposed between two devices, external uncontrolled events can bee undesirable US