RobotSensorNetworks

ArchitectureofSensorNetwork
SensorNetworkHardware&SoftwarePlatform CASPLab.Platform HardwarePlatform

Hanyang University

RobotSensorNetworks

Contents
1. OverviewofHardwarePlatform 2. SensorNodeH/WS/WPlatforms 3. SensorNetworkPlatform 4. CASPLab.HardwarePlatform 5. HardwarePlatform

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RobotSensorNetworks

OverviewofHardwarePlatform

Tmote Invent GumStix Stargate MicaZ OEM

8bitmicrocontrollerdevices 8bitmicrocontrollerdevices Zigbee/802.15.4radios Zigbee/802.15.4radios TinyOS,SOS,Contiki TinyOS,SOS,Contiki 32bitembeddedprocessors 32bitembeddedprocessors Zigbee/802.15.4+802.11radios Zigbee/802.15.4+802.11radios Linux Linux

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ArchitectureandApplication
SensorNodeArchitectureandApplicationCharacteristics
1. Architecturehaslimitedphysicalparallelismoracontrollerhierarchy
Peripheralshaveaveryprimitiveinterfacetotheprocessor UnlikePCarchitectureswherethegraphicsacceleratorhasmoreMIPSthan microprocessor! Processorperformscomputation,resourcemanagementandIO

2.

Sensornetworkapplicationsareconcurrencyintensive
Forwardradiopacketswhilesamplingsensordata

3.

Howdoesonehandleallthisona8MHzmicrocontroller?
Makeuseoftheinterruptsandonchipperipherals Exploittheparallelismofthemicrocontrollertotheextentpossible

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TypicalNodeHardware
1Kbps 1Mbps, 3100Meters, LossyTransmissions

128KB1MB LimitedStorage

RadioTransceiver Memory
8bit,10MHz SlowComputations

Expensive RequiresSupervision

LowPower Embedded Processor

Sensors Battery
LimitedLifetime

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HardwareConfiguration
HardwareConfigurationoftheMobilityPlatform
Sensors 2Encoders 2Encoders Paper Paper Detector Detector (Optional) (Optional) (QRB1134) (QRB1134) 3IR 3IR (Sharp (Sharp GP2D12) GP2D12) Photo Photo Resistor Resistor
2PW

ControlBoard(USU) MICA2 (Berkeley) AVRATmega 128(CPU)

3ADC

2PWM

2Servos 2Servos

2ADC

6VPower 6VPower

CC1000(Comm.)
3VPower 3VPower
2ADC

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RobotSensorNetworks

Componentsofasensornode
Amoredetailedview
LocationFindingSystem Mobilizer

ProcessingUnit SensorUnit

Processor Sensor ADC Storage Transceiver

PowerUnit

Power generator

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ArchitectureComponents

SENSING SUBSYSTEM

PROCESSING SUBSYSTEM

COMMUNICATION SUBSYSTEM

ACTUATION SUBSYSTEM

POWERMGMT. SUBSYSTEM

Requirements: 1. Smallphysicalsize:1mm3 2. LowPowerConsumption:~50100uW averagepower 3. ResourceConstrained:8MHz,4KbRAM

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RobotSensorNetworks

ProcessingSubSystem
Largenumberof 8 bitregisters

Multiple HarvardArch. Atmel AVRATMEGA128L RISCArchitecture 8bitALU/datapath 128KbFLASH Code 4KbSRAM Data Peripherals

DetailsareavailableintheATMEGA128LDatasheet
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RobotSensorNetworks

Pollingvs.Interrupts
POLLING voidmain(){ while!(timer_overflow){}; read_sensor_value(); } INTERRUPTDRIVEN voidmain(){ call_on_timer_overflow(Timer_overflow_ISR); Dosomeusefulstuff.. } voidTimer_overflow_ISR(){ read_sensor_value(); }

When is polling really useful ? What is the CPU cost of an interrupt/context switch ? What happens when interrupts are really frequent ? Hanyang University

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AVRPeripherals
1. 2. UART
SerialcommunicationwiththePC
BITBANGEDSERIALIO voidmain(){ for(i=0;i<8;i++) out_pin =(dataout >>i)&0x01; } UARTSERIALIO voidmain(){ set_up_uart(); uart_put_byte(dataout); //Dousefulstuff //UARTHWworkinginparallel! }

SPI SerialPeripheralInterface
Synchronousserialcommunication InterfacetoRadiointheMote

3.

