Réseaux de capteurs sans fil: comment fournir la qualité de service tout en économisant l énergie

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1 Réseaux de capteurs sans fil: comment fournir la qualité de service tout en économisant l énergie Ye-Qiong SONG LORIA - Université de Lorraine song@loria.fr Ecole d été temps réel 2013 Toulouse 30/08/2013

2 Context and motivation WSAN (Wireless Sensor and Actuator Networks)! CPS (Cyber-Physical Systems) Need of QoS for interacting with the physical world Need to minimize energy consumption since battery-powered wireless device Need self-adaptation protocols since highly dynamic multi-hop networks

3 Agenda State of the art low-power MAC protocols (duty-cycle) iqueue-mac: a queue length-aware hybrid CSMA and TDMA MAC protocol for traffic adaptive duty-cycle Introduction to energy-aware QoS routing

4 Fixed duty-cycled MAC protocol IEEE standard, Beacon-enabled mode CAP CSMA/CA active CFP GTS SD=960x2 SO x16 inactive BI = 960x2 BO x16 CAP CFP active - Hierarchic: coordinator and simple nodes - Duty-cycle fixed at configuration (SO and BO), not self-adaptive to the traffic variation - Static topology (Star, may be extended to clustertree but need beacon scheduling), not scalable - Rendezvous time between neighboring nodes is not natively supported, needs synchronization - There are works on scheduling GTS slots or generally active periods (see P. Minet s presentation) inactive t

5 Adaptive duty-cycled MAC protocols A new key issue in duty-cycled MAC (unlike other non dutycycled MAC): finding rendezvous time between a sender and its receiver (or next hop forwarder) Most representative ones are: S-MAC and its improvement T-MAC, known as synchronous MAC, which are with explicit synchronization mechanism of rendezvous time (i.e., both in active period) between a sender and its receiver, in order to forward its packet B-MAC and X-MAC, know as asynchronous MAC, which use LPL (low power listening) to find rendezvous time (sender-initiated) RI-MAC, which is also asynchronous MAC, but uses receiverinitiated LPP (low power probing) to find rendezvous time

6 S-MAC - Each node listens, then broadcasts its own active/inactive schedule! Synchronizer and followers in a cluster - CSMA/CA with RTS/CTS (802.11) + adaptive listening - Fixed duty-cycle, so does not self-adaptive - high overheads: SYNC, RTS/CTS, active period > clock drift, all nodes of a cluster must be active but not only sender-receiver " idle listening problem. C ()*+$,%-./+)0$1 23$$' (99: 8;? DE2? F F 8;? A B C D !"#$%&'? Figure from Huang et al. [7]

7 T-MAC improves S-MAC T-MAC (Timeout-MAC) extends S-MAC and provides improvements: - Shorten the listening period if no activity is detected - Use a timeout (TA) after each data packet transmission. So if more packets to transmit, they can be transmitted in a burst. - Adaptive duty-cycle - T-MAC saves more energy, but increases delay Delayed TX! Assume re-tx!

8 B-MAC and X-MAC B-MAC and X-MAC: principle LPL Sender LPL Check interval Receiver Periodic wake up X-MAC Sender X-MAC Receiver Periodic wake up Long preamble Extended waiting time Periodic wake up Short preambles with address (strobes) Periodic wake up A C K Send data Receive data Send early ACK Preamble > check interval Send data Receive data Listen for queued packets Periodic wake up t t t t

9 ContikiMAC ContikiMAC is similar to X-MAC and B-MAC, but repeatedly sends data packets instead of preamble strobes Sender Receiver Periodic wake up 2 CCA Repeated data packets until ACK data data data Rcv data A C K A C K Periodic wake up Periodic wake up 2 CCA t t Optimization through phase-lock: after a succesful tx, sender learned receiver s wake-up period (inspired from WiseMAC). Rmk:Broadcast is sent with repeated data packets for the full wake-up interval

10 Design consideration: sources of MAC energy wasting Overhearing: To receive a packet a neighboring node should keep waking up during long preamble in LPL, even if it is not the intended receiver. Overhearing results in wasted energy. Idle Listening: Another source of wasting energy occurs when a node has its radio on, listening to the medium while there are no transmissions. Collision: lead to useless transmissions, and retransmission of collided packets Control packet overheads (RTS/CTS, ACK, packet header) Low channel utilization (bad QoS): during collision avoidance of CSMA/CA, random backoff period reduces channel utilization and consumes energy (idle listening)

