SpringerBriefs in Electrical and Computer Engineering For further volumes: http://www.springer.com/series/10059 Jukka Suhonen • Mikko Kohvakka • Ville Kaseva Timo D. Hämäläinen • Marko Hännikäinen Low-Power Wireless Sensor Networks Protoco ls, Services and Applications Jukka Suhonen Mikko Kohvakka Tampere University of Technology Suntrica Ltd Finland Tampere [email protected] Finland Ville Kaseva Timo D. Hämäläinen Tampere University of Technology Tampere University of Technology Finland Finland Marko Hännikäinen Tampere University of Technology Finland ISSN 2191-8112 e-ISSN 2191-8120 ISBN 978-1-4614-2172-6 e-ISBN 978-1-4614-2173-3 DOI 10.1007/978-1-4614-2173-3 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 2011946225 © The Authors() 2012 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Preface Wireless sensor networks (WSN) is a family of technologies which combine sens- ing, data processing, and wireless ad-hoc networking, and enable new application scenarios. A networked sensor can be a radar station, pollution monitor, video cam- era, mobile phone, heart rate monitor, or an ID tag. In this book, we take resource contained WSN technologies into study. These kinds of WSN nodes are small, cheap, operate on batteries, and automatically form networks of thousands of measurements points. Together, the nodes form a dis- tributed platform performing monitoring, object tracking, and control functions. These kinds of ubiquitous WSNs are an enabling technology for environmental and condition monitoring, home automation, security and alarm systems, indus- trial monitoring and control, military reconnaissance and targeting, and interactive games, to mention just a few. This book describes low-power WSN as a platform by presenting the WSN ser- vices that can be used as building blocks for the applications. It explains the impli- cations of resource constraints and expected performance in terms of throughput, reliability and latency. The book builds on our experiences on developing WSN platforms, protocols, and prototyping with different applications. The book eases going through the vast design space of WSNs when putting together the platforms, communications, and application requirements. The book is a concise report of the state of the art in resource contained WSNs, making it easier for students, engineers, and researchers to adopt this emerging area of technology. Tampere, Finland, Authors November 2011 v Contents 1 Low-power WSN Technology .................................... 1 1.1 WSN and Other Wireless Technologies . ...................... 1 1.2 Characteristics of Low-power WSNs .......................... 2 1.3 Quality of Service Requirements .............................. 4 1.4 Services for Sensing and Actuation Applications . ............. 5 References ..................................................... 6 2 Key Standards and Industry Specifications ........................ 7 2.1 IEEE 802.15 Standard Family . .............................. 8 2.2 ZigBee . ................................................. 10 2.3 6LoWPAN ................................................ 11 2.4 Z-Wave................................................... 11 2.5 WirelessHART and ISA100.11a .............................. 12 2.6 Bluetooth Low Energy . ................................... 12 2.7 ANT and ANT+ ........................................... 12 2.8 ONE-NET ................................................ 13 2.9 DASH7................................................... 13 2.10 IEEE 1902.1 . ............................................ 14 2.11 IEEE 1451 ................................................ 14 References ..................................................... 14 3 Hardware Platforms and Components ............................ 17 3.1 Communication subsystem . ............................... 18 3.2 Computing subsystem ....................................... 19 3.3 Sensing subsystem . ........................................ 20 3.4 Power subsystem . ........................................ 21 3.4.1 Energy Storage ...................................... 21 3.4.2 Energy Scavenging . ................................. 21 3.4.3 Voltage Regulators . ................................. 23 3.5 Existing Platforms . ........................................ 23 References ..................................................... 25 vii viii Contents 4 Communication Protocols ....................................... 27 4.1 Medium Access Control Features and Services . ................. 27 4.1.1 Low-Energy MAC Design ............................. 27 4.1.2 MAC Technologies. ................................. 28 4.1.3 Unsynchronized Low Duty-Cycle MAC Protocols . ...... 29 4.1.4 Synchronized Low Duty-Cycle MAC Protocols . .......... 30 4.1.5 Performance Comparison ............................. 32 4.2 Routing Paradigms and Techniques. .......................... 35 4.2.1 Node-centric Routing ................................. 36 4.2.2 Data-centric Routing ................................. 36 4.2.3 Location-based Routing . ............................. 37 4.2.4 Multipath Routing . ................................. 38 4.2.5 Cost-based Routing . ................................. 38 4.3 Transport Protocols . ........................................ 39 References ..................................................... 40 5 Software and Middleware Services ............................... 43 5.1 Sensor Operating Systems ................................... 43 5.1.1 Implementation Approaches . ........................ 44 5.1.2 Existing Operating Systems . ........................ 45 5.2 Middlewares. ............................................ 46 5.3 Localization . ............................................ 47 5.3.1 RF-based Localization . ............................. 48 5.3.2 Localization with Ultrasound . ........................ 50 5.3.3 Localization with Infrared ............................. 51 5.3.4 Data Fusion . ...................................... 51 5.4 Time Synchronization ....................................... 51 5.4.1 Tree-Based Time Synchronization . .................... 52 5.4.2 Flooding-Based Time Synchronization . ............... 54 5.4.3 Reference Broadcasting . ............................. 55 5.4.4 Co-operative Time Synchronization . .................... 56 5.4.5 Delay-Based Time Synchronization . .................... 56 References ..................................................... 57 6 Sensor Data Collection .......................................... 61 6.1 Gateway Interfaces . ........................................ 62 6.2 Data Collection Services . ................................... 62 6.2.1 Sensor Web Enablement . ............................. 62 6.2.2 Research proposals . ................................. 64 6.3 6LoWPAN ................................................ 65 6.4 Deployment Support and Diagnostics .......................... 66 6.4.1 Passive monitoring . ................................. 66 6.4.2 Deployment Support Networks . ........................ 67 6.4.3 In-Network Diagnostics . ............................. 68 References ..................................................... 69 Contents ix 7 Experiments ................................................... 71 7.1 Low-Energy TUTWSN. ................................... 71 7.1.1 Scalability .......................................... 72 7.1.2 Power Consumption . ................................. 73 7.1.3 Availability and End-to-end Reliability . ............... 73 7.2 Low-Latency TUTWSN . ................................... 74 7.2.1 Power Consumption and Network Lifetime .............. 75 7.2.2 Delay and Throughput ................................ 76 References ..................................................... 76 8 Summary ..................................................... 79 Index ............................................................. 81 Acronyms 6LoWPAN IPv6 over Low power Wireless Personal Area Networks ACL Access Control List ADC Analog-to-Digital Converter API Application Programming Interface APS Application Support ASIC Application Specific Integrated Circuit BAN Body Area Network CAN Controller Area Network CAP Contention Access Period CDMA Code Division Multiple Access CFP Contention-Free Period COTS Commercial Off-The-Shelf CRC Cyclic Redundancy Check CSMA/CA Carrier Sense Multiple Access with Collision Avoidance CSS Chirp Spread Spectrum CTS Clear-To-Send DC Direct Current DMTS Delay Measurement Time Synchronization DSN Deployment Support Network EEPROM Electrically Erasable Programmable Read-Only Memory ERP Election/Re-election Procedure FDMA Frequency Division Multiple Access FFD Full Function Device GPS Global Positioning System GPRS General Packet Radio