Introduction to Wireless Sensor

Networks:
Networking Aspects
Nancy Panousopoulou
Electrical and Computer Engineer, PhD
Signal Processing Lab, ICS-FORTH
[email protected]

8.04.2014, 10.04.2014
Outline
• Part 1: Applications, Standards and Protocols

• Introduction & Reasoning of Existence

• Sensing, Processing, and Networking Aspects

• Standards, Topologies & Protocols

• Part 2: WSN Programming

• WSN Core and types of nodes

• Real-time Operating Systems

• Examples & Hands on Session

Outline
• Part 1: Applications, Standards and Protocols

• Introduction & Reasoning of Existence

• Sensing, Processing, and Networking Aspects

• Standards, Topologies & Protocols

• Part 2: WSN Programming

• WSN Core and types of nodes

• Real-time Operating Systems

• Examples & Hands on Session

Introduction & Reasoning of Existence
• 10+years old

• 3-in-1 attribute: sensing, processing, communicating

• Secret of success: Miniaturized and cost-effective deployment

• Research: Full of challenges ∝ Application areas…
 Introduction & Reasoning of Existence
• What is a sensor node

• Basic unit in sensor network

sensor processing, transceiver
(transducer, measuring a storage (connection to the outer-world,
• Contains on-board sensors, processor, physical phenomenon e.g.
heat, light, motion, vibration,
(communication with sensor,
e.g. other sensor nodes, or data
collectors --sinks)
memory, transceiver, and power supply and sound)
data acquisition, and
preprocessing, buffers handling,
etc)

• What is a sensor network

power unit
(battery based – limited lifetime!)

• Consists of a large number of sensor

nodes
• Nodes deployed either inside or close to
the phenomenon/parameter being
sensed
 Introduction & Reasoning of Existence
Application Areas (1): Wild-life and environmental monitoring [1-8]
 Introduction & Reasoning of Existence
Application Areas (2): Industrial control & Automotive, structural health monitoring, Smart Cities [9-11]
 Introduction & Reasoning of Existence
Application Areas (3): Body area networks for sports, healthcare and wellbeing [12]
Introduction & Reasoning of Existence
In contrast to data networks:
Necessary means for accessing the “physical” space…

Infrastructure-less information transfer towards support

systems and decision makers
Introduction & Reasoning of Existence
Technical Specs (Holistic Aspect)

• Highly scalable (<10 – 1000+)

• Depending on the application

• Lower bit rates than data networks (nominal max typically 250kbps) – reduced bandwidth requirements
• Easily stretched w.r.t. application area changes & / the network size increases
• Throughput / s.m. Dense networks are not only large-scale networks…

• Power autonomy (and associated issues…)

• Fixed in position? Maybe – Static in operation? No….

• No need for network infrastructure (unattended, long term monitoring)

• Base Station / Gateway support for reaching the outer world.
Outline
• Part 1: Applications, Standards and Protocols

• Introduction & Reasoning of Existence

• Sensing, Processing, and Networking Aspects

• Topologies, Standards & Network Protocols

• Part 2: WSN Programming

• Operating Systems

• Examples & Hands on Session

• A case study of network protocol design and experimental evaluation.

 sensing

What do we sense?
Depends on the application

Challenges:
• Accuracy & Operational parameters
(e.g. how battery fluctuations affect accuracy)
• Size
• Hardware design
• How to make them battery-less….
 proces
sing
How do we process it?

Limited (for conventional platforms)

• Trade off: Computational Efficiency Vs Power

• Basic calculations at 16-bit architectures
• More advanced? Doable but @ reduced speed (software & compiler)
[e.g. on-node Kalman filter for motion reconstruction (6 inputs – 4 outputs) ~ 5seconds]
• Newer trends in hardware design:
• increased memory for programming and calculations
• New trend: collaborative & in-network processing
• + distributed storage -> resolved network issues…
 networ
king
What do we do with it?

One of the most active research area in WSNs for the last decade…

• Propagation characteristics & channel modeling

• Protocols design (routing, MAC)
• Energy conservation
• Security
• Topology Control
• ….
 networ
king
What do we do with it?
on-node & intra-network: w.r.t. OSI’s protocol stack

No session /
APP Sensing, Data Processing presentation layers
as in conventional data
networks
Transport ? Depending on HW capabilities & application demands
(lightweight version – limited functionality)
NWK Open for research ( well-studied algorithms in practice)