11 B-MAC and X-MAC B-MAC and X-MAC: discussions - Adaptive duty-cycle, more scalable than synchronous MAC (e.g. S-MAC and T- MAC) and less e2e delay - Energy efficiency - B-MAC: long preamble and overhearing problems - B-MAC: length of check interval (too long increases preamble, so overhearing, collision, delay; too short increases idle listening) - X-MAC: with slightly increased idle listening and Destination address embedded in preamble (strobes), it reduces preamble and overhearing, but prevent to send to multiple next hop nodes (less robust routing) - Preamble period prevents other neighboring nodes from transmission " low channel utilization and longer delay - Hidden node collisions still exist - Both suffer from intrinsic CSMA/CA low throughput when dealing with burst traffic

12 Problems of LPL (e.g. X-MAC): Low channel utilization & hidden node collision Figures from [Sun et al., RI-MAC, SenSys2008]

13 Improve throughput/delay with receiver-initiated LPP (Low Power Probing): RI-MAC principle Transmitter wakes up and waits silently for the intended receiver Each node periodically wakes up and broadcasts a beacon after sensing idle medium, with sleep intervals randomly chosen from [0.5 interval, 1.5 interval] for avoiding beacon collisions Upon receiving a beacon from intended receiver, the transmitter starts DATA transmission A beacon serves both as an acknowledgment to previously received DATA and as a request for the initiation of the next DATA transmission to this node (for queued other packets of the sender) Transmit upon receiving the acknowledgment beacon! " " " ;!%! " " ;!%! " "126.'/4(!/,+0. %&'()*+, -./.+0.,, S R B DATA B DATA B Dwell time B DATA B DATA B Send an acknowledgment beacon Figures from [Huang et al., IEEE communications survey and tutorials, 2013]

14 Improve throughput/delay in RI-MAC Reduces the time a pair of nodes occupy the medium to reach a rendezvous time Figures from [Sun et al., RI-MAC, SenSys2008] Reduces preamble collisions caused by hidden nodes

15 Problem of LPP: multi-sender collision At light traffic, only one sender has data to send following a receiver s beacon At heavy traffic, several senders may have data to send, provoking collisions just after a receiver s beacon S 1 Collision B DATA R B S 2 B DATA

16 RI-MAC for reducing multi-sender collision RI-MAC uses collision detection and sends BEB backoff window length in the next beacon Transmitters randomly select their backoffs within the BEB backoff window (BW) Figure from [Sun et al., RI-MAC, SenSys2008]

17 Collision detection in RI-MAC Collision detection is generally unfeasible in radio transmission due to the tx/rx exclusion (a turn around latency is also necessary between tx #" rx modes) In RI-MAC, collision detection is feasible The receiver knows that data should arrive during backoff window (set to a constant+random(0,0) at beginning) The receiver needs only detect the Start of Frame Delimiter (SFD) to learn of an incoming packet. If no SFD is detected in time (during BW), while some channel activity is detected by the CCA check, the receiver will decide that there was a collision, and will generate another beacon with a larger BW value

18 LPP vs LPL, and insufficiency RI-MAC has similar low duty cycle than X-MAC at light (or idle) traffic load RI-MAC outperforms X-MAC at heavy traffic load But the channel utilization (throughput) is still far from optimal one because of the use of random backoff window Wasted channel (collision + resolution) Figure from [Sun et al., RI-MAC, SenSys2008]

19 RI-MAC vs. X-MAC In general, receiver-initiated MAC (LPP) outperforms sender-initiated MAC(LPL) in presence of hidden terminals and high traffic, since the sender-initiated network is flooded with colliding data packets. But one can notice that RI-MAC still cannot reach the ideal throughput of TDMA! Received data (kbit/s) 10 1 Receiver-initiated (RI-MAC) Sender-initiated (X-MAC) Transmitted data (kbit/s) re 2: Receiver-initiated MAC protocols outperform [Fig. from F. Osterlind et al., Strawman, IPSN2012]

20 Queue-MAC and iqueue-mac iqueue-mac is a queue-length aware hybrid CSMA/TDMA MAC protocol for providing dynamic adaptation to traffic and duty-cycle variation in wireless sensor networks. It combines Queue-MAC and CoSenS [B. Nefzi, YQ. Song, Adhoc networks2012, S. Zhuo, YQ. Song et al, WFCS2012, SECON2013] Main ideas: - Use CSMA in light traffic, switch to TDMA in heavy traffic (similar to Z-MAC) - Designed for 2-level hierarchical (or cluster-tree) networks: routers and simple nodes - A simple node only wakes up when it has data to send, so in sleeping mode during most of time to save energy - Router (like receiver in RI-MAC) executes iqueue- MAC scheme

21 Basic background on CSMA and TDMA In general, CSMA is more efficient in light traffic, while TDMA is better in heavy traffic 100% throughput TDMA CSMA 100% load

