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Wireless Sensor Networks Semi-Annual Update

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Wireless Sensor Networks Semi-Annual Update Wireless Sensor Networks Semi-annual update Kris Pister Professor EECS, UC Berkeley (Founder & CTO, Dust Networks) Outline Standards Technology Products & Applications 1 Outline Standards – HART7, WirelessHART – SP100 – IETF – 6LoWPAN, RSN – IEEE – 802.15.4E – Zigbee Technology Products & Applications 2 WirelessHART HART – Highway Addressable Remote Transducer – Wired standard, ~2 decades old – 25 million sensors deployed – 2-3 million ship per year Industrial Standard – 54% of “field devices” (sensors) – >> $1,000 for installation average Wireless HART – Part of HART7 release – Ratified Sept 7, 2007 3 The De-facto Standard – October 2006 11 manufacturers, 95% of market, all talking w/ pre-HART TSMP Emerson MACTek Yokogawa Siemens Siemens ABB Honeywell Phoenix Contact Smar Endress+ Hauser Pepperl+ Elpro Fuchs 4 5 ISA SP100 Principles of Operation published – Open conflict – Repeat of Fieldbus wars Wireless HART compatibility – Same radio PHY – Same Network and DLL/MAC (TSMP) – Same applications – Same crypto – Same customers But… – Egos & Fortunes Users furious – will it matter? 6 IETF Internet Engineering Task Force – Folks who standardized IP, TCP, HTTP, … 6LoWPAN – IPv6 over Low power Wireless Personal Area Networks – Draft standard submitted – UCB’s David Culler, Arch Rock heavily involved – Describes header compression for IPv6, TCP, UDP • “only 2 bytes!” RSN – routing in sensor networks – “ok, so now what?” Great start, good community Likely to be the death of Zigbee 7 IEEE 802.15.4E Working Group From the PAR: “The intention of this amendment is to enhance and add functionality to the 802.15.4-2006 MAC to – better support the industrial markets” – explicitly calls out HART and SP100 elsewhere “Specifically, the MAC enhancements to be considered will be limited to the following: • TDMA: to provide a) determinism, b) enhanced utilization of bandwidth • Channel Hopping: to provide additional robustness in high interfering environments and enhance coexistence with other wireless networks • GTS: to increase its flexibility such as a) supporting peer to peer, b)the length of the slot, and c) number of slots • CSMA: to improve throughput and reduce energy consumption • Security: to add support for additional options such as asymmetrical keys • Low latency: to reduce end to end delivery time such as needed for control applications” 8 TSMP Time Synchronized Mesh Protocol Basis for – Wireless HART – ISA SP100 – 802.15.4E? – IETF/RSN?? 9 Low Data Rate WPAN Applications Zigbee 20042006Pro security HVAC TV AMR VCR lighting control DVD/CD access control BUILDING CONSUMER remote AUTOMATION ELECTRONICS asset mgt mouse process keyboard control INDUSTRIAL PC & joystick environmental CONTROL PERIPHERALS energy mgt patient security monitoring RESIDENTIAL/ HVAC LIGHT lighting control PERSONAL COMMERCIAL access control fitness HEALTH CARE CONTROL monitoring lawn & garden irrigation 10 (… but I heard that it doesn’t work …) Industrial automation – Decades of false starts Defense – NEST fallout Home, health care, HVAC, security, … – Failed investments in using chips & stacks – “We tried it w/ x, and couldn’t get it to work” 11 How reliable do you need your network to be? ? 12 How reliable do you need your network to be? ? 13 Outline Standards Technology – TSMP Products & Applications 14 Barriers to Adoption Reliability Standards Ease of Use Power consumption Development cycles Node size OnWorld, 2005 0% 20% 40% 60% 80% 100% 15 TSMP Foundations Time Synchronization – Reliability – Power – Sensor time stamps Reliability – Frequency diversity • Multi-path fading, interference – Spatial diversity • True mesh (multiple paths at each hop) – Temporal diversity • Secure link-layer ACK Power – Turning radios off is easy – Knowing when to turn them back on is tricky 16 Power-optimal communication Assume all motes share a network-wide synchronized sense of time, accurate to ~1ms For an optimally efficient network, mote A will only be awake when mote B needs to talk A A wakes up and listens B transmits B B receives ACK A transmits ACK Expected packet start time Worst case A/B clock skew 17 Packet transmission and acknowledgement Mote Current Radio TX startup Packet TX ACK RX Radio TX/RX turnaround Energy cost (2003): 295 uC 18 Timing – imperfect synchronization (latest possible transmitter) A CCA: RX startup, Transmit Packet: Preamble, SS, RX startup Tg RX ACK listen, RX->TX Headers, Payload,MIC, CRC or Tx->Rx ACK Tcrypto B RX Tg Tg RX packet Verify Verify MAC Calculate ACK Transmit startup CRC MIC MIC+CRC ACK RX->TX Expected first bit of preamble TCCA = 0.512ms to be standards compliant – Worst case is a receive slot followed by a transmit slot to a different partner, as