Curs Master Robotica

Aplicatii ale comunicatiilor wireless in telemetrie

Dr. ing. Mihai Stanciu

1
Telemetrie. Generalitati

2
Definitie
• Telemetrie: procesul de măsurare a caracteristicilor unui dispozitiv
sau sistem şi transmiterea acestora la distanţă către o staţie de bază
pentru vizualizare, analiză şi stocare
• In esenta telemetria este un sistem de transmitere a informatiei de la
senzori catre un concentrator
• Sistemele moderne folosesc comunicatii de date wireless

3
Aplicatii

• Meteorologie
• Teste de zbor
• Curse de masini
• Monitorizarea energiei
• Medicina / Ingrijire medicala
• Cercetarea comportamentului diverselor specii
• Inventariere/depozitare
• Comunicatii (monitorizarea bateriei)
• M2M (machine to machine communication)
• etc.

4
Scop
• Telemetria este un termen foarte vast care se regaseste in foarte
multe domenii
• Rolul este de a prelua informatii de la senzori si a le trimite catre un
nod central intr-un cadru automatizat in scopul monitorizarii si
potential al controlului

5
Digital Modulation Basics

6
Digital communication system configuration
• Access diversity technologies
• Spreading schemes:
• DSSS: IEEE 802.11b, IEEE.802.4, WCDMA
• FH: Bluetooth
• UWB: IEEE 802.15.3a, IEEE 802.15.4a
• Multi-carrier:
• OFDM: IEEE.802.11g,n, LTE, IEEE 802.15.4g (SUN), PLC G3/PRIME
• Multi-antenna:
• MIMO: IEEE 802.11n, LTE
• Baseband modulation schemes:
• Frequency modulation: FSK, GFSK, GMSK
• Phase modulation: M-PSK, OQPSK
• Phase/amplitude modulation: M-QAM
• Amplitude modulation: ASK, OOK
• Coding
• FEC (puncturing)
• Interleaving
• Repetition
7
Overview about OFDM

• OFDM was invented more than 40 years ago.

• OFDM has been adopted for several technologies:
• Asymmetric Digital Subscriber Line (ADSL) services.
• IEEE 802.11a/g, IEEE 802.16a.
• PLC G3, PLC HomePlug, PLC PRIME, PLC P1901.2
• IEEE 802.15.4g
• Digital Audio Broadcast (DAB).
• Digital Terrestrial Television Broadcast: DVB-T in
Europe, ISDB in Japan
• 4G (LTE and LTE-Advanced), IEEE 802.11n, IEEE 802.16, and IEEE
802.20.

8
OFDM definition

• OFDM = Orthogonal FDM

• Carrier centers are put on orthogonal frequencies
• ORTHOGONALITY - The peak of each signal coincides
with trough of other signals
• Subcarriers are spaced by 1/Ts

9
OFDM principles

• BASIC IDEA : Channel bandwidth is divided into multiple

sub-channels (sub-carriers) to reduce ISI and frequency-
selective fading.

• Multicarrier transmission : Subcarriers are orthogonal each

other in frequency domain.

10
OFDM principles

• Time-domain spreading:
• Spreading is achieved in the time-domain by repeating the
same information in an OFDM symbol on two different sub-
bands => Frequency Diversity.

• Frequency-domain spreading:
• Spreading is achieved by choosing conjugate symmetric
inputs for the input to the IFFT (real output)
• Exploits frequency diversity and helps reduce the
transmitter complexity/power consumption.

11
FDM  OFDM

• Frequency Division Multiplexing

• OFDM frequency dividing

EARN IN SPECTRAL EFFICIENCY

12
OFDM theory

 The baseband OFDM signals can be written as

N 1
x(t )   X m exp j 2f mt , 0t T
m 0

where f  m / T is the central frequency of the mth sub-channel and X m is

m

the corresponding transmitted symbol.

 m 
 The signals exp j 2 t  are orthogonal over [0, T] as illustrated
below:  T 

T
1 exp( j 2 m t ). exp(2 j l t )dt   ml
T T T
0

13
Generic OFDM transmitter

OFDM symbol

bits symbols
FEC Mapping S/P IFFT Pulse shaper Linear
& PA
DAC

LO
add cyclic extension

time to
frequency mapper

14
OFDM symbol

# samples
# subcarriers
guard L data N  NF

TIME:
0 Tg Tb t
Sampling Interval TS  1 / FS

Freq spacing F  FS / N

FREQUENCY:
 FS / 2 0 FS / 2 F
N F N F FS
 F S
2 N 2 N

15
Generic OFDM receiver

Slot &
Timing
AGC Sync.

