SINTEF ICT
ITEM, NTNU, Aug 29, 2014
– their practical use and networking protocols research
Arne Lie,
SINTEF ICT,
Dept. of Communication Systems
SINTEF ICT
ITEM NTNU, Aug 29, 2014
1.
Motivation
by
history
2.
SINTEF
ICT
projects
3.
Protocol development framework
2
SINTEF ICT
ITEM NTNU, Aug 29, 2014
1.
Motivation
by
history
2.
SINTEF
ICT
projects
3.
Protocol development framework
3
SINTEF ICT
History
•
Underwater
communication
has
been
used
by
marine
animals
for
millions
of
years
– Man: first noted over 2,000 years ago by Aristotle
•
1490,
Leonardo
Da
Vinci:
– "If you cause your ship to stop and place the head of
a long tube in the water and place the outer
extremity to your ear, you will hear ships at a great
distance from you"
4
SINTEF ICT
History
— Applications:
depth
of
sea
• One of the first applications that scientists explored was to
determine the depth of the sea by listening for echos.
• Need to know speed of acoustics in water
– 1826
• Fresh water (Lake Geneva, "Genfersjøen", 8 deg C): 1435 m/s
• Fresh water modern calculator
• In 1838, Charles Bonnycastle performed the first known echo
sounding experiments
5
In 1826 on Lake Geneva,
Switzerland, Jean‐Daniel
Colladon, a physicist, and
Charles‐Francois Sturm, a
mathematician, made the first
recorded attempt to determine
the speed of sound in water.
SINTEF ICT
History
— World
War
I
•
Detection
of
submerged
submarines
and
mines
– underwater acoustics became closely associated with military applications
•
During
WWI,
submarines
detected
by
listening for
their
engines
or
propellers
– Two hydrophones used for bearing detection
•
Later,
submarines
became
much
quieter
– passive listening difficult
6
SINTEF ICT
Wave
refraction
•
Hugo
Lichte,
a
German
scientist,
developed
a
theory
in
1919
on
the
bending,
or
refraction
,
of
sound
waves
in
sea
water.
–
Sound
waves
would
be
refracted
when
they
encountered
slight
changes
in
temperature,
salinity,
and
pressure,
i.e.,
speed
of
sound
changes
•
Need
to
know
how
sound
speed
changed
with
water
depth
–
to
predict
echo
ranging
performance
.
7
SINTEF ICT
Sound
speed
c,
SSP,
and
the
"SOFAR"
• SOFAR: SOund Fixing And Ranging
– Long‐range sound channel that allows low‐frequency sound to travel great distances.
8
(m/s)
(m)
SINTEF ICT
• Modified Sonar equations along each ray
• Channel impulse response: important for communication
9
Ray
‐
tracing
tools
can
calculate
channel
response
SINTEF ICT
Wireless
acoustic
communication
•
WHAT:
Underwater
sensors
&
online
data
harvesting
– Environmental monitoring,
– underwater exploration,
– robot control,
– object detection, etc.
•
WHY
not
use
radio
electromagnetics?
– Salt water attenuates radio waves very fast
– Fresh water may use it, e.g., sensor networks in rivers
•
WHY
not
use
wired networks?
– Cables are heavy, deployment is expensive
– Infrastructure may not be available
•
HOW:
data
modulation
of
audio
frequencies
(e.g.,
FSK,
BPSK,
QPSK)
10
SINTEF ICT
Characteristics
&
challenges
of
the
acoustic
channel
•
Long
range
– Several km possible
•
Significant
propagation
delay
– 1.5 km 1500m/1500m/s = 1 second in water
– 1.5 km 1500m/3e8m/s = 5 microseconds RF
in air
• 5 orders of magnitude larger!
•
Small
bandwidth
–
larger
at
shorter
distance!
============>
–
A
few
kbps
data
rate
possible
•
Time
‐
Variable
link
quality
–
Refraction
and
reflections
gives
time
‐
varying
multipath
channel
–
Adaptive
channel
equalization
is
necessary
–
Range
can
vary
by
the
minute
11
SINTEF ICT
Other
constraints
•
Battery
powered
– Output Tx power need to be high,
• e.g. 300W can produce about 190 dB rel. 1 uPa
• deployed system should stay long in the water
•
Half
‐
duplex
channel
12
SINTEF ICT
ITEM NTNU, Aug 29, 2014
1.
Motivation
by
history
2.
SINTEF
ICT
projects
3.