ADC
Analog DigitalConverter Digitizingsensorreadings

4.

I/OPorts
GeneralPurposeInputOutputpins (GPIO) UsedtolightupLEDs inMote

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InterruptHandling
1. 2. 3. Microcontrollershaveasinglestackmemorymodel Interruptisanyconditionsignaledbyhardwaree.g.TimerTimeout StepbystepInterruptHandling
Interruptconditionsignaledbyhardware Processorfinishesexecutionofcurrentinstruction Processorpushesaddressofnextinstructionintothestack ProcessorfetchesinstructionfromInterruptVectorTable
1) 2) 3) 1) Tableisstoredinprogrammemory UsuallyfilledbyCcompiler(Canalsobedonemanually!) Instructionintableisjmp <service_routine> Currentcontextisstoredontostack(i.e.Pushallusedregisters)

Processorjumpsintointerruptserviceroutine(ISR)andexecutes

Questions: WhathappensifanotherinterruptappearswithinanISR? Canwehaveapreemptivemultitaskingwithsinglestack?How?

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RobotSensorNetworks

AVRTimers
1. 2. MultipleTimers MultipleClockSources
CPUClk RealTimeClk 32KHz PrescaledClk fromabovesources

Timer0 8 bit Timer2 Timer1 16 bit Timer3

3.

MultipleInterrupts
TimerOverflow OutputCompare

4.

Functions
Periodicsamplingpulses Waveformgeneration

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AVRPowerManagement
1. 2. LowPoweroperation 15mW@4MHz MultipleSleepModes
SleepModes:Shutdownunusedcomponents IdleMode 6mW
1) 2) CPUOFF,allperipheralsON CPUwokenup byinterrupts

PowerDownMode 75uW
1) 2) CPUandmostperipheralsOFF ExternalInterrupts,2WireInterface,WatchdogON

PowerSaveMode 120uW
1) 2) SimilartoPowerDown Timer0continuestorunasynchronously

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ProtocolStackImplementation
1. ProtocolStackLayers
Modulation Demodulation BasebandProcessing MediumAccessControl

2. 3.

Protocolstackimplementationdependsuponradiotechnology RFMRadio
Modulation Demodulationonly Processorhandlesbitlevelsynchronizationandrest

4.

Chipcon CC1000
Modulation Demodulationandbitlevelsynchronization Processorhandlesstartsymboldetectionandrest

5.

Chipcon CC2420
Performscompletepacketreceptionandraisesinterrupt ProcessorhandlesMAC

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Mica RFMAVRInterface
DataInterface 1. 2. 3. 4. 5. PeriodicwaveformgeneratedbyTimer0 Waveformfedasclk toSPIunit SPIsamplesDataI/OlineperiodicallyduringRx SPIshiftsoutdataduringTx Radioonlyperformsmodulationdemodulation DataI/O

SPI SPICLK Timer0

ControlInterface GPIOPinsofAVR TwoControllinesdecideRadiostate

RFM RADIO CTL0 CTL1

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RobotSensorNetworks

Mica2 CC1000AVRInterface
DataInterface 1. SPICLKgeneratedbyradio 2. RadioRxdataavailableasabitstream 3. Radioperformschannelencodingdecodingandbitsynchronization DataI/O DCLK
ControlInterface GPIOPinsofAVR SimulateSPIinS/W PCLK:ProgramClock PDATA:ProgramData PALE:R/WSelect Radiostatewrittentoregistersinradio