P/S and Error

Sampler FFT Detection Recovery
fc
Coarse offset
VCO

Freq.
Fine offset Offset
Estimation
(of all tones sent in one OFDM symbol)

16
OFDM advantages
• OFDM is spectrally efficient
• IFFT/FFT operation ensures that sub-carriers do not interfere with each other.

• OFDM has an inherent robustness against narrowband interference.

• Narrowband interference will affect at most a couple
of subchannels.
• Information from the affected subchannels can be
erased and recovered via the forward error
correction (FEC) codes.

• Equalization is very simple compared to Single-Carrier systems

17
OFDM advantages

• OFDM has excellent robustness in multi-path environments.

• Cyclic prefix preserves orthogonality between sub-carriers.
• Cyclic prefix allows the receiver to capture multi-path energy more efficiently.

• Ability to comply with world-wide regulations:

• Bands and tones can be dynamically turned on/off to comply with changing
regulations.

• Coexistence with current and future systems:

• Bands and tones can be dynamically turned on/off for enhanced coexistence with
the other devices.

18
OFDM drawbacks

• High sensitivity to inter-channel interference, ICI

• OFDM is sensitive to frequency, clock and phase offset

• The OFDM time-domain signal has a relatively large peak-to-average ratio

(NOT constant envelope signal)
• tends to reduce the power efficiency of the RF amplifier
• non-linear amplification destroys the orthogonality of the OFDM signal
and introduced out-of-band radiation

19
Spread spectrum technology
• Problem of radio transmission: frequency dependent fading can wipe out
narrow band signals for duration of the interference
• Solution: spread the narrow band signal into a broad band signal using a
special code - protection against narrow band interference

power interference spread power signal

signal
spread
detection at interference
receiver

f f

• Side effects:
• coexistence of several signals without dynamic coordination
• tap-proof
• Possibilities: Direct Sequence, Frequency Hopping

20
Effects of spreading and interference

P(f) P(f)

user signal
i) ii) broadband interference/noise
narrowband interference
f f
sender
P(f) P(f) P(f)

iii) iv) v)
f f f
receiver

21
DSSS (Direct Sequence)
• XOR of the signal with pseudo-random number
(chipping sequence)
• many chips per bit (e.g., 128) result in higher bandwidth of tb
the signal
user data
• Advantages 0 1 XOR
• reduces frequency selective tc
fading chipping
• in cellular networks sequence
01101010110101 =
• base stations can use the
same frequency range resulting
signal
• several base stations can 01101011001010
detect and recover the signal
tb: bit period
• soft handover tc: chip period
• Disadvantages
• precise power control necessary

22
DSSS Transmit/Receive

spread
spectrum transmit
user data signal signal
X modulator

chipping radio
sequence carrier

transmitter

correlator
lowpass sampled
received filtered products sums
signal signal data
demodulator X integrator decision

radio chipping
carrier sequence

receiver

23
Frequency Hopping Spread Spectrum
(FHSS)

• Signal is broadcast over seemingly random series of radio frequencies

• Signal hops from frequency to frequency at fixed intervals
• Channel sequence dictated by spreading code
• Receiver, hopping between frequencies in synchronization with transmitter,
picks up message
• Advantages
• Eavesdroppers hear only unintelligible blips
• Attempts to jam signal on one frequency succeed only at knocking out a few bits

24
FHSS (Frequency Hopping)

• Discrete changes of carrier frequency

• sequence of frequency changes determined via pseudo random number sequence
• Two versions
• Fast Hopping: several frequencies per user bit
• Slow Hopping: several user bits per frequency
• Advantages
• frequency selective fading and interference limited to short period
• simple implementation
• uses only small portion of spectrum at any time
• Disadvantages
• not as robust as DSSS
• simpler to detect