MAC Fixed (e.g. TDMA / FDMA) or Contention-based (CSMA) approaches

(depends on both the technology and the appl. demands) – Also defined by
standards
PHY Standard-compliant or “Closed”
 What do we do with it?
Inter-networking: w.r.t. application demands and outer-world connectivity
Sensor Node Fusion Center
Virtual flow Application Layer
APP
Visualiza-
Data tion
Transport Transport Unit Network
MGM Unit
NWK NWK
Network Stack Wired /
Network Stack
Wireless
Wireless,
MAC ad-hoc, MAC (e.g. WiFI,
GSM/GPRS,
self- LAN, Ethernet,
organized
PHY PHY etc)

Router / Gateway
Resources
Small volume of information • High Volume of information
(locally available) • Global perspective on the entire
system
Outline
• Part 1: Applications, Standards and Protocols

• Introduction & Reasoning of Existence

• Sensing, Processing, and Networking Aspects

• Standards, Topologies & Protocols

• Part 2: WSN Programming

• Operating Systems

• Examples & Hands on Session

• A case study of network protocol design and experimental evaluation.

 The standards
The standards family: IEEE 802.15 [13]

• Topologies and network roles

• PHY - frequency and channels, spectrum handling, modulation,

bit rate

• MAC – packet formats, operational modes, timing aspects, topologies

The members of the family [13-14]
Standard Description Initial Release / Revision Date Amendments

IEEE 802.15.1 MAC and PHY Layer Specifications for 2002 / 2005 Bluetooth Core Configuration v4.0 and
(Bluetooth) Wireless Personal Area Networks (WPANs) Bluetooth Low Energy (2009)

IEEE 802.15.2 Coexistence of Wireless Personal Area 2003 In hibernation since 2011.
Networks With Other Wireless Devices
Operating in Unlicensed Frequency Bands
IEEE 802.15.3 MAC and PHY Layer Specifications for High 2003 802.15.3b (2006): Amendment to MAC
Rate Wireless Personal Area Networks (HR- Sublayer
WPANs)
802.15.3c (2009): Millimeter-wave-based

Alternative Physical Layer Extension

IEEE 802.15.4 MAC and PHY Layer Specifications for Low- 2003 /2006/ 2011 802.15.4.a (2007): PHY Layer Extension to
Rate Wireless Personal Area Networks (LR-
WPANs) Chirp Spectrum Techniques and UWB systems
802.15.4c (2009): Alternative PHY Extension
to support one or more of the Chinese 314-316 MHz,
430-434 MHz, and 779-787 MHz bands
802.15.4d (2009): Alternative PHY Layer
Extension to support the Japanese 950 MHz bands
802.15.4e (2012): Amendment 1: MAC sub-
layer
802.15.4f (2012): Active Radio Frequency
Identification (RFID) System PHY
802.15.4j (2013) – Alternative PHY Extension
to support Medical Body Area Network
(MBAN) services operating in the 2360-2400
MHz band
-
IEEE 802.15.5 Mesh Topology Capability in Wireless 2009
Personal Area Networks
-
IEEE 802.15.6 Wireless Body Area Networks 2012
 IEEE 802.15.4
Standard Description Initial Release / Revision Date Amendments

IEEE 802.15.4 PHY and MAC Layer for Low Rate 2003 /2006/ 2011 802.15.4.a (2007): PHY Layer Extension to
Wireless Personal Area Networks (LR- Chirp Spectrum Techniques and UWB systems
WPAN)
802.15.4c (2009): Alternative PHY Extension
to support one or more of the Chinese 314-316
MHz,
430-434 MHz, and 779-787 MHz bands
802.15.4d (2009): Alternative PHY Layer
Extension to support the Japanese 950 MHz
Bands
802.15.4e (2012): Amendment 1: MAC sub-
Layer
802.15.4f (2012): Active Radio Frequency
Identification (RFID) System PHY
802.15.4j (2013) – Alternative PHY Extension
to support Medical Body Area Network
(MBAN) services operating in the 2360-2400
MHz band
 IEEE 802.15.4
IEEE 802.15.4 Types of Devices [15]
• Full-Function Device (FFD)
• Capable of acting as the network’s coordinator or as a simple device
• Undertaking complex network functionalities
• Reduced-Function Device (RFD)
• Extremely low bandwidth demands application specs (e.g. front-end low
complexity sensors with no network intelligence, passive RFID, etc)

A PAN Coordinator
• Associates a PAN with an ID. Networks with different PAN IDs cannot communicate
directly with each other.
• Allows nodes to join, leave the PAN. If necessary initiates, terminates, routes the
communication (RFD)
• Usually is plugged into power source (Vs RFDs and FFDs)
 Coordinator

IEEE 802.15.4 RFD

FFD

Types of topologies [15]

