Proceedings, 6th IFAC Conference on Bio-Robotics

Beijing, China, July 13-15, 2018

Proceedings, 6th IFAC Conference onAvailable online at www.sciencedirect.com
Bio-Robotics
Proceedings,
Beijing, China,6th IFAC
July Conference
13-15, 2018 on Bio-Robotics
Beijing, China, July 13-15, 2018
ScienceDirect
Design a WSN system for monitoring the
Design IFAC
a WSN system
PapersOnLine for monitoring the
51-17 (2018) 752–757

safety
Design a WSN of drinking
system for water quality the
monitoring
Design a WSN
safety system for
of drinking water monitoring
quality the
safety of
Sheng *, of
Jiangsafety
drinking
Weixing **water
water quality
***
*
Wangdrinking ** ****
quality
, Yu Jieping
***
, Huang
Jiang Sheng , Wang Weixing , Yu Jieping , Huang
Zhongqiang
****
Jiang Sheng **, Wang Zhongqiang
Weixing ** ***
**, Yu Jieping ***, Huang
Jiang Sheng
*College , WangEngineering,
of Electronic Weixing South ,****
Yu Jieping
China , Huang
Agricultural University,
Zhongqiang ****
*College of510642,
Guangzhou ElectronicZhongqiang
Engineering,
China South China Agricultural
（email: jiangsheng@scau.edu.cn ）；University,
Guangzhouof510642,
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*College of Electronic
China
Electronic （email: jiangsheng@scau.edu.cn
Engineering,
Engineering, South China
South Agricultural）；
China Agricultural University,
University,
*College of
**College ofElectronic
Electronic Engineering,
Engineering,
Guangzhou 510642, South
South China
China
China； Agricultural
Agricultural University,
University,
Guangzhou 510642, China（email: jiangsheng@scau.edu.cn ）；
Guangdong Guangzhou 510642,
Engineering Guangzhou
Research （email:
ChinaCenter forjiangsheng@scau.edu.cn
510642, China；
Monitoring ）；
**College of Electronic Engineering, South ChinaAgricultural
AgriculturalInformation,
University,
Guangdong **College of Electronic
Engineering Engineering,
Research South China
Center for Monitoring Agricultural University,
Guangzhou
Guangzhou 510642, China；
510642, China ； Agricultural Information,
GuangdongEngineering
Guangdong
Guangzhou
Modern Agricultural 510642,
Science
Research Center and
for
China ； Agricultural
Technology
Monitoring InnovationInformation,
Centerfor
Guangdong
Guangdong Engineering
Modern Research
Agricultural
Intelligent Orchard, Guangzhou Center
Science
510642, for
andMonitoring
China Technology
(email: Agricultural
Innovation Information,
Centerfor
Guangzhou 510642, China ； weixing@scau.edu.cn)
***
Intelligent Orchard, Guangzhou
Guangzhou 510642,
510642, ChinaChina ； weixing@scau.edu.cn)
(email:
College
Guangdong of Electronic
Modern Engineering,
Agricultural ScienceSouth China Agricultural
and Technology University,
Innovation Centerfor
***
Guangdong Modern Agricultural Science and Technology Innovation Centerfor
College of Electronic
Guangzhou 510642, China （
Engineering, South
email: China Agricultural
489398737@qq.com ）
University,
Intelligent Orchard, Guangzhou 510642, China (email: weixing@scau.edu.cn)
****Intelligent Orchard, Guangzhou
Guangzhou 510642,
510642, China China (email: weixing@scau.edu.cn)
（email: ） University,
***
College of ofElectronic
College Electronic Engineering, South489398737@qq.com
Engineering, South China
China Agricultural
Agricultural University,
**** ***
College
College of ofElectronic
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）
South489398737@qq.com
China University,
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Guangzhou 510642,
GuangzhouChina510642, 563684919@qq.com
China （email: ） University,
Guangzhou
**** Guangzhou 510642, China （ email:
510642, China（email: 563684919@qq.com） 489398737@qq.com ）
****College of Electronic Engineering, South China Agricultural University,
College of the Electronic Engineering, South
waterChina Agricultural University,
Guangzhou For
Abstract: application
510642, China （email: of563684919@qq.com
drinking safety
） monitoring, a sensor
Guangzhou
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Abstract:
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which drinking
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water safety
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node
Sensor and
Abstract: aFor
Network gateway
the(WSN) node which
in water
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supply
of drinking area for developed.
waterwere
safetysetting up The
monitoring, a Wireless
a sensor
sensor
Abstract:
Sensor
node For
Network the application
(WSN) in of
water drinking
supply water
area safety
were monitoring,
developed. Thea and
sensor
sensor