25
FHSS Transmit/Receive

narrowband spread
signal transmit
user data signal
modulator modulator

frequency hopping
synthesizer sequence
transmitter

narrowband
received signal
signal data
demodulator demodulator

hopping frequency
sequence synthesizer
receiver

26
Phase/Frequency modulation transceiver

27
Zigbee and IEEE 802.15.4
overview

28
New trend of wireless technology

• Most Wireless industry focuses on increasing high data throughput

• A set of applications require simple wireless connectivity, relaxed
throughput, very low power, short distance and inexpensive
hardware.
• Industrial
• Agricultural
• Vehicular
• Residential
• Medical

29
What is ZigBee Alliance?

• An organization with a mission to define reliable, cost effective, low-

power, wirelessly networked, monitoring and control products based
on an open global standard
• Alliance provides interoperability, certification testing, and branding

30
IEEE 802.15 working group

31
Comparison between WPAN

32
ZigBee/IEEE 802.15.4 market feature

• Low power consumption

• Low cost
• Low offered message throughput
• Supports large network orders (<= 65k nodes)
• Low to no QoS guarantees
• Flexible protocol design suitable for many applications

33
 ZigBee network applications

monitors TV VCR
sensors DVD/CD
INDUSTRIAL CONSUMER
automation & ELECTRONIC
Remote
control COMMERCIAL S control

monitors ZigBee mouse

diagnostics PERSONAL LOW DATA-RATE PC & keyboard
sensors HEALTH RADIO DEVICES PERIPHERAL
S joystick
CARE

security
consoles
HVAC
portables TOYS & HOME lighting
educational GAMES AUTOMATION closures

34
Wireless technologies

35
 ZigBee/802.15.4 architecture
• ZigBee Alliance
• 45+ companies: semiconductor mfrs, IP providers, OEMs, etc.
• Defining upper layers of protocol stack: from network to application, including application
profiles
• First profiles published mid 2003
• IEEE 802.15.4 Working Group
• Defining lower layers of protocol stack: MAC and PHY

Applications

Application Framework

Network & Security ZigBee

Specification
Application
MAC Layer
802.15.4 ZigBee stack
PHY Layer
Hardware

36
How is ZigBee related to IEEE 802.15.4?

• ZigBee takes full advantage of a powerful physical radio specified by

IEEE 802.15.4
• ZigBee adds logical network, security and application software
• ZigBee continues to work closely with the IEEE to ensure an
integrated and complete solution for the market

37
 General characteristics

• Data rates of 250 kbps , 20 kbps and 40kpbs.

• Star or Peer-to-Peer operation.
• Support for low latency devices.
• CSMA-CA channel access.
• Dynamic device addressing.
• Fully handshaked protocol for transfer reliability.
• Low power consumption.
• Channels:
• 16 channels in the 2.4GHz ISM band,
• 10 channels in the 915MHz ISM band
• 1 channel in the European 868MHz band.
• Extremely low duty-cycle (<0.1%)

38
IEEE 802.15.4 basics

• 802.15.4 is a simple packet data protocol for lightweight wireless

networks
• Channel Access is via Carrier Sense Multiple Access with collision avoidance
and optional time slotting
• Message acknowledgement
• Optional beacon structure
• Target applications
• Long battery life, selectable latency for controllers, sensors, remote monitoring and
portable electronics
• Configured for maximum battery life, has the potential to last as long as the
shelf life of most batteries

39
IEEE 802.15.4 Device Types

• There are two different device types :

• A full function device (FFD)
• A reduced function device (RFD)

• The FFD can operate in three modes by serving as

• Device
• Coordinator
• PAN coordinator

• The RFD can only serve as:

• Device

40
 FFD vs RFD
• Full function device (FFD)
• Any topology
• Network coordinator capable
• Talks to any other device

• Reduced function device (RFD)

• Limited to star topology
• Cannot become a network coordinator
• Talks only to a network coordinator
• Very simple implementation

41
Star topology

Network
coordinator

Master/slave

Full Function Device (FFD)

Reduced Function Device (RFD)
Communications Flow

42
Peer to peer topology

Point to point Tree

Full Function Device (FFD)

Communications Flow

43
Device addressing

• Two or more devices communicating on the same physical channel

constitute a WPAN.
• A WPAN includes at least one FFD (PAN coordinator)
• Each independent PAN will select a unique PAN identifier
• Each device operating on a network has a unique 64-bit extended
address. This address can be used for direct communication in the
PAN
• A device also has a 16-bit short address, which is allocated by the
PAN coordinator when the device associates with its coordinator.

