Tutorial about Seismic Sensor Network

1. Tutorial about Seismic Sensor Network Vinayak Naik, Martin Lukac, and Deborah Estrin Information Processing in Sensor Networks (IPSN�07), Cambridge, MA April 24, 2007 Acknowledgments to Igor Stubailo, Derek Skolnik, Joey Degges, and Mike Allen for lending us equipments and time.

2. Special demands of seismic and acoustic applications Seismic Large-scale deployment spanning hundreds of kilometers It�s not easy Highly varying links with frequent disconnections results in challenged networks Remote monitoring and fixing of nodes demands services such as reliable broadcast, sink-based data collection, and maintenance of a global state Developing these services become non-trivial due to challenged networks Acoustic localization Sampling rate of the order few KHz Lew will summarize the challenges

3. Outline Using the seismic array out-of-the-box A few words about seismology Remotely managing and configuring array after the deployment Assembling the array in 30 minutes Adapting the software to fit your needs

4. What�s in the box? 1 PC 3 Cens Data Communication Controller (CDCCs) 1 Q330 (a combined ADC and data logger) Ubuntu live CD, which contains Emstar source code Emstar code compiled for the i366 and stargate architectures TFTP server and minicom to reflash the nodes (to be used while assembling the array) You may also use the CD to install all the required software on your PC or run it in an emulator such as qemu!

5. Using the CD Prerequisites: A computer that can be booted using a CD and has wired ethernet connection A basic knowledge of Linux, such as use of ssh, scp, and ifconfig Procedure: Boot your computer using the CD Set password for ubuntu: "sudo passwd ubuntu� setup IP address for the ubutu: �ifconfig eth0 131.179.145.X netmask 255.255.255.0 broadcast 131.179.145.255� If using a virtual machine, unload USB-to-serial driver if alread loaded

6. The seismic activities before the start of the tutorial Stop the data collection process (Duiker) Transfer data to the base station (PC) Strip the DTS header from the packet Uncompress the data Convert the data from miniseed to ascii format Transfer data to your laptop Plot the data using gnuplot Wait, the theory about seismology is coming up. Stargate 216 is acting as a gateway and 25 is collecting the data.Stargate 216 is acting as a gateway and 25 is collecting the data.

7. Start Duiker and let it run for 4 minutes Stop Duiker Strip the header Uncompress the data Convert the data from miniseed to ascii format Transfer data to my laptop Plot the data using gnuplot In situ data collection and presentation Take a screenshot.Take a screenshot.

8. Outline Using the seismic array out-of-the-box A few words about seismology Remotely managing and configuring array after the deployment Assembling the array in 30 minutes Adapting the software to fit your needs

9. Seismology 101 P-wave velocities (Vp) and approx. ray path for P- and S-waves, 18 degrees (~2000 km) distance P-wave velocities (Vp) and approx. ray path for P- and S-waves, 18 degrees (~2000 km) distance

10. Seismic wave energy Richter TNT for Seismic Example Magnitude Energy Yield (approximate) -1.5 6 ounces Breaking a rock on a lab table 1.0 30 pounds Large Blast at a Construction Site 2.0 1 ton Large Quarry or Mine Blast 4.0 1,000 tons Small Nuclear Weapon 4.5 5,100 tons Average Tornado (total energy) 6.5 5 million tons Northridge, CA Quake, 1994 7.0 32 million tons Japan Quake,1995;Largest Thermonuclear Bomb 8.0 1 billion tons San Francisco, CA Quake, 1906 9.0 32 billion tons Chilean Quake, 1960 12.0 160 trillion tons Fault Earth in half through center 160 trillion tons of dynamite is a frightening yield of energy. Consider, however, that the Earth receives that amount in sunlight every day. Because of this huge amount of energy released the seismic waves travel large distances and make possible to capture them with different kinds of seismic sensors (seismometers).

11. Seismic sensors

12. About Middle America Subduction Experiment (MASE) We have a seismic deployment to study the structure of the mantle in Mexico The deployment consists of wireless stations covering large distances We developed software to: Handle collection the seismic data Manage the seismic system This tutorial presents this software and how to use it

