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Scientific Journal of Maritime Research 29 (2015) 170-179 © Faculty of Maritime Studies Rijeka, 2015
Multidisciplinary Multidisciplinarni SCIENTIFIC JOURNAL OF znanstveni časopis MARITIME RESEARCH POMORSTVO
Logistics environment1 awareness3 system prototype based on 2 modular1 Internet of Things platform Saša Aksentijević , David Krnjak , Edvard Tijan 23 Aksentijevic Forensics and Consulting Ltd, Gornji Sroki 125a, Viškovo, Croatia Saipem SpA Croatian Branch, Alda Collonnella 2, Rijeka, Croatia University of Rijeka, Faculty of Maritime Studies Rijeka, Studentska 2, 51000 Rijeka, Croatia, e-mail: [email protected]
ABSTRACT ARTICLE INFO
Internet of Things (IoT) is a completely new paradigm of interconnected computing devices in the Preliminary communication market segment that has started emerging from 2013, while trends have been recognized in 2014 and Received 22 November 2015 most predictions are related to the period until 2020. Anticipating widespread use of IoT technology KeyAccepted words: 18 December 2015 in logistics chains reported by leading sector players, a dedicated logistics testbed IoT platform named MiOT is created and tested using Raspberry PI minicomputer, with research goal to evaluate possibilities of integration of the logistics IoT platform inside existing Windows corporate domains. Internet of Things Logistics Environment awareness system
1 Introduction
IoT paradigm emerged due to convergence of various technologies approximately as of 2013, even though it has Internet of Things (IoT) is a new and upcoming para- been in some its aspects discussed for decades and has digm related to networking of various applicative physical been a topic of science fiction even longer than that. devices (“things”), as opposed to current situation where At the end of 2014 there were 3,75 billion such devices networking refers primarily to computer and network already in use, and predictions state that at the end of 2015 devices and peripherals. “Things” are embedded with there will be 4,88 billion [2] devices deployed globally, and electronics, software, sensors and connectivity that en- corporations will spend more than 40 billion US$ for devel- able them to achieve functional value and exchange data opment of IoT solutions [3]. It was anticipated mid-2013 with other devices and systems. They communicate over that 26 billion such devices will be connected to the Internet Internet and cover a variety of protocols, domains and by 2020 [4]. Cisco and DHL have revised this number in applications. July 2015 to 50 billion by 2020 [5]. Some analysts set these Typical applications of IoT are various sensors or numbers at around 30 billion [6]. IoT devices are expected transponders used on farms or in search and rescue to exhibit similar exponential growth in consumer and busi- missions, automobiles with built-in sensors, biochips, ness sectors. Cisco Systems expect the IoT market to reach a wearable computers in any form and home or industrial staggering value of 19 trillion US$ [7]. automation systems. IoT technology in logistics is used to The convergence of various technologies will raise ensure quality of shipment conditions (monitoring of vi- numerous questions, and industries logistics sector will brations, strokes, container openings or cold chain main- certainly not be left out of the development. These ques- tenance for insurance purposes), item location (search tions can be divided in several categories that need to be of individual items in large areas like warehouses or har- addressed, among them the most important being infor- bors), storage incompatibility detection (warning emis- mation security, design, sustainability and environmental sion on containers storing inflammable goods closed to impact and privacy, autonomy and control. others containing explosive material) and fleet tracking In our research we have decided to tackle the following (control of routes followed for delicate goods like medical early stage IoT problems in logistics companies’ IT envi- drugs, jewels or dangerous merchandises) [1]. ronment and address some of the issues raised above by: S. Aksentijević et al. 171
/ Scientific Journal of Maritime Research 29 (2015) 170-179 Creating a theoretical testbed
1. Creating a working prototype IoT platform to be b) to use implementation practices that achieve the used specifically in logistics companies’ research, largest financial and CO2 savings, 2. of the physical plat- Openc) to usesource the leastdesign number of the cheapest components form’s application based on the testbed (in our case a possible, sensor system to control overall environment), while 4. : to facilitate overview of the code Deployingrespecting all the prudential prototype measures in Windows and best domain practices and discussion. related to ICT security, By April 2015, a testbed solution for MIoTusage –of Modular Internet 3. , as Internetof Things of(IoT) Things platform inside Windows domain has been opposed to separating it outside the domain, but at created. Working title of the platform is the same time, implementing all information security , thus achieving the primary research