22 iqueue-mac!*%&-$ /-$'*$'(-$"+*,(-. A'B*,"23/ +,-5-$E*."/+"! """""#$%&'()*"+*,(-. /+ 4?7*,8,%C*"&D&5* 0,%88(&"($&,*%6* )%,(%95*" 0123"7*,(-. :=< :;<! #$%&'()*"+*,(-. /+! )0123 /+ 45-'6"%55-&%'*."'-"67*&(8(&"6*$.*,6 In iqueue-mac, router (receiver) collects queue-length information of their associated simple nodes and dynamically allocates time slots to them (during variable length TDMA period). This allows to avoid the inherent low throughput problem of CSMA

23 iqueue-mac Piggybacking queue length to inform router,-.'/0-1 23%3%'45+4#"&*6!"#$%&'!"()*"+ Each router defines a superframe, with a subframe inside rand(0.5l, 1.5L) - B: Beacon broadcast to synchronize the simple nodes and announce slot allocation and when starts the CP - SP: sleeping period, with regular short wakeups to detect neighboring routers preamble (like X-MAC) - CP: contention period where each simple node may transmit only one packet. Router continue to listen with a time-out to allow other nodes to send if any (like T-MAC) - TP: transmission period: router sends its first packet with preamble, then in burst mode the following (like T-MAC and RI-MAC) to the forwarder router When there are data, simple node waits for beacon, sends during CP or TDMA 4?9F,%C*! 0123"65-'6 4+ /+ 0+

24 iqueue-mac Beacon structure:!"#$"% &'()*+,($"*+ -./'0*) &'()/1''(2#)0(3/'0*) Figure 4: Beacon structure Example: N1 has 4 and N2 has 5 packets 4"#2(3 &:;<=%#>"/9"%0($?(3)"3)0(3/9"%0($/@?9A 4"#2(3/2(3)#0303B/#/8.C1/*'()*/ *2D"$:'03B/'0*) ,/ ,/7 4.#)#/E#2F"). 1 1?G 4....

25 iqueue-mac performance (measurement on implementation)!"#$ %&'()* e 6: Sample experiment to Adverage Packet Delay - ms 10 x CoSenS RI-MAC-MC iqueue-mac Data Rate - 1 packet / X 100ms

26 iqueue-mac performance Received packet num CoSenS RI-MAC-MC iqueue-mac Average queue length CoSenS RI-MAC-MC iqueue-mac Data Rate - 1 packet / X 100ms Data Rate - 1 packet / X 100ms

27 iqueue-mac performance Duty cycle (%) CoSenS RI-MAC-MC iqueue-mac Data Rate - 1 packet / X 100ms

28 Average 4 iqueue-mac performance: burst 2 Two burst periods of 50 s: at 100 s and 500 s iqueue-mac Time - s RI-MAC-MC CoSenS F igure 11: A verage delay comparison of second experimen Average delay - ms 12 x iqueue-mac RI-MAC-MC CoSenS Average queue length Online throughput iqueue-mac RI-MAC-MC CoSenS Time - s Time - s igure 11: A verage delay comparison of second experime Figure 12: Average 60 queue length comparison of second -MAC Time - s iqueue-mac experiment

29 O 20 iqueue-mac performance: burst Time - s Figure 13: Online throughput comparison of second experiment Online throughput Time - iqueue-mac s 70 RI-MAC-MC CoSenS 1: Average delay comparison of second experiment iqueue-mac RI-MAC-MC CoSenS Allocated slots num - iqueue-mac iqueue-mac Time - s Time - s Time - s Figure 14: Slots allocation in iqueue-m A C Figure 13 shows the measured throughput of each MA We clearly see that iqueue-mac sharply enhances throughput at the emergence of a burst period, wh

30 iqueue-mac performance: multi-hop case Table 2: Burst Periods During General Experiment Burst period 100s-120s 200s-220s 300s-320s 400s-420s 600s-620s Cluster Cluster_1 Cluster_2 Cluster_3 Cluster_4 All Clusters!"#$%&'(*!"#$%&'(+!"#$%&'(, -.#%&'(+ -.#%&'(, -.#%&'(* -.#%&'(/ 0123!"#$%&'() -.#%&'()