SPI

PCLK PDATA PALE

CHIPCON CC1000 RADIO

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RobotSensorNetworks

MicaZ CC2420Interface
DataInterface 1. SPICLKgeneratedbyuC 2. RadioRxdataavailableasabytestreamofpackets 3. Radioperformschannelencodingdecoding,bitsynchronization, encryptionandpacketization
SPI GIO2 GIO0 Interrupt GIO1 TimerCapture
Control Interface SPI access to radio internal registers

MOSI MISO SCLK CSn FIFO FIFOP CCA SSD

CHIPCON CC2420 RADIO

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RobotSensorNetworks

RadioPowerManagement
1. Radiohasveryhighpowerconsumption
Tx powerisrangedependant 52.2mW (0dBm) Rxpowerisalsoveryhigh 59.1mW (morethanTx !!) PowerdownVReg Off 3uW AbovedataforCC2420,2.4GHz
1) CheckoutCC1000,CC2420datasheets

2.

Radiopowermanagementcritical
Idlestatechannelmonitoringpower=RxPower Putradiotosleepwhennotinuse Howdoweknowwhensomebodyistryingtocontactus?
1) 2) LowPowerListening STEMProtocol

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RobotSensorNetworks

SensorNodeH/WS/WPlatforms(1/2)
In-node processing Wireless communication with neighboring nodes

Event detection

Acoustic, seismic, image, magnetic, etc. interface

sensors

CPU

radio

Electro-magnetic interface

battery

Limited battery supply Energy efficiency is the crucial H/W and S/W design criterion
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SensorNodeH/WS/WPlatforms(2/2)
Main(includesScheduler) Application(UserComponents)

Actuating

Sensing

Communication

Hardware Abstractions

1. Architecturedemonstratedbyfunctionality 2. Application = Component +Scheduler

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ComponentArchitectureinMote(1/2)
Mainapplication

RobotComponent

Communication

myMotor

myADC Server

Led

Timer

Xnp

1. Note:
Lowlevelfeedbackcontrolisimplementedinrobotcomponent. Commandinterpreter/executerareimplementedinthemainapplication

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RobotSensorNetworks

ComponentArchitectureinMote(2/2)
1. Whatisacomponent?
SimilartoaobjectinC++ Provideprogramminginterface (command/event) Implementationencapsulated

COMPONENT

signal

2. Maincomponentsinmote
ADCserver(ADCServer) Led(Led),Timer(Timer) Motor(myMotor) Communication(myComm) Xnp (forwirelessdownload) Robotcomponent Maincomponent event

COMPONENT Task
command

COMPONENT

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MoteInputOutputStructure
Mote Application

Active Message PWM ADC Server

RFM

UART

Motor

ADC

Clock Software Hardware Sensor

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RobotSensorNetworks

SensorNetworkPlatform(1/2)
1. AtmelATmega128L
32kHzcrystal 10bitADC UART SPIbus

LEDS ExternalConnectors SerialFlash

2. 3. 4. 5. 6.

Radio(Chipcon CC1000) Externalserialflash memory(512kbyte) Connectorsforinterfacingtosensor andprogrammingboards 3programmableLEDS JTAGport

ATmega128L

Radio

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RobotSensorNetworks

SensorNetworkPlatform(2/2)
1. InvertedFMicrostrip AntennaandSMAConnector 2. InvertedF
PseudoOmnidirectional 50mrangeindoors 125mrangeoutdoors Optimumat24002460MHz

3.

SMAConnector
Enabledbymovingacapacitor >125mrange Optimumat24302483MHz

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Sensor
1. IntegratedSensors
Sensirion SHT11
1) 2) 3) 1) 2) 1) 2) Humidity(3.5%) Temperature(0.5oC) Digitalsensor Photosyntheticallyactivelight Silicondiode Totalsolarlight Silicondiode

Hamamatsu S1087

acoustic

Hamamatsu S1337BQ mag dot ultrasound

2.

Expansion
6ADCchannels 4digitalI/O Existingsensorboards
1) 2) 3) Magnetometer,Ultrasound Accelerometer,4PIRsensors Microphone,Buzzer

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LowPowerOperation
1. EfficientHardware
IntegrationandIsolation
1) Complementaryfunctionality(DMA,USART,etc)

SelectablePowerStates(Off,Sleep,Standby) Operateatlowvoltagesandlowcurrent
1) Runtocutoffvoltageofpowersource

2.

