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Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring

TriopusNet. Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring . Ted Tsung-Te Lai Albert Wei- Ju Chen Kuei -Han Li Polly Huang Hao-Hua Chu National Taiwan University. Ted Tsung-Te Lai Albert Wei- Ju Chen Kuei -Han Li

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Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring

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  1. TriopusNet Automating Wireless Sensor Network Deployment and Replacement in Pipeline Monitoring Ted Tsung-Te Lai Albert Wei-Ju Chen Kuei-Han Li Polly Huang Hao-Hua Chu National Taiwan University

  2. Ted Tsung-Te Lai Albert Wei-Ju Chen Kuei-Han Li Department of Computer Science and Information Engineering Polly Huang Graduate Institute of Networking and Multimedia Department of Electrical Engineering Hao-HuaChu Graduate Institute of Networking and Multimedia Department of Computer Science and Information Engineering

  3. Outline Motivation TriopusNet System Design Evaluation Limitations Related Work Conclusion

  4. Water pipelines are everywhere people live

  5. Pipelines carry important resources (gas, oil…etc.)

  6. Pipeline monitoring is essential-clean water • Motivation leaking leaking

  7. Water contamination (Boston, 2010)

  8. Difficult sensor deployment-traditional monitoring

  9. 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

  10. 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.

  11. The system involves the following: • Preparation Step • Knowing the spatial topology(turning faucets on one