lect1 geta 2009 - aalto-yliopistogeta.aalto.fi/en/courses/lect1_geta_2009.pdf · tkk: tuas...

GETA - Wireless automation @ Micronova 7.-9.10.2009

GETA GETA CourseCourse: : WirelessWireless AutomationAutomation (3(3--4 ECTS)4 ECTS)

Course Arrangementsand Introduction

Lasse Eriksson

TKK | Control Engineering GETA / Wireless Automation 7.-9.10.2009

IntroductionIntroduction: : CourseCourse staffstaff

• GETA coordinator: Marja Leppäharju

• Lecturers: Prof. Mohammed Elmusrati

D.Sc. Lasse Eriksson

Lic.Sc. Mikael Björkbom M.Sc. Maurizio Bocca

• Contact: [email protected]

tel. +358 9 451 5231

• Supervisor: Prof. Heikki Koivo

• Web page: http://geta.tkk.fi/en/courses/wireless_automation/News, lectures, exercises, material...


IntroductionIntroduction

• Lasse ErikssonBorn July 23, 1978 in Helsinki

Married, two sons (4y and 1y)

High school exams in 1997 (SYK)

M.Sc.(Tech.) in electrical and communications engineering, 2003 (TKK)

Lic.Sc.(Tech.) in control engineering, 2007 (TKK)

D.Sc.(Tech.) in control engineering, 2008 (TKK)

GETA student for 9/2005 – 11/2008

• Currently working as a post-doc researcher at the Faculty of Electronics, Communications and Automation at TKK (70 % AS, 30 % ComNet)

• Coordinating the wireless automation research


WSN @ TKK WSN @ TKK ResearchResearch GroupGroup

• Professor Heikki Koivo, Control Engineering GroupLasse Eriksson (project manager)

Mikael Björkbom, Maurizio Bocca, Emre Cosar, Juho Salminen, Tuomo Kohtamäki, Ossi Kaltiokallio, Joni Silvo...

• Professor Riku Jäntti, Radio Communications GroupShekar Nethi, Aamir Mahmood, Jari Nieminen, Jose Valarezo, Lama Sherpa...

• ... In collaboration with Telecommunication Engineering Group of the University of Vaasa

Professor Mohammed Elmusrati, Lecturer Reino Virrankoski

• ... and other groups at TKK


ResearchResearch projectsprojects and and activitiesactivities• The research group has had several projects and other activities during

the last 6 years in the area of wireless sensor networks and wirelessautomation

ERHE (2003-2005): Very distributed sensor and actuator networksDADA (2005-2006): Data fusion and diagnostics methods in weatherstation networksWiSA (2006-2010): Wireless sensor and actuator networks for measurement and controlPIPO (2007-2008): Quality and fusion of surface weather stations and dual-polarization radar measurementsWISM (2008-2009): Wireless sensor systems in indoor situationmodelingISMO (2008-2011): Intelligent structural health monitoring systemGENSEN (2009-2010): Generic Sensor Network Architecture for Wireless AutomationDifferent teaching and education development projects related to remotemonitoring and control, sensor networks etc.Course: AS-74.3199 Wireless Automation, 4 p. (2007-)


Wireless automation course

3-4 cr.


ContentsContents

• Communication channels and protocols

• Wireless communication methods: IEEE 802.11x, Bluetooth, Zigbee, …

• QoS and security requirements in wireless networks

• Wireless sensor networks

• Data fusion in sensor networks

• Communication constrained control, applications

• Wireless automation standards: WirelessHART, ISA100.11a


LecturesLectures and and exercisesexercises

• Wednesday to Friday (Oct. 7.-9, 2009), 8.30 - 17.00 (lunch break at 12.00-13.00)

• Location: MicronovaSauna department! (Wed)

Lecture hall Brattain (Thu – Fri)

• Hands-on exercises, demonstrations

• The course language is English


CourseCourse requirementsrequirements

• 3 credits:Min. 2/3 attendance (name list!!)

Homework exercise

Exam

• 4 credits:Additionally, submission of a written report on a given topic (4pages)


CourseCourse requirementsrequirements......• Homework:

Simulations with the PiccSIM simulator

Additional points to the exam available!

Deadline: Oct. 23, 16.00 o’clock

• Submission of a short written reportOptional, gives an extra credit

Topic: given or own (needs to be approved by course staff -> Mikael)

About 4 pages (in English), double column format

A Word template is provided (and it must be used!)

Deadline for report submission: Nov. 6, 16.00 o’clockA collection of reports will be distributed to students after the course

• Exam on Friday Oct. 16, at 9.00 – 12.00TKK: TUAS building, seminar room 1021-1022 (opposite to AS1)

Vaasa: Meeting room F392

Contact [email protected], if the date is not feasible!


