Ultra-Low Energy Wireless Sensor Networks in Practice

Timo D. Hämäläinen is Professor and Institute Vice President at Tampere University of Technology, Finland. Timo acted as a senior research scientist and project manager at TUT from 1997-2001. In 2001 he was nominated full professor at TUT/Institute of Digital and Computer Systems. He heads the DACI research group that focuses on three main lines: wireless local area networking and wireless sensor networks, high-performance DSP/HW based video encoding, and interconnection networks with design flow tools for heterogeneous SoC platforms. He has published over 30 refereed international journals and over 150 conference publications. Marko Hännikäinen is Senior Research Scientist and Mauri Kuorilehto, Mikko Kohvakka, Jukka Suhonen, Panu Hämäläinen are all Research Scientists at Tampere University of Technology, Finland.

• Preface xiiiList of Abbreviations xvPART I INTRODUCTION 11 Introduction 31.1 Overview of Wireless Technologies 31.2 TUTWSN 51.3 Contents of the Book 6PART II DESIGN SPACE OF WSNS 72 WSN Properties 92.1 Characteristics of WSNs 92.2 WSN Applications 112.2.1 Commercial WSNs 122.2.2 Research WSNs 142.3 Requirements for WSNs 163 Standards and Proposals 193.1 Standards 193.1.1 IEEE 1451 Standard 193.1.2 IEEE 802.15 Standard 213.2 Variations of Standards 283.2.1 Wibree 283.2.2 Z-Wave 283.2.3 MiWi 284 Sensor Node Platforms 294.1 Platform Components 294.1.1 Communication Subsystem 304.1.2 Computing Subsystem 334.1.3 Sensing Subsystem 334.1.4 Power Subsystem 344.2 Existing Platforms 364.3 TUTWSN Platforms 394.3.1 Temperature-sensing Platform 394.3.2 SoC Node Prototype 434.3.3 Ethernet Gateway Prototype 444.4 Antenna Design 464.4.1 Antenna Design Flow 464.4.2 Planar Antenna Types 484.4.3 Trade-Offs in Antenna Design 495 Design of WSNs 515.1 Design Dimensions 515.2 WSN Design Flow 545.3 Related Research on WSN Design 565.3.1 WSN Design Methodologies 565.4 WSN Evaluation Methods 605.5 WSN Evaluation Tools 615.5.1 Networking Oriented Simulators for WSN 615.5.2 Sensor Node Simulators 625.5.3 Analysis of Evaluation Tools 63PART III WSN PROTOCOL STACK 676 Protocol Stack Overview 696.1 Outline of WSN Stack 696.1.1 Physical Layer 706.1.2 Data Link Layer 716.1.3 Network Layer 716.1.4 Transport Layer 716.1.5 Application Layer 727 MAC Protocols 737.1 Requirements 737.2 General MAC Approaches 757.2.1 Contention Protocols 757.2.2 Contention-free Protocols 777.2.3 Multichannel Protocols 787.3 WSN MAC Protocols 807.3.1 Synchronized Low Duty-cycle Protocols 807.3.2 Unsynchronized Low Duty-cycle Protocols 857.3.3 Wake-up Radio Protocols 877.3.4 Summary 888 Routing Protocols 918.1 Requirements 918.2 Classifications 928.3 Operation Principles 938.3.1 Nodecentric Routing 938.3.2 Data-centric Routing 948.3.3 Location-based Routing 958.3.4 Multipath Routing 978.3.5 Negotiation-based Routing 978.3.6 Query-based Routing 988.3.7 Cost Field-based Routing 998.4 Summary 1019 Middleware and Application Layer 1039.1 Motivation and Requirements 1039.2 WSN Middleware Approaches 1059.3 WSN Middleware Proposals 1069.3.1 Interfaces 