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TinyOS Sensor Networks in the Real World

TinyOS Sensor Networks in the Real World. David Culler CITRIS Founding Corporate Members Meeting UCSC 10/15/03. Services. Networking. TinyOS www.tinyos.net. Rene 11/00. Mica 1/02. Dot 9/01. Demonstrate scale - Intel. Designed for experimentation

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TinyOS Sensor Networks in the Real World

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  1. TinyOS Sensor Networks in the Real World David Culler CITRIS Founding Corporate Members Meeting UCSC 10/15/03

  2. Services Networking TinyOS www.tinyos.net Rene 11/00 Mica 1/02 Dot 9/01 Demonstrate scale - Intel • Designed for experimentation • sensor boards • power boards • DARPA SENSIT, Expeditions NEST open exp. platform 128 KB code, 4 KB data 50 KB radio 512 KB Flash comm accelerators - DARPA NEST Open Experimental Platform to Catalyze a Community WeC 99 “Smart Rock” Small microcontroller - 8 kb code, 512 B data Simple, low-power radio - 10 kb EEPROM storage (32 KB) Simple sensors CITRIS FCM Crossbow

  3. In a nutshell: TinyOS motes have gone… • beyond the “wowie zowie” demo and lab bench curiosity • beyond the “high quality empirical analysis of important protocol” vehicle • to real deployments that will yield new science • and each of these take careful attention to a broad set of additional issues • Sensor selection, error analysis, signal processing • Mechanical design • Infrastructure • Data processing • and are driving new computer science CITRIS FCM

  4. Deployments • Storm Petrel habitat monitoring over several months on Great Duck Island off Maine Coast • Microclimate monitoring over volume of redwood trees & forest • Indoor environment monitoring over Intel Research Berkeley • Temperature monitoring using Ivy node • Vehicle tracking and Unmanned robotic pursuit • Structural monitoring of Golden Gate Bridge CITRIS FCM

  5. battery A new breed of mote • Incident Light Sensors • TAOS total solar • Hamamatsu PAT • Mica2 “dot” mote • Power board • Power supply • SAFT LiS02 battery, ~1 Ah @ 2.8V • Packaging • HDPE tube with coated sensor boards on both ends of the tube • O-ring seal for two water flows • Additional PVC skirt to provide extra shade and protection against the rain • Radiant Light Sensors • PAR and Total Solar • Environmental Sensors • Sensirion humidity + temp • Intersema Pressure + temp Weather Mote antenna mote CITRIS FCM

  6. GDI Scientific motivation • Questions • What environmental factors make for a good nest? How much can they vary? • What are the occupancy patterns during incubation? • What environmental changes occurs in the burrows and their vicinity during the breeding season? • Methodology • Characterize the climate within and around burrow • Collect detailed occupancy data from a number of occupied and empty nests • Spatial sampling of habitat – sampling rate driven by biologically interesting phenomena, non-uniform patches • Validate a sample of sensor data with a different sensing modality • Augmented the sensor data with deployment notes (e.g. burrow depth, soil consistency, vegetation data CITRIS FCM

  7. Application requirements • Biology requirements • Reduce observer effect => Motes need to outlast the breeding field season (5 months) • Need to corroborate the sensor data • Data requirements • Inside burrow: occupancy sensor, minimal environmental measurement suite • Outside burrow: complete weather monitoring suite • As much data as can be collected within energy budget • statistically significant sampling of occupied and empty burrows in at least two different Petrel habitats • Node requirements • Environmentally protected nodes – reliable operation outdoors • Constraints on the burrow motes – size & power supply limitations • Communication spanning the patch • Network requirements • Reliable, unattended operation • Off the grid operation CITRIS FCM

  8. Systems research • Node design tradeoffs • Mechanical – expose sensors, while protecting the electronics • Low power hardware vs. high quality sensing • Size matters! • Behavior of collections of nodes • What are common failure modes? • What factors impact the the functionality and performance of the sensor network? • How do they vary across different deployments? • Network architecture • Can this application be easily recast in other scenarios • Long-distance management • Long-term deployments • Power management at the system level • Application evolution and growth strategy • Network management • Exploiting hierarchy in a more systematic way • Allocation of power, storage, processing at different levels • Redundancy CITRIS FCM

  9. Internet Canonical Network Architecture Patch Network Sensor Node Sensor Patch Gateway Transit Network Client Data Browsing and Processing Basestation Base-Remote Link Data Service CITRIS FCM

  10. Burrow occupancy detector • Sensor suite • Sensirion humidity + temperature sensor • Melexis passive IR sensor + conditioning circuitry • Power supply • GreatBatch lithium thionyl chloride 1 Ah battery • Maxim 5V boost converter for Melexis circuitry • Packaging • Sealed HDPE tube, emphasis on small size CITRIS FCM GDI 02 node

