Building blocks for the internet of things Citation for published version (APA): Stolikj, M. (2015). Building blocks for the internet of things. Technische Universiteit Eindhoven. Document status and date: Published: 01/01/2015 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. 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ISBN: 978-90-386-3928-4 Building Blocks for the Internet of Things PROEFSCHRIFT ter verkrijging van de graad van doctor aan de Technische Universiteit Eindhoven, op gezag van de rector magnificus prof.dr.ir. F.P.T. Baaijens, voor een commissie aangewezen door het College voor Promoties in het openbaar te verdedigen op maandag 19 oktober 2015 om 16.00 uur door Milosh Stolikj geboren te Skopje, Macedonië Dit proefschrift is goedgekeurd door de promotor en de samenstelling van de promotiecommissie is als volgt: voorzitter: prof.dr. J. de Vlieg 1e promotor: prof.dr. J.J. Lukkien copromotor: dr.ir. P.J.L. Cuijpers leden: prof.dr.ir. O.J. Boxma prof.dr.ing. P.J.M. Havinga (University of Twente) dr. L. Almeida (University of Porto) prof.dr. H. Corporaal prof.dr. M.G.J. van den Brand PREFACE This thesis is the result of four inspiring years of work in the System Architecture and Networking Group (SAN) at the Eindhoven University of Technology. It would not have come to life without the help of many people, to whom I would like to express my gratitude. First of all, I would like to thank my promoter, prof. dr. Johan J. Lukkien, for giving me the chance to pursue a doctoral degree within SAN. I thoroughly enjoyed our collaboration over the years, and I am grateful for giving me freedom to explore my own path, as well as guiding me when needed. My work and research would have not reached this level without your enthusiasm to invest in and to expand my aspirations. I also want to thank my supervisor, dr. ir. Pieter J. L. Cuijpers, for getting me through the daily hurdles. I appreciate the discussions we had, the useful observations and insights in a lot of strange, new topics, especially since I always had an opponent with a different point of view. I would like to thank all the members of the reading committee, prof.dr.ir. Onno J. Boxma, prof.dr.ing. Paul J.M. Havinga, dr. Luis Almeida, prof.dr. Henk Corporaal and prof.dr. Mark G.J. van den Brand for reviewing the thesis. I enjoyed reading your comments and discussions, and I believe that your feedback improved the quality of the thesis. During the past four years, I collaborated with several people. Their contributions were invaluable to me, and shaped my work. I would like to thank Richard Verhoeven for helping out with the technical problems that I struck upon. It is great when you know that there is someone capable of solving practically anything you throw at them. I was fortunate to supervise Nina Buchina as a Master student, and I am grateful for her hard work. I would like to thank everyone involved in the SenSafety project for listening to my ideas, contributing during the plenary meetings, and socializing during the community days. I especially want to thank Thomas M.M. Meyfroyt, for the effort and energy spent during our collaboration. I really appreciated your strong analytical view on things, and the endless motivation you bring. Thanks to your eagerness and drive, we were able to quickly tackle some inter- esting problems, and of course, share the experience of presenting them to the rest of the community. This collaboration would not have been possible without the support of prof.dr. Johan J. Lukkien and prof.dr.ir. ii Onno J. Boxma. I would like to thank them for their insights during our meetings, and for reviewing our ideas and papers. I probably would not have done my PhD in the Netherlands if it was not for Jasen Markovski. I would like to thank him and Natasha Jovanovich for reaching out and connecting me with the right people, for advising me throughout these four years, and for helping me settle in. You were an inspiration for me to push further when things were difficult. I would like to thank my former colleagues from the Institute of Infor- matics, in Skopje, Macedonia. In particular, I thank Katerina Zdravkova, Nevena Ackovska, Anastas Mishev and Boro Jakimovski, for introducing me to science, and striking that research vibe that I continued to explore further. My stay in the Netherlands was made a lot easier by my colleagues. I would like to thank Mike Holenderski, Martijn van den Heuvel and Vinh Bui, for making me feel welcome, for helping me with administrative troubles, language barriers, and social endeavours. I would like to thank everyone at SAN, for the shared lunches, coffee breaks, and social events. Thank you for making life at work pleasant and entertaining. Life in the Netherlands was a lot of fun. For that, I have to thank all my friends in and around Eindhoven, for the many shared nights out, road trips, table tennis sessions, barbecues, etc. Also, I would like to thank my friends from Macedonia, for providing the necessary distractions while being back home, as well as for visiting and helping me explore a new country. Thank you for not forgetting your remote friends and for staying in touch. I owe a great deal of gratitude to my parents, Elica and Novica, and my sister, Ana, for the constant love and support. Thank you for all your sacrifices, patience and encouragement to become the person that I am now. This thesis is as much your accomplishment as it is mine. Last but not least, I would like to express deep gratitude to my partner, Aleksandra, for all her love, caring and patience during these four years. Thank you for encouraging me to endure this journey and for being there every step of the way. I hope that I can be as supportive of you as you have been with me. Milosh Stolikj Eindhoven, September 2015 CONTENTS Prefacei 1 Introduction1 1.1 Introduction.........................2 1.2 IoT challenges........................4 1.3 Context and motivation..................5 1.4 Questions and contributions................7 1.5 Outline........................... 10 2 System architecture 13 2.1 Introduction......................... 14 2.2 IoT use cases........................ 14 2.3 Requirements........................ 16 2.3.1 Domain constraints................. 16 2.3.2 Hardware constraints............... 17 2.3.3 Power constraints.................. 18 2.3.4 Network constraints................ 19 2.3.5 Summary: Issues and Requirements....... 19 2.4 IoT application design................... 21 2.5 Software protocols for IoT................. 24 2.5.1 Physical and link layer............... 24 2.5.2 Network and transport layer............ 25 2.5.3 Application layer.................. 27 2.6 IoT system architecture.................. 29 2.6.1 Concepts...................... 31 2.6.2 Viewpoints..................... 34 2.6.3 Example implementation over IEEE 802.15.4.. 38 2.6.4 Open problems................... 42 2.7 Conclusion......................... 43 3 Software update 45 3.1 Introduction......................... 46 3.2 Related work........................ 50 3.2.1 Incremental update................. 50 3.2.2 Incremental update in consumer electronic devices 51 3.2.3 Software update in WSNs............. 51 3.2.4 Multi-version software update........... 52 iv Contents 3.3 Optimizing software updates............... 53 3.3.1 Data compression algorithms........... 53 3.3.2 Delta encoding algorithms............. 54 3.3.3 Horizontal Patching................ 58 3.4 Evaluation.......................... 63 3.4.1 Metrics....................... 63 3.4.2 Data compression and incremental updates..