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Wireless Sensor Networks Tutorial

Katia Obraczka Department of Computer Engineering University of California, Santa Cruz

May 2006
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Introduction

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Main Goals
Overview of wireless sensor networks.
What

are sensor networks? Unique characteristics/challenges, etc.


State-of-the-art in sensor networks

research.

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Topics
Introduction.

Applications.
E2E protocols. Routing and data

Deployment issues. Localization. Time synchronization. Medium access

dissemination. Storage, querying, and aggregation. Topology control.

control. Energy models.

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Introduction
What are wireless sensor networks?

Unique characteristics/challenges.
Basic concepts and terminology.

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What are wireless sensor networks (WSNs)?


Networks of typically small, battery-

powered, wireless devices.


On-board processing, Communication, and Sensing capabilities.

Sensors Storage

Processor Radio

P O W E R

WSN device schematics


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WSN node components


Sensors Storage Processor Radio WSN device schematics P O W E R

Low-power processor. Limited processing. Memory. Limited storage. Radio. Low-power. Low data rate. Limited range.

Sensors. Scalar sensors: temperature, light, etc. Cameras, microphones. Power.

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Why Now?
Use of networked sensors dates back to

the 1970s.

Primarily wired and Centralized.


Today, enabling technological advances in

VLSI, MEMS, and wireless communications.


Ubiquitous computing and Ubiquitous communications.

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Vision: Embed the World


Embed numerous sensing nodes to monitor and interact with physical world

Network these devices so that they can execute more complex task.
Images from UCLA CENS
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Examples of WSN Platforms

PC-104+ (off-the-shelf)
UCLA TAG (Girod)

UCB Mote (Pister/Culler)


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Berkeley Mote
Commercially available.

TinyOS: embedded OS running on motes.

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Design Challenges
Why are WSNs challenging/unique from a research point of view?
Typically, severely energy constrained. Limited energy sources (e.g., batteries). Trade-off between performance and lifetime.
Self-organizing and self-healing. Remote deployments. Scalable. Arbitrarily large number of nodes.

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Design Challenges (Contd)


Heterogeneity.
Devices

with varied capabilities. Different sensor modalities. Hierarchical deployments.


Adaptability. Adjust to operating conditions and changes in application requirements.
Security and privacy. Potentially sensitive information. Hostile environments.
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WSN Applications
Monitoring. Scientific, ecological applications.

Surveillance and tracking. Reconnaissance. Perimeter control.

Non-intrusiveness. Real-time, high spatial-temporal resolution. Remote, hard-to-access areas.

Smart Environments. Agriculture. Manufacturing/industrial processes.


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WSN Applications (Contd)


UCLA Center for Embedded Networked

Sensing (CENS) http://www.cens.ucla.edu/. Berkeley Wireless Embedded Systems (WEBS).

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WSN Applications at UCSC


SEA-LABS.

CARNIVORE.
Meerkats. Yellowstone.

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SEA-LABS
Joint work with:
Don

Potts (Professor, Biology) Matt Bromage (PhD student, CE)

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Mission Statement
SEA-LABS strives to engineer a real-time, low-cost, low-power consumption environmental monitoring system for use in shallow-water reef habitats. Our goal is to measure several important physical and chemical variables for use in laboratory experiments studying the growth and calcification of corals and coralline algae.

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Architecture

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Implementation
P. O. D.
Board size: 3.0 x 1.5 One antenna for both transmit

and receive Transmit & receive data packets from base station

B u o y
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Current Status

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CARNIVORE

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CARNIVORES
Joint work with:
Terrie

Williams (Professor, Biology) Dan Costa (Professor, Biology) Roberto Manduchi (Professor, CE) Vladi Petkov (PhD student, CE) Cyrus Bazeghi (PhD student, CE) Matt Ruttinshauser (MS student, CE and Biology)

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Motivation
Need to investigate in more detail the

behavior of predators.