SomeSome reportreport topicstopics

• Own topic related to own research is possibleNo copy+paste from previous papers

The report can be used as a background study for a publication!Topic

Time Synchronization protocol for wireless nodesCross-Layer Design in wireless networksData security and authentication in wireless networksFault-tolerant design of wireless networksCommercial wireless sensors- Crossbow, Tmote, Sensinode...Specific wireless sensor network routing protocol- AODVSpecific wireless sensor network MAC protocolSmart dust, TSMP protocol, ISA100.11a...Mote operating systems- TinyOS- FreeRTOS- ContikiStability of networked control systems (for the mathematically inclined)Send-on-delta techniquesEnergy efficient radio


CourseCourse gradinggrading

• Based on the exam, grade 1-53 credits course: 100 %

4 credits course: 75 % exam, 25 % report

• Extra points available from the homework exerciseGives max. 6 points to replace the points of one exam question

E.g. you get 2+5+6+1+5 = 19 p / 30 p for the exam and 5 p / 6 p for the homework -> you will substitute the worst points from exam(1 p) by points from the homework (5 p), and hence get 23 p / 30 p for the exam (this would probably give you one number better gradefor the course...)


LecturesLectures: Day 1: Day 1

• Lectures and exercises are given by different persons, specialists in their own field

Day 1 (Wed 7.10.) Topic Lecturer 8:30 – 9:15 Introduction Lasse Eriksson 9:15 – 10:00 Communication channels: modulation, fading,

noise Mohammed Elmusrati

10:00 – 10:15 Break 10:15 – 12:00 Multiple access, communication receivers

(1/2) Mohammed Elmusrati

12:00 – 13:00 Lunch break 13:00 – 13:45 Communication receivers (2/2)

Mohammed Elmusrati

13:45 – 14:45 Wireless sensor networks: hardware and software

Maurizio Bocca

14:45 – 15:00 Break 15:00 – 17:00 Exercises: Wireless sensor networks (1/2) Maurizio Bocca


DaysDays 2 and 32 and 3Day 2 (Thu 8.10.) Topic Lecturer 8:30 – 10:00 Wireless sensor networks: routing, clustering,

localization, time-synchronization Maurizio Bocca

10:00 – 10:15 Break 10:15 – 12:00 Quality of service, security and energy issues

in wireless automation networks Mikael Björkbom

12:00 – 13:00 Lunch break 13:00 – 14:45 Data fusion techniques in wireless networks Mikael Björkbom 14:45 – 15:00 Break 15:00 – 17:00 Exercises: Wireless sensor networks (2/2) Maurizio Bocca Day 3 (Fri 9.10.) Topic 8:30 – 10:00 Communication constrained control Lasse Eriksson 10:00 – 10:15 Break 10:15 – 12:00 Wireless automation standards:

WirelessHART, ISA100.11a Lasse Eriksson

12:00 – 13:00 Lunch break 13:00 – 14:45 Simulation of wireless automation systems Mikael Björkbom 14:45 – 15:00 Break 15:00 – 17:00 Exercises: Simulation of wireless automation

systems Mikael Björkbom


MaterialMaterial

• Lecture and exercise materialavailable on the course web page

• Book is provided:

Lasse Eriksson, Mohammed Elmusrati, Mikael Pohjola (eds.): Introduction to Wireless Automation, TKK 2008.

• Also available in the Internet: http://www.control.tkk.fi/Publications/WAUreport.pdf

or

https://noppa.tkk.fi/noppa/kurssi/as-74.3199/materiaali/introduction_to_wireless_automation.pdf


Questions?


A A wirelesswireless automationautomation systemsystem

• Smart Wireless by Emerson


WhyWhy networksnetworks? ? WhyWhy wirelesswireless??

M.-Y. Chow, Y. Tipsuwan, ”Network-based control systems: A tutorial,”IEEE IECON 2001.


WirelessWireless automationautomation systemsystem

• An automation system taking advantage of wirelesscommunications on one or several levels of the system(factory, automation system, field device) for deliveringmeasurements and control values, configuration parametersor other process information between the devices, controlrooms and servers

• Characteristics of low-level wireless automation systems:Automated actions based on online measurement data (control)

Strict timeliness requirements

RRR: Real-timeliness, redundancy and reliability needed

Security plays an important role


WirelessWireless ””SWOTSWOT””

• Wireless strengths & opportunitiesCabling costs decrease dramatically (cables & installation)

Flexibility of instrumentation, easy reconfiguration

New positions for sensors (rotating machines)

High flexibility in retrofit applications

More sensors -> more information?

Temporal and spatial redundancy -> fault diagnostics

• Wireless weaknesses & threatsRealiability

Security – everything is on air!

Coexistence of radios (shared frequency bands)

Lifetime of wireless networks (battery?)


WirelessWireless sensorsensor and and actuatoractuator networksnetworks

• An enabling technology for wireless automation

• A wireless sensor node has...Radio

Microprocessor

Memory

Sensor interface (AI, AO, DI, DO)

Battery

Antenna

Capability to perform sensing,

data processing, networking

and actuation functionalities


WirelessWireless sensorsensor and and actuatoractuator networksnetworks

Actuator

Sensor

Controller

Data fusionA3

A2

A1

C1

C2

S1

S2

S3

S4Possibledata transmission route

Wireless sensor network-Asynchronic, gapped, noisy data

Wireless sensor and actuator network- How the data needs to be manipulated to be able to use it in control?- What control algorithms are suitable for such environment?- What about controller tuning? Stability issues?