• Star: each device (FFD or RDF) communicates with the PAN

coordinator only
• Suitable for small-scale networks that operate within a
limited space
• home automation, computer peripherals, peripherals,
games, and personal health care

• Peer-to-peer: FFD devices can communicate with each

other, as long as they are within communication range.
• More flexible than star, suitable for larger-scale networks
that need distributed coordination between peers without
the necessity of a central unit.
• Multi-hopping, Cluster Trees, and Mesh networking
• Environmental & Wild Life, Smart Cities, Industrial, etc.
 IEEE 802.15.4
Types of topologies [15] PAN ID = 5
• Cluster Tree PAN ID = 43981
• Always only a single path
between two devices.

• Devices are aware of their

“parent” node and any “child”
nodes.

• Reducing routing complexity

Coordinator

RFD
FFD
PAN ID = 241
IEEE 802.15.4: The PHY map@ 2011 release [14-15]

Band allocation w.r.t.

Band Data Rate
(MHz) Region Number of Channels Modulation
(Kbps)
geographical
Supportregion

BPSK 20
Many modulation
Mandatory
options
868 - 868.6 Europe 1 ASK 250
Optional
O-QPSK 100

MPSK
779-787 China 8 250 Mandatory
P-QPSK

BPSK 40 Mandatory

902 - 928 USA 10 ASK 250

Optional
O-QPSK 100

BSPK 20
950-956 Japan 22 Mandatory
GFSK 100
O-QPSK
16 Mandatory
(DSSS)
250
2400 - 2483.5 Worldwide CSS
14 Optional
CSS 1000
249.6 - 749.6 110 – 27400
1 BPM and BPSK Optional
(UWB sub-gigahertz) (Varying w.r.t. chip rate)
3244 - 4724 110 – 27400
4 BPM and BPSK Optional
(UWB low band) (Varying w.r.t. chip rate
Worldwide
5944 - 10234 110 – 27400
11 BPM and BPSK Optional
(UWB high band) (Varying w.r.t. chip rate
 IEEE 802.15.4
PHY tasks [15, 16-18]

Receiver Energy Detection (ED)

• Use by a network layer as part of a channel selection algorithm.
• An estimate of the received signal power within the bandwidth of the channel.
• No attempt is made to identify or decode signals on the channel.

Link Quality Indicator (LQI)

• The characterization of the strength and/or the quality of a received packet.
• The measurement may be implemented using receiver ED, a SNR estimation, or their combination.
• The minimum and maximum LQI values (0x00 and 0xff) associated with the lowest and highest quality
compliant signals detectable by the receiver
 IEEE 802.15.4
PHY tasks [16-18]
ED → A measurement of the channel;
• Usually used as the Received Signal Strength Indicator, although RSSI is NOT explicitly
defined in the standard (opposed to 802.11);
• Direct measurement (linear relationship between ED and Received Power)

LQI → A measurement of the frame;

• Associated with the Chip Error Rate (Symbol Error Rate and Packet Error Rate).
• Statistical measure (correlation value) related to symbols within frame.
IEEE 802.15.4
PHY tasks: Vendor’s rules of thumb [16]
LQI ∝ PER ∝ Throughput

RSSI/ED ∝ tx power and link margin

Use RSSI /ED to

High LQI differentiate
between links

Link should be disca-

Low LQI
rded. A high RSSI / ED
could be strength of
an interfering signal
 PHY metrics…
LQI RSSI
Rural

@ Industrial environment: Transmission range can be reduced by half!

Industrial

28
 PHY metrics…
Rural Industrial

• RSSI Vs LQI: cuttoff threshold of RSSI that affects the LQI (=> chip error rate)
• However: different environment has also different RSSI – LQI relationship
• @ industrial environment: higher LQI variation Vs @ home / working environments,
where LQI presents lower variations…[17,18]
29
 IEEE 802.15.4
The MAC [15]

• Non-beacon enabled mode: CSMA-CA, peer-to-peer topologies

• Beacon Enabled mode: slotted CSMA-CA & up to 7 slots of guaranteed access (GTS),
star and peer-to-peer topologies

PAN Coordinator
CAP: Contention Access Period->Nodes compete for accessing the wireless medium
CFP: Contention Free Period -> Nodes transmit on their pre-allocation slots
 IEEE 802.15.4
The MAC [15]
Two modes for accessing the channel

• Unslotted CSMA-CA
• Delay for backoff exponent;
• Perform Clear Channel Assessment;
• If channel is idle => transmission
• Else => increase backoff exponent and try again