rules imposed on devices connected to the domain. goal. The reasoning for this is that in transitory period and Besides the test bed solution, sensor electronics pack- while cross-industry standard is defined, there might age prototype has been created along with 3-tiered pro- be a need to join IoT devices to logistics companies’ gram code, softwareLEAS – support Logistics needed Environment for data Awarenessacquisition, domains and IT function should have both skills and a System.storage, interpretation and visualization. Working name of standard set of practices available at hand how to man- the package is age them. Development related to deployment of logis- tics environmental awareness system inside corporate However, the motivation for creation of both platforms Windows domain will be a subject of further research. was not purely technical, so it was decided early on in the We were led in our research by the following principles project to evaluate technology in terms of overall financial and business impact. Schematic representation of inter- thatCompliance are in line with expert panels’ concerns explained above: operation of both systems and their main components is shown in the following figure. 1. Implementation with of best industry’s practice best information practices security standards, Test bed and prototype were created bearing in mind the possibilities of further development and integration. 2. using 3-way sustainability They have been deployed in real-time environmental mon- currently available protocols, itoring of a server room location supporting logistics chain 3. approach: activities of a multinational corporation in the period be- a) to use the electronic components with the lowest tween April and November 2015 and have proven to be disposal footprint possible, very stable in operation.
Figure 1
Schematic representation of MIoT and LEAS S. Aksentijević et al.
172 / Scientific Journal of Maritime Research 29 (2015) 170-179 2 Platform architecture description
HDMI connector or HDMI-DVI converter, and using stand- ard USB keyboard and mouse over onboard USB ports. MIoT/LEAS are: 2.2 Software 1. Pioneer attempts to open the discussion about Internet of Things paradigm in the logistics companies, 2. Complete mini-computing solutions for further re- RPI uses mini or micro SD card for file system stor- search and implementation, age and the operating system. The first challenge was to find an adequate operating system to run RPI. Several 3. A study in principles of Internet security, integration candidates were evaluated, among them ARM Arch Linux, and sustainability of IoT devices in existing corporate RaspBMC, RiscOS and Raspbian. Finally, Rasberry PI foun- Windows networks, and dation’s Raspbian operating system [11], contained on 4. Projects in progress used to learn and gather new NOOBS distribution [12] was selected as the most viable experience. candidate, and the selection proved to be adequate as MIoT/LEAS are not: the implementation was completed using that particular 1. Definitive answers to challenges presented by near-fu- distribution. ture adoption of Internet of Things, Raspbian is foundation’s fork of Debian Linux operat- 2. Attempts to define a way how to handle Internet of ing system, specially prepared for use with ARM proces- Things devices used in the logistics company out- sor contained in RPI. This particular operating system is side of perimeter of logistics companies’ networks or known to be pre-delivered as hardened in terms of basic domains, rules of security. The only port left open for external con- nection is port 22 used for secure SSH connections. Usage 3. Suggestions for new developments in proprietary elec- of this particular operating system provided researchers tronics used for industrial control. 2.1 Hardware with a great deal of flexibility in additional hardening of the device for outside connections. UsingIt has been SSH decided early on in the project to provide two connectivity possibilities to access RPI: During initial investigation, several existing mini- 1. over direct serial connection (requires computing platforms were considered, among them GUI (Graphical User Interface) physical access to device) or over the network, and Beaglebone, BananaPi and Raspberry PI [8] platform (RPI in the text). Due to popular support, number of available re- 2. ; for this particular sources and open code, it has been decided to proceed with purpose, Raspbian LXDE [13] Desktop was selected detailed investigation of the feasibility of utilization of RPI. and installed. RPI is a credit-card sized full-capability mini-computing Terminal services are used to connect to RPI’s platform along with microcontroller able to control sensors Graphical User Interface (GUI), namely, a lite terminal and other external electronic circuits. Any model of RPI is server is installed on the RPI in form of TightVNC terminal able to run MIoT and LEAS, while we have used RPI B+ [9]. services. In order to toughen the connection as it is not se- Led by principles of three-stage sustainability ap- cure in its initial state, initial SSH tunnel is initiated from proach described in the Introduction, a basic set of