1069.3.2 Virtual Machines 1079.3.3 Database Middlewares 1079.3.4 Mobile Agent Middlewares 1089.3.5 Application-driven Middlewares 1089.3.6 Programming Abstractions 1099.3.7 WSN Middleware Analysis 11010 Operating Systems 11510.1 Motivation and Requirements 11510.1.1 OS Services and Requirements 11610.1.2 Implementation Approaches 11710.2 Existing OSs 11910.2.1 Event-handler OSs 12010.2.2 Preemptive Multithreading OSs 12110.2.3 Analysis 12111 QoS Issues in WSN 12511.1 Traditional QoS 12511.2 Unique Requirements in WSNs 12511.3 Parameters Defining WSN QoS 12611.4 QoS Support in Protocol Layers 12811.4.1 Application Layer 12811.4.2 Transport Layer 12811.4.3 Network Layer 12911.4.4 Data Link Layer 13011.4.5 Physical Layer 13111.5 Summary 13112 Security in WSNs 13312.1 WSN Security Threats and Countermeasures 13312.1.1 Passive Attacks 13412.1.2 Active Attacks 13412.2 Security Architectures for WSNs 13512.2.1 TinySec 13512.2.2 SPINS 13612.2.3 IEEE 802.15.4 Security 13612.2.4 ZigBee Security 13712.2.5 Bluetooth Security 13912.3 Key Distribution in WSNs 14012.3.1 Public-key Cryptography 14012.3.2 Pre-distributed Keys 14012.3.3 Centralized Key Distribution 14112.4 Summary of WSN Security Considerations 142PART IV TUTWSN 14313 TUTWSN MAC Protocol 14513.1 Network Topology 14513.2 Channel Access 14713.3 Frequency Division 14913.4 Advanced Mobility Support 15213.4.1 Proactive Distribution of Neighbor Information 15313.4.2 Neighbor-discovery Algorithm 15413.4.3 Measured Performance of ENDP Protocol 15813.5 Advanced Support for Bursty Traffic 15913.5.1 Slot Reservations within a Superframe 16013.5.2 On-demand Slot Reservation 16113.5.3 Traffic-adaptive Slot Reservation 16113.5.4 Performance Analysis 16213.6 TUTWSN MAC Optimization 16513.6.1 Reducing Radio Requirements 16513.6.2 Network Beacon Rate Optimization 17013.7 TUTWSN MAC Implementation 17913.8 Measured Performance of TUTWSN MAC 18014 TUTWSN Routing Protocol 18314.1 Design and Implementation 18314.2 Related Work 18314.3 Cost-Aware Routing 18414.3.1 Sink-initiated Route Establishment 18514.3.2 Node-initiated Route Discovery 18514.3.3 Traffic Classification 18614.4 Implementation 18714.4.1 Protocol Architecture 18714.4.2 Implementation on TUTWSN MAC 18814.5 Measurement Results 18814.5.1 Network Parameter Configuration 18914.5.2 Network Build-up Time 18914.5.3 Distribution of Traffic 19014.5.4 End-to-end Delays 19215 TUTWSN API 19315.1 Design of TUTWSN API 19415.1.1 Gateway API 19415.1.2 Node API 19615.2 TUTWSN API Implementation 19715.2.1 Gateway API 19815.2.2 Node API 19815.3 TUTWSN API Evaluation 20015.3.1 Ease of Use 20015.3.2 Resource Consumption 20015.3.3 Operational Performance 20116 TUTWSN SensorOS 20316.1 SensorOS Design 20316.1.1 SensorOS Architecture 20416.1.2 OS Components 20416.2 SensorOS Implementation 20616.2.1 HAL Implementation 20616.2.2 Component Implementation 20716.3 SensorOS Performance Evaluation 21016.3.1 Resource Usage 21016.3.2 Context Switch Performance 21016.4 Lightweight Kernel Configuration 21116.4.1 Lightweight OS Architecture and Implementation 21116.4.2 Performance Evaluation 21216.5 