13. Seismic deployment application requirements Extensive: 500 Km from Acapulco through Mexico City to Tampico Dense: 1 sensor every 5-10 Km High bandwidth: Data acquisition rate: 3 - 24 bit channels at 100Hz each Online and Reliable: Semi real-time (on the order of days), reliable data delivery to UCLA for analysis Online system management Query state, change configuration, update binaries Can not interfere with data delivery Application driven topology: application determines sensor placement Infrastructure does not (Can�t rely on pre-existing cell or power infrastructure) DO YOU NEED THIS: *************** 100 Seismic stations a 500km line from Acapulco through Mexico City to Tampico 5km � 10 km between stations 100m - 20km wireless links High sensor granularity Multihop wireless 802.11b network taps into internet at various sinks �Real time� data delivery to UCLA Data analysis on the order of days instead of months Higher granularity of stations Station status available in real time DO YOU NEED THIS: *************** 100 Seismic stations a 500km line from Acapulco through Mexico City to Tampico 5km � 10 km between stations 100m - 20km wireless links High sensor granularity Multihop wireless 802.11b network taps into internet at various sinks �Real time� data delivery to UCLA Data analysis on the order of days instead of months Higher granularity of stations Station status available in real time

14. MASE wireless seismic station

15. A block diagram of the system�s architecture

16. Pakistan earthquake Our network: Achieves almost 10 times better resolution than the previous network as of Oct. 2005 (with 50 sites total). Now it is 20 times better (100 sites) Provides visualization of the upper mantle and the subduction process, coast to coast across Mexico. Igor: Could you please provide us with the information? On the right picture the leftmost station is in Acapulco, the rightmost site is somewhere in Pachuca line. Tampico (the last site in the entire line) wasn�t installed at that time. The blemish in the middle is Mexico City. The plot displays the wave propagation time. The more the stations, the better is to localize earthquakes.Igor: Could you please provide us with the information? On the right picture the leftmost station is in Acapulco, the rightmost site is somewhere in Pachuca line. Tampico (the last site in the entire line) wasn�t installed at that time. The blemish in the middle is Mexico City. The plot displays the wave propagation time. The more the stations, the better is to localize earthquakes.

17. Google video The data was used to analyze the structure of the earth underneath Mexico Results are being submitted to the Science journal

18. Outline Using the seismic array out-of-the-box A few words about seismology Remotely managing and configuring array after the deployment Assembling the array in 30 minutes Adapting the software to fit your needs

19. Networking support needed for both data acquisition and system management Data delivery � Bandwidth driven Bandwidth: 20-40 of MB per day per station Latency: get the data eventually, but reliably Many to one routing System Management � Latency driven Bandwidth: usually less than 10�s of KB�s Latency: as fast as possible One to all routing and back

20. Use of wireless network for remote operation Demonstrate use of Delay Tolerant Shell (DTS) Start dtsh Issue a ps command See result of the ps command Demonstrate the use file transfer Xfer a file from /opt/test Demonstrate the use of file mover Create a file on a stargate Show the same file on the PC Xfers Shows the active transfers Links Shows existing links on a node Sink_status Shows the upstream route to the sink Transfer files from /opt/testTransfer files from /opt/test

21. Challenges handled by DTS, file transfer, and file mover Frequent unpredictable disconnections Rainy season: sites flood (some 24x7), trees grow Wind: misaligned antennas Equipment malfunction: amps burn, voltage regulators break Poor and unstable links Connectivity secondary concern for site selection Stretched links highly susceptible to weather and environment Useful tools for operating wireless sensor networks under harsh wireless settings

22. System management Existing management tool: remote shell (ssh) Modified management tool: Disruption Tolerant Shell Asynchronous remote shell to all nodes in network simultaneously Provides node management capabilities when end-to-end connections are unavailable or fail Ensures that commands will succeed: as long as there is eventually a connection between a node and any other node that already has the command

23. Data delivery using DTN techniques Buffer data into hour long bundles (1-3 MB) Deliberate one hop bundle transfer Path to sink determined by best ETX Improvement over end-to-end Not affected by path disconnections Keeps retrying on single link instead of full path Continual �progress� being made towards sink More efficient use of bandwidth in face of disconnections and bottlenecks

24. Extra fun features of DTS Guaranteed in order execution from source node Reboot and crash safe Implicit feed back on nodes and links: spot bottlenecks, dead nodes Execute a command on individual nodes Push a file to all nodes Distribute new script or component

25. Handling sessions in DTS A sequence number is assigned per source node per session Each node publishes a �starting sequence number� across the network It identifies the oldest command issued by a node that should be in the network Any commands and responses with sequence numbers below the value (for that particular node) are discarded and not propagated User controls the starting sequence number To remove commands from the network, user increments the commands source node starting sequence number Can choose to do this after all the nodes have reported responses or sooner Giving control of seqno to user is simple, easy to understand, and efficient Utilities to handle seqno Use seqno command to see all the nodes starting sequence numbers Use incr command to increment the starting sequence number on the current node