hard- the side of the RPI towards the client terminal machine. ware was obtained and a mini computer was assembled After that, the connection is established by using the by simple addition of the heat sinks and electronics board local host from the other side. This way, no unencrypted in transparent acrylic enclosure. traffic flows between RPI server and connecting client. USB 2.0 ports may serve any purpose or communi- All management and connections are successfully tested cate with attached devices compliant with the standard. between standard PC workstations running Windows op- Successfully tested, but not used in the project were USB erating systems inside WindowsTeamViewer domain. Furthermore, flash (pen) drives, USB hard drives, Bluetooth dongles and there is a possibility to control RPI using encrypted ter- Wi-Fi dongles. Network connectivity was achieved by us- minal services (for example, ) from mobile ing standard Ethernet port and 10/100 cable connected to phones or a workstation inside Windows domain. the corporate network. To use devices with higher power After successful remote control of the RPI, several meth- requirements, external power source via powered hub ods for data exchange were tested and found to be fully connection has to be provided. RPI can be powered from functional, including CIFS protocol, Samba server, box.com a simple USB high quality mobile phone charger rated at cloud sharing and copying files to and from FAT32, NTFS or 1A or more, or from a USB powered port of another USB ext(x) using externally attached USB media. device. Both options were successfully tested. Further to this, Apache, MySQL database and PHP serv- headlessEarly on in the project, for portability, simplicity and ers (LAMP stack [14]) were also installed and were able security purposes it has been decided to run the RPI in to smoothly and concurrently run on the RPI, and Webmin a “ ” state [10], without physical monitor, key- GUI for system and server administration. board or mouse and rely instead on remote connectivity. Modified Java 8 was successfully tested and was used However, physical connectivity was tested and it works via on RPI. Another successfully tested but disabled (unused S. Aksentijević et al. 173
/ Scientific Journal of Maritime Research 29 (2015) 170-179 functionality in the final setup of MIoT) relying on Java or movies, offload them to a specific storage location, use was cloud backup service from Code42 company calledBit multiple sources (cameras) and trigger certain actions. CrashPlanTorrent [15]. Bit Torrent Sync private cloudmpd was mpc also The system functions both in night and day conditions. successfully tested (not to be confused with public Local password policy is forced via PAM password file sharing). Streaming packages and policy while changes for the local password are enforced [16] were also used and tested (for example, for local every 90 days, with the following parameters set through Internet audio orOpenVPN radio streaming). pam_cracklib.so. Further possibility of secure connection implementa- Windows domain group for device management has tion consists of solution that was successfully been set, and only users from that group can log on to the ported to RPI. Finally, an attempt was performed to join device, further disabling unauthorized access to the MIoT RPI device to a Windows domain, and it was successful. platform. Login is currently allowed only to members of This was achieved by using Kerberos 5 [17] and WINBIND the domain group SID, namely SMH_G_RPI_login, by using Linux packages, so users logging on either remotely or lo- pam_winbind.so. cally to RPI need to have Windows domain account in or- Distribution and packages are maintained by Raspberry der to access the MIoT device.automatic These two recognition facts present a Pi Foundation and MIoT’s operating system and depend- major achievement because in this scenario: encies can be upgraded either manually by usingunattended- Internet 1. It is possibleset of to rules obtain of an upgradesconnection, or they can be enforced using operating system IoT device on which domain administrators can im- and automatic updates patching by installed Debian package allowing for flexible silent back- pose a set audit by Microsoft’s logs global policies, and ground updating of the device itself. 2. It is possible to obtain both on the device All installed connection capabilities that are currently and the user actions. not in use are disabled by default, further strengthening the connectionWin32DiskImager security of the platform.DiskInternals Linux Reader The same is also relevant for remote connections, users Backup of the file system is achieved by using freeware using GUI and logging on remotely have to use Windows tools and domain logon accounts in order to access the RPI device. [19] on Windows workstations by reading or writing en- Exhaustive list of packages installed and tested on the tire file system from SD card to and from a flat backup file. RPI is quite long, so only the most important packages will Final result is a hardened mini-computer device, integrat- be mentioned in the following list: ed and controlled inside Windows domain and