EfficientSoftware
Finegrainedcontrolofhardware Utilizewirelessbroadcastmedium Aggregate

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TypicalWSNApplication
1. Periodic
DataCollection NetworkMaintenance Majorityofoperation

processing data acquisition communication

2.

TriggeredEvents
Detection/Notification Infrequentlyoccurs
Power 1) But mustbereportedquickly andreliably

3.

LongLifetime
MonthstoYearswithout changingbatteries Powermanagementisthekeyto WSNsuccess

sleep
Time

wakeup

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DesignPrinciples
1. KeytoLowDutyCycleOperation:
Sleep majorityofthetime Wakeup quicklystartprocessing Active minimizework&returntosleep

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RobotSensorNetworks

Sleep
1. 2. Majorityoftime,nodeisasleep
>99%

Minimizesleepcurrentthrough
Isolatingandshuttingdownindividualcircuits Usinglowpowerhardware
1) NeedRAMretention

3.

Runauxiliaryhardwarecomponentsfromlowspeedoscillators (typically32kHz)
PerformADCconversions,DMAtransfers,andbusoperationswhile microcontrollercoreisstopped

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Wakeup
OverheadofswitchingfromSleeptoActiveMode Microcontroller Radio(FSK)

292 ns 2.5 ms 10ns 4ms typical 1 10 ms typical Hanyang University

RobotSensorNetworks

Active
1. Microcontroller
Fastprocessing,lowactivepower Avoidexternaloscillators

2.

Radio
Highdatarate,lowpowertradeoffs Narrowbandradios Lowpower,lowerdatarate,simplechannelencoding, fasterstartup Widebandradios Morerobusttonoise,higherpower,highdatarates

3.

ExternalFlash(stablestorage)
Datalogging,networkcodereprogramming,aggregation Highpowerconsumption Longwrites

4.

Radiovs.Flash
250kbpsradiosending1byte Energy:1.5mJ,Duration:32ms Atmelflashwriting1byte Energy:3mJ,Duration:78ms Hanyang University

RobotSensorNetworks

MinimizePowerConsumption
1. 2. ComparetoMicaZ:
aMica2motewithAVRmcu and802.15.4radio

Sleep
Majorityofthetime Telos:2.4mA MicaZ:30mA

3.

Wakeup
Asquicklyaspossibletoprocessandreturntosleep Telos:290nstypical,6msmax MicaZ:60msmaxinternaloscillator,4msexternal

4.

Active
Getyourworkdoneandgetbacktosleep Telos:48MHz16bit MicaZ:8MHz8bit

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RobotSensorNetworks

CC2420Radio
CC2420 IEEE802.15.4Compliant
1. Fastdatarate,robustsignal
250kbps:2Mchip/s:DSSS 2.4GHz:OffsetQPSK:5MHz 16channelsin802.15.4 94dBmsensitivity

2. 3.

LowVoltageOperation
1.8Vminimumsupply

SoftwareAssistanceforLowPowerMicrocontrollers
128byteTX/RXbuffersforfullpacketsupport Automaticaddressdecodingandautomaticacknowledgements Hardwareencryption/authentication Linkqualityindicator(assistsoftwarelinkestimation)
1) sampleserrorrateoffirst8chipsofpacket(8chips/bit)

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PowerCalculationComparison
PowerCalculationComparison Designforlowpower
1. Mica2(AVR)
0.2mswakeup 30mW sleep 33mW active 21mW radio 19kbps 2.5Vmin
1) 2/3ofAAcapacity

2.

MicaZ (AVR)
0.2mswakeup 30mW sleep 33mW active 45mW radio 250kbps 2.5Vmin
1) 2/3ofAAcapacity

3.