node used
and an STM32F103
a gateway nodeaswhich
the processing
were suitable core, for
an A7139
setting RF up chipa Wirelessits
node and
used
peripheral aan gateway
STM32F103
circuits(WSN) node aswhich
as the wireless the were
processing suitable
core, for
an setting
A7139 up
RF a
chipWireless
and its
Sensor Network in water communication
supply area were module, and 4 The
developed. ASI sensor
water
Sensor electrodes
Network (WSN)
peripheral as the in water communication
supply area(DO),
were developed. The sensor
node used circuits
quality including
an STM32F103 wireless
asdissolved oxygen
the processing module,
core, an A7139and
hydrogen RFion4chip
ASI water
exponent
and its
node used
quality
(pH), an STM32F103
electrodes
ammonia including
nitrogen asdissolved
and thetemperature
processing
oxygen core,
(DO),
as an hydrogen
the A7139
sensing RF chip
ion andThe
exponent
module. its
peripheral circuits as the wireless communication module, and 4 ASI water
peripheral
(pH), circuits as the wireless communication module, and 4 ASI water
qualityammonia
gateway node usednitrogen
electrodes a GPRSand
including temperature
module
dissolved uploadas(DO),
to oxygen the hydrogen
network sensing
data to module.
the
ion server.The
exponent A
quality
gateway electrodes
node used including
a GPRS dissolved
module oxygen
to upload (DO), hydrogen ion exponent
flooding routing
(pH), ammonia protocol
nitrogen was
and designed
temperature asnetwork
for increasing datareliability
the
the sensing to module.
the server.
of data
The A
(pH),
floodingammonia
routing nitrogen
protocol and
was temperature
designed for as the
increasing sensing
the module. The
transmission
gateway node between
used sensor
a GPRS nodes.
module The results
to upload of the 100
network datareliability
days
to the of data
networking
server. A
gateway
experiment node
transmission used
between
indicated a GPRS
sensor
that themodule
nodes.
average to
The upload
PLRresults
of network
of the
network data
100
was to
days the
3.55%, server.
networking
which A
flooding routing protocol was designed for increasing the reliability of data
flooding
experiment routing protocol
indicated that was designed
thenodes.
average for increasing the reliability ofwhich
data
could meet
transmission the requirements
between sensor for ThePLR
stable of network
transmission
results of the 100ofwas 3.55%,
network
days data.
networkingIn
transmission
could meet
conclusion, between
the sensor
requirements
the designthat of the nodes.
for
sensor The
stable
node PLR results of
transmission
and GPRS the 100
of
gateway days
network networking
data. In
experiment indicated average of network was is3.55%,suitable for
which
experiment
conclusion, indicated
the ofthat
of the average PLR of network was area.
is3.55%, which
effective
could meet the design
monitoring water
requirements sensor
for node
quality and
of drinking
stable GPRS
water
transmission gateway
supply
of network suitable
data. for
In
could meet
effective the requirements
monitoring of water for stable
quality of transmission
drinking water of network
supply area. data. In
© 2018, IFACthe
conclusion, (International
design of sensorFederation
nodeof and
Automatic
GPRSControl)
gatewayHosting by Elsevier
is suitable for Ltd.
All rights
conclusion, reserved.
the
: WSN, ofdesign of
water sensor node
pollution, and GPRS
rural water gateway
drinking is suitable for
Keywords
effective monitoring water quality of drinking supplywater
area. safety,
effective monitoring
Keywords
information : WSN, ofwater
acquisition, water quality
flooding of drinking
pollution,
routing rural water supply
drinking
protocol, area.
sensorwater node safety,
information
Keywords: WSN,acquisition,
waterflooding routing
pollution, protocol,
rural sensorwater
drinking node safety,
Keywords :
1.information WSN,
INTRODUCTION water pollution, rural
pollutiondrinking
hassensorwater
become one safety,
of the most urgent
acquisition, flooding routing protocol, node
information
Water is the1.source acquisition,
INTRODUCTION flooding
of life. There is only 1% routing
and protocol,
pollution sensor
haspublic
serious becomenode
one of
health the most
crisis, whichurgent
also
Water
of is the
world’s source
1.fresh of life.available
water
INTRODUCTION There is only
for 1%
the and
has serious
haspublic
gradually
pollution health
become
become crisis,
a of
one global which also
challenge,
the most urgent
of
humanworld’s 1. INTRODUCTION
fresh water available forwater
the pollution
has has
graduallybecome
etbecome one of the