Protocol development framework
13
SINTEF ICT
•
Part
II
–
SINTEF
ICT
underwater
acoustic projects 2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
SINTEF ICT
•
Del
II
–
SINTEF
ICT
underwater
acoustic projects 2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
–
cooperation with Kongsberg
Maritime
»
transducers,
PA,
underwater
housing,
DSP
SINTEF ICT
•
Del
II
–
SINTEF
ICT
underwater
acoustic projects 2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
SINTEF ICT 17
SEP: SINTEF ICT internally financed project 2006‐2007
• Underwater acoustic propagation measurements
• Publication IEEE Oceans 2008, Quebec
NNN‐UWSN – Underwater sensor network 2007 ‐ 2010
• Kongsberg Maritime, Statoil, Western Geco, Institute
of Marine Research
• Communication solutions & protocols
• Network tests in Horten
• Publication IEEE Oceans 2009, Bremen
NNN‐UWSN – Underwater sensor network 2007 ‐ 2010
• Kongsberg Maritime, Statoil, Western Geco, Institute
of Marine Research
• Communication solutions & protocols
• Network tests in Horten
• Publication IEEE Oceans 2009, Bremen
NNN
(NFR
project
2007–2010)
Nordområdenes Nye
Nervesystem
SINTEF ICT
•
Del
II
–
SINTEF
ICT
underwater
acoustic projects 2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
SINTEF ICT
UAN
partners
(EU
project
2009–2011)
• CINTAL, Portugal (co‐located with University of Algarve)
– Centro de Investigação Tecnologica do Algarve, non‐for‐profit research organization
– Project coordinator
• FOI, Sweden (Swedish Defense Research Agency)
– UAN: Turbo equalization techniques
• Kongsberg Maritime, Norway
– Underwater acoustic modems
• ISME, Italy (University of Genova, Pisa, ++)
– Integrated Systems for the Marine Environment, Inter‐university Research Centre
– AUV (Folaga), MOOS middleware, Security
• SELEX, Italy (Sistemi Integrati, Genova & La Spezia)
– Defense and electronics company
– Command and control
• SINTEF
– PHY, MAC, Network routing, IP interfacing
19
SINTEF ICT
UAN
goals
•
Demonstrate
at
sea
an
underwater
sensor
network
that
–
Is
capable
of
collecting
sensor
data
–
Include
AUV
that
can
support
• relaying for communication beyond shadow zones
• Intruder detection
–
Supports
IP
connectivity
end
‐
to
‐
end
–
Target
application:
surveillance
of
industrial
infrastructure
20
SINTEF ICT
Pianosa
arrival…
ITEM NTNU, Aug 29, 2014 21
• Trial at sea, Pianosa, Italy, 2010
SINTEF ICT
SINTEF ICT
SINTEF ICT
•
Del
II
–
SINTEF
IKT
prosjekter
2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
SINTEF ICT 25
OSS:
Ocean
Space
Surveillance,
2009
‐
2013
• SINTEF consortium strategic research project• SINTEF ICT, Materials and Chemistry, Fisheries and
Aquaculture
• Final test April 2013
• Publications IEEE Oceans 2013, Bergen
• SINTEF consortium strategic research project
• SINTEF ICT, Materials and Chemistry, Fisheries and
Aquaculture
• Final test April 2013
• Publications IEEE Oceans 2013, Bergen
25
• Based upon
– Ocean Models
– Underwater Wireless Sensor Networks
• A forecasting method similar to meteorology
– Optimized combination of models and
measurements
• Based upon
– Ocean Models
– Underwater Wireless Sensor Networks
• A forecasting method similar to meteorology
– Optimized combination of models and
measurements
Reliable monitoring and
prediction of
