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22-Feb-06
Fast-Prototyping Using the BTnode Platform
Jan BeutelComputer Engineering and Networks Lab, ETH Zurich
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Visions 1991 1999 20001996 20032001 2004
Wireless Sensor Networks
Applications 20042000 20032001
Military Surveillance
ZebraNetSensor Webs
Argo
Duck Island
Shooter LocalizationJames Reserve
UbiquitousVision
PicoRadioWireless Overlay
PaintableComputing
Scale FreeNetworks
Terminodes
Smart DustDirectedDiffusion COTS Dust
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Visions 1991 1999 20001996 20032001 2004
Wireless Sensor Networks
Applications 20042000 20032001
Military Surveillance
ZebraNetSensor Webs
Argo
Duck Island
Shooter LocalizationJames Reserve
UbiquitousVision
PicoRadioWireless Overlay
PaintableComputing
Scale FreeNetworks
Terminodes
Smart DustDirectedDiffusion COTS Dust
Prototypes, Experiments and Research Demos
WSN Community
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Visions 1991 1999 20001996 20032001 2004
Wireless Sensor Networks
Applications 20042000 20032001
Military Surveillance
ZebraNetSensor Webs
Argo
Duck Island
Shooter LocalizationJames Reserve
UbiquitousVision
PicoRadioWireless Overlay
PaintableComputing
Scale FreeNetworks
Terminodes
Smart DustDirectedDiffusion COTS Dust
ProductionApplications
Prototypes, Experiments and Research Demos
WSN CommunityOtherPeople
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Argo – Global Ocean Observation StrategyGlobal array of temperature/salinity profiling floats
Satellite data relay to data centers on shoreOperational since 2000Developed and maintained mainly by oceanographers
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Anti-Submarine Surveillance
Distributed acoustic monitoring and surveillanceAdvanced signal processingMostly wireline and analogFixed installations and mobile unitsMilitary development since the cold war
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Globally Networked Weather Stations
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Deployment-support networksOperational conceptSensor Network Maintenance ToolkitApplications exampleField experiments
Outline
Design and Development
Prototype and Pilot
Launch and Ramp Production Service and
SupportConcept/Theory
BTnode platform for fast-prototypingMetrics and comparison of existing platformsDesign of hard- and software based on standardized interfaces and event driven interactionBTnode platform success
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Deployment-support networksOperational conceptSensor Network Maintenance ToolkitApplications exampleField experiments
Outline
Design and Development
Prototype and Pilot
Launch and Ramp Production Service and
SupportConcept/Theory
BTnode platform for fast-prototypingMetrics and comparison of existing platformsDesign of hard- and software based on standardized interfaces and event driven interactionBTnode platform success
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Wireless Sensor Network Systems Today
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Large application domainNo unified one-size-fits-all solution [Römer2004]
Automated tools common in EDA communityE.g. semi-automatic design space exploration [Künzli2005,Anliker2004]
Current WSN community approachDevice characterization, e.g. Mote family [Polastre2005,Shnayder2004]
Tiered architectures [Estrin2003], WSN device classes [Hill2004]
Good platform?Suitable solution?Optimum match?
Metrics of WSN Platforms
Applications ?RequirementPlatform MetricsComparisons
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State-of-the-Art Platforms – System Core
Mica2
Tmote Sky
Mica2Dot
Imote
Lack of Flexibility
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State-of-the-Art Platforms – Radio Systems
Mica2
Tmote Sky
Mica2Dot
Imote
2 st
rate
gies
Packet oriented
Bitstream oriented
Event-based Interaction
Rea
l-tim
e pr
oces
sing
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State-of-the-Art Platform Comparison
ImoteTmote SkyMica2Dot
System Core
Mica2
Radio Systems
Is there room for another platform?
Multipurposeradio?
Balancedcomputing resources?
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The BTnode Platform
Prototype
IO/Peripherals
2nd Generation 3rd Generation
Communication Computation
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58 mm
BTnode rev3 Architecture Details
32.5
mm
System coreAtmel ATmega128256 kB SRAMGeneric IO/PeripheralsSwitchable power supplies
Dual radio system
Bluetooth radio2.4 GHz Zeevo ZV4002
Low-power radio433-915 MHz ISMChipcon CC1000
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State-of-the-Art Platforms Comparison
Tmote SkyMica2Dot Imote BTnode rev3
System Core
Mica2
Radio Systems
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BTnode In-situ Power Profiling Function
0 100 200 300 400 500 600 700 800 900 100010
15
20
25
30
35
40
45
50
Slave sniff
Master sniff
Slave active
Master active
mA
samplesStandby
[Negri2005/2006]
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BTnut System Software
Versatile and flexible fast-prototypingLightweight operating system support in plain CLinux-to-AVR embedded emulationDemo applications and tutorial
simulate
emulate upload
compile
Built on top of multi-threaded Nut/OS frameworkNon-preemptive, cooperativemulti-threadingEvents, timersPriorities for threadsDynamic heap allocationPOSIX style device driversOS tracer (usec resolution)
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Industrial technology transferCommercialization with ETH spin-off “Art of Technology”Commercial replicas resulting from open source policy
BTnodes in EducationDifferent labs and demosGraduate lab in embedded systems (120 participants)30-40 successfully completed student projects
BTnodes in Research Domains25+ wearable and ubiquitous computing applications and demosWireless (sensor) network research40+ scientific publications based on or related to BTnodes
BTnode Platform Success
0 100 200 300 400 500 600 700 800 900 100010
15
20
25
30
35
40
45
50
Slave sniff
Master sniff
Slave active
Master active
mA
samplesStandby
BTnode dev kit € 500
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Deployment-support networksOperational conceptSensor Network Maintenance ToolkitApplications exampleField experiments
Outline
Design and Development
Prototype and Pilot
Launch and Ramp Production Service and
SupportConcept/Theory
BTnode platform for fast-prototypingMetrics and comparison of existing platformsDesign of hard- and software based on standardized interfaces and event driven interactionBTnode platform success
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WSN Development Reality
It is hard to deploy anywhere beyond 10-20 nodes today.