radio will be finishing up the ACK TX just as it needs to look for a clear channel, so – TCCA = TTX->RX + Tchannel assessment + TRX->TX = 0.192ms + 0.128ms + 0.192ms Tpacket = 4.256ms for a maximum length packet – Preamble+SS+packet = 4+1+128B = 133B = 1064 bits 4.256ms @ 250kbps Tcrypto is the total time to verify packet MIC and create ACK MIC TgACK is the tolerance to variation in Tcrypto and/or mote B’s turnaround time from RX to TX TACK is a function of the ACK length. It is likely to be just under 1ms. Tslot = TCCA+2*Tg+Tpacket+Tcrypto+TgACK+TACK = 0.512+2+4.256+1+0.1+1 = 9ms 19 Fundamental platform-specific energy requirements Packet energy & packet rate determine power – (QTX + QRX )/ Tcycle – E.g. (60 uC + 40 uC) /10s = 10 uA 20 Idle listen (no packet exchanged) Mote Current ACK RX Radio RX startup Energy cost (2003): 70 uC 21 Scheduled Communication Slots Mote A can listen more often than mote B transmits Since both are time synchronized, a different radio frequency can be used at each wakeup Time sync information transmitted in both directions with every packet A B TX, A ACK B Ch 3 Ch 4 Ch 5 Ch 6 Ch 7 Ch 8 QTX , QRX , Qlisten 22 Latency reduction Energy cost of latency reduction is easy to calculate: – Qlisten / Tlisten – E.g. 20uC/1s = 20uA Low-cost “virtual on” capability Latency vs. power tradeoff can vary by mote, time of day, recent traffic, etc. 23 Multi-hop routing Global time synchronization allows sequential ordering of links in a “superframe” Measured average latency over many hops is Tframe/2 G T2, ch y A T1, ch x B Superframe 24 Link 53 37 A link defines a timeslot and channel offset. A link consumes capacity . Links are directional. Links are associated with graphs. This is the link that uses the blue graph connection from 37 to 53 on slot 4 and offset 7 25 Link types one destination > one •Contention free one source •Collisions possible > one •Unicast •Broadcast •Acknowledged •No ACK 26 Graph 17 47 53 41 37 43 A graph is a collection of connections and the links belonging to them A graph contains both routing and capacity In our implementation, the connections cannot form loops Graphs are activated and deactivated by a management function Similarities to ATM circuits, flow labels, and Cisco tag switching (MPLS) 27 Superframe A superframe is a collection of slots that repeat periodically in cycles Binds/implements links from a graph with specific time/channel offset Superframe Unallocated Slot Allocated Slot 28 Link = (Time Slot, Channel Offset) One Slot D Time Chan. A offset BA C CA DA B BA BC E F BE BF All of B’s transmit links are dedicated and won’t collide – B has twice as much bandwidth to A as to C – B can broadcast to E and F, or use that link of a unicast to one or the other D and C share a link for transmitting to A. A backoff algorithm is needed in case of collisions. 29 Low latency – high reliability Dedicated bandwidth for first k transmissions Shared bandwidth for next j All transmissions are on different channels DR ~= 1-PERk+aj e.g. PER=0.1, 4 inputs 100ms max latency K=2, J=4 ~99.9999% 30 Low latency – multiple hops Color indicates TX slot for mote of that color 5 hops = 5 slots = 50ms Can repeat immediately, or every k slots, according to superframe length. Peak throughput with n motes in a line: 1 payload / (n*10ms) = 100/n payloads/second 31 High throughput – multiple hops Use multiple channels Odd slots Only need 2 time slots Throughput is 50 packets/second Even slots – independent of n – Limited by worst PER (not combination) Odd slots Even slots Odd slots 32 Source routes, broadcast, multicast Source routing 17 – Contains graph ID – Can transition to flood Broadcast 47 – Flood along graph – MAC & NET broadcast ID 41 80 Multicast 1 53 – MAC broadcast ID – NET multicast ID 43 81 82 Multicast 2 – Broadcast on graph covering multicast group 33 Performance Limits Data collection – 100 pkt/s per gateway channel – 16*100 pkt/s with no spatial reuse of frequency Throughput – ~80kbps secure, reliable end-to-end payload bits per second per gateway – 16 * 80k = 1.28Mbps combined payload throughput w/ no spatial reuse of frequency Latency – 10ms / PDR per hop – Statistical, but well modeled Scale – > 1,000 nodes per gateway channel 34 50 motes, 7 hops 3 floors, 150,000sf >100,000 packets/day 36 37 38 RF Path Loss – R2 ? R4 ? -20 -30 -40 -50 -60 RSSI (dBm) -70 -80 -90 -100 0 50 100 150 200 250 300 distance in feet 39 40 Path Stability by 802.15.4 Channel 2.480 GHz 802.15.4 Channels 802.15.4 802.11bg Channels 802.11bg 2.405 GHz Each dot is the 15 minute average 41 42 43 44 Oil Refinery – Double Coker Unit Scope limited to Coker facility and support units spanning over 1200ft No repeaters were needed to ensure connectivity Electrical/Mechanical GW contractor installed per wired practices >5 year life on C-cell 400m 45 Barriers to Adoption Reliability
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