a crisis, most
global which urgent
challenge,
Water isuse
thedirectly.
source ofInlife.
recent years,
There is only 1% see
andFU Gang,public
serious al.（2015）.
health also
Water isuse
human the directly.
source ofInlife. Thereyears,
recent is only 1%
water and FU
see serious
Gang,public
et health crisis, which also
al.（2015）.
of world’s fresh water available for the has gradually become a global challenge,
of world’s fresh water available for the has gradually become a global challenge,
human
Copyright © 2018 IFACuse directly. In recent years, water 753 see FU Gang, et al.（2015）.
human use directly. In recent years, water see FU Gang, et al.（2015）.
2405-8963 ©
Copyright © 2018,
2018 IFAC 753Hosting by Elsevier Ltd. All rights reserved.
IFAC (International Federation of Automatic Control)
Peer review under responsibility of International Federation of Automatic Control.
10.1016/j.ifacol.2018.08.105
Copyright © 2018 IFAC 753
Copyright © 2018 IFAC 753
 IFAC BIOROBOTICS 2018
Beijing, China, July 13-15, 2018
Jiang Sheng et al. / IFAC PapersOnLine 51-17 (2018) 752–757 753
The safety of drinking water is not only
related to people's health and life safety, but
also affects the economic and social
sustainable development, see Jiang Sheng,
et al. (2017), Zhang Ziguo (2014) and Cai
Shaoyan, et al. (2013). Compared with the
developed country, there is a significant gap
in the safety of drinking water in China.
Water quality pollution has a direct impact
on the safety of drinking water, and
seriously threatens the health of rural
residents. The key to the safety of drinking
water is to ensure the safe supply of
drinking water. Therefore, monitoring the
water quality in waterworks area can
effectively reduce the risks caused by the
pollution. The monitoring of water quality
in waterworks of China is mainly based on
the laboratory analysis of manual sampling,
satellite remote sensing analysis and
automatic water quality monitoring station，
see Yang Kun, et al. (2016), Shi Yue, et
al.(2015), Zhang Shoufeng,(2015), Yue
Chao, et al.(2015) and Chen Yan, et
al.(2014). But for some waterworks with
poor condition, measuring water quality
often requires a lot of human resources and
is inefficient.
For the aim of obtaining the real-time
information, water quality monitoring plays
a key role in understanding of water quality
trend, and offers an important scientific
basis for the management of water quality.
Water quality monitoring is an important
means for obtaining real-time water quality
information and plays a crucial role in
understanding water quality trends. It
provides an important scientific basis for
water quality management, see Grath, et al.
(2007).
The water quality of waterworks can be
monitored by using a WSN which is
754
composed of a large number of sensor nodes
relying on self-organization and multi hop.
The advantage of WSN for water quality
monitoring is the synchronous acquisition of
multipoint data at large scale with high
intelligence, see K. Akkaya, et al. (2005).
The conceptual architecture of drinking
water safety monitoring system is shown as
Fig.1. It is composed of remote monitoring
centre and sensor nodes being deployed in
water source area, water supply area and
rural water supply area. The real-time data
of water quality is transmitted by the
gateway node to the remote monitoring
center through the GPRS network.
Remote
Gateway
monitoring
center Routing node
Sensor node
GPRS Internet
Well or water tower
Factory Pollution
source
Factory Factory
Water supply plant
Pollution
source
Pollution
source
Monitoring area of Monitoring area of Monitoring area of
water source water supply plant rural water supply
Fig.1 conceptual architecture of rural drinking
watersafety monitoring system
2. DESIGN AND CONSTRUCTION
2.1. Hardware Configuration
The sensor node system illustrated in Fig.1
is composed of the following modules: a
processor module, a sensor module, a
wireless communication module and a
power module. The water quality indexes
such as hydrogen ion exponent (pH),
dissolved oxygen (DO), ammonia nitrogen
and temperature are collected by using
composite electrode sensors. The platform is
shown in Fig.2 and the sensor node is
shown in Fig.3.
The processor module is constructed of a
Texas Instruments STM32F103
micro-controller programmed in C language
and its peripheral circuits. The sensor node
system is controlled by the processor
IFAC BIOROBOTICS 2018
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754 Jiang Sheng et al. / IFAC PapersOnLine 51-17 (2018) 752–757