Several questions can be answered Can coyotes assimilate food and run simultaneously Do coyotes conserve their energy when hunting to prolong the hunting duration What are the human impacts on coyotes with respect to the two points above

Monitoring their location More importantly, monitoring their activity patterns to draw up in depth energy budgets (activities such as walking, trotting, galloping and eating will be identified)

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Coyote Network Infrastructure


Coyote-tower data exchange

Coyote-coyote data exchange

Coyote-coyote data exchange

Coyote-tower data exchange

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Collar Sensor Package

Off the PackageSQ Sensor Lassen Trimbleshelf, high capacity, lithium GPS module Made up of two batteries providing Low power: main board boards, the current approximately underneath and the consumption including 3000mA hours at 3V sister-board on top. antenna is 40.3mA input. Not mounted on board Details on next slide. for more freedom of placement 1-27

Sensor Package Main Board


Dual Linear Regulator Step-up Switching regulator MSP430F1611 microcontroller Board-to-Board Connector 32,768Hz MMA7260Q Accelerometer Freescalewatch crystal 8-pin part (other two parts arean10orthogonalareKB ROMcarry power to 20 pins that axes Stable, low 48 used crystal 3 KB RAM,frequency to the inductor and schottky diode thatstep-upas a reference data to higher Regulates voltage coming from the sister-board and for the when Peripherals include: Used 500A current consumption and from regulator needs to function) the the sister board regulator to a stable 3.3V for frequency Digitally Controlled Oscillator activeUniversal synchronous/asynchronous 2 receive/transmit Makes output voltage 3.3V out of an MSP430 to keep it stable electronics Small form sensitivity: 1.5/2/4/6g the Selectable factor units input part -- has two separate as1.5V Analog to of the system timers Dual voltage that can be as low Also analog outputDigital converter used One12-bit by one for each axis -- battery source one can be individualyTimer peripherals that facilitate heavily regulators, each remains usable until2 form factor to trigger the periodic tasks that the Small almost fully drained shut off to control power to separate periodic tasks relies on to function software system 3 channel DMA controller 60 Aof the system parts quiescent current Keeps an accurate Real-Time Clock, Power This regulator powers the GPS on one consumption in A range time periodically synchronized to GPS output and the microcontroller and from the GPS module. This allows accelerometer on the second synchronization between all the collars in the system.

Top side

Bottom side
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Sensor Package Sister-board


Socketed Secure Digital(SD) Telegesis ETRX1 ZigBee Transceiver Dual Linear Regulator Board-to-board connector Card Fits into connector on main boardIntegrated Ember EM2420 radio and Interfaced to the MSP430 using to This regulator powers the SD SPI card and serial bus ZigBee radio establish connectivity of power and Atmel Atmega 128L microcontroller data two devices can be individually SD between the two boards Surface mount gigaAnt microstrip small Thecard is formatted with FAT16 file system shut down form factor antenna FAT16 chosen due to its Serial interface (top baud rate: 38,400) implementation and run-time simplicityapproved FCC (it does not require too many system resources to maintain) Although a file system is not required in order to use the SD card, it makes movement of data among collars manageable

Top side

Bottom side

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Acceleration Preliminary Tests


Pippin, a friendly and well trained dog, was used to study

correlations between behavior and acceleration Next 4 slides show freeze frames of Pippin running at different speeds with acceleration graphs overlaid Different gaits (walk, trot, gallop) clearly affect acceleration graphs Higher speeds also identifiable by higher amplitudes of acceleration Z-axis is the up down axis, and the one used for the brief annotations on the graphs

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Pippin: Treadmill 3mph walk


Period = 360 ms Amplitude (peak to peak) = 800 mg

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Pippin: Treadmill 6mph trot


Amplitude (peak to peak) = 1750 mg Period = 200 ms

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Pippin: Alongside cart 10mph gallop


Period = 400 ms Amplitude (peak to peak) = 1750 mg

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Pippin: Alongside cart 15mph gallop


Period = 400 ms Amplitude (peak to peak) = 2500 mg

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Low Power Considerations


Texas Instruments MSP430 microcontroller is very low

power versatile. ZigBee radio was designed for sensor applications with low power in mind and will not be on at all times. GPS module will be turned on only long enough to acquire a fix and off interval will be large compared to fix-acquisitioninterval. SD card consumes significant power only during read/write operations which happen very quickly and as infrequently as possible. Virtually all system functions are duty cycled allowing peripherals to remain on only as long as they are needed.

