And Mission-Critical Applications in Industrial Wireless Sensor Networks
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Enabling Time- and Mission-Critical Applications in Industrial Wireless Sensor Networks Hossam Farag Department of Information Systems and Technology Mid Sweden University Licentiate Thesis No. 151 Sundsvall, Sweden 2019 Mittuniversitetet Informationssystem och -teknologi ISBN 978-91-88527-84-4 SE-851 70 Sundsvall ISNN 1652-8948 SWEDEN Akademisk avhandling som med tillstand˚ av Mittuniversitetet i Sundsvall framlagges¨ till offentlig granskning for¨ avllaggande¨ av teknologie licentiatexamen Onsdagen den 30 januari 2019 i M102, Mittuniversitetet, Holmgatan 10, Sundsvall. c Hossam Farag, 2019 Tryck: Tryckeriet Mittuniversitetet My Wife My Parents iv Abstract Nowadays, Wireless Sensor Networks (WSNs) ”have gained importance as a flexible, easier deployment/maintenance and cost-effective alternative to wired net- works, e.g., Fieldbus and Wired-HART, in a wide-range of applications. Initially, WSNs were mostly designed for military and environmental monitoring applications where energy efficiency is the main design goal. The nodes in the network were expected to have a long lifetime with minimum maintenance while providing best-effort data delivery which is acceptable in such scenarios. With re- cent advances in the industrial domain, WSNs have been subsequently extended to support industrial automation applications such as process automation and con- trol scenarios. However, these emerging applications are characterized by stringent requirements regarding reliability and real-time communications that impose chal- lenges in the design of Industrial Wireless Sensor Networks (IWSNs) to effectively support time- and mission-critical applications. Typically, time- and mission-critical applications support different traffic cate- gories ranging from relaxed requirements, such as monitoring traffic to firm require- ments, such as critical safety and emergency traffic. The critical traffic is mostly acyclic in nature and occasionally occurs at unpredictable time instants. Once it is generated, it must be delivered within strict deadlines. Exceeding the delay bound could lead to system instability, economic loss, or even endanger human life in the working area. The situation becomes even more challenging when an emergency event triggers multiple sensor nodes to transmit critical traffic to the controller si- multaneously. The unpredictability of the arrival of such a type of traffic introduces difficulties with regard to making a suitable scheduling that guarantees data deliv- ery within deadline bounds. Existing industrial standards and related research work have thus far not presented a satisfactory solution to the issue. Therefore, providing deterministic and timely delivery for critical traffic and its prioritization over regular traffic is a vital research topic. Motivated by the aforementioned challenges, this work aims to enable real-time communication for time- and mission-critical applications in IWSNs. In this con- text, improved Medium Access Control (MAC) protocols are proposed to enable a priority-based channel access that provides a timely delivery for acyclic critical traffic. The proposed framework starts with a stochastic modelling of the network delay performance under a priority-oriented transmission scheme, followed by two MAC approaches. The first approach proposes a random Clear Channel Assess- v vi ment (CCA) mechanism to improve the transmission efficiency of acyclic control traffic that is generated occasionally as a result of observations of an established tendency, such as closed-loop supervisory traffic. A Discrete-Time Markov Chain (DTMC) model is provided to evaluate the performance of the proposed protocol analytically in terms of the expected delay and throughput. Numerical results show that the proposed random CCA mechanism improves the shared slots approach in WirelessHART in terms of delay and throughput along with better transmission re- liability. The second approach introduces a slot-stealing MAC protocol based on a dynamic deadline-aware scheduling to provide deterministic channel access in emergency and event-based situations, where multiple sensor nodes are triggered si- multaneously to transmit time-critical data to the controller. The proposed protocol is evaluated mathematically to provide the worst-case delay bound for the time-critical traffic and the numerical results show that the proposed approach out- performs TDMA-based WSNs in terms of delay and channel utilization. Acknowledgements Praise be to Allah I would like to take this opportunity to express my heartfelt appreciation to the following persons who have contribute directly or indirectly to the completion of this work. Firstly, my sincere gratitude to my supervisor, Prof. Mikael