Computer Communications and Networks. Editor A.J. Sammes Centre for Forensic Computing Cranfield University Shrivenham Campus Swindon, UK

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1 Computer Communications and Networks Editor A.J. Sammes Centre for Forensic Computing Cranfield University Shrivenham Campus Swindon, UK

2 The Computer Communications and Networks series is a range of textbooks, monographs and handbooks. It sets out to provide students, researchers, and nonspecialists alike with a sure grounding in current knowledge, together with comprehensible access to the latest developments in computer communications and networking. Emphasis is placed on clear and explanatory styles that support a tutorial approach, so that even the most complex of topics is presented in a lucid and intelligible manner. More information about this series at

3 José Cecílio Pedro Furtado Wireless Sensors in Heterogeneous Networked Systems Configuration and Operation Middleware

4 José Cecílio Pedro Furtado University of Coimbra Coimbra, Portugal ISSN ISBN ISBN (ebook) DOI / Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: Springer International Publishing Switzerland 2014 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (

5 Preface We live in an exciting time for lovers of lego-like sensing devices and remote operation. The availability, interoperability, and price of off-the-shelf sensors and wireless sensor nodes have increased dramatically over the last years. Today, anyone with a reasonable expertise in C++ and a love for lego-like technology can buy an Arduino and some sensors, go to the Internet to learn how to build and configure them, and put them to work in some simple application. Wireless sensing has also been popularized in those platforms and systems. More professional applications in commercial and industrial settings deploy a possibly very large number of wired and/or wireless sensors and actuators, integrate them into some information system or at least data collection computation device, configure everything to work together by extensive programming and testing, and, finally, deploy the system for operation over the years. Although wired sensors form the core of many deployments in industrial settings, the use of wireless sensor devices has increased both in industrial and nonindustrial applications due to advantages concerning portability, price, and deployment ease. An important future trend for the increased adoption of wireless sensor devices is the ease of deployment, configuration, and operation. In the future, a distributed sensing system should be developed and deployed without programming. The future should also see an increase in the number of deployments of wireless sensors, and heterogeneity is one of the characteristics of the resulting sensor networks since they will have wireless and wired components that should work together as a single entity, be configurable, and operate as a single homogeneous system. This book is about middleware architectures for configuring and operating heterogeneous node platforms and whole sensor networks. It reviews existing middleware proposals, advantages, and disadvantages; defines the middleware architecture that should be used to configure and operate those systems; and reports on practical prototypes and experimental results applying the best solutions for the issues that were raised. Besides discussing how wireless sensors and wireless sensor networks work, some of the subjects that are thoroughly reviewed in this book and for which the v

6 vi Preface book is a good reference include what different solutions exist in terms of operating software, network layout and routing, application scenarios, middleware solutions, solutions for platform and communication protocol independence, and programming paradigms. But the book also proposes solutions for generic middleware architecture that configures and operates sensor networks on any combination of hardware, software, platform, and communication protocols. The book can be used as a reference in both introductory and advanced courses in embedded devices, and it is also very useful as a reference work for researchers and scholars alike. Finally, it provides in-depth knowledge for practitioners willing to learn more about how these systems work. Coimbra, Portugal José Cecílio Pedro Furtado

7 Contents 1 Introduction Wireless Sensor Networks: Concepts and Components Network Components Hardware Platforms Wireless Sensor Operating Software TinyOS SOS Contiki MANTIS SensorOS MagnetOS Nano-RK ERIKA RETOS LiteOS Network Topologies Star Topology Tree Topology Mesh Topology Hybrid Topology Data Models Routing Techniques References Application Scenarios Industrial Monitoring and Control Environmental Monitoring Agriculture Applications Smart Buildings Warehouse Tracking vii

