ARISTOTLE UNIVERSITY OF THESSALONÍKI COMPUTER SCIENCE DEPARTMENT IoT Configuration for Industrial and Domestic Water Saving Monitoring Iraklis Moutidis Advisor: Ioannis Stamelos 1 Abstract The main objective of the thesis is to implement a water flow monitoring system, using a water flow sensor, the Arduino prototyping board and the Raspberry Pi board. The system should be efficient regarding the electricity consumption and flexible regarding the water installation it will be placed. The information obtained from the sensor(s) is uploaded to a cloud platform (Thingspeak.com) and also locally stored on the Raspberry Pi, which is used as a server for any boards like the Arduino that control a sensor. The data can be further processed to obtain more information about the water consumption of the installation. 2 Contents 1. Introduction………………………..………………………………………..………..……6 1.1 Research Background……………………………………………………………….6 1.2 Problem Statement…………………………………………………………………..7 1.3 Objective of the Study……………………………………………………………….8 1.4 Scope of the Study…………………………………………………………………..8 2. Wireless Sensor Networks………….………………………..……………………….9 2.1 Introduction…….…...………………………………………………………………...9 2.2 Types of Wireless Sensor Networks……………………………………………...10 2.3 Applications………………………………………………………………………….12 2.3.1 Military Applications…….…………………………………………………13 2.3.2 Environmental Monitoring………………………………………………..13 2.3.3 Inventory Monitoring……………………………………………………...15 2.3.4 Health Applications………………………………………………………..16 2.4 Internal Sensor System……………..……………………………………………..16 2.4.1 Operating Systems………………………………………………………..16 2.4.2 Standards…………………………………………………………………..17 2.4.3 Storage……………………………………………………………………..17 2.4.4 Testbeds……………………………………………………………………17 2.4.5 Diagnostics and Debugging Supported…………………………………18 3. Open Source Hardware………………………………………………………………..19 3.1 Introduction……………………………………………………………………………19 3.2 History……………………………...………………………………………………….19 3.3 Open Source Hardware and Business Models……………………………………20 3.4 Licenses……………………………………………………………………………….22 3.5 Open Source Hardware projects…………………………………………………...28 3.5.1 RepRap – The Replication Rapid Prototyper…………….……………...28 3.5.2 TABBY EVO: Modular open source electric car platform…….………...30 3.5.3 FarmBot Open Hardware CNC farming machine………………….……31 3.5.4 Arducopter Open Source Hardware Drone……………………………...32 3.5.5 Open Hand Project: robotic prosthetic hands…………………………...34 4. The Arduino Board………………………………………………………………………36 4.1 What is the Arduino Board?…………………………………………………………36 4.2 Arduino Variations and Replicas……………………………………………………38 4.3 Software Development………………………………………………………………40 4.4 The Arduino Board in Education……………………………………………………41 4.5 Prototyping with Arduino…………………………………………………………….43 3 5. The Raspberry Pi Board……………………………………………………………...45 5.1 About Raspberry Pi………………………………………………………………….45 5.2 Raspberry Pi and the Internet of Things………………………………………….46 5.3 Raspberry Pi Operating Systems………………………………………………….47 5.3.1 Raspbian…………………….….…………………………………………...47 5.3.2 Ubuntu Mate……………….….…………………………………………….48 5.3.3 Snappy Ubuntu……………….…………………………………………….48 5.3.4 Pidora………………………….…………………………………………….49 5.3.5 Linutop……….……………………………………………………………...50 5.3.6 SARPi………………………….………….……...………………………….50 5.3.7 Arch Linux ARM………………………….…………………………………50 5.3.8 Gentoo Linux……………………………………………………………….50 5.3.9 FreeBSD………………………………...………………………………….51 5.3.10 Kali Linux……………………………...…………………………………..51 5.4 Raspberry Pi Alternatives……………………………………………………………52 5.4.1 Odroid XU4………………………………………………………………….52 5.4.2 BeagleBoard………………………………………………………………..52 5.4.3 Intel Galileo Gen: 2………………………………………………………...53 5.4.4 Udoo Dual Basic…………………………………………………………...54 5.4.5 CubieBoard 4……………………………………………………………….54 6. Water Flow Sensors…………………………………………………………………….56 6.1 Turbine Sensors……………………………………………………………………...56 6.2 Magnetic Sensors…………………………………………………………………….57 6.3 Ultrasonic Sensors…………………………………………………………………...58 6.4 Vortex Shedding……………………………………………………………………...59 6.5 Variable Area Flow meters…………………………………………………………..60 6.6 Positive displacement floe meters………………………………………………….61 6.7 Thermal Sensors……………………………………………………………………..62 6.8 Paddle Wheel Sensors………………………………………………………………63 6.9 Differential Pressure…………………………………………………………………64 6.10 Vane/Piston………………………………………………………………………….65 7. Implemented System………………………………………………………………….66 7.1 System Components……………………………………………………………….66 7.1.1 Water Flow Sensor……………………………………………………….66 7.1.2 Arduino Bluetooth module……………………………………………….66 7.1.3 Arduino and Raspberry Pi boards………………………………………67 7.1.4 System Casing……………………………………………………………67 7.1.5 Power Supply……………………………………………………………..69 7.1.6 Android Mobile Phone/Tablet……………………………………………69 7.2 System Software……………………………………………………………………70 7.2.1 Arduino IDE………………………………………………………………..70 7.2.2 Raspbian OS………………………………………………………………70 7.2.3 VNC Viewer………………………………………………………………..70 7.3 System Configuration……………………………………………………………….71 7.4 Energy Consumption of the System………………………………………………72 7.5 System Code………………………………………………………………………...73 4 8. Conclusion…………………………………………………………………………...76 References…………………………………………………………………….