• Slotted CSMA-CA
• Basic steps of CSMA-CA
• The start of the first backoff period of each device is aligned
with the start of the beacon transmission.
• The channel has to be clear for a number of backoff
periods before the transmission commences
 A comparison….[14]

Bluetooth LE IEEE 802.15.4

PHY Layer supported 2.4 GHz (FHSS / AFH) 2.4 GHz DSSS / 2.4 GHz UWB: sub GHZ / 3-10 GHz 2.36 – 2.4 GHz
CSS (802.15.4j)

Varying w.r.t to chirp

Data rate 1 Mbps 250 Kbps / 1 Mbps 250 Kbps
rate (110 Kbps – 27400 Kbps)

few meters-30 m (depending

Range 10-30 m ~10-30 m ~10-30 m
on PHY and data rate)

Network topology Star Star, peer-to-peer, cluster-tree

Network size Unlimited 65,535

Network join time ~6 ms <<1 s

Real-time support No Guaranteed time slots

Protocol complexity Simple Simple

Security Authentication, encryption

Peak current consumption 15-20 mA 15-25 mA

FEC support No Yes

On top of 802.15.4
• Routing mechanisms

• Routing Vs Forwarding..
• Routing: Build routing tables with information on how a given destination can be
reached
• Forwarding: Consult a routing table to forward a packet to its next hop.

• Whilst considering…
• Topologies are dynamic (even if nodes are static, topologies change as new sensor
join the network, or old ones leave the network, e.g. due to battery depletion)
• Optimization metrics vary w.r.t. to application demands:
• Increase lifetime (energy-efficient paths)
• Minimize interference
• Exploit geographic characteristics
Routing for wireless sensor networks
• Basic categories for routing [19]

• Data-driven. Data are flooded towards from the source nodes towards the sink. OR
Paths are build based on gossiping mechanism OR The sink sends queries to certain
regions and waits for data from the sensors located in the selected regions.
Examples. Directed-diffusion, SPIN

• Hierarchical. Nodes are organized in clusters or in trees, and they perform data
aggregation towards a cluster head or a sink. Cluster formation is typically based on
the energy reserve of sensors and sensor's proximity to the cluster head.
Examples. Collection-tree protocol, LEACH, Routing Low-power & Lossy Networks (RPL)
Routing for wireless sensor networks
• Basic categories for routing (cont’)

• Location-based. When the region to be sensed is known, using the location of

sensors, the query can be diffused only to that particular region which will eliminate
the number of transmission significantly. OR Determine next hop based on position
(absolute or relative) OR Flooding to any node within an area (geocasting)
Examples. Geographic and Energy-aware routing (GEAR)

• Network flow & QoS-aware. Route setup is modeled and solved as a network flow
problem. QoS-aware protocols consider end-to-end delay requirements while setting
up the paths in the sensor network.
Examples. Ad-hoc On-demand Distance Vector (AODV)
 Routing for wireless sensor networks
An example: Collection-tree protocol [20]
Forward Engine
(handling transmission queue. It
• Some number of nodes in a network advertise themselves as decides when and if to send
tree roots. them – forwarding and on-node
generated packets)
• Nodes form a set of routing trees to these roots.
Routing Engine
(based on Link Estimator,
• CTP is address-free in that a node does not send a packet to a
particular root; instead, it implicitly chooses a root by deciding the next hop/parent)
choosing a next hop.

• Nodes generate routes to roots using a routing gradient Link Estimator

• Routing gradient: expected transmissions (ETX) (ETX)
• ETX is the number of expected transmissions of a packet necessary
for it to be received without error at its destination
ZigBee
• A specification for higher-level protocols that rely on 802.15.4 for
implementing WSN in different application scenarios.

• An alliance between WSN vendors and policy makers, e.g.

and many many more

• Define the device architecture and the application profiles with
respect to application framework
 ZigBee – the device architecture…
ZDO. defines the role of the device within the
ZigBee Application Layer (APL)
network (for instance the ZigBee coordinator or
ZigBee Application end device)
Framework
Application Applicatio
ZigBee Device Object (ZDO) Manages the node configuration
Object 240 … n Object 0
initiates and/or responds to binding requests
(secure relationships between network devices).
ZigBee Application Support Sublayer Network discovery (which other devices are
operating in the network).
APS Message
APS Security
Management Broker
Reflector
Management Creates the necessary level of abstraction that
ZDO
Security Management allows the application developer not to worry
Plane about the low-level details. A baseline upon which
Service
Provider ZigBee Network Layer (NWK) user applications are Implemented (user no need
NWK Security NWK Message Routing Network
to know underlying details)
Management Broker Management Management