used by au- 1. System, configuration and GUI preference tools thenticated users having access to a viable and auditable – 2. System utilities Windows logon account. This is a best practice scenario – TightVNC usually encountered in logistics chain companies. – Image Viewer, – Leafpad 3 LEAS sensor package description – (Terminal services), – Xarchiver – (similar to notepad), –– (archived file manipulator, similar to Win- LEAS system may be used in any weather-proof space Zip), – to gather information about the environment, store and – File manager, alert about occurring events in the logistics process. With – WinSCP – Task manager, and further weatherproofing of the casing design, the sys- tem may even be mounted externally or aboard vessels. – (FTP client for RPI) – Implementations based on MIoT platform (and especially 3. Office and productivity tools – xpdf sensory packages connected to it) should not be used for – Document viewer, critical implementations with potential impact on mate- – Epiphany Web Browser – (PDF viewer), and rial processes or personnel. Used sensors are entry-level – (able to run HTML 5 code, and should be carefully calibrated and adjusted accord- Youtube videos etc.) ing to atmosphere requirements and applicable technical – guidelines. 4. Programming languages (both used in the research): – Deployed software code should be carefully evaluated. – Python, and Limits related to its use and effects and functioning of – C. MIoT platform should be taken into consideration prior to deployment. motionA complex application package used for environment 3.1 Hardware monitoring via camera and/or microphone system called [18] was installed, tested and deployed on RPI. This application is highly configurable and used to moni- tor environment for motion and changes, take continuous Goal of the LEAS prototype was to create an elec- or intermittent snapshots, detect movement according tronics sensor package controlled by program code run to preset criteria and create stills, shockwave animations on MIoT platform described in the previous paragraph. S. Aksentijević et al.
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Figure 2
LEAS electronic circuit board layout
Gas sensor Sunfounder Components were carefully selected to be tough and reli- 4. MQ-2: SnO2 industrial sensor that detects able and the final choice was sensor kit [20]. Photoflammable sensor gas, smoke, LPG, propane, butane, methane To achieve speed of testing and assembly, two parallel and H2, stacked breadboards were used. 5. Sound sensor AVR PIC: detects changes in illumination Considering that full environmental friendliness was level, one of the goals, there was no soldering, and no acids or 6. KY-037: detects sudden change in other chemicals were used in preparation of final elec- FC-28 Soil Humidity Detection Sensor Module: tronic circuitry. All elements are secured in place by using noises, metal M2 and M3 Philips screws, nuts and bolts. 7. se- The circuits are communicating with MIoT using flat Activelective A/Dbuzzer sensor that can be used to detect humidity 40-pin data cable. Breadboards contain four power rails, in material, in this case used to detect water leak, two in each half of the breadboard motherboard. Three 8. Red-yellow KY-012: used to announce auditory sig- power rails from left side are powered with 3.3V while nal during increased levels of flammable gas, – rightmost one is powered with 5V. Reason for this is the 9. LED KY-011: fact that some sensors require 3.3 V while some require 5 – V. All ground rails are properly grounded. Color coding for – red LED: visual alarm for fire alarm, and wires is followed so all red wires carry electric current, all – yellow LED: visual alarm for movement detection. gray, dark or black wires are ground and other colors are Addressing of the header pins of the MIoT microcon- signal wires. During testing, all rails had LED power indi- troller in the program code was done in alignment with the cators, while in the final assembly four LEDs and four re- library used to control pins, WiringPI. Ordinal header pins, sistors were removed, further simplifying the design. functions (names) and BCM GPIO nomenclature is not in There was a total of seven sensors used in the circuitry. line with WiringPI. It is also possible to address separate Furthermore, there were three more elements used for pins, read and write them using GPIO library installed on auditory and visual warning. The list of used components Shock sensor the operating system, and not only by programming code and alerts is the following. in C using WiringPI library [21]. Main header pin layout 1. Temperature/humidity KY-031: detects sensor movement of the LEAS conforms to the specification of the RPI B+ board. package in any direction, Sensors that use interrupts in assembled circuitry are 2. Flame sensor KY-015: measures flame, shock, water and sound sensors. Other sensors are temperature and relative humidity, working in continuous loop reading mode. Readings of 3. KY-026: detects spark or flame by such sensors are put on hold while reading of the sensor wavelength, triggering interrupt is in progress. Photo, sound and gas S. Aksentijević et al.