• seaborne pollution
• harmful algae
• deposition of matter
• …
Reliable monitoring and
prediction of
• seaborne pollution
• harmful algae
• deposition of matter
SINTEF ICT
ITEM NTNU, Aug 29, 2014 26
SINTEF ICT
ITEM NTNU, Aug 29, 2014 27
SINTEF ICT
ITEM NTNU, Aug 29, 2014 28
OSS:
Sensor
data
overføring
:
Seaguard/ADCP
via
akustisk
link
+
radio
link
+
Internet
SINTEF
Server
Overvåking av radio‐
link, bøye posisjon
og batteri‐tilstand
• 1 sensor sample per 10 min lagret lokalt
SINTEF ICT
•
Del
II
–
SINTEF
IKT
prosjekter
2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
SINTEF ICT
CLAM
partners
(EU
project
2010–2013)
C
o
l
l
a
borative
e
m
bedded
networks
for
submarine
surveillance
•
University
of
Twente (coordinator),
NL
•
Kongsberg
Maritime
•
SINTEF
ICT
•
University
of
Rome
“La
Sapienza”,
IT
•
University
of
Padova,
IT
•
Consorzio
Interuniversitario
Nazionale
per
l’Informatica
(CINI),
IT
•
Microflown Technologies,
NL
SINTEF ICT
CLAM
project
and
sea
trial
in
2013
• http://www.euronews.com/2013/06/10/echoes‐from‐the‐deep/
31
SINTEF ICT
CLAM
sea trial
May,
2013
SINTEF ICT
•
Del
II
–
SINTEF
IKT
prosjekter
2007– :
•
NNN
•
UAN
•
OSS
•
CLAM
•
SensIs
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• Sanntids Undervanns Trådløst Sensornettverk for å Overvåke Isdrift i Nordområdene
Realtime undewater wireless sensor networks for
surveillance of ice in the high North/Arctic seas
• Innovasjonsprosjekt i næringslivet – PETROMAKS, ramme 20 Mkr
• Partnere:
Nortek, Kongsberg Maritime, SINTEF, Statoil, NTNU Akustikk
• Arbeidspakke 4:
Nettverksprotokoller, integrasjon
bruke Kongsberg Maritime modems
TF1=200 bps
TF2=400 bps
TF3=1600 bps
34
SINTEF ICT
ITEM NTNU, Aug 29, 2014
1.
Motivation
by
history
2.
SINTEF
ICT
projects
3.
Protocol development framework
35
SINTEF ICT
ITEM NTNU, Aug 29, 2014 36
SensIs
protocol architecture 2013–2015
app_ (1) cm d_ (2) app2_ (3) app_ (3) cm d_ (2) app2_ (1) app_ (3) cm d_ (1) app2_ (1) cm d_ (2) app_ (1) app2_ (3)
SINTEF ICT
ITEM NTNU, Aug 29, 2014 37
Gumstix
embedded
platform
for
network
protocol
stack
SINTEF ICT
ITEM NTNU, Aug 29, 2014 38
Developing
phases
using
"DESERT"
1. Simulation
Compressed time (discrete event time simulation)
Dummy data
Modem/Water channel is simulated
2. Hybrid simulation/emulation
Real‐time clock
Real application data
Modem/Water channel is simulated
3. Emulation, lab‐setup
Real‐time clock
Real application data
Real modem
no transducer
4. Emulation, at sea
Real‐time clock
Real application data
Real modem
with transducer
))) ((( DESERT is a framework of libraries developed for
• ns‐2 network simulator
• based on ns‐miracle modular extension
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• Network protocols & control / monitoring of network
SINTEF ICT
ITEM NTNU, Aug 29, 2014 40
SINTEF ICT
ITEM NTNU, Aug 29, 2014 41
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• Forwarding data is put into
sendDown with a delay:
• In no‐ARQ mode, this delay
is independent on propagation delay ksi = 2.0 • In ARQ‐mode, it is a function of propagation delay, #of retransmissions,… ksi > 3.0 42
ARQ
support
(automatic
repeat
reQuest)
delay 1
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• No UC communication
between seabed closest
neighbour nodes
• 34 and 45 had UC
comm.