Telos(TIMSP)
0.006mswakeup 2mW sleep 3mW active 45mW radio 250kbps 1.8Vmin
1) 8/8ofAAcapacity

453days

328days

945days

SupportingmeshnetworkingwithapairofAAbatteriesreporting dataonceevery 3minutesusingsynchronization(<1%dutycycle) Hanyang University

RobotSensorNetworks

CASPLab.Platform
CASPLab.Hardware&SoftwarePlatform

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Systemorganization(1/2)
1. AnchorNode
Cell Node, CellID

2.

MobileNode
Node,AnchorNode (CellID) WallNode

3.

WallNode
Node MobileNode,AnchorNode SinkNode

4. 5. 6.

SinkNode
WallNode Ezgate SerialCable

Ezgate
SinkNode Ethernet TaskManager

Tast Manager
Ezgate , Node . Hanyang University

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Systemorganization(2/2)
WallNode MCU RF Sensor OS AnchorNode Atmel ATmega 128L Chipcon CC2420(2.4GHz) ,,,, TinyOSVersion1.1.14 3 LinuxKernel2.6 MobileNode SinkNode IntelPXA255 CC2420+802.11, 802.3

Hardware

MCUSpeed Flash SRAM BootROM Uplink,OTA, Downlink,

8MHz 128KB 4KB 4KB ,,OTA, Downlink ,OTA, Downlink,

400MHz 64MB 32MB 512KB ,

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WallNode
Oscillator PCB Antenna

JTAG

Interrupt

Timer CC2420 SMA Antenna

ATMEL128L Serial Port

ADC

Flash

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RobotSensorNetworks

Anchor&MobileNode
Oscillator PCBAntenna Interrupt JTAG Timer CC2420 SMA Antenna

ATMEL128L

ADC

Flash

Sensormodule

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EzGate
Oscillator&
Board Debugging Serial Interface

JTAG

WallNode PXA255 (IntelARMProcessor) Linux2.4

FlashROM

RS232&USB

SDRAM &Buffer

LANController

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RobotSensorNetworks

Uplink&Downlink(1/2)
1.
Uplink downlink sink(downlink) (uplink) downlink connectedsourcerouting

2.

Sinknode:
Uplink downlinkpass

3.

Sensornode:
uplink

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Uplink&Downlink(2/2)
1. Uplink(ReverseLink)
Node Data Sink Node

2.

Downlink(ForwardLink)
SinkNode Node

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RobotSensorNetworks

Messageformat
Uplinkmessage Directionflag Mac header Direction Parent flag address Source address Origin address Sequence number Sensing data 0=uplink 1=downlink 2=downlinklock 3=downlinkfree 5=peertopeer 6=replymessage

Downlinkmessage Mac header Direction Origin flag address Dest. address Parent Parent Parent address1 address 2 address3

Commandmessage Mac header Direction Origin flag address Dest. address Sequence number Commandordata

Node

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UpLink

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DownlinkSequence(1/4)
11
Multihop message Mac header Direction Parent flag = 0 address Source address Origin address Directionflag 0 = uplink 1 = downlink 2 = downlinklock 3 = downlinkfree 5 = peertopeer 6 = replymessage

12 11 10 5 3 2 1

10 5 3 2 1 Sink

6
Sink source parent

7
source parent

8
source parent

source parent

source parent

source parent origin

10

11

12

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DownlinkSequence(2/4)
Source message Mac header Direction flag = 1 Origin address Dest. address Parent address 1 Parent address 2 Parent address 3 Directionflag

6
Sink origin source

7
parent source

8
parent source

9
Sequence

0 = uplink 1 = downlink 2 = downlinklock 3 = downlinkfree 5 = peertopeer 6 = replymessage

4 5 10 1 5 2 10

parent source Mac header Mac header Direction flag = 2 Direction flag = 2 base base

11 3 11

12

Dest.address 12 Dest.address 12

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RobotSensorNetworks

DownlinkSequence(3/4)
Sourcemessage Macheader Direction flag=6 Origin address

6 Sink

Directionflag 0=uplink 1= downlink 2=downlinklock 3= downlinkfree 5= peertopeer 6= replymessage

origin source

parent source

parent source

Sequence

parent Macheader Direction flag =6 Replyorigin address 12 source

10

11

12

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DownlinkSequence(4/4)
Sourcemessage Direction flag =1 Origin address Dest. address Sequence number

Macheader

Command

6 Sink
origin source

Direction flag 0=forward 1= inverse 2= inverselock 3= inversefree 5=Bidirection

parent source

parent source

Sequence

parent source Macheader Direction flag =5 base

5
Dest.address 12

10
Sequence number

11
buzzeron

12

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RobotSensorNetworks

ErrorControl
1. Downlinkconnectionerror
downlink connection

2. 3.