/ Scientific Journal of Maritime Research 29 (2015) 170-179 175 sensors provide analog output while other sensors are fines main behavior of the program. Odd lines are treated digital. Water (soil humidity sensor) can be used both in as comment lines and even lines are entry values. digital and analog modes, but to avoid further wiring to- MathplotlibExplanation of the redrawused initialization time parameters is the wards analog to digital converter, analog mode was se- following: lected for this particular sensor. Analog sensors require 1. [26] is a parameter shared analog to digital converter chips in order to convert the with visualization layer described in more details in signal to readable state. For this purpose, two ADC 08032 Mail3.2.3, and TO it filed defines time between updates of the screen [22] chips were used. One chip is addressing one single with new data, sensor and the other channel is idle, while the other chip 2. is email address of the first alarm is addressing two sensors. Initially, there was one ADC per Mail CC field recipient, chip, but using this configuration enabled further simplifi- cation of the circuitry be removal of one chip and a bundle 3. Temperature Minis email and Max address of the second alarm of jump wires. recipient, Power consumption of the working board (for both 5.4. Gas sensor threshold are trigger thresholds for MIoT and LEAS) is estimated at around 2 W [23]. The en- low and high ends of allowed temperature, tire circuitry schematic diagram is shown in Figure 2. defines sensitivity of the gas Sensors’ and ADC’s input and output pins are con- Interruptsensor. Gas write sensor delay is polled sec for new information every trolled by cobbler board attached to the left breadboard. second, Cobbler board also provides electric power for the circuit- 6. defines delay time for sen- ry without requirements for external power source, add- sors that use processor interrupt when triggered, ing to the simplification of the design. Mailingnamely flame, delay shock and sound sensors. During delay, One or more USB cameras (v1.1 or higher) can be at- writing of the new data is disabled, tached to MIoT or a powered hub to gather environment 7. in seconds is a delay between occur- motion and/or sound input. In test configuration, an af- rences of sending alert email for the event. For exam- fordable USB camera was adjusted in a way that infrared ple, in case that there is fire alert, an email is being filter was removed so the camera may be used in daylight sent out, but if the alert continues, emails are not sent and night conditions under additional infrared illumina- anymore for a period of time defined in mailing de- tion that is not visible to human eye. Current camera views lay parameter of the configuration file. Other types of can be accessed from MIoT minicomputer using Internet alerts that are sent by email during that period are not browser or from any computer on the same network seg- Delay for temperature, humidity and illumination suspended, ment, as the view itself is safely published using Apache reading in sec web server [24]. 8. 3.2 Software is a delay between readings for temper- ature, humidity and illumination. sensor control en- Sensor readings are performed in a loop, once per gine,Software database running layer on andMIoT visualization device used to layer. control LEAS second, and readings are recorded in a database and dis- package consists of three modules: played in a terminal window according to logic taken from Sensor the configuration file. Log data related to email sending control engine is used to gather data from the sensors, (SMTP activity) is shown in the terminal window, but not process alerts and write data to databases, database layer recorded in database. stores and serves data while visualization layer is used to If an alarm state is detected, indicating that tempera- visually inspect and interpret data. Selection of layers is ture fell below or rose above set levels, flammable gas is similar to the usual best practice for division of IoT layers detected or there was a knock, sudden change in sound to 3-tiered division of perception, network and applica- level, water, spark or fire detection, an email is being sent tion. [25] to predefined email addresses with time and type of the All software is written and compiled using RPI itself event. and installed native Python and C packages. Concurrently, a motion daemon is run and single or multiple cameras connected to LEAS are gathering sur- 3.2.1 Sensor control engine – tier 1 rounding environment’s information. The system is highly configurable and all possibilities of configuration will not Sensor control engine is written in programming lan- be in details described in this paper. All detected motion guage C and consists of 663 lines of code and uses various in form of still pictures or video recordings, along with external libraries, among them the most significant one timestamp can be recorded on a local or remotely con- being open source WiringPI library used to control I/O nected media and various triggers can occur depending on pins of the MIoT microcontroller. Sensor control engine desired behavior. can run concurrently with visualization layer. The engine Motion daemon can be configured to store only images initially loads configuration file (plain text file) that de- when motion is detected or continuously, sensitivity level S. Aksentijević et al.