44
IEEE 802.15.4 physical layer

45
 IEEE 802.15.4 PHY overview

• PHY functionalities:
• Activation and deactivation of the radio
transceiver
• Energy detection within the current
channel
• Link quality indication for received
packets
• Clear channel assessment for CSMA-CA
• Channel frequency selection
• Data transmission and reception

46
 IEEE 802.15.4 PHY Overview
• Operating frequency bands

868MHz/ Channel 0 Channels 1-10

2 MHz
915MHz
PHY
868.3 MHz 902 MHz 928 MHz

2.4 GHz
PHY Channels 11-26 5 MHz

2.4 GHz 2.4835 GHz

47
Frequency Bands and Data Rates

• The standard specifies two PHYs :

• 868 MHz/915 MHz direct sequence spread spectrum

(DSSS) PHY (11 channels)
• 1 channel (20Kb/s) in European 868MHz band
• 10 channels (40Kb/s) in 915 (902-928)MHz ISM band

• 2450 MHz direct sequence spread spectrum (DSSS) PHY

(16 channels)
• 16 channels (250Kb/s) in 2.4GHz band

48
PHY Frame Structure

• PHY packet fields

• Preamble (32 bits) – synchronization
• Start of packet delimiter (8 bits) – shall be formatted as “11100101”
• PHY header (8 bits) –PSDU length
• PSDU (0 to 127 bytes) – data field

Sync Header PHY Header PHY Payload

Start of Frame Reserve PHY Service
Preamble Packet Length (1 bit) Data Unit (PSDU)
Delimiter (7 bit)
4 Octets 1 Octets 1 Octets
0-127 Bytes

49
 IEEE 802.15.4 PHY

BAND COVERAGE DATA RATE CHANNEL(S)

2.4 GHz ISM Worldwide 250 kbps 16
868 MHz Europe 20 kbps 1
915 MHz ISM Americas 40 kbps 10

• Direct Sequence Spread Spectrum (DSSS) radio

• 2Mchip/s OQPSK modulation
• 1 symbol = 32-chip PN sequence
• 1 symbol = 4 bits
• PHY data rate: 250kbps
• Transmit power up to 0 dBm
802.15.4 spec. summary
• Symbol rate and Tx RF accuracy: +/- 40 ppm
• Packet Error Rate (PER)
• Defined for PSDU of 20x8 bits
• Sensitivity: -85 dBm (PER < 1%)
• RSSI: sens. level +10 dB, 40 dB range (+/- 6dB)
• Max input level: -20 dBm
• Jamming resistance (interference performance)
• 0 dB for adjacent channels (ref: -82 dBm)
• 30 dB for alternate channels (ref: -82 dBm)
• Interferer is 802.15.4 compliant interferer
• Tx Error Vector Magnitude : < 35% for 1000 chips
• Tx PSD: -20 dB or –30 dBm |f-Fc| > 3.5 MHz (rbw 100kHz)
• Output power: > -3 dBm (@ max power setting)
• Rx-Tx turnaround time: 12 Symbols (192 ms)
 Transceiver states
VDD = 1.8V Shutdown
80 nA

TX
Idle -25 dBm: 8.42 mA
396 uA -15 dBm: 9.71 mA
-10 dBm: 10.9 mA
-7 dBm: 12.17 mA
-5 dBm: 12.27 mA
-3 dBm: 14.63 mA
RX
-1 dBm: 15.785 mA
19.6 mA
0 dBm: 17.04 mA

IMEC/MIT
IEEE 802.15.4 MAC

53
Superframe
Beacon Beacon

CAP CFP

GTS GTS
Inactive
0 1

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

SD = aBaseSuperframeDuration*2SO symbols (Active)