Peertopeererror
connection packet loss

uplink replymessage,sequence message

Downlinkconnecterrorandsequenceerror
k lin Up ssage me e la c Rep pass base te ro u
Up mes link sag e Rep rou lace tep ass

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RobotSensorNetworks

SoftwareUpdatesbyOTA
1. ?
,S/W H/W, Node
MOTE

BugFix
MOTE

MOTE

2. 3.

Node InSystemprogramming
OnetoOne , => Node ?
MOTE MOTE MOTE

S/WUpgrade

Node =>Node ?

4.

OTAprogramming
OnetoMany, ,

MOTE

InSystem programming OTAprogramming

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RobotSensorNetworks

IncrementalUpdates
1. Updates TraditionalUpdates

2.

3.

IncrementalUpdates

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TaskManagerv0.8
1. Ezgate Application
Ezgate GUI TaskManagerv0.8

2.

OS:WindowsXP Compiler:VisualStudio.NET

Ez Gate TaskManager

TaskManagerv0.8
Ez Gate Ez Gate

3. 4.

WindowsNT/2000/XP/2003

1) 2) MobileNode MobileNode

Ez Gate

GUI Node
1) Node

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RobotSensorNetworks

DataAggregationAlgorithm
1.

2.

Mobile wallNode

NodeA

NodeA

A B C

NodeB

Sink

NodeB

NodeD

SinkNode

NodeC

NodeC

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HistoryBufferAlgorithm
1. HistoryBuffer
SinkNode

2.

Mobile wallNode

NodeA

NodeA

NodeB

NodeD
A

SinkNode

NodeB

NodeD

SinkNode

Drop NodeC NodeC

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Platform
Hardware&SoftwarePlatform

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RobotSensorNetworks

VarietyofSensorNodePlatforms
1. 2. 3. 4. 5. 6. 7. 8. 9. Hanback ZigbeX RSC(RockwellScienceCenter)WINS&Hidra SensoriaWINS BerkeleysMotes UCLAsiBadge UCLAsMedusaMKII BerkeleyPiconodes Telos Platform MITsAMPs

10. InteliMote

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RobotSensorNetworks

HanbackZigbeX
1. Computing
Atmel8bitRISCmicrocontroller(CPU7.3728Mhz) 128KBFlashprogrammemory 4KBSRAM

2.

RadioTransceiver
ChipconCC2420 Radiorange:(130m) Datarate:240Kbits/sec Frequencyrange:2.4GHz(ISM)

3. 4.

TinyOS,NanoQplus(ETRI OS) Basesensor+MultimodalSensorBoard

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RSCWINS&HidraNodes
1. Consistsof2x2 boardsina 3.5x3.5x3 enclosure
StrongARM1100processor@133 MHz
1) 1) 2) 4MBFlash,1MBSRAM Seismic(geophone),Acoustic magnetometer,accelerometer, temperature,pressure Connexants RDSSS9MRadio@100 kbps,1100mW,40channels RS232 3.3v 3.3v 5v 3.3v 5v 5v

Varioussensors

RFcommunications
1)

eCos RTOS

2.

Commercialversion:Hidra
C/OSII TDMAMACwithmultihoprouting

3.

http://wins.rsc.rockwell.com/

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RobotSensorNetworks

Sensoria WINS(1/3)
Sensoria WINSNG2.0,sGate, andWINSTacticalSensor
1. WINSNG2.0
DevelopmentplatformusedinDARPA SensIT SH4processor@167MHz DSPwith4channel16bitADC GPS imaging dual2.4GHzFHradios Linux2.4+SensoriaAPIs Commercialversion:sGate

2.