Coordinated methods and tools are missing today.
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Virtualization and EmulationEmStar [Ganesan2004]
BEE [Chang2003,Kuusilinna2003]
Today's WSN Design and Development
Sca
le
Figure abridged from D. Estrin/J. ElsonReality
SimulationTOSSIM [Levis2003]
PowerTOSSIM [Shnayder2004]
Avrora [Titzer2005]
Test GridsmoteLab [Werner-Allen2005]
Emstar arrays [Cerpa03/04]
Kansei [Dutta2005]
Closing in on the“real” experience
Specializedsimulation tools for WSN applications
Fast-prototyping in a controlled environment
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Virtualization and EmulationEmStar [Ganesan2004]
BEE [Chang2003,Kuusilinna2003]
Today's WSN Design and Development
Sca
le
Figure abridged from D. Estrin/J. ElsonReality
SimulationTOSSIM [Levis2003]
PowerTOSSIM [Shnayder2004]
Avrora [Titzer2005]
Test GridsmoteLab [Werner-Allen2005]
Emstar arrays [Cerpa03/04]
Kansei [Dutta2005]
DeploymentIn-network reprogramming [Levis2004,Hui2004]
Calibration and Verification[Szewczyk2004]
Trial-and-error [Mainwaring2004,Hemingway2004,Cerpa2001]
Dependence on infrastructure[Szewczyk2004]
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“Proof-of-Concept” Deployment Experience
[Koe
n La
ngen
doen
, TU
Del
ft]
[Gilm
ann
Tolle
, UC
Ber
kele
y]
[Pra
balD
utta
, UC
Ber
kele
y]
[Pra
balD
utta
, UC
Ber
kele
y]
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From Proof-of-concept to Real-world WSNs
Traditional test gridWiredImmobileNot scalable
In-network toolsUnreliable
Self-organizing backbone network
with deployment-support
services
Deployment-Support Network
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Target Sensor Network
Next-Generation Deployment-Support
Developer Workstation
Deployment-Support NetworkTemporary, minimal invasiveVirtual connections to nodesReliable, wireless, scalable
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WSN TargetApplication
JAWS – Application Partitioning
JAWS ApplicationTopology Control
Connection Management
Data Transport
Caching
Node Management
Target AdapterTarget ControlProgrammingLogging
MonitorThreads/IRQsHigh level context
Codesize 100 kB
4 kB
2 kB
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Target Sensor Network
SNMT – Sensor Network Monitoring Toolkit
A suite of services based on the JAWS deployment-support network
Remote logging and event detectionBTnut OS tracing facilityLong-term logging and analysisRemote programmingGeneric DSN accessPower and status monitoringCoordinated fault injection
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JAWS – Application Example
Test Setup: 20+ nodes Distributed Event TracingTime-synchronizedContext switchesInterrupts
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JAWS – Field Experiments
Deployment using 70+ nodes on an office floor
Largest connected Bluetooth Scatternet
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Target Sensor Network
Deployment-Support – Closing the Loop…Fu
ll lif
e-cy
cle
supp
ort
for S
enso
r Net
wor
ks
Feedback to concept,design and developm
entunder real-life, production
conditions
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Acknowledgements
BTnode Core TeamOliver Kasten, Matthias Ringwald, Kay Römer, Friedemann MatternPhilipp Blum, Matthias Dyer, Kevin Martin, Lennart Meier, Luca Negri, Martin Hinz, Lothar Thiele
MICS Algorithms CollaborationRegina O’ Dell-Bischoff, Fabian Kuhn, Aaron Zollinger, Roger Wattenhofer
Related publicationsL. Negri, J. Beutel and M. Dyer. The Power Consumption of Bluetooth Scatternets. CCNC 2006.J. Beutel, M. Dyer, L. Meier, and L. Thiele. Scalable topology control for deployment-sensor networks. IPSN 2005.J. Beutel. Robust Topology Formation using BTnodes. Computer Communications 2005.J. Beutel, M. Dyer, M. Hinz, L. Meier, M. Ringwald. Next-Generation Prototyping of Sensor Networks. SenSys 2004.J. Beutel, O. Kasten, F. Mattern, K. Römer, F. Siegemund, and L. Thiele. Prototyping wireless sensor network applications with BTnodes. EWSN 2004.J. Beutel, O. Kasten and M. Ringwald. BTnodes - A Distributed Platform for Sensor Nodes. SenSys 2003.
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To probe further…
http://www.btnode.ethz.ch