• The rest of communication
was between master node 1
and seabed nodes at direct
links
43
SensIs
sea
trial
June
5,
2014
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• Transmission from Mac‐2 Reception at Mac‐1
44
Nortek
Sensor
#1
info
transmission
and
reception
10:000 11:00 12:00 13:00 14:00 15:00 16:00 50 100 150 200 250 300 HH:MM ui d_
Logs\MAC2\140605: DATA Tx UC/BC/not_cnfrmed/busy/timeout 331/648/26/22/4 pkts
10:00 11:00 12:00 13:00 14:00 15:00 16:00 68.7 68.8 68.9 69 69.1 69.2 69.3 HH:MM pt yp e_
Tx ptype: 69=DATA, 65=ICRP STATUS, 63=ICRP ACK, 60=MAC ACK, 1006/139 pkts Tx/Retrans. Data UC Data BC MAC ACK !confirmed busy timeout Data BC Data UC !confirmed busy timeout retrans 11:300 12:00 12:30 13:00 13:30 14:00 14:30 15:00 15:30 50 100 150 200 250 time (HH:MM) PD R ( % ) / L os tPk ts
Logs\MAC1\140605: #of complete sens msg Rx from Port 1: 138 LostPkts PDR
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• Transmission from Mac‐4 Reception at Mac‐1
45
Simulated
Sensor
#2
info
transmission
and
reception
11:300 12:00 12:30 13:00 13:30 14:00 14:30 15:00 10 20 30 40 50 60 70 80 90 100 time (HH:MM) P D R (% ) / L os tP kt s
Logs\MAC1\140605: #of complete sens msg Rx from Port 3: 187 LostPkts PDR
Stat. reset event
12:000 12:30 13:00 13:30 14:00 14:30 50 100 150 200 250 300 HH:MM ui d_
Logs\MAC4\140605: DATA Tx UC/BC/not_cnfrmed/busy/timeout 432/107/35/34/1 pkts
12:00 12:30 13:00 13:30 14:00 14:30 62 64 66 68 70 HH:MM pt yp e_
Tx ptype: 69=DATA, 65=ICRP STATUS, 63=ICRP ACK, 60=MAC ACK, 573/165 pkts Tx/Retrans. Data UC Data BC MAC ACK !confirmed busy timeout Data BC Data UC ICRP STATUS !confirmed busy timeout retrans
SINTEF ICT
ITEM NTNU, Aug 29, 2014 46
Broadcast
Paths
through
the
network
10:30 11:00 11:30 12:00 12:30 13:00 13:30 14:00 14:30 15:00 1.0.0.3 ==>1.0.0.1 1.0.0.2 ==>1.0.0.1 1.0.0.5 ==>1.0.0.1 1.0.0.4 ==>1.0.0.1 1.0.0.5 ==>1.0.0.4 ==>1.0.0.1 1.0.0.4 ==>1.0.0.3 ==>1.0.0.1 1.0.0.6 ==>1.0.0.1 1.0.0.4 ==>1.0.0.5 ==>1.0.0.1 1.0.0.5 ==>1.0.0.4 ==>1.0.0.3 ==>1.0.0.1 1.0.0.2 ==>1.0.0.3 ==>1.0.0.1 1.0.0.2 ==>1.0.0.3 ==>1.0.0.4 ==>1.0.0.1 1.0.0.2 ==>1.0.0.4 ==>1.0.0.1 1.0.0.2 ==>1.0.0.4 ==>1.0.0.5 ==>1.0.0.1
SINTEF ICT
ITEM NTNU, Aug 29, 2014 47
Established
Unicast Paths
through
the
network
11:00 11:30 12:00 12:30 13:00 13:30 14:00 14:30 15:00 15:30 1.0.0.3 ==>1.0.0.1 1.0.0.2 ==>1.0.0.1 1.0.0.5 ==>1.0.0.1 1.0.0.4 ==>1.0.0.1 1.0.0.5 ==>1.0.0.4 ==>1.0.0.1 1.0.0.4 ==>1.0.0.3 ==>1.0.0.1 1.0.0.6 ==>1.0.0.1 1.0.0.4 ==>1.0.0.5 ==>1.0.0.1
SINTEF ICT
ITEM NTNU, Aug 29, 2014 48
ARQ
for
UC
robustness
improvements,
performance
10:000 11:00 12:00 13:00 14:00 15:00 16:00 5 10 15 20 25
Logs\MAC2\140605: Tx retrans. stats. wo/ Busy events
N o_ of_ T x, t im ed iff ( s) #of Tx events Timediff 1st-last (s) TxPow 12:000 12:30 13:00 13:30 14:00 14:30 5 10 15 20 25
Logs\MAC4\140605: Tx retrans. stats. wo/ Busy events
N o_ of _T x, ti m ed iff ( s) #of Tx events Timediff 1st-last (s) TxPow
SINTEF ICT
ITEM NTNU, Aug 29, 2014 49
Reception
quality
(UC=orange, BC=red, not_me=blue, pkt w/ error=black)
10:00 11:00 12:00 13:00 14:00 15:00 16:00 -10
0 10
Logs\MAC1\140605: SNIR (dB) for 442/107/99/627 pkts
10:000 11:00 12:00 13:00 14:00 15:00 16:00 1 2 Logs\MAC1\140605: CRC for 442/107/99/627 pkts 10:000 11:00 12:00 13:00 14:00 15:00 16:00 2 4
6 Logs\MAC1\140605: FEC for 442/107/99/627 pkts