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Data Handling Considerations


Non-fully-connected network. Not all coyotes guaranteed to come in close proximity to base station. Collars copy data bundles of other collars in

proximity to ensure timely transmission to tower (messenger coyotes). In absence of intelligent routing, all data is copied to all collars. Better routing decision methods based on metrics appropriate to this system are being explored.

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Future Work
Data analysis algorithm(s) to extract

behavior information from raw acceleration data. More efficient routing algorithm. Detailed system power consumption analysis. Trial runs in controlled environment.

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Meerkats: A Power-Aware, Wireless Camera Network


Joint work with R. Manduchi, C. Margi, X. Lu, G. Zhang, V. Petkov, G. Stanek

Sponsored by NASA, Intelligent Systems Program


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What is Meerkats?
A small southern Africa mongoose.

Wireless camera network for

surveillance and monitoring

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Why camera networks?


Cameras provide richer information.

Cameras have wider and longer sensing

range.

BUT:
Consume more power. Need more processing and storage.

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Meerkats: Goal
Maximize performance as well as network

lifetime.

However, these introduce conflicting requirements.

Approach: efficient resource management. Complementary to efforts targeting design

of low-power platforms.

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Resource Management
Bit rate Delay
Activation rate Processing type Duty cycle design Abstraction level Synchronization

SENSING PROCESSING TRANSMISSION Power

Performance QoS Lifetime

System parameters

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Meerkats hardware
Stargate boards:

XScale PXA255 CPU (400MHz):


32M flash, 64M DRAM. Running Stargate v. 7.3 (embedded Linux).

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Meerkats hardware (contd)


Orinoco Gold 802.11b wireless network

card. QuickCam Pro 4000 camera (USB port).

Used at 320x240 resolution.

Custom 2-cell Li-Ion 7.4 Volt, 1 Ah battery: Connected to daughter board. DC-DC regulator to 5 Volts.

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Meerkats Node

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Networking
MAC: IEEE 802.11b.

Dynamic Source Routing (DSR) [Johnson et

al.].

Source routing: data packets carry route information. Useful for future QoS control. Plan is to extend DSR to perform alternate path routing for QoS requirements.

UDP and TCP at the transport layer. UDP used to send out alarms. TCP used to send out images.
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Node Operation
Duty cycle based.
Nodes

alternate between sleep, low-powerand active states.

Better energy efficiency.

But how about performance?

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Event Detection
Goal:
Capture

and transmit at least one image of any moving body in any cameras field of view.

Current scheme: Periodic image acquisition Node-to-node wire-trapping


Motion analysis highly desirable.

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Foreground Detection
Background subtraction
Build

model of stationary background. Detect pixels unlikely to belong to background.

background

new image

foreground

subimage to be transmitteed
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Power Consumption Characterization


Goal:
Predict

the systems lifetime. I.e., how long a node will last if engaged in specific activities?
Representative elementary tasks and

duty cucles.

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Baseline Duty Cycle

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Wire-tripping Duty Cycle


SLAVE

MASTER

SLAVE MASTER

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Whats next?
Performance analysis.
Miss

rate given arrival rate, trajectory, activation rate, etc.

QoS alternate path routing.


Synchronization issues.

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Whats next?
Ongoing work on energy consumption

prediction. Question:

Given our energy consumption characterization, can we predict amount of energy left at a future point in time based on past activity?

Approach: probabilistic models of power

consumption state space and transitions.

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Power Consumption State Space

6. SEND ALERT/ DESCRIPTOR

1. SLEEP

2. LISTEN

3. TAKE PICTURE

5. PROCESS PICTURE

4. COMPRESS/ TRANSMIT

From other nodes From sink


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Yellowstone Project
Senior design project.

Sensor network to monitor volcanic activity

in Yellowstone National Park. Scientists want to observe temperature variations spatially and temporally. Detect relevant events.

E.g., geiser eruption.

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Design Considerations
Low power.

Visually and environmentally non-intrusive.


Withstand wildlife and harsh environment. Data available readily and in real-time. Robust, self-managing, and self-healing.

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System Architecture
Multi-tier network.

Sensing and relay

nodes. Modularity and extensibility.

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Current Status
System under implementation.

Semi-functional working prototype. Sensing, processing, sending and receiving data. Still working on the wireless communications capabilities.
Demonstration scheduled for final project

presentations in the beginning of June. Real deployment scheduled for Summer 2006.

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