………....77 Appendix A: Installation Manual……………………………………………..…..81 A.1 Equipment and Software………………………………………………………81 A.2 Hardware Configuration………………………………………………………..82 A.3 Software Configuration………………………………………………………...83 A.3.1 Uploading the code to Arduino……………………………………...83 A.3.2 Installing the Raspbian OS to the Raspberry Pi…………………..84 5 1.Introduction 1.1 Research Background During the last years, technologies and applications such as, smart grids, smart homes, smart water networks, intelligent transportation are infrastructure systems that have spread more than any optimistic prediction about this technology could tell. The concept that includes all of these technologies is the Internet of Things (IoT), where through the use of sensors and control devices, the infrastructure components of an installation are enhanced with information and communication technologies. Interconnected embedded devices can manage and monitor any given infrastructure in an intelligent manner, utilizing transmissions of measurement information and control commands via distributed sensor networks. A wireless sensor network (WSN) is a network formed by a large number of sensor nodes where each node is equipped with a sensor to detect physical phenomena such as water flow, light, heat, pressure etc. Wireless sensor networks are regarded as a revolutionary information gathering method to build the information and communication system which will greatly improve the reliability and efficiency of infrastructure systems. Compared with a wired solution, WSNs feature easier deployment and better flexibility of devices. With the rapid technological development of sensors, wireless sensor networks will become the key technology for IoT applications. On the other hand there are some challenges that WSNs must surpass such as energy consumption and network range. Methodologies for more optimized data and command transmissions has been tested during the implementation of our approach in order the deployed sensors will consume the minimum energy possible. Taking advantage of open source hardware technologies can help us implement our sensor network efficiently and with low cost. "Open source hardware," refers to the design specifications of a physical object which are licensed in such a way that said object can be studied, modified, created, and distributed by anyone. Like open source software, open source hardware uses intellectual property laws creatively to make hardware designs publicly accessible. Many projects use existing free and open source software licenses when licensing their works (GPL, FreeBSD, MIT). Others use the Creative Commons By Attribution licenses, which are more focused on the features of works of art, as opposed to software. Very useful open hardware devices for sensor networks can be the Arduino microcontroller board and the Raspberry Pi board. IoT installations can provide a big amount of information regarding the usage of it, the consumption of different resources and the “habits” of the users. Analyzing this information we can obtain valuable indications about how we can save our resources, detect malfunctions of the facility or even give the appropriate commands in order to use a given facility more efficiently. On this thesis we discuss the use of wireless sensor networks in the wider context of IoT for monitoring and controlling the water flow of a domestic or an industrial infrastructure. 6 1.2 Problem Statement Managing our resources is a big task that takes a lot of effort and time. There are approaches both in industry and in households that try to save resources such as electricity, water and fuel. New devices, strategies and methods have been tested in order to use our resources more efficiently. In all cases we need a method to measure how much we consume using a given approach, in order to evaluate how much of that resource we save. Monitoring the resource consumption, can also help us to decide which approaches are more suitable for our infrastructure, reveal problems on our facilities (leaks, malfunctions) and guide us to new strategies about the usage of our resources. Resource monitoring can be a very challenging task, depending the environment, the location, duration of the measurement and what kind of resource we need to measure. The measuring configuration should be easy to install and use by the user or to be configured once from an expert and then used. It must also