31 iqueue-mac performance: multi-hop case Online throughp er of the lab building and arranged into a 4 clusters 2.5 contains x 104 at most 4-hops transmission distance. iqueue-mac luster is placed in a lab RI-MAC-MC room and contains 10 -nodes CoSenS 2 and one router (parent) node. Data relaying re also fixed to factor out routing influence on ental results. Initially, all children-nodes generate Average delay - ms under 1.5 a light data rate of 1packet/5seconds. Then, late a series of urgent events, each cluster will nce a burst period adopting a higher data rate of 1 s/1s, as shown in Table 2. To evaluate a more scenario in the network, all children-nodes neously 0.5 switch to the burst state during the final he whole experiment lasts for 900 seconds. e 2: Burst Periods During General Experiment s-120s 200s-220s 300s-320s Time - s 400s-420s 600s-620s Cluster_1 Cluster_2 Cluster_3 Cluster_4 All Clusters Average queue length iqueue-mac RI-MAC-MC CoSenS Time - s Time - s Figure 17: Average queue length comparison of general experiment 70 iqueue-mac

32 iqueue-mac performance: multi-hop case iqueue-mac RI-MAC-MC CoSenS Online throughput Time - s

33 Energy-aware QoS routing In multi-hop WSN, transmitting data from source to destination within the deadline for real-time applications, but still saving energy source destination

34 Challenges and Goals Network characteristics Unreliable nature of wireless link Energy constraint (and duty-cycled nodes) QoS requirement Deadline Miss Ratio Energy efficiency

35 Common requirements of RT routing protocols For RT applications, routing is to find good metric capable of deciding which path is the best one For meeting deadline For minimizing energy consumption (or prolongating the network life time)! Real-Time Energy-Aware routing

36 Some Design approaches Most of existing routing protocols for WSN do not support RT Some specific RT routing protocols: SPEED, RPAR [Univ. Virginia] Two families of routing protocols General routing, e.g. AODV adopted by Zigbee Geographic routing and its extensions!rt QoS enhancement must be made

37 Geographic routing: principle Typical One: Greedy Perimeter Stateless Routing (GPSR): Closest to D" D" A" S" - Find neighbors who are the closer to the destination - Forward the packet to the neighbor closest to the destination - A node only needs to remember the location info of one-hop neighbors

38 Geographic routing: discussion Greedy forwarding does not always work Static obstacles (water pool, ) Dynamic network topology holes (due to energy depletion, or overload, or duty-cycle, ) Not robust:» link asymmetry between sender and receiver» Weak correlation between distance and quality of tx (Geographic proximity does not mean electromagnetic proximity!) Virtual coordinates may be used (as in RPL of IETF ROLL) SPEED protocol proposes a more robust metric: speed = Distance + delay estimation

39 Virtual coordinate: principle Each anchor brodcasts its ID and the hop count is incremented by fowarder Relative coordinates of node V are defined as a vector V 1, V 2,..., V N where Vi is the hop distance from the current node to anchor node i, and N the number of anchor nodes 1 Virtual distance between V and W may be defined as: D = N (V i W i ) 2 i=1 3 May be used to run gradient routing 2 [figure from Watteyne]

40 Gradient routing for convergecast Convergecast: MP2P R,3 R,2 3 2 F,2 C,2 H,2 V,3 S,3 Q,2 E,1 1 0 A,0 B,1 I,2 Y,3 P,2 N,1 G,1 K,3 T,3 U,3 O,2 M,1 D,1 L,2 [Figure from Wattenye11, IEEE com surveys&tutorials]

41 ETX in CTP ETX (Expected Transmission Count) is a link metric for setting up the gradient, used in CTP (collection tree protocol) ETX indicates the average delay (in hop counts) for successfully transmitting a packet from the node to the sink, including retransmissions upon link failures CTP uses beacon broadcast to maintain gradient. Beacon broadcast is regulated using Trickle algorithm (double beacon broadcast interval if no topology change)

42 IETF RPL of ROLL j 0ms, 4.0etx 20ms 1.4etx 20ms 2.5etx i 20ms 1.5etx 20ms 1.2etx 40ms 1.9etx g 60ms 2.7ms 60ms 1.0etx k 0ms 3.1etx 40ms 1.4etx 40ms 2.5etx c 10ms 1.2etx d 40ms 1.3etx 70ms 1.8etx f 40ms 1.7etx 120ms 3.7etx 80ms 1.9etx a 50ms 1.2etx 70ms 1.8etx b 80ms 2.5etx 40ms 1.8etx 90ms 2.5etx 80ms 1.3etx e 50ms 0.0etx 10ms 1.7etx [Figure from Wattenye11, IEEE com surveys&tutorials]

