Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring
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Transcript of Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring
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Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring
TriopusNet
Ted Tsung-Te Lai Albert Wei-Ju Chen
Kuei-Han LiPolly Huang
Hao-Hua Chu
National Taiwan University
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MotivationTriopusNet System DesignEvaluationLimitationsRelated WorkConclusion
Outline
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Water pipelines are everywhere people live
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Pipelines carry important resources (gas, oil…etc.)
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Pipelines carry very important resources (beer pipeline!)
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•Motivation
leaking
leaking
Pipeline monitoring is essential
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Water contamination (Boston, 2010)
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Difficult sensor deployment
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WSN challenges (Deployment and maintenance)
• Deployment challenges– Difficult to access pipelines to place sensors (often hidden
inside walls or underground)
– May need to break pipes to install sensors inside• Maintenance challenge– Difficult to replace out-of-battery sensors
• Real pipeline environment– Difficult to ensure network connectivity during sensor
placement and replacement
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Research question
• Can we automate WSN sensor placement and replacement in pipeline?– While minimize the number of sensor nodes– Good sensing and networking coverage
• Reduce the human effort bottleneck for long-term, large-scale WSN deployment & maintenance.
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Single-Release Point the enabling concept
Place sensors at a single release pointSensors automatically place themselves in the pipes
Single-release point
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How to realize single-release point?
• Sensor placement– Mobile sensors– Sensor latch mechanism– Sensor placement algorithm– Sensor localization
• Sensor replacement– Sensor replacement algorithm
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MotivationTriopusNet System DesignEvaluationLimitationsRelated WorkConclusion
Outline
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TriopusNet automate WSN deployment in pipeline
Triopus nodethree arms for latching
Gateway node
Gateway node
Gateway node
Single-release point
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• Sensor placement– Mobile sensors– Sensor latch mechanism– Sensor placement algorithm– Sensor localization
• Sensor replacement– Sensor replacement algorithm
TriopusNet automate WSN deployment in pipeline
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Mobile sensor (components)
Localization sensors (SenSys’ 10)
water pressure + gyro
Actuatorpull/push a mechanical arm
Sensor mote
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• A Telosb-like platform, TinyOS compatible• Smaller form-factor, only CPU board is needed
= +
Kmote CPU board USB board
Mobile sensor (kmote)
(data processing) (program uploading)
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Mobile sensor (latch & delatch mechanism)
Linear actuator, off-the-shelf from marketA motor with gear inside to control the armSpec:• Stroke: 2cm• Weight: 15gram• Arm extending speed: 2cm/sec 0cm
1cm
2cm
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Prototype #1 (8cm diameter)
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Prototype #2 (one motor, three arms)
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Prototype #2 (6cm diameter)
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Sensor placement algorithm
• Where are the optimal locations to place sensors in pipes (after releasing them from the single-release point)?
– Networking coverage• Interconnectivity among all nodes
– Sensing coverage• Each pipe segment has at least one sensor
– Minimize # of sensor nodes for deployment
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Sensor placement algorithm
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Reasons:1. Assure nodes cover all pipes2. Allow blockage-free movement (bottom-up placement)
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Testing packet received ratio
Good link quality, placement completedBad link quality
Sensor placement algorithm
Gateway node
Gateway node
Gateway node
Single-release point
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Sensor localizationPressure graph
• Previous PipeProbe system [SenSys’10]
– cm-level positional accuracy• Vertical pipe location– Water pressure changes at different height levels
• Horizontal pipe location– Node distance = node velocity * node flow time
• Pipe turn detection– Gyroscope
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Data Collection
• Collection Tree Protocol (CTP) in TinyOS• Multi-sink tree to balance network load
Gateway node
Gateway node
Gateway node
Single-release point
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Low Battery…
Sensor replacement algorithm
Gateway node
Gateway node
Gateway node
Single-release point
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MotivationTriopusNet System DesignEvaluationLimitationsRelated WorkConclusion
Outline
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Testbed
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150cm
200cm
200cm 200cm
200cm 200cm
Testbed spatial layoutSingle-release point
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Evaluation metrics
• Automated sensor placement– # Nodes for pipeline deployment– Data collection rate– Energy consumption
• Automated sensor replacement– Data collection rate
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Scenario 3
Scenario 1
Scenario 4
Scenario 2
Experimental procedure (4 test scenarios)
5 tests for each scenario
gateway gateway
gateway
Single-release point
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# Deployed Nodes (Static v.s. TriopusNet deployment)
TriopusNetATriopusNetBTriopusNetC
Avg # of nodes deployed-Static: 7.5-TriopusNet: 4.4
Avg. node-to-node distance: 173cmStd: 58cm
Static (90cm)
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Avg. node-to-node distance
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Avg. node-to-node distance
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Avg. node-to-node distance
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Avg. node-to-node distance
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Data collection rate
Each node sent 1000 packets to gateway-80% nodes achieve 99% packet receive rate-All nodes > 87% rate
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Energy consumption (node placement)
Each node requires 2.4 actuations on average(1 actuation consumes ~1J)
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Evaluation metrics
• Automated sensor placement– # nodes for sensing/networking coverage– Data collection rate– Energy consumption
• Automated sensor replacement– Data collection rate
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Test scenario and result for replacement
Set these two nodes to low battery level and trigger replacement
Data collection rate
Initial deployment
After replacement
Without replacement
0.99 0.98 0.80
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MotivationTriopusNet System DesignEvaluationLimitationsRelated WorkConclusion
Outline
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automatic faucet
Limitation: Lack automatic faucets
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Limitation: Node size
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Low Battery…
Limitation: Node sizeSingle-release point
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MotivationTriopusNet System DesignEvaluationLimitationsRelated WorkConclusion
Outline
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Detect and localize leakage by pressure and ultrasonic sensors
PipeNet (IPSN’07, pipeline monitoring)
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NAWMS (SenSys’08, water flow sensing)
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toilet
kitchen sink
shower
HydroSense (Ubicomp’09, water event sensing)
Single-point pressure-based sensor of water usage
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Multi-pointsensing
Single-pointsensing
Single-release point
NAWMS HydroSense TriopusNet
PipeNet
Comparison to related work
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MotivationTriopusNet System DesignEvaluationLimitationsRelated WorkConclusion
Outline
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Conclusion
Automated sensor placement and replacement to reduce human deployment and maintenance effort: mobile sensors with self-latching mechanism from a single-release point
Results show smaller number of sensor nodes with good sensing/networking coverage
TriopusNet: automating WSN deployment and replacement in pipeline monitoring
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Thank shepherd (Prof. Gian Pietro Picco) & reviewers for valuable comments
Questions & Answers
TriopusNet: Automating WSN Deployement and Replacement in
Pipeline Monitoring
Ted Tsung-Te Lai, Albert Wei-Ju Chen, Kuei-Han LiPolly Huang, Hao-hua Chu
Ubicomp labhttp://mll.csie.ntu.edu.tw
National Taiwan University