8 viii Contents 3.6 Transport Logistics Surveillance Health Care References Existing Middleware Solutions for Wireless Sensor Networks Taxonomy of Operating Software for Wireless Sensor Data Remote (Re)configuration Approaches Middleware Architectures Inside the WSN Database Abstractions Mobile Agents Virtual Machines Application-Driven and Message-Oriented Middleware Internet-Based Integration of Sensor Data IP-Based Homogeneous Middleware References Middleware Mechanisms for Heterogeneous Wireless Sensor Networks Middleware Requirements Architecture Platform and Communication Protocol Independency (Drivers) The Catalog Node Referencing and Heterogeneity Publish/Subscribe External Interface Data and Processing Model Operations User API Middleware Implementation Details: A Case Study Node Component Architecture NC-Kernel Communication (I/O Adapter) Agent Manager (NC-Kernel-AM) SOMApp Acquisition and Actuation (NC-SOMApp-AA) Configuration Management (NC-SOMApp-CM) Data Collector (NC-SOMApp-DC) SOM Processor (NC-SOMApp-GP) Extensibility of SOMApp Remote Configuration Component (RConfig) Custom Code Agents Reference... 87

9 Contents ix 7 Programming Paradigms and Stream Processing for WSN Programming Abstractions for WSNs Basics of High-Level Stream Processing Language and Architectural Features A Stream Processing Language for Heterogeneous Networks with Wireless Sensors The Per-Node Database Management System Data Storage Organization Stream Relational Algebra and Algorithm Constrained Group By Join Algorithm References Experimental Validation of Middleware: Platforms, Performance and Related Issues Evaluation of NC for Multiple Platforms Development and Porting Between Platforms Memory and Performance Operation Processing in Constrained Devices Memory Footprint Performance and Energy Consumption: RAM Versus Flash Data Processing Versus Lifetime Networked Execution and Performance Evaluation Experimental Setup Command Configuration and Latency Monitoring Operation Closed Loop over Heterogeneous Devices References Appendices Appendix 1: Communication Driver: Code Example Appendix 2: User API A.2.1 Node A.2.2 Operations and Filters A.2.3 Alarms A.2.4 Actions A.2.5 Actuations A.2.6 Publish/Subscribe A.2.7 Agents Index

11 Acronyms ACK Acknowledgment ADCs Analog-to-Digital Converters API Application Programming Interface CoAP Constrained Application Protocol CPU Central Processing Unit CSMA Carrier Sense Multiple Access DACs Digital-to-Analog Converters ECA Event-Condition-Action ELF Executable and Linkable Format FPGA Field Programmable Gate Array GSM Global System for Mobile HTTP HyperText Transfer Protocol ID Identification I/O Input/Output IP Internet Protocol IPv6 Internet Protocol Version 6 LAN Local Area Network LDR Light Dependent Resistor LPL Low-Power Listening MAC Medium Access Control MCU Microcontroller Unit OS Operating System PC Personal Computer PID Proportional Integral Derivative Controller PLC Programmable Logic Controller PLCs Programmable Logic Controllers QoS Quality of Service RAM Random Access Memory REST Representational State Transfer RFID Radio-Frequency Identification xi

12 xii Acronyms RLE ROM SOAP SPI SQL SYNC TCP TDMA UART UDP uip WSAN WSN WSNs XML Run-Length Encoding Read Only Memory Simple Object Access Protocol Serial Peripheral Interface Structured Query Language Synchronisation Transmission Control Protocol Time Division Multiple Access Universal Asynchronous Receiver/Transmitter User Datagram Protocol Micro IP Wireless Sensor and Actuator Network Wireless Sensor Network Wireless Sensor Networks Extensible Markup Language

13 List of Figures Fig. 2.1 Basic wireless sensor network components... 6 Fig. 2.2 Adding intermediate node (relay node)... 6 Fig. 2.3 Star topology Fig. 2.4 Tree topology Fig. 2.5 Mesh topology Fig. 5.1 Network structure Fig. 5.2 Middleware architecture Fig. 5.3 NC drivers Fig. 5.4 Communication driver flowchart Fig. 5.5 Gateway component Fig. 5.6 Flowchart of the gateway component Fig. 5.7 Example of middleware subscriber mechanism Fig. 5.8 Example of middleware publish mechanism Fig. 5.9 Stream structure Fig Stream processing model Fig. 6.1 Example of NC architecture Fig. 6.2 Timer events flowchart Fig. 6.3 NC-SOMApp-GP computation flowchart Fig. 6.4 RConfig modules Fig. 7.1 Block diagram of event and stream processing engine (ESPE) Fig. 7.2 Example of stream Fig. 7.3 Create stream syntax Fig. 7.4 SQL stream commands syntax Fig. 7.5 Stream publishing configuration Fig. 7.6 Data collection example Fig. 7.7 Subsampling configuration example Fig. 7.8 Data summarizing configuration example xiii