43 RPL principle Over IPv6 (or 6lowPAN) Building gradient tree: sink node builds DODAG (Destination Oriented Directed Acyclic Graph) using DIO (DODAG Information Object) message broadcast which contains ID of DODAG, version, Metric, sender s rank in DODAG Data packet routing based on neighbors rank Maintenance of DODAG using periodic DIO message exchanges with «trickle timer» [I m, 2 M xi m ] Trickle timer doubles its value if no network problem until 2 M xi m, re-initializes to I m if network problem (e.g. loose of parent) A threshold δ RC limits the number of DIO messages allowed to be sent since the beginning of a trickle period

44 SPEED: principle - Beacon exchanges (periodic + on demand) between one-hop neighbors (Could be piggybacked into data packets to reduce control overhead) - to learn and update the neighbor nodes geographic position (x i, y i ). - to estimate the delay to its neighbors (like RTT estimation of TCP) - Backpressure beacon to inform the upstream forwarder that no route can be found - Neighborhood table (NeighborID, Position, SendToDelay, ExpireTime) - Select among nodes in forwarding set making progress toward the ; 3 3 V +(6* #=((1! E'()*!+,*!-+ G ; <-='(>,?! N#$/,! #$! NKFFA@! $1.,'! 9,,4! "&,! P,#% $? ;1-21

45 Enhancing geographic routing by exploring k-hop neighborhood information Simulated example comparing performance of 1-hop and 2-hop:

46 How long the lens of the telescope should focus? Asymptotic performance of k-hop

47 F 2 k A concrete design: two-hop based SPEED routing protocol m j i D N n F Two-hop neighborhood search without increasing control traffic (piggybacking) Energy aware probabilistic drop (near to sink packet has less drop probability) Energy consumption balance (possible to choose slower paths when allowed)

48 F 2 k Some definitions m j i D N n F

49 An example of Two-hop SPEED Delay S A =0.1s S Delay S C =0.09s A Delay S B =0.14s C Delay A E =0.06s E B Delay C I =0.04s I F Delay A F =0.08s G Delay B G =0.06s H Delay B H =0.05s J K d(e,d)=78 m d(f,d)=65 m d(a,d)=80 m d(s,d)=100 m d(g,d)=60 m d(b,d)=76 m d(c,d)=85 m d(h,d)=65 m d(i,d)=78 m D

50 Architecture Application TH-SPEED Two-hop based forwarding strategy Cost function for energy consumption balance Delay estimation Energy efficient probabilistic drop MAC Link quality model

51 Evaluation metrics Deadline miss ratio: DMR Average energy consumed per successfully transmitted packet : ECP

52 Simulation Results (1) DMR,ECP vs. deadline, 1,2 with #node=200, 3 with #node=400, #source=10

53 Simulation Results (2) DMR and ECP vs. workload, #node=200,deadline=800ms

54 Simulation Results (3) SPEED TH-SPEED Routing Protocol SPEED TH-SPEED DMR 17% 0% ECP (ma*ms/packet) Energy consumption distribution with cost function embedded, deadline is not rigorous, =3000ms

55 Conclusion and future directions Design of duty-cycled MAC protocols has been extensively investigated. Trend is to focus on adaptive duty-cycled MAC there is still design space for new higher performance, multi-channel ones which can self-adapt to dynamic traffic High performance MAC integrating energy harvesting components There exists few QoS routing protocols. RPL attracts more attention. How to take into account duty-cycle of underlying MAC to improve RPL? What enhancement for making it to support QoS routing? Need new QoS routing protocols? What types of QoS guarantee? SRT? probabilistic? (see J.D. Decotignie s presentation)

56 Main references P. Huang, L, Xiao, S. Soltani, M. Mutka, N.Xi. The evolution of MAC protocols in wireless sensor networks: a survey, Communications Surveys & Tutorials, IEEE, Volume: 15, Issue: 1, pp , T. Watteyne, A. Molinaro, M.G. Richichi, M. Dohler, From MANET To IETF ROLL Standardization: A Paradigm Shift in WSN Routing Protocols, Communications Surveys & Tutorials, IEEE, Volume: PP, vol. 13, no. 4, pp , 2011 S.G. Zhuo, Y.Q. Song, Z. Wang, Z.B. Wang, Queue-MAC: A queue-length aware hybrid CSMA/ TDMA MAC protocol for providing dynamic adaptation to traffic and duty-cycle variation in wireless sensor networks, IEEE WFCS2012. Zhuo S.G., Wang Z. Song Y.Q., Wang Z.B., Almeida L., iqueue-mac : a traffic adaptive dutycycled MAC protocol with dynamic slot allocation, IEEE SECON Li Y., Chen C.S., Song Y.Q., Wang Z. Sun Y., Enhancing real-time delivery in wireless sensor networks with two-hop information, IEEE Transactions on Industrial Informatics Vol.5, No.2 (May 2009), pp