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Synchronous Data Acquisition with Wireless Sensor Networks the Scientifc Series Advances in Automation Engineering Is Edited by Prof Advances in Automaton Engineering Band 4 Editor: Clemens Gühmann Jürgen Helmut Funck Synchronous data acquisiton with wireless sensor networks Universitätsverlag der TU Berlin Jürgen Helmut Funck Synchronous data acquisition with wireless sensor networks The scientifc series Advances in Automation Engineering is edited by Prof. Dr.-Ing. Clemens Gühmann. Advances in Automation Engineering | 4 Jürgen Helmut Funck Synchronous data acquisition with wireless sensor networks Universitätsverlag der TU Berlin Bibliographic information published by the Deutsche Nationalbibliothek The Deutsche Nationalbibliothek lists this publication in the Deutsche Nationalbibliografe; detailed bibliographic data are available on the Internet at http://dnb.dnb.de. Universitätsverlag der TU Berlin, 2018 http://verlag.tu-berlin.de Fasanenstr. 88, 10623 Berlin Tel.: +49 (0)30 314 76131 / Fax: -76133 E-Mail: [email protected] Zugl.: Berlin, Techn. Univ., Diss., 2017 Gutachter: Prof. Dr.-Ing. Clemens Gühmann Gutachter: Prof. Dr.-Ing. Gerd Scholl Gutachter: Prof. Dr.-Ing. Reinhold Orglmeister Die Arbeit wurde am 12. Oktober 2017 an der Fakultät IV unter Vorsitz von Prof. Dr.-Ing. Olaf Hellwich erfolgreich verteidigt. This work is protected by copyright. Cover image: vickysandoval22 | https://www.fickr.com/photos/115327016@ N06/12603289253/ | CC BY 2.0 https://creativecommons.org/licenses/by/2.0/ Print: docupoint GmbH Layout/Typesetting: Jürgen Helmut Funck ISBN 978-3-7983-2980-5 (print) ISBN 978-3-7983-2981-2 (online) ISSN 2509-8950 (print) ISSN 2509-8969 (online) Published online on the institutional Repository of the Technische Universität Berlin: DOI 10.14279/depositonce-6716 http://dx.doi.org/10.14279/depositonce-6716 Credits This thesis is the result of my time as research assistant at the Chair of Electronic Measurement and Diagnostic Technology at the Technische Universitat¨ Berlin. I’d like to take this opportunity to give my special thanks to Prof. Dr.-Ing. Clemens Guhmann,¨ the head of this chair, who encouraged my research into the topic and has shown a consistent, benevolent interest in my work. Furthermore, I’d like to thank Prof. Dr.-Ing. Gerd Scholl, head of the Chair of Electrical Measurement Engineering at the Helmut-Schmidt-University, University of the Federal Armed Forces Hamburg, and Prof. Dr.-Ing. Reinhold Orglmeister, head of the Chair of Electronics and Medical Signal Processing at the Technische Universitat¨ Berlin, for spending their time to examine this rather comprehensive thesis. My thanks also go to Prof. Dr.-Ing. Olaf Hellwich, head of the Chair of Computer Vision and Remote Sensing at the Technische Universitat¨ Berlin, who acted as a mentor for me in my frst years of study and now chaired my doctoral committee. I’d also like to express my appreciation for my former colleagues at the Chair of Elec- tronic Measurement and Diagnostic Technology, the talks and discussions with whom inspired and encouraged me. They contributed to an amiable working atmosphere that was a constant source of support. I owe thanks to the members of the joint mechatronic workshop of the Chairs of Elec- tronic Measurement and Diagnostic Technology and of Electronic and Medical Signal Processing for helping me to reft and extent the induction motor test bench as well as for etching innumerable PCB-layouts for my research. Furthermore, I thank Dr.-Ing. Henri Kretschmer and Mr. Torsten Huter¨ from the Virte- nio GmbH for readily supporting me, when I had questions regarding the sensor nodes or their programming. I also like to thank the students who I was allowed to counsel during their projects, bachelor’s and master’s theses. They helped to extend the capabilities of the wireless sensor network and thus made it more useful not only for my research but also for other research projects. Finally, I’d like to thank my friends and family for their unconditional support and understanding during all phases of my research. v Abstract Wireless sensor networks (WSN) are predicted to play a key role in future technological developments like the internet of things. Already they are beginning to be used in many applications not only in the scientifc and industrial domains. One of the biggest challenges, when using WSNs, is to fuse and evaluate data from diferent sensor nodes. Synchronizing the data acquisition of the nodes is a key enabling factor for this. So far research has been focused on synchronizing the clocks of the nodes, largely neglecting the implications for the actual measurement results. This thesis investigates the relation between synchronization accuracy and quality of measurement results. Two diferent classes of time synchronous data acquisition are investigated: event detection and waveform sampling. A model is developed that de- scribes a WSN as a generic multi-channel data acquisition system, thus enabling direct comparison to other existing systems. With the help of this model it is shown, that syn- chronization accuracy should best be expressed as uncertainty of the acquired timing information. This way, not only the contribution of the synchronization to the over- all measurement uncertainty can be assessed, but also the synchronization accuracy required for an application can be estimated. The insights from the uncertainty analysis are used to develop two distinct approaches to synchronous data acquisition: a proactive and a reactive one. It is shown that the reactive approach can also be used to efciently implement synchronous angular sam- pling, i.e. data acquisition synchronous to the rotation of a machine’s shaft. Further- more, testing methods are suggested, that evaluate the synchronized data acquisition of an existing WSN as a whole. These methods can be applied to other data acquisition systems without changes, thus enabling direct comparisons. The practical realization of a WSN is described, on which the developed data acqui- sition methods have been implemented. All implementations were thoroughly tested in experiments, using the suggested testing methods. This way it was revealed, that a system’s interrupt handling procedures may have a strong infuence on the data acquisi- tion. Furthermore, it was shown that the efective use of fxed-point arithmetic enables synchronous angular sampling in real-time during a streaming measurement. Finally, two application examples are used to illustrate the utility of the implemented data ac- quisition: the acoustic localization of two sensor nodes on a straight line and a simple order tracking at an induction motor test bench. vii Kurzfassung Drahtlose Sensor Netzwerke (WSN) werden voraussichtlich entscheidend fur¨ techni- sche Entwicklungen wie das Internet der Dinge sein. Schon jetzt werden sie in zahl- reichen Anwendungen u.a. in Wissenschaft und Industrie eingesetzt. Eine der großten¨ Herausforderungen hierbei ist, die Daten von verschiedenen Sensorknoten gemeinsam auszuwerten. Dies ist oft dann nur sinnvoll moglich,¨ wenn die Daten synchron auf- genommen wurden. Bisher konzentrierte sich Forschung auf die Synchronisation der Uhren auf den Sensorknoten. Die Auswirkungen auf die Messergebnisse selbst wurden hingegen kaum untersucht. Diese Dissertation untersucht die Zusammenhange¨ zwischen Synchronisationsgenau- igkeit und Qualitat¨ der Messergebnisse. Zwei Klassen von zeitsynchroner Datenerfas- sung werden dabei betrachtet: die Detektion von Ereignissen und die Aufnahme von Kurvenformen. Es wird ein Modell entwickelt, welches ein WSN als ein allgemeines mehrkanaliges Datenerfassungssystem beschreibt. Dies ermoglicht¨ den direkten Ver- gleich zwischen WSN und anderen Messsystemen. Weiter wird mit Hilfe des Modells gezeigt, dass die Synchronisationsgenauigkeit vorzugsweise als Unsicherheit der Zeit- information angegeben werden sollte. Hierdurch kann nicht nur der Beitrag der Syn- chronisation zur gesamten Messunsicherheit bestimmt, sondern auch die von einer An- wendung tatsachlich¨ benotigte¨ Synchronisationsgenauigkeit abgeschatzt¨ werden. Ausgehend von den durch die Unsicherheitsbetrachtung gewonnenen Erkenntnissen werden ein proaktiver und ein reaktiver Ansatz zur synchronen Datenaufnahme entwi- ckelt. Mit dem reaktiven Ansatz konnen¨ Messdaten auch efzient drehwinkelsynchron, d. h. synchron zur Drehbewegung einer Maschinenwelle, aufgenommen werden. Es werden Testverfahren vorgeschlagen, mit denen sich die Synchronizitat¨ der Datenerfas- sung fur¨ ein WSN als Ganzes uberpr¨ ufen¨ lasst.¨ Diese Verfahren lassen sich unverandert¨ auf andere Messsysteme anwenden und ermoglichen¨ somit direkte Vergleiche. Es wird die praktische Umsetzung eines WSN beschrieben, auf dem die entwickelten Methoden zur Datenerfassung implementiert wurden. Alle Implementierungen wurden mit den vorgeschlagenen Testverfahren untersucht. Hierdurch konnte gezeigt werden, dass die Interrupt-Bearbeitung der Sensorknoten entscheidenden Einfuss auf die Mess- datenerfassung hat. Weiter konnte durch den Einsatz von Fixed-Punkt-Arithmetik die drehwinkelsynchrone Datenerfassung in Echtzeit realisiert werden. Schließlich wird die Nutzlichkeit¨ der implementierten Datenerfassung an zwei Anwendungen gezeigt: der akustischen Ortung zweier Sensorknoten sowie einer einfachen Ordnungsanalyse. viii Contents 1. Introduction1 1.1. Thesis structure . .2 1.2. Thesis contribution . .3 2. Literature review5 2.1. Wireless sensor networks . .5 2.1.1. Hardware . .5 2.1.2. Software . 13 2.1.3. Network topologies . 16 2.1.4. Network protocols . 18 2.1.5. Conclusions . 27 2.2. Time synchronization protocols . 28 2.2.1. Classes
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