APS. maintains tables for binding (i.e. the logical

IEEE 802.15.4 connection of devices based on their services and
802.15.4 Medium Access Control (MAC) Layer needs)
Forwards messages between bound devices
2.4 GHz NWK. Routing and Multi-hopping functions for
Radio 802.15.4 Physical (PHY) Layer
logical network topologies
ZigBee
• Zigbee Application Profiles -> Agreement on types of messages,
message format and processing action

secure and reliable monitoring and control of commercial building systems.

monitor, control, inform and automate the delivery and use of energy and water.

create smarter homes that enhance the comfort, convenience, security and energy management for the consumer

secure and reliable monitoring and management of non-critical, low-acuity healthcare services targeted
at chronic disease, aging independence and general health, wellness and fitness.
Conclusions
• Introduction to WSN

• Core aspects

• The IEEE 802.15 standards family – IEEE 802.15.4

• Topologies
• PHY metrics & real-life aspects
• MAC aspects

• Routing: one size does not fit them all!

• Rule of thumb – use the one that better fits your application needs and if necessary modify…

• ZigBee: specifications for people for don’t care about the WSN needy greedy
implementation details….
Next
• Part 1: Applications, Standards and Protocols

• Introduction & Reasoning of Existence

• Sensing, Processing, and Networking Aspects

• Standards, Topologies & Protocols

• Part 2: WSN Programming

• WSN Core and types of nodes

• Real-time Operating Systems

• Examples & Hands on Session

Reading material & References
1. www.wsnblog.com
2. http://imc.comp.polyu.edu.hk/isensnet/doku.php?id=research
3. http://enl.usc.edu/projects/wisden/
4. http://www.cs.berkeley.edu/~binetude/ggb/
5. http://www.miun.se/en/Research/Our-Research/Centers-and-Institutes/stc/Dolda-
sidor/Wireless-Sensor-Systems/Environmental-monitoring-/#.Ue93co0wePs
6. http://www.fraunhofer.de/en/press/research-news/2011/may/microclimate-forest.html
7. http://citris-uc.org/research/projects/great_duck_island
8. http://tropicaldatahub.org/apps/semat
9. http://www.hydrobionets.eu/
10. Fabien Mieyeville et al , Wireless sensor networks for active vibration control in automobile
structures, 2012 Smart Mater. Struct. 21 075009
11. http://www.cs.berkeley.edu/~binetude/ggb/
12. Body Sensor Networks, Springer. G.Z. Yang Ed. 2014
Reading material & References
13. http://www.ieee802.org/15/
14. J. Espina, T. Falck. A. Panousopoulou, L. Schmitt, O. Mulhens, G.Z. Yang, “Network Topologies, Communication
Protocols and Standards”, Body Sensor Networks, Springer, 2nd Edition, 2014
15. IEEE Standard for Local and metropolitan area networks--Part 15.4: Low-Rate Wireless Personal Area Networks
(LR-WPANs)," IEEE Std 802.15.4-2011 (Revision of IEEE Std 802.15.4-2006) , vol., no., pp.1,314, Sept. 5 2011, doi:
10.1109/IEEESTD.2011.6012487
16. Atmel AT86RF230, http://www.atmel.com/devices/AT86RF230.aspx
17. Kannan Srinivasan, Prabal Dutta, Arsalan Tavakoli, and Philip Levis. 2010. An empirical study of low-power
wireless. ACM Trans. Sen. Netw. 6, 2, Article 16 (March 2010), 49 pages. DOI=10.1145/1689239.1689246
http://doi.acm.org/10.1145/1689239.1689246
18. Baccour, Nouha and Koubaa, Anis and Noda, Claro and Fotouhi, Hossein and Alves, Mario and Youssef, Hossein
and Zuniga, Marco and Boano, Carlo Alberto and Römer, Kay and Puccinelli, Daniele and Mottola, Luca and Voigt,
Thiemo (2013) Radio Link Quality Estimation in Low-Power Wireless Networks. SpringerBriefs in Cooperating
Objects . Springer Press.
19. Kemal Akkaya, Mohamed Younis, A survey on routing protocols for wireless sensor networks, Ad Hoc Networks,
Volume 3, Issue 3, May 2005, Pages 325-349, ISSN 1570-8705, http://dx.doi.org/10.1016/j.adhoc.2003.09.010.
20. Omprakash Gnawali, Rodrigo Fonseca, Kyle Jamieson, David Moss, and Philip Levis, Collection Tree Protocol, In
Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems (SenSys), 2009
21. http://www.zigbee.org/Home.aspx