SensorOS Bootloader Service 21316.5.1 SensorOS Bootloader Design Principles 21316.5.2 Bootloader Implementation 21317 Cross-layer Issues in TUTWSN 21717.1 Cross-layer Node Configuration 21717.1.1 Application Layer 21917.1.2 Routing Layer 21917.1.3 MAC Layer 21917.1.4 Physical Layer 22017.1.5 Configuration Examples 22017.2 Piggybacking Data 22317.3 Self-configuration with Cross-layer Information 22417.3.1 Frequency and TDMA Selection 22417.3.2 Connectivity Maintenance 22417.3.3 Role Selection 22518 Protocol Analysis Models 22718.1 PHY Power Analysis 22718.2 Radio Energy Models 22918.2.1 TUTWSN Radio Energy Models 23018.2.2 ZigBee Radio Energy Models 23218.3 Contention Models 23418.3.1 TUTWSN Contention Models 23418.3.2 ZigBee Contention Models 23518.4 Node Operation Models 23818.4.1 TUTWSN Throughput Models 23818.4.2 ZigBee Throughput Models 23918.4.3 TUTWSN Power Consumption Models 24018.4.4 ZigBee Power Consumption Models 24318.5 Summary 24519 WISENES Design and Evaluation Environment 24719.1 Features 24719.2 WSN Design with WISENES 24819.3 WISENES Framework 24919.3.1 Short Introduction to SDL 25119.3.2 WISENES Instantiation 25219.3.3 Central Simulation Control 25319.3.4 Transmission Medium 25319.3.5 Sensing Channel 25419.3.6 Sensor Node 25419.4 Existing WISENES Designs 25619.4.1 TUTWSN Stack 25819.4.2 ZigBee Stack 26019.5 WISENES Simulation Results 26319.5.1 Simulated Node Platforms 26419.5.2 Accuracy of Simulation Results 26619.5.3 Protocol Comparison Simulations 268PART V DEPLOYMENT 27720 TUTWSN Deployments 27920.1 TUTWSN Deployment Architecture 28020.1.1 WSN Server 28120.1.2 WSN and Gateway 28220.1.3 Database 28220.1.4 User Interfaces 28220.2 Network Self-diagnostics 28320.2.1 Problem Statement 28320.2.2 Implementation 28420.3 Security Experiments 29020.3.1 Experimental KDC-based Key Distribution and Authentication Scheme 29120.3.2 Implementation Experiments 29121 Sensing Applications 29321.1 Linear-position Metering 29321.1.1 Problem Statement 29321.1.2 Implementation 29421.1.3 Results 29621.2 Indoor-temperature Sensing 29721.2.1 WSN Node Design 29821.2.2 Results 29821.3 Environmental Monitoring 30021.3.1 Problem Statement 30021.3.2 Implementation 30021.3.3 Results 30622 Transfer Applications 31322.1 TCP/IP for TUTWSN 31322.1.1 Problem Statement 31322.1.2 Implementation 31422.1.3 Results 31622.2 Realtime High-performance WSN 31822.2.1 Problem Statement 31822.2.2 Implementation 31822.2.3 Results 32423 Tracking Applications 32723.1 Surveillance System 32723.1.1 Problem Statement 32823.1.2 Surveillance WSN Design 32823.1.3 WSN Prototype Implementation 33123.1.4 Surveillance WSN Implementation on TUTWSN Prototypes 33223.2 Indoor Positioning 33423.2.1 Problem Statement 33523.2.2 Implementation 33523.3 Team Game Management 34223.3.1 Problem Statement 34323.3.2 Implementation 34323.3.3 Example Application Scenario 345PART VI CONCLUSIONS 34924 Conclusions 351References 353Index 369

"Ultra-Low Energy Wireless Sensor Networks in Practice stands by itself as an essential guide to a promising-and potentially disruptive technology." (RFID Journal, February 2009)