10:000 11:00 12:00 13:00 14:00 15:00 16:00 2 4 Logs\MAC1\140605: TF for 442/107/99/627 pkts 10:00 11:00 12:00 13:00 14:00 15:00 16:00 -10 0 10
Logs\MAC2\140605: SNIR (dB) for 223/1/230/644 pkts
10:000 11:00 12:00 13:00 14:00 15:00 16:00 1 2 Logs\MAC2\140605: CRC for 223/1/230/644 pkts 10:000 11:00 12:00 13:00 14:00 15:00 16:00 2 4 6
Logs\MAC2\140605: FEC for 223/1/230/644 pkts
10:000 11:00 12:00 13:00 14:00 15:00 16:00 1 2 3 Logs\MAC2\140605: TF for 223/1/230/644 pkts 10:00 11:00 12:00 13:00 14:00 -10 0 10
Logs\MAC3\140605: SNIR (dB) for 80/44/790/1019 pkts
10:000 11:00 12:00 13:00 14:00 1 2 Logs\MAC3\140605: CRC for 80/44/790/1019 pkts 10:000 11:00 12:00 13:00 14:00 2 4 6
Logs\MAC3\140605: FEC for 80/44/790/1019 pkts
10:000 11:00 12:00 13:00 14:00 1
2 3
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• Node 2‐9: Sensor nodes
• Node 10‐13: relay nodes
• Node 1: Sink (master) node
• Single computer:
Simulate
(compressed event driven time)
Hybrid simulation/emulation
(real‐time sources, simulate water
channel)
50
SINTEF ICT
ITEM NTNU, Aug 29, 2014 51
Node_dist 900m
and
TxPow 137dB
and
145dB
15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=900 (m). TxPow=137 (dB). TxVariance=0 (dB). Traffic: CBR
Time between sensor data (s)
PD R ( % ) 15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=900 (m). TxPow=137 (dB). TxVariance=0 (dB). Traffic: CBR
Time between sensor data (s)
IC R P S T A T U S / D at a pay load pk ts ( % ) del=3s, dt=5s del=1s, dt=1s del=3s, dt=5s del=1s, dt=1s 15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=900 (m). TxPow=145 (dB). TxVariance=0 (dB). Traffic: CBR
Time between sensor data (s)
P DR ( % ) 15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=900 (m). TxPow=145 (dB). TxVariance=0 (dB). Traffic: CBR
Time between sensor data (s)
IC R P S T A T U S / D at a pay load pk ts ( % ) del=3s, dt=5s del=3s, dt=5s
SINTEF ICT
ITEM NTNU, Aug 29, 2014 52
Node_dist 900m
and
1500m.
Links
variable performance
15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=1500 (m). TxPow=143 (dB). TxVariance=8 (dB). Traffic: CBR
Time between sensor data (s)
P DR ( % ) 15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=1500 (m). TxPow=143 (dB). TxVariance=8 (dB). Traffic: CBR
Time between sensor data (s)
IC R P S T A T U S / D at a p ay load pk ts ( % ) del=3s, dt=5s del=3s, dt=5s 15 20 25 30 35 40 45 0 20 40 60 80 100
Node-dist=900 (m). TxPow=137 (dB). TxVariance=6 (dB). Traffic: CBR
Time between sensor data (s)
P DR ( % ) 15 20 25 30 35 40 45 0 20 40 60 80
100 Node-dist=900 (m). TxPow=137 (dB). TxVariance=6 (dB). Traffic: CBR
Time between sensor data (s)
IC R P S T A T U S / D ata p ay lo ad p kts ( % ) del=3s, dt=5s del=3s, dt=5s
SINTEF ICT
ITEM NTNU, Aug 29, 2014
• 1 x ns csma_icrp_intf12_cmd.tcl 6 7 9 11 13 15 17 19 21 23 25 27 29 31 > ns_log.txt 2>&1 • 8 x ./nmea_sim_new.sh /dev/pts/X 6 53
SINTEF ICT
Conclusions
Underwater
acoustic
networking
•
Acoustic
channels
can
be
used
to
create
underwater
sensor
networks
–
carrying
data
at
a
few
kbps
–
at
ranges
~1
‐
2
km
per
hop
–
multi
‐
hop
networks
possible
•
Main
challenges
–
link
reliability
• latency and connectivity may vary
• "fading characteristics" not known
–
Packet
delivery
ratio
(PDR)
not
100%
• Vertical links: 90–100%
• Non‐vertical links: 50–80%
–
"Alarm
modes"
might
overload
the
network
capacity
–
Energy
constraints
SINTEF ICT