module, which is responsible for task module. This node can offer a 1000m
scheduling, information processing and communication distance and100mw
hardware driving. transmit power consumption, which is
suitable for wide-area monitoring.
Sensor Module Processor Module Wireless
Communication
pH electrode Module The sensor node needs 3.7V power supply
DO electrode
Ammonia nitrogen RS485 RS485
CPU
Wireless
transceiver
for the processor module and wireless
electrode Interface Interface

Salinity electrode
Memory
WLK01L39 communication module, and 5V power
Temperature electrode
supply for the sensor module. Therefore, a
lithium battery with output voltage of 12V
Power Module
and capacity of 10Ah is employed. A power
Fig.2Hardware structural diagram of sensor node circuit is designed to step-down voltage of
12V to 3.7V and 5V respectively, with 2
switch circuits of PMOS for power control
of modules.

The gateway node is mainly responsible for

receiving, summarizing and transmitting
data, and the GPRS network serves as a data
remote upload medium. The gateway node
was composed of the processor module, the
wireless communication module, the serial
Fig.3 The sensor node with 4 ASI water communication module, the GPRS module,
quality electrodes the storage module and the power module.
The structural diagram of platform is shown
The sensors applied are capable of detecting in Fig.4with the gateway node shown in
chemical and physical parameters of water Fig.5.
quality, all of which offers an effective
solution to the challenges of automatic Serial communication
module
Processor Wireless
Communication
Module
water quality monitoring. The sensor RS485 Module

CPU WLK01L39

module is consists of 4 electrodes GPRS module Storage module

Memory
(Analytical Sensors & Instruments Inc., WG-8010 SD Card

USA) for measuring water quality indexes,

Power Module
which are listed in Table 1.
Table 1 Specifications of water quality sensors
Index Range Resolution Accuracy Fig.4 Hardware structural diagram of
DO 0~20 0.01 mg/L 0.1mg/L gatewaynode
mg/L
pH 0~14 unit 0.01unit ±0.2 unit
Ammonia 0~1000 0.01 mg/L ±0.1mg/L
nitrogen mg/L
Temperature 0~80 ℃ 0.01℃ ±0.15℃

In the wireless sensor network, the wireless

communication module is used to realize the
data transmission among sensor nodes. A
low power and FSK-based RF transceiver
A7139 is selected to be the core of the