14 xiv List of Figures Fig. 7.9 Actuation example Fig Data monitoring configuration example Fig Event-based stream configuration example Fig Logger application Fig Configuration command to store environmental data during a year in flash storage Fig Extraction of data from a node Fig Metadata and data: constant and variable sized, ( a ) constant sized, ( b ) variable sized Fig Finish base query processing algorithm Fig Group-by time algorithm (GBTime) Fig Sort-group-by algorithm for SME Fig Sort-merge join for SME Fig. 8.1 Programming memory consumption for all platforms Fig. 8.2 RAM memory consumption for all platforms Fig. 8.3 Time required for computing an average Fig. 8.4 Time required per operation over a stream in memory Fig. 8.5 Program memory distribution Fig. 8.6 Operation execution times over RAM versus flash memory Fig. 8.7 Time to read data from flash memory Fig. 8.8 Consumed energy for data tuples manipulation. ( a ) Energy needed to read and write tuples from/to flash memory. ( b ) Energy needed to transmit data tuples Fig. 8.9 Node lifetime Fig Experimental setup Fig Command latency for the three platforms. ( a ) Average latency with stdev. ( b ) Maximum latency Fig Data latency for the three platforms Fig Data latency for TelosB per part. (a) Average latency. (b) Maximum latency Fig Configuration of a closed-loop operation with decision logic in the control station Fig Closed-loop alternatives. (a) TelosB TelosB. (b) TelosB Arduino. (c) TelosB Raspberry Fig Closed-loop latency over heterogeneous network Fig Closed-loop latency over heterogeneous network per system parts. ( a ) Average latency per part. ( b ) Maximum latency per part Fig. A.1 Implementation of the communication driver using Contiki-OS Fig. A.2 Implementation of the communication driver using Java for Linux Fig. A.3 Piece of code to create periodic operation and send data to the control station

15 List of Figures xv Fig. A.4 Piece of code to collect sensor reading in control station Fig. A.5 Piece of code to change operation rate, stop and start the execution Fig. A.6 Piece of code to create a filter Fig. A.7 Piece of code to create an alarm Fig. A.8 Piece of code to create an action Fig. A.9 Piece of code to subscribe stream data Fig. A.10 Piece of code to send an agent Fig. A.11 Piece of code to load and run an agent inside a node

17 List of Tables Table 2.1 Network topologies Table 2.2 Routing algorithms and classes Table 2.3 Properties of routing algorithms Table 2.4 Routing goals Table 2.5 Routing typical application Table 3.1 System requirements of process control application scenarios Table 3.2 System requirements for equipment monitoring application scenario Table 3.3 System requirements of typical environmental application scenarios Table 3.4 System requirements of precise agriculture monitoring and control Table 3.5 System requirements of smart buildings monitoring application scenarios Table 3.6 System requirements of warehouse tracking application scenarios Table 3.7 System requirements of transport logistic application scenarios Table 3.8 System requirements of indoor surveillance application scenarios Table 3.9 System requirements of outdoor surveillance application scenarios Table 3.10 System requirements of health-care application scenarios Table 4.1 Software approaches and classes Table 4.2 Middleware approaches xvii

18 xviii List of Tables Table 5.1 Primitives of file system driver Table 5.2 Primitives of communication driver Table 5.3 Primitives of a timer driver Table 7.1 Language characteristics Table 7.2 Architectural characteristics Table 8.1 Program memory consumption Table 8.2 RAM memory consumption Table 8.3 Programming and RAM comparison between NC and hand-coded application Table 8.4 Time required creating a stream and writing a tuple Table A.1 Node primitives Table A.2 Operations and filters primitives Table A.3 Alarm primitives Table A.4 Action primitives Table A.5 Actuation primitives Table A.6 Publish/subscribe primitives Table A.7 Agent primitives

SpringerBriefs in Computer Science

SpringerBriefs in Computer Science Series Editors Stan Zdonik Peng Ning Shashi Shekhar Jonathan Katz Xindong Wu Lakhmi C. Jain David Padua Xuemin (Sherman) Shen Borko Furht V.S. Subrahmanian Martial Hebert