  11. GDI ’03 patch network - v1 • Single hop network deployed mid-June • A set of readings from every mote every 5 minutes • 23 weather station motes • 26 burrow motes • Placement for connectivity • Network diameter 70 meters • Asymmetric, bi-directional communication with low power listening – send data packets with short preambles, receive packets with long preambles • Expected life time – 4+ months • Weather stations perform considerably better than burrow motes – their battery rated for a higher discharge current • Rationale: Build a simple, reliable network that allows • HW platform evaluation • Low power system evaluation • Comparisons with the GDI ’02 deployment CITRIS FCM

  12. Systematic Study of Multihop Routig CITRIS FCM

  13. GDI ’03 Multihop network • Motivation • Greater spatial reach • Better connectivity into burrows • Implementation • Alec Woo’s generic multihop subsystem • Low power listening: tradeoff channel capacity for average power consumption • 10 uA sleep, 12 mA active • The network nodes • 44 weather motes deployed July 17 • 48 burrow motes deployed August 6 • Network diameter – 1/5 mile • Duty cycle – 2% to minimize the active time (compromise between receive time and send time) • Reading sent to base station every 20 minutes, route updates every 20 minutes. Expected lifetime: 2.5 months • 2/3 of nodes join within 10 minutes of deployment, remainder within 6 hours. Paths stabilize within 24 hours CITRIS FCM

  14. CITRIS FCM

  15. Island “Data Center” • Requirements • Disconnected operation, Remote management • Automatic restart, Redundancy • Approach • Dual laptops with PostgreSQL • Dual base stations (Mica2 + EPRB) • But one logs single hop the other logs multihop • Cross logging of the data • Embedded router • remote access • Remote wakeonlan • Web enabled power strip • Ubiquitous POE • VPN for direct access from authorized networks CITRIS FCM

  16. Transit Network • GDI ’02 implementations • Linux + CerfCube + 802.11b • Generic Base x 2 + omni-directional antenna • GDI –03 • Motes with different frequencies in-patch and transit • Asymmetrical bi-directional communication on single hop network – exploit low power listening & always-on gateways • Symmetrical bi-directional communication in the multihop network CITRIS FCM

  17. Parent and Chick Burrowmote and egg Burrowmote and petrel Petrel on egg Occupancy Verification:Validating Burrows Readings with Infrared Web Cameras Parent and chick CLICK IMAGE IR web camera kits Chick with parent CLICK IMAGE CLICK IMAGE CLICK IMAGE CITRIS FCM

  18. Wireless bridge Burrow Camera Configuration 12V PoL Active Splitter 12VDC, 0.9A network Axis 2401 Video Server Sensor Patch IR Burrow Camera #1 IR Burrow Camera #5 IR Burrow Camera #6 IR Burrow Camera #2 IR Burrow Camera #7 IR Burrow Camera #3 ) Power over LAN Midspan Ethernet switch IR Burrow Camera #8 IR Burrow Camera #4 110VAC service Northern WAP Occupancy measurements • Calibrated ASIC for conditioning and processing the passive IR signal • 0 to 40 deg C range • Corroboration of data • Multiple sensor nodes in occupied burrows • Verification of data • Co-locate a completely different sensing network with motes • IR-illuminated cameras • Ethernet video servers • Wireless connection to the base station • Verification network mimicsthe architecture of the sensornet • Sample a 15 sec video/audio clipevery 5 minutes • ~6 GB worth of data so far… • Systematic evaluation ofdata under way CITRIS FCM

  19. Occupancy measurements CITRIS FCM

  20. Ecophysiology of Redwood Forests Dense Spatio-temporal monitoring of microclimatic factors over tree volume, for representative sample of forest. Drive nutrient transport, H2O uptake, and canopy production models CITRIS FCM Todd Dawson, Integrative Biology

  21. Data from the UCB Botanic Garden 36m 33m: 111 32m: 110 30m: 109,108,107 20m: 106,105,104 10m: 103, 102, 101 Coastal Redwood CITRIS FCM

  22. Driving Forces and Signal Analysis CITRIS FCM

  23. DBMS (PostgreSQL) TinyOS Appln Sensor Kit - TASK External Tools TASK Client Tools JDBC/ODBC Internet JDBC Basestation TASK Server TASK Field Tools Sensor Network CITRIS FCM

  24. TASK Mote Components Tiny DB Diagnostics Tiny Schema: Attributes and Commands Multi-hop routing Service Scheduler Watchdog EEPROM FS Time Sync. Abs. Timer Power Mgmt TinyOS Core CITRIS FCM