BI = aBaseSuperframeDuration*2BO symbols

• A superframe is divided into two parts

• Inactive: all station sleep
• Active:
• Active period will be divided into 16 slots
• 16 slots can further divided into two parts
• Contention access period
• Contention free period

54
Superframe

• Beacons are used for

• starting superframes
• synchronizing with other devices
• announcing the existence of a PAN
• informing pending data in coordinators
• In a “beacon-enabled” network,
• Devices use the slotted CAMA/CA mechanism to contend for the usage of
channels
• FFDs which require fixed rates of transmissions can ask for guarantee time
slots (GTS) from the coordinator

55
Superframe

• The structure of superframes is controlled by two parameters:

• beacon order (BO) : decides the length of a superframe
• superframe order (SO) : decides the length of the active potion in a
superframe

• For a beacon-enabled network, the setting of BO and SO should

satisfy the relationship 0≦SO≦BO≦14

• For channels 11 to 26, the length of a superframe can range from

15.36 msec to 215.7 sec (= 3.5 min).

56
 Superframe

• Each device will be active for 2-(BO-SO) portion of the time, and sleep for
1-2-(BO-SO) portion of the time

• Duty Cycle:

BO-SO 0 1 2 3 4 5 6 7 8 9 ≧10
Duty cycle (%) 100 50 25 12 6.25 3.125 1.56 0.78 0.39 0.195 < 0.1

57
Data Transfer Model (I)
• Data transferred from device to coordinator
• In a beacon-enable network, a device finds the beacon to synchronize to
the superframe structure. Then it uses slotted CSMA/CA to transmit its data.
• In a non-beacon-enable network, device simply transmits its data using
unslotted CSMA/CA

Communication to a coordinator
In a non beacon-enabled network
Communication to a coordinator
In a beacon-enabled network
58
 Data Transfer Model (II-1)
• Data transferred from
coordinator to device in a
beacon-enabled network:
• The coordinator indicates in the
beacon that some data is
pending.
• A device periodically listens to
the beacon and transmits a
Data Requst command using
slotted CSMA/CA.
• Then ACK, Data, and ACK
follow …
Communication from a coordinator
In a beacon-enabled network

59
Data transfer model (II-2)
• Data transferred from
coordinator to device in a non-
beacon-enable network:
• The device transmits a Data
Request using unslotted
CSMA/CA.
• If the coordinator has its
pending data, an ACK is replied.
• Then the coordinator transmits
Data using unslotted CSMA/CA. Communication from a coordinator
• If there is no pending data, a in a non beacon-enabled network
data frame with zero length
payload is transmitted.

60
Channel Access Mechanism

• Two type channel access mechanism:

• beacon-enabled networks  slotted CSMA/CA channel access mechanism
• non-beacon-enabled networks  unslotted CSMA/CA channel access
mechanism

61
Slotted CSMA/CA algorithm

• In slotted CSMA/CA
• The backoff period boundaries of every device in the PAN shall be aligned
with the superframe slot boundaries of the PAN coordinator
• i.e. the start of first backoff period of each device is aligned with the start of the beacon
transmission
• The MAC sublayer shall ensure that the PHY layer commences all of its
transmissions on the boundary of a backoff period

62
 Slotted CSMA/CA algorithm (cont.)
• Each device maintains 3 variables for each transmission attempt
• NB: number of times that backoff has been taken in this attempt (if exceeding
macMaxCSMABackoff, the attempt fails)
• BE: the backoff exponent which is determined by NB
• CW: contention window length, the number of clear slots that must be seen
after each backoff
• always set to 2 and count down to 0 if the channel is sensed to be clear
• The design is for some PHY parameters, which require 2 CCA for efficient channel usage.
• Battery Life Extension:
• designed for very low-power operation, where a node only contends in the first
6 slots