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Fig.5 The gateway node Message

received

2.2 Routing Protocol Write into buffer

No Register
Routing protocols specify how sensor nodes The message
registered? information

communicate with each other and propagate Yes

Forward the
information, so that they can choose message
Enter receive
between any two nodes in the wireless mode

sensor network. The flooding routing Return

protocol, as a simple and efficient routing

protocol, has the advantages of easy
implementation and high robustness. In the
flooding routing protocol, each node acts as
both a transmitter and a receiver. The
message from the source node is
broadcasted to all the nodes in the network.
After receiving the message, each node
forward it to every one of its neighbour
nodes except for the source node. Therefore,
the infinite loops in the flooding scheme can
cause a broadcast storm in the network.
In this paper, a message registration
mechanism is added in flooding routing
protocol, which its flow chart shown in
Fig.6. There is a registration sheet created in
the processor memory of each node.
Whenever a sensor node receives a message,
it checks the registration sheet at first, and
the message would not be forwarded if it
had been registered or produced by the
sensor node itself. Contrariwise, the
message will be registered and forwarded.
Therefore, the broadcast storm and the
Fig.6Program flowchart of routing protocol
2.3. Application Software Programming
Functions of driver calling, water quality
data acquisition and processing as well as
wireless data transmission are realized by
the design of application program.Fig.7
shows the application program flow chart.
The sensor node acquires water quality data
and broadcasts it to the network when the
set time is arrived. Then, the sensor node
enters receiving mode to receive other
node’s message. Data from other nodes will
be judged whether it is needed to be
forwarded or discarded. After all tasks have
been finished and the sensor node reaches
the time that is set in program, it enters
sleep mode and waits for the next cycle
period.
Broadcasts local
data
Enters receive
Start
mode

Initialization
network congestion problem can be avoided Message received

effectively. Sets timer

Need to No
forward?
Enters sleep mode
Yes
Forwards
message
Reach the time?
Sets timer
Yes
Acquis data
Enters sleep mode

Fig.7 Application program flowchart of the

sensor node

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3. NETWORKING EXPERIMENTS local packets generated by each node,

The networking was set up in Shun Yuan
waterworks in Maoming city, Guangdong
province. Two sensor nodes were deployed
at the intake and outlet of the waterworks,
and a gateway node was used to upload
network data to the remote server. The
sensor node deployment of intake and outlet
are shown inFig.8 and Fig.9 respectively.
forwarding pakts means the number of
packets which the node forwarded, Rec
pakts means the number of packet that the
server received, and Lost means the number
of packets that each sensor node lost. The
PLR of system network computed as the
formula (1) with its value of3.55%.
 Droped
PLR  (%)
 Local_Pakts   Forwarding _Pakts

TABLE I PLR values of nodes

Sensor node LocalPakts Rec Lost

pakts
Intake 4800 4587 213
outlet 4800 4672 128
Total 9600 9259 341

4. Conclusion

A sensor node with low power consumption

Fig.8 The sensor node of intake
and long communication distance is
designed to measure and monitor the water
quality variations in water supply areas. The
water quality data obtained from the sensor
module includes DO, pH, ammonia nitrogen
and temperature of water in intake and
outlet of waterworks. A flooding routing
protocol is designed for increasing the
reliability of data transmission among
sensor nodes. The experimental results show
thatthe design of the sensor node and the
gateway node is suitable for the effective
monitoring of water quality of rural drinking
water source.

Acknowledgements
Fig.9 The sensor nodeof outletand the
gateway node The authors would like to gratefully
acknowledge the financial support provided
The packet loss rate (PLR) was tested to by the Scientific Funding as: Guang Dong
evaluate network reliability. The data province Technical and Scientific
acquisition cycle was set to 30mins, and the Innovation project in water conservancy
PLR test period was set to 100days. The (2014-17). We appreciate the continued and
results of PLR test are shown in Table I, in enthusiastic support.
which, Local pakts means the number of

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