  25. Redwood Garden Roll-Out • 16 nodes @ 4 elevations per tree • 1st tree GDI single-hop deployment • Trees 2-5 TASK multihop deployment • Move science forward with computer science • Ready to deploy in Sonoma Old Growth Study area • Infrastructure build out CITRIS FCM

  26. Ivy TASK – indoor env. monitoring • Indoor light & temp sensor and package • Developed by Citris staff • Implemented basic sensor driver • Plugs into TASK environment • Currently 19 nodes (soon 30) • Hearst • Large indoor TASK env. Montitoring at IRB • Ethernet instrumentation “back channel” CITRIS FCM

  27. NEST Distributed Control Demonstration • Sensor field established coordinate grid and time • Sensor field waits in quiescent “sentry state” • Command/Monitor is stationary “pursuer” • Plus snooping display for visibility of internal operation • Evader enters field and is detected and tracked • Pursuer enter field • Entity detection, routed to landmark, forwarded to pursuers • Pursuer distinguishes evader from self • Navigate in co-ordination to pursuer • Stop when pursuer gets within 2m of evader • or evader leaves field CITRIS FCM

  28. Establish active sensor field • Self-localization • Ultra sound ranging to neighbors, plus anchor nodes • Distributed localization protocol performed at each node • Time synchronization CITRIS FCM

  29. Regionalized Entity Detection • Local signal processing of magnetometer readings • Compute neighborhood estimate • Communicate event back to base CITRIS FCM

  30. Landmark-based Routing • Build routing tree (forest) to landmark node(s) • Entity leader routes up to landmark • Each Pursuer EA handshakes w/ close sensor node (crumb) • Path to landmark forms “crumb trail” • Routes up to landmark, beam-form down to multiple EAs • Incremental crumbs Alternative routing services: PARC CITRIS FCM

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  34. Victory! CITRIS FCM

  35. acoustic ultrasound mag dot OEP2 Hardware Platform • Main board: Mica2 dot • Atmega microcontroller, Flash, clock • CC1000 frequency agile FSK radio • Small form-factor • Xbow based on Mica • Sensor Board: magnetometer • Honeywell mag with 2-stage amplification • Set/reset circuit (5v) • 4-port digital Pot for biasing and filtering • Power Subsystem • Dual-voltage booster/regulator board w/ rechargeable battery • Controllable 5 v • Adapter board for conventional recharger • Ranging boards • UltraSound • Acoustic • Enclosure CITRIS FCM

  36. Power Board • Dual 3.3V and 5V supply • independently controlled • 3550mAh capacity at 1.2V on rechargables • drawing 25mA constant current (tested in lab) • operation down to 0.8V • ~50uA current at 1.2V in sleep state with boost converter on CITRIS FCM

  37. Enclosure Design reflector Exposed components Watertight compartment ultrasound main mag sense power battery Collision absorption CITRIS FCM

  38. Localization Span Tree Route test Mag position Power ctrl Mgmt Reset Net pgming nbr-hood messaging sense Timer Config Higher-Level Node Service Architecture appln services Service Coordination Network services routing Intra-mote services Hardware abstraction CITRIS FCM

  39. Structural Monitoring: GGB • Monitor vibration and displacement throughout structure • Response to earthquake, wind, ambient • Tower motion • Drive models • Fatigue detection CITRIS FCM

  40. Very different sensor problem • Motion • Earthquakes: 1 G, 10 Hz => resolve 20-50 mG • Ambient: 500 uG => 10-20 uG • Pushing the edge of microsensors • High sample rates • 200 – 1,000 Hz • Streaming to flash • Real time filter and average • Very low jitter req’t CITRIS FCM

  41. GGB Mote • 4 independent 16 bit analog to digital converter channels • Low noise, bandwidth setting buffer amplifiers • one dual channel Analog Devices ADXL202E accelerometer • 2G range, 200 uG / sqrt(Hz) noise floor => 2 mG measured • two single channel Silicon Designs 1221 accelerometers • 2G range, 20 uG / sqrt(Hz) noise floor => 200 UG measured • => buffer to get 10X resolution • TinyOS compatible by means of MICA2 wireless sensor mote • Multiple low noise regulated power supplies • Power requirement: +6 to +12 volt DC supply • Optional features: • Digital temperature sensor • RS-232 serial output • 16 bit LED display CITRIS FCM

  42. Driving CS • Multi-Scale node network architecture • Time-Synch maps to jitter error in spatial dimension • Very different kinds of network traffic patterns • In-network data processing CITRIS FCM

  43. TinyOS 1.1 Release • Robust MultiHop Routing • TinyDB, TASK, … • Full Set of Mica2 Platforms • Automatic Race Detection • Atomicity support • Flash filing system • TinyViz and Message Center tools • Robust serial gateway • RPM-based updates • … • ~2,000 downloads in less than 2 weeks CITRIS FCM

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