Gidlund, for his constant support and guidance in my research work. I would like to thank him for his continuous support, insightful suggestions, encouraging feedback, and the freedom in choosing research directions. Thanks to my co-supervisor Dr. Patrik Osterberg¨ for his support, useful com- ments and constructive criticisms that have helped to improve this work. Also, I would like to thank him for his administrative support in other department-related issues. Thanks to Dr. Aamir Mahmood for his excellent cooperation and discussions during my research work. Thanks to Simone Grimaldi, Teklay Gebremichael, Raul` Rondon,` Mehrzad Lavassani and all other colleagues at the Department of Informa- tion Systems and Technology, Mid Sweden University for their kindness and friend- liness. Last but not least, special thanks to my dear wife, Samira, for her endless love, support and for standing behind me in all what I do. Thanks to all my family and friends for supporting me spiritually throughout my life. vii viii Contents Abstract v Acknowledgements vii List of Papers xi Terminology xv 1 Introduction 1 1.1 Overview . .1 1.2 Problem Statement . .2 1.3 Overall Aim and Research Topic . .4 1.4 Methodology . .4 1.5 Contributions . .6 1.6 Thesis Outline . .6 2 Background and Related Work 7 2.1 Overview of IWSNs . .7 2.2 Overview of the Industrial Standards for PA Applications . .8 2.2.1 WirelessHART . .8 2.2.2 ISA100.11a . .9 2.2.3 WIA-PA . .9 2.2.4 Zigbee . 10 2.2.5 IEEE 802.15.4e . 10 2.3 MAC Protocols in IWSNs . 10 2.3.1 General Taxonomy of Wireless MAC Protocols . 11 ix x CONTENTS 2.3.2 MAC Protocols in IWSNs Standards . 12 2.3.3 Related Work . 15 3 Priority-Based Real-Time Communication in IWSNs 19 3.1 Overview . 19 3.2 Modelling Priority-Oriented Packet Transmissions . 19 3.3 Improving the Transmission Efficiency of Acyclic Traffic in IWSNs . 21 3.4 Deterministic Real-Time Communication of Multiple Critical Flows . 22 4 Summary of Publications 27 5 Conclusions and Future Work 33 5.1 Concluding Remarks . 33 5.2 Ethical and Societal Considerations . 34 5.3 Future Work . 35 Bibliography 37 Paper I 43 Paper II 59 Paper III 75 Biography 99 List of Papers This thesis is mainly based on the following papers, herein referred by their Roman numerals: Paper I Priority-Oriented Packet Transmissions in Internet of Things: Modeling and Delay Analysis Lakshmikanth Guntupalli, Hossam Farag, Aamir Mahmood, and Mikael Gidlund In Proceedings of IEEE International Conference on Communications (ICC 2018), Kansas City, USA, May 2018. Paper II PR-CCA MAC: A Prioritized Random CCA MAC Protocol for Mission- Critical IoT Applications Hossam Farag, Aamir Mahmood, Mikael Gidlund, and Patrik Osterberg¨ In Proceedings of IEEE International Conference on Communications (ICC 2018), Kansas City, USA, May 2018. Paper III A Delay-Bounded MAC Protocol for Mission- and Time-Critical Applications in Industrial Wireless Sensor Networks Hossam Farag, Mikael Gidlund, and Patrik Osterberg¨ In IEEE Sensors Journal, Vol. 18, No. 6, pp. 2607-2616, March 2018. xi xii List of Figures 1.1 Example of future industrial automation networks [25]. .2 1.2 Traffic categories in PA applications and their corresponding latency requirements. .3 1.3 Research work flow. .5 2.1 Protocol stack comparison of industrial standards for PA applications.9 2.2 Wireless MAC protocols taxonomy. 11 2.3 The superframe structure of Zigbee, WIA-PA, WirelessHART and ISA100.11a [9]. ....................................... 13 2.4 TSCH superframe. 14 2.5 DSME multi-superframe structure. 14 3.1 Performance comparisons. 21 3.2 Slot timing structure of the proposed PR-CCA protocol. 21 3.3 Performance comparisons. 22 3.4 SS-MAC channel access scenario. 23 3.5 Worst-case delay comparison versus different number of nodes. 25 3.6 Utilization comparisons. 25 xiii xiv Terminology Abbreviations and Acronyms CAN Controller Area Network CAP Contention Access Period CCA Clear Channel Assessment CDMA Code Division Multiple Access CFP Contention Free Period CSMA/CA Carrier Sense Multiple Access with Collision Avoidance CTS Clear-To-Send DSME Deterministic and Synchronous Multi-channel Extension DTMC Discrete-Time Markov Chain FA Factory Automation FDMA Frequency Division Multiple Access GTS Guaranteed Time Slot HART Highway Addressable Remote Transducer HCF HART Communication Foundation ISA International Society of Automation IWSN Industrial Wireless Sensor Network LLDN Low-Latency Deterministic Network MAC Medium Access Control MEMS Micro Electro-Mechanical Systems PA Process Automation RTS Request-To-Send TDMA Time Division Multiple Access TSCH Time Slotted Channel Hopping TSMP Time Synchronized Mesh Protocol WIA-PA Wireless networks for Industrial Automation-Process Automa- tion WSN Wireless Sensor Network xv xvi Chapter 1 Introduction 1.1 Overview With recent advances