63
Slotted CSMA/CA (cont.) need 2 CCA to
ensure no
collision

64
Why 2 CCAs to Ensure Collision-Free

• Each CCA occurs at the boundary of a backoff slot (= 20 symbols), and

each CCA time = 8 symbols.
• The standard species that a transmitter node performs the CCA twice
in order to protect acknowledgment (ACK).
• When an ACK packet is expected, the receiver shall send it after a tACK time
on the backoff boundary
• tACK varies from 12 to 31 symbols
• One-time CCA of a transmitter may potentially cause a collision between a
newly-transmitted packet and an ACK packet.
• (See examples below)

65
 Why 2 CCAs (case 1) Backoff boundary

Existing
session

New CCA
transmitter
Backoff Detect
end here an ACK

New
transmitter CCA CCA

Backoff Detect
end here an ACK
66
 Why 2 CCAs (Case 2) Backoff boundary

Existing
session

New CCA
transmitter
Backoff Detect
end here an ACK

New
transmitter CCA

Backoff Detect
end here an DATA
67
 Why 2 CCAs (Case 3) Backoff boundary

Existing
session

New CCA CCA

transmitter
Backoff Detect
end here an ACK

New
transmitter CCA

Backoff Detect a
end here DATA
68
Unslotted
CSMA/CA
only one
CCA

69
Hidden Terminal Problem

A B C

• A and C cannot hear each other.

• A sends to B, C cannot receive A.
• C wants to send to B, C senses a “free” medium (CS fails)
• Collision occurs at B.
• A cannot receive the collision (CD fails).
• A is “hidden” for C.

70
Exposed Terminal Problem

• A starts sending to B.

• C senses carrier, finds medium in

use and has to wait for A->B to end.
B
• D is outside the range of A, D
C
A

therefore waiting is not necessary.

• A and C are “exposed” terminals

71
GTS Concepts (I)

• A guaranteed time slot (GTS) allows a device to operate on the

channel within a portion of the superframe
• A GTS shall only be allocated by the PAN coordinator
• The PAN coordinator can allocated up to 7 GTSs at the same time
• The PAN coordinator decides whether to allocate GTS based on:
• Requirements of the GTS request
• The current available capacity in the superframe

72
GTS Concepts (II)

• A GTS can be deallocated

• At any time at the discretion of the PAN coordinator or
• By the device that originally requested the GTS
• A device that has been allocated a GTS may also operate in the CAP
• A data frame transmitted in an allocated GTS shall use only short
addressing

73
GTS Concepts (III)

• Before GTS starts, the GTS direction shall be specified as either

transmit or receive
• Each device may request one transmit GTS and/or one receive GTS
• A device shall only attempt to allocate and use a GTS if it is currently
tracking the beacon
• If a device loses synchronization with the PAN coordinator, all its GTS
allocations shall be lost
• The use of GTSs be an RFD is optional

74
Association Procedures (1/2)

• A device becomes a member of a PAN by associating with its

coordinator
• Procedures Coordinator Device

Scan
Association req. channel

ACK

Make Beacon Wait for

decision (pending address) response

Data req.

ACK

Association resp.

ACK

75
Association Procedures (2/2)

• In IEEE 802.15.4, association results are announced in an indirect

fashion.
• A coordinator responds to association requests by appending devices’ long
addresses in beacon frames

• Devices need to send a data request to the coordinator to acquire the

association result

• After associating to a coordinator, a device will be assigned a 16-bit

short address.

76
ZigBee Network Layer
Protocols

77
ZigBee Network Layer Overview

• Three kinds of networks are supported: star, tree, and mesh networks

(a) (b) (c)

ZigBee coordinator ZigBee router ZigBee end device

78
ZigBee Network Layer Overview

• Three kinds of devices in the network layer

• ZigBee coordinator: responsible for initializing, maintaining, and controlling
the network
• ZigBee router: form the network backbone
• ZigBee end device: must be connected to router/coordinator

• In a tree network, the coordinator and routers can announce beacons.