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Figure 3
Live webcam view of motion daemon (max. camera resolution 720p – 1280×720 pixel)
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Figure 4
LEAS GUI (Graphical User Interface)
Figure 5
Smartphone visualization of LEAS
speed up rendering time. The same is valid also for ren- which secure connection is established towards MIoT dering data of the previous or next days. platform. In the plot area, there are three charts representing LEAS visualization GUI contains some basic functions temperature, humidity and illumination throughout the like navigation between days using left and right arrows, day and four box areas below them showing last eight option to jump to data representing current day, “About” alarms related to shocks (knocks), fire or sparks, sudden section and button used to exit from the GUI back to the elevation in sound levels, detection of hazardous gasses operating system and LXDE desktop GUI. 4 Conclusion and water detection. Graphical representation of LEAS visualization layer is shown in the Figure 4. Control over MIoT and LEAS is possible also using On a macro level, the project is a result of recognition smartphone’s GUI and functionalities, as shown in Figure 5. of an emerging trend, Internet of Things, which will be a As already mentioned in Introduction, access to LEAS hot topic in the next decade. Logistics companies have yet GUI is also possible by using any smartphone capable to to align their practices with this new emerging trend and run terminal services and open access to the client from define a set of applicable rules for management of such S. Aksentijević et al.
178 / Scientific Journal of Maritime Research 29 (2015) 170-179 devices. With this step we wanted also to underline im- sustainable way, until or in parallel with the time when the portance of this new technology paradigm inside logistics standard for management of IoT devices inside logistics companies and enhance internal discussion on the topic. companies is clearly defined. On a micro level, we wanted to show possible appli- The actual benefit of LEAS sensor package is the cations and calculate some measurable savings related achieved compliance with a number of provisions of the to just one such application. Real savings depend on per- best practices and information security policies in logistics fusion of the platform’s implementation in business re- companies, but also integral security as the sensor pack- alities of logistics companies. Opportunities are numerous age is able to capture and monitor almost all environment and will be dictated by the perfusion of technology in the information and can be further expanded in numerous near future. ways by adding sensors.. Furthermore, LEAS is a comple- For the first part of our application, testbed IoT plat- ment to MiOT, where it has been proven that a useful pack- form named MiOT, there was no traditional, previously age can be implemented in Windows domains in a safe used approach. Internet of Things is a completely new par- and efficient manner by respecting all existing information adigm of interconnected computing devices. Currently, IoT security rules and practices. is not a platform in widespread usage and it might have In terms of social sustainability, special care was taken certain components scattered across industrial electronics to use open source programs and to set the program code solutions used in operations of the logistics companies and in a way to be able to release it as an open source code. managed in a proprietary way or by implementing best Furthermore, by creating a testbed platform for IoT in the practices for industry control electronics applications. initial phase of the project, we have envisaged the possi- In the second part of our application, we have created a bility to further develop and disseminate knowledge and sensory package for logistics purposes, while a traditional develop capabilities of IT personnel and electrical engi- approach would be the purchase and maintenance of pro- neers that will be involved in implementation of logistic prietary package from the manufacturers, with pre-set IoT platforms in the future. number of sensors and functionalities. 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