WINSTacticalSensorNode
geolocationbyacousticrangingandangle timesynchronizationto5s cooperativedistributedeventprocessing

Ref: based on material from Sensoria slides

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Sensoria WINS(2/3)
Sensoria NodeHardwareArchitecture

Flash

RAM

Processor

10/100 Ethernet

Address/Data Bus
Modular Wireless and Digital Interfaces

Imager Module

Imager Interface

Preprocessor Interface

Analog Front End

MultiChannel Sensor Interface

DSP Preprocessor

GPS

Digital I/O

RF Modem 2

RF Modem 1

Ref: based on material from Sensoria slides

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RobotSensorNetworks

Sensoria WINS(3/3)
Sensoria NodeSoftwareArchitecture
General Purpose App 1 General Purpose App 2 General Purpose App 3 General Purpose App 4

WINS Node API

Discovery/ Self-Assembly Process Management Platform Management Geolocation RF Modem Control Signal Processing Messaging Inter-Node Ranging Platform Interface Sensing Interface Routing

Linux 2.4 Kernel

RF Modem 1 Interface RF Modem 2 Interface Sensor Interface DSP Interface Acoustic Ranging Interface

GPS

GP S

DS P/ AD C

RF 1

RF 2

Du al Co de c

Sensoria APIs for RF Modem, Analog Sampling, File System, PSMISC, GAWK etc. Linux 2.4 OS- Native Kernel with support for PCMCIA, RPM 32 Bit RISC Processor Hitachi SH-4, DSP Preprocessor

uC

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BerkeleyMotes(1/4)

ProgrammingAPI Mate VirtualMachine TinyOS Preemptive,FIFOscheduler,Command&EventInterface Rene2,Dot,Mica,WeCHardware,2AABatteries,RFMTR1000 Hanyang University

Serial

GPIO

RobotSensorNetworks

BerkeleyMotes(2/4)
1. Devicesthatincorporate communications,processing, sensors,andbatteriesintoa smallpackage Atmelmicrocontrollerwith sensorsandacommunication unit
RFtransceiver,lasermodule, oracornercubereflector temperature,light,humidity, pressure,3axis magnetometers,3axis accelerometers

2.

3.

TinyOS light,temperature,10kbps@20m
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BerkeleyMotes(3/4)
BerkeleyMICAArchitecture
1. AtmelATMEGA103
4Mhz 8bitCPU 128KBInstructionMemory 4KBRAM
DS2401UniqueID Atmega128Microcontroller DigitalI/O 51PinI/OExpansionConnector 8Programming 8AnalogI/O Lines

2. 4Mbit flash(AT45DB041B)
SPIinterface Two264byteSRAMDataBuffers
Transmission PowerControl Hardware Accelerators SPIBus Coprocessor

TR1000RadioTransceiver

3. RFMTR1000radio
50kb/s ASK

4MbitExternalFlash

PowerRegulationMAX1678(3V)

4. Networkprogramming 5. 51pinconnector
Analogcompare+interrupts
SPI:SerialtoParallelInterface RFM:RadioFrequencyModule

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BerkeleyMotes(4/4)

J.Hillatal.SystemArchitectureDirectionsforNetworkedSensors [online].Available: http://www.cs.virginia.edu/~qc9b/cs851/SADofNS_2.ppt

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RobotSensorNetworks

UCLAiBadge (1/2)
1. WearableSensorBadge
acousticin/out+DSP temperature,pressure, humidity,magnetometer, accelerometer ultrasoundlocalization orientationviamagnetometer andaccelerometer bluetooth radio

2.

SylphMiddleware

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RobotSensorNetworks

UCLAiBadge (2/2)
SylphMiddleware
Sensor Apps Speech Recogn. Service Bayesian Fusion Service Storage Service Browsers Sensor Configuration Manager

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UCLAsMedusaMKII
UCLAMedusaMKIILocalizerNodes
Ultasnd RX/TX AccessoryBoard

ADXL202 Light&Temp Connector2 PButton SPI ADC/SPI/ GPIO SPI PButton RS485 AT91FR4081 Mega128L

RFM PMTU Connector1 UART& JTAG

UART, JTAG, GPS

1.