• In a mesh network, there is no regular beacon.
• Devices in a mesh network can only communicate with each other in a peer-
to-peer manner

79
Address Assignment

• In ZigBee, network addresses are assigned to devices by a distributed

address assignment scheme
• ZigBee coordinator determines three network parameters
• the maximum number of children (Cm) of a ZigBee router
• the maximum number of child routers (Rm) of a parent node
• the depth of the network (Lm)
• A parent device utilizes Cm, Rm, and Lm to compute a parameter called Cskip
• which is used to compute the size of its children’s address pools

1  Cm  ( Lm  d  1), if Rm  1     (a)

Cskip(d )  1  Cm  Rm  Cm  Rm Lmd 1
 , Otherwise     (b)
1  Rm

80
 Cskip=31 Total:127

For node C 0 1 32 63 94

125,126
node A 32
• If a parent node at depth d Cm=6
Addr = 64,

has an address Aparent, Rm=4

Lm=3
Cskip = 1

• the nth child router is Addr = 125

Addr = 92

assigned to address
Aparent+(n-1)×Cskip(d)+1 Addr = 63,
Cskip = 7
Addr = 30
• nth child end device is Addr = 0,
C Cskip = 31
assigned to address
Aparent+Rm×Cskip(d)+n Addr = 1,
Cskip = 7
Addr = 126

A
Addr = 40,
Addr = 32,
Addr = 31 Cskip = 1
Cskip = 7
B
Addr = 33,
Cskip = 1
Addr = 45
C
Addr = 38
Addr = 39

81
ZigBee Routing Protocols

• In a tree network
• Utilize the address assignment to obtain the routing paths

• In a mesh network:
• Routing Capability: ZigBee coordinators and routers are said to have routing capacity if
they have routing table capacities and route discovery table capacities
• There are 2 options:
• Reactive routing: if having “routing capacity”
• Tree routing: if having no routing capacity

82
ZigBee Tree Routing

• When a device receives a packet, it Cm=6

Addr = 64,
first checks if it is the destination or Rm=4
Cskip = 1
Lm=3
one of its child end devices is the Addr = 92
destination Addr = 125

• If so, accept the packet or forward

Addr = 63,
it to a child Cskip = 7
Addr = 30
• Otherwise, relay it along the tree Addr = 0,
Cskip = 31

• Example: Addr = 1,
Addr = 126
Cskip = 7
• 38  45 A
Addr = 40,
• 38  92 Addr = 31
Addr = 32,
Cskip = 7
Cskip = 1
B
Addr = 33,
Cskip = 1
Addr = 45
C
Addr = 38
Addr = 39

83
 ZigBee Mesh Routing
• Route discovery by AODV-like routing protocol
• The cost of a link is defined based on the packet delivery probability on that link

• Route discovery procedure

• The source broadcasts a route request packet
• Intermediate nodes will rebroadcast route request if
• They have routing discovery table capacities
• The cost is lower
• Otherwise, nodes will relay the request along the tree
• The destination will choose the routing path with the lowest cost and then send
a route reply

84
Routing in a Mesh network: Example

Discard route
request
B

req. C
route
a
req.
route route reply T
S
req.
rou
te r route
eq. D
rou
te r
eq.
Unicast
Broadcast
Without routing capacity

85
Summary of ZigBee network layer
Pros Cons
Star 1. Easy to synchronize 1. Small scale
2. Support low power
operation
3. Low latency
Tree 1. Low routing cost 1. Route reconstruction is
2. Can form superframes to costly
support sleep mode 2. Latency may be quite long
3. Allow multihop
communication
Mesh 1. Robust multihop 1. Cannot form superframes
communication (and thus cannot support
2. Network is more flexible sleep mode)
3. Lower latency 2. Route discovery is costly
3. Needs storage for routing
table 86
Bluetooth Low Energy (4.0)

87
What are the USE CASES planned for
BT 4.0?
• Proximity • HVAC
• Time • Generic I/O (automation)
• Emergency • Battery status
• Network availability • Heart rate monitor
• Personal User Interface • Physical activity monitor
• Simple remote control • Blood glucose monitor
• Browse over Bluetooth • Cycling sensors
• Temperature Sensor • Pulse Oximeter
• Humidity Sensor • Body thermometer

88
Example use: proximity
• It can enable proximity detection
• I’m in the car
• I’m in the office
• I’m in the meeting room
• I’m in the movie theater
• It can enable presence detection
• Turn the lights on when I walk around the house
• Automatically locks the door when I leave home
• Turn the alarm off if I’m already awake