26. Outline Using the seismic array out-of-the-box A few words about seismology Remotely managing and configuring array after the deployment Assembling the array in 30 minutes Adapting the software to fit your needs

27. Ingredients 3 stargates to form a 1-hop network 1 computer 1 serial cable 1 ethernet hub and 1 ethernet cable

28. Assembling a seismic node Connect an episensor to the Q330 Connect Q330 to the wired ethernet hub Connect a stargate to the wired ethernet Connect wireless antenna to the stargate Note that you can substitute Q330 with your choice of data logger Take a photograph of the assemblyTake a photograph of the assembly

29. Reprogramming the stargates Connect PC to the wired ethernet Connect a serial cable from PC to a stargate Configure minicom profile called �stargate0� In stargate-install.exp, change the IP address of the TFTP server to PC�s IP address Flash the kernel and the root file system The kernel and the root file system comes with all the seismic software! Screenshot of the flashing in progress Take a snapshotTake a snapshot

30. Configuring a gateway node (base station) Designate a stargate as a gateway Restart DTS Take a screenshotTake a screenshot

31. Index Episensor Measures movement across multiple axes Q330 Data logger, GPS, accurate maintenance of time PDA Reports status and configures Q330 via infra-red Williard A closed-source software to retrieve the data from Q330 Duiker An open source software to retrieve the data from Q330 A comparison with Antelope (supports network, open source, and inexpensive) DTS An open source software for the remote management of stargates Take photographsTake photographs

32. Outline Using the seismic array out-of-the-box A few words about seismology Remotely managing and configuring array after the deployment Assembling the array in 30 minutes Adapting the software to fit your needs

33. Use of the software for other wireless sensor networks Replace Q330 with ADC of your choice Install a driver that collects data from the ADC and creates files on the stargate at /opt/dts/xfer file_mover will transfer files to the gateway node No change in DTS and other utilities

34. Convert existing 7.2/7.3 stargates into seismic nodes Download dts-whole-system.tar.gz and dts-whole-system-install.tar.gz to /opt on the stargate Make sure that the script dts-whole-system-install.tar.gz is executable Execute the script Need to take screenshotsNeed to take screenshots

35. Adapting the DTS code for your needs Change code in emstar/devel/dts/dts/dts_status.c Compile code for stargate architecture Stop DTS if it is running Copy the new code to the right place on a stargate Start DTS and see the change Show an example of modifying code, compilation, and installation. Show directory structure of the code. + Change �bufprintf(buf, " ---- Commands: %i Total - Next seqno %i - First seqno %i ----\n",� to �bufprintf(buf, " ---- IPSN Commands: %i Total - Next seqno %i - First seqno %i ----\n",�Show an example of modifying code, compilation, and installation. Show directory structure of the code. + Change �bufprintf(buf, " ---- Commands: %i Total - Next seqno %i - First seqno %i ----\n",� to �bufprintf(buf, " ---- IPSN Commands: %i Total - Next seqno %i - First seqno %i ----\n",�

36. Convert other platforms into seismic arrays Portable to Linux-based platforms Instructions to port EmStar to other platforms Summarize instructions to build emstar for other platformsSummarize instructions to build emstar for other platforms

37. Seismology of the future at CENS Deploy the CDCCs in Peru Use of low power LEAP-II nodes instead of stargate Use of low power and inexpensive ADC boards from Reftek Corp. instead of Q330 Deploy combination of the LEAP-II and the new ADC For GeoNet to study aftershocks For structural health monitoring of tall buildings in Los Angeles

38. A few upcoming features of DTS Provide visualization of the data movement Using a coarse grained global time (one second), recreate �movie� of file movement for entire network Can help spot network problems and bottlenecks Upload data to SensorBase.org Makes it easy to visualize and browse data collection status RSS feed can provide access to anyone who wants to monitor problems or generic status of network Web interface to simplify operation Command line interface is nice for Linux pros Web interface more intuitive for asynchronous model

39. Thank you Wish you happy seismography!

40. Use of seismic sensing The similarity between the Mexico and LA region P and S waves How is the seismic array different from the Harvard's volcano motes? What is the sampling frequency

41. Need for DTS, file transfer, and file mover Unreliable links Need to broadcast commands to the nodes and get responses from the all the nodes Need to broadcast files to the nodes Hop-by-hop data movement

42. ADD A SCALE TO THIS MAP, and add topology info on this slide. Network topology does not reflect physical topology.ADD A SCALE TO THIS MAP, and add topology info on this slide. Network topology does not reflect physical topology.