40MHzARMTHUMB
1MBFLASH,136KBRAM 0.9MIPS/MHz480MIPS/W(ATmega 242MIPS/W)

2. 3. 4.

RS485bus
Outofbanddatacollection,formationofarrays

3currentmonitors(Radio,Thumb,restofthesystem) 540mAhRechargeableLiIonbattery

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BerkeleyPiconodes (1/3)
BWRCs PicoNode TripWire SensorNode

Solar Cell PCB Battery (0.5 mm) (3.6 mm) (1 mm)

Chip encapsulation (1.5 mm)

7.6 mm

3c

5c
m

Version1:LightPowered

Sizedeterminedbypower dissipation(1mWavg) dissipation(1mWavg)

Components and battery mounted on back

Version2:VibrationPowered Hanyang University

Ref: from Jan Rabaey, PAC/C Slides

RobotSensorNetworks

BerkeleyPiconodes (2/3)
App/UI Sensor/actuator interface

Sensor/ actuators

User interface
Transport Aggregation/ forwarding
4kB XDATA 16kB CODE

Network

256 DATA

DW8051
Chip Supervisor DLL (MAC) Locationing
Serial
Interconnectnetwork

Chip Supervisor SIF MAC

ADC

Energy train

Baseband Reactive radio

FlashIF

Serial GPIO

SIF
RF (TX/RX)

LocalHW

PHY

ADC

Antenna

Reactiveinter andintrachipsignaling Modulesinpowerdown(lowleakage)modebydefault Eventsatinterfacecausewakeup HwModulesselectedtomeetflexibilityneeds whileoptimizingenergyefficiency(e.g.8051microcontroller)

1mWon <10mWsleep Size:6mm2

Ref: from Jan Rabaey, PAC/C Slides

Hanyang University

RobotSensorNetworks

BerkeleyPicoNode(3/3)
1. DefinedGoals Singlechip,ultralowpowerPicoNode.Customlowpower application,protocol,network,MAC,andphysicallayersimplementedonflexible lowpowercomputationfabrics Applications ConsumerUse.

2.

Hanyang University

RobotSensorNetworks

TelosPlatform
1. Anewplatformforlowpowerresearch
Monitoringapplications:
1) Environmental,Building,Tracking

2. 3. 4.

Longlifetime,lowpower,lowcost Builtfromapplicationexperiencesandlowdutycycle designprinciples Robustness

Integratedantenna,Integratedsensors,Soldered connections

5. 6. 7.

StandardsBased
IEEE802.15.4,USB

IEEE802.15.4
CC2420radio,250kbps,2.4GHzISMband

TIMSP430
Ultralowpower
1) 1.6Asleep,460Aactive,1.8Voperation

Openembeddedplatformwithopensourcetools, operatingsystem(TinyOS),anddesigns. Hanyang University

RobotSensorNetworks

MITAMPS(1/2)

Hanyang University

RobotSensorNetworks

MITAMPS(2/2)
1. 2. highlyintegrated,yetflexiblesensornodebasedontwodedicated chips (offtheshelf>systemsonchip) StrongARMSA111032bit,206MHz,RISCprocessor

3.

3acousticsensorsattachedtoeach node,forestimationofdirectionof target(AMPSI)

Hanyang

[9] University

RobotSensorNetworks

InteliMote
1.
2.

Designedtobeahighbandwidthsensorplatform

Computing
StrongARM32bitRISCprocessor 512KBFlash,64KBSRAM

3.

RadioTransceiver
Bluetooth Datarate:500Kbps~1Mbps Frequency:2.4GHz(ISM)

4.

TinyOS
MultiSensing Vibrationsensing

Hanyang University

RobotSensorNetworks

Q&A
1. . 2. Q&A

Hanyang University