89
Everyday objects can become sensors
My pulse is … My blood glucose is …

My temperature is …

… and monitor things unobtrusively

90
Bluetooth low energy factsheet

Range: ~ 150 meters open field

Output Power: ~ 10 mW (10dBm)
Max Current: ~ 15 mA
Latency: 3 ms
Topology: Star
Connections: > 2 billion
Modulation: GFSK @ 2.4 GHz
Robustness: Adaptive Frequency Hopping, 24 bit CRC
Security: 128bit AES CCM
Sleep current: ~ 1μA
Modes: Broadcast, Connection, Event Data Models, Reads, Writes

91
Bluetooth low energy factsheet #2
• Data Throughput
• For Bluetooth low energy, data throughput is not a meaningful parameter. It
does not support streaming.
• It has a data rate of 1Mbps, but is not optimized for file transfer.
• It is designed for sending small chunks of data (exposing state)

92
Designed for exposing state

23.2˚C 60.5 km/h 12:23 pm

Gate 10
3.2 kWh
BOARDING
PLAY >> Network
Available

• It’s good at small, discrete data transfers.

• Data can triggered by local events.
• Data can be read at any time by a client.
• Interface model is very simple (GATT)

93
Bluetooth Low Energy Architecture

94
Device Modes
• Dual Mode
• Bluetooth BR/EDR and LE
• Used anywhere that BR/EDR
is used today

• Single Mode
• Implements only Bluetooth low energy
• Will be used in
new devices / applications

95
Device Modes
• Dual mode + single modes

BR/EDR stack Dual-mode stack Single-mode stack

96
Physical Layer
• 2.4 GHz ISM band
• 1Mbps GFSK
• Larger modulation index than Bluetooth BR (which means better range)
• 40 Channels on 2 MHz spacing

97
Physical Channels
• Two types of channels

98
Physical Channels
• Advertising channels avoid 802.11

99
Link Layer
• Link Layer state machine

100
Advertising

• Devices can advertise for a variety of reasons:

• To broadcast promiscuously
• To transmit signed data to a previously bonded device
• To advertise their presence to a device wanting to connect
• To reconnect asynchronously due to a local event

101
Data transactions

• Once a connection is made:

• Master informs slave of hopping sequence and when to wake
• All subsequent transactions are performed in the 37 data channels
• Transactions can be encrypted
• Both devices can go into deep sleep between transactions

102
Link Layer Connection
• Very low latency connection

103
Time From Disconnected to Data ~ 3ms

104
How low can the energy get?
• From the previous slide, calculate energy per transaction
• Assume an upper bound of 3ms per minimal transaction
• Estimated TX power is 15mW (mostly TX power amp for 65nm
chips)
• For 1.5v battery, this is 10mA. 0.015W * 0.003 sec = 45 micro
Joule
• How long could a sensor last on a battery?
• An example battery: Lenmar WC357, 1.55v, 180mAh, $2-5
• 180mAh/10mA = 18Hr = 64,800 seconds = 21.6M transactions
• Suppose this sensor sends a report every minute = 1440/day
• For just the BT LE transactions, this is 15,000 days, or > 40 years
• This far exceeds the life of the battery and/or the product
• This means that battery will cost more than the electronics
• This sensor could run on scavenged power, e.g. ambient light

105
Comparison Zigbee vs BLE

106
ZigBee and Bluetooth Low Energy
• Business comparison:
• ZigBee is older. It has gone through some iterations
• ZigBee has market mindshare, but not a lot of shipments yet.
• Market barriers: connectivity – ZigBee is not in PCs or mobile phones yet.
• Technical comparison:
• Zigbee is low power; Bluetooth LE is even lower. Detailed analysis depends on
specific applications and design detail, no to mention chip geometry.
• ZigBee stack is light; the Bluetooth LE/GATT stack is even simpler
• Going forward:
• ZigBee has a lead on developing applications and presence
• Bluetooth low energy has improved technology, and a commanding presence in
several existing markets: mobile phones, automobiles, consumer electronics, PC
industry
• Replacing “classic Bluetooth ” with “dual mode” devices will bootstrap this
market quickly

108