TypicalTypical applicationsapplications of WSNof WSN

• Building and home automation

• Monitoring applications: machinery, processes, structurehealth, animal monitoring (e.g. ZebraNet)

• Fire and earthquake emergencies

• Vehicle tracking, traffic control

• Homeland security, situation modeling, etc.

• Robocups

• Right now hugely growing: wireless automation!

• ...


VariousVarious classesclasses of of applicationsapplications

ISA SP100 Classification(The International Society of Automation)

Classification of wireless applications based onthe importance of message timeliness and reliability


SomeSome ””typicaltypical”” wirelesswireless technologiestechnologies

Tech. Related standard Range (m) Frequency band (GHz)Bluetooth IEEE 802.15.1 1-100 2.4WLAN IEEE 802.11x 30-50 2.4 / 3.6 / 5ZigBee IEEE 802.15.4 10-75 0.868 / 0.915 / 2.4

Tech. # Channels / Ch. Width Data rate (Mbit/s)Bluetooth 79 / 1 MHz 1-3WLAN 14 / 22 MHz (b/g) 2-540ZigBee 16 / 5 Mhz (@2.4 GHz) 0.02 - 0.25


SomeSome propertiesproperties

Parameters GSM UMTS Bluetooth Zigbee WiFi (IEEE 802.11x)

UWB

Range: this figure is just a rough estimation. The covering range depends on the environment.

Valid for all areas covered by GSM network.

Same as GSM.

10-100 m 10-100 m, extendable with multi-hops

<100 m <10 m

Data rate CS: 9.6 kb/s, GPRS: <170kb/s EGPRS: <470kb/s

<2Mb/s 1Mb/s up to 3Mb/s

20, 40, 100, and 250 kb/s

a < 54 Mb/s b < 11 Mb/s g < 54 Mb/s

480 Mb/s with impulsive radio

Network latency New slave connect Sleeping slave to active Active channel access

>0.6s >0.25s 20s 3s 2ms

30ms 15ms 15ms

>0.5s ---

Battery life-time Rough estimation for conventional battery.

Hours up to few days. Needs frequent charging or mines power.

Same as GSM.

Up to one month.

Up to couple of years with sophisticated batteries.

Access points should be connected to mines power.

Same as Bluetooth.


SomeSome moremore propertiesproperties......

Operating frequency 900, 1800 MHz

2 GHz 2.4 GHz 868 MHz, 910 MHz, and 2.4 GHz

b,g: 2.4 GHz, a: 5 GHz

5, 60 GHz

Network topology P2P: point-to-point P2M: point-to-multipoint

CS: P2P GPRS: can be also P2M

P2M P2M P2P, P2M, and mesh networks

P2M P2P

Number of devices per network

Few, limited by the number of possible served device in one cell.

Few (same as GSM)

2 up to 8 per piconet

2 up to 65000 units

Few, depends on interference and achieved data-rate.

2

Reliability Low - Medium

Low - Medium

Medium Very high High (increases with increasing access points)

Medium

Standalone No No Yes Yes Yes Yes Security Yes Yes Yes Yes Yes Yes Scalability Yes Yes No Yes No -

Parameters GSM UMTS Bluetooth Zigbee WiFi (IEEE 802.11x)

UWB


A general A general architecturearchitecture of NCSof NCS

• Networked control system (NCS)A real-time communications and control system with sensors, controllers and actuators communicating over a shared medium (wired/wireless)

The shared medium calls for medium access control, i.e., whichnode may transmit and when

Delays due to MAC protocol, packet loss (wireless), mis-synchronization and routing (multihop)

Continuous SignalDigital Signal

ZOHActuator

Continuous-Time Plant

Sampling (h)Sensor

Discrete-TimeController

ControlNetwork

sckτControl

Networkcakτ

Physically placed together

ckτ


Effect of delayEffect of delay

• Process + discrete PID + delay in feedback loop!

• Controller parameters:Kp = 1.52

Ki = 1.425

Kd = 0

N = 10

h = 0.1

• Tuning?How to deal with the

varying delay?

How to guarantee robustness?

How to measure optimality? 1. No delay2. Constant delay 0.7 s3. State dependent variable delay

1( )1

G ss

=+


CourseCourse objectivesobjectives

• To understand the basics ofWireless communications,

Wireless sensor networks,

Data fusion,

Control design,

and their interaction in wireless automation applications.

• Learn toImplement control-oriented applications of wireless sensornetworks

Do the control design with the aid of simulation in wirelessautomation systems


QuestionsQuestions??

Contact information:

Lasse ErikssonHelsinki University of TechnologyP.O.Box 5500FI-02015 TKKFinland

Tel. +358 9 451 5231Email: [email protected]

lect1 geta 2009 - aalto-yliopistogeta.aalto.fi/en/courses/lect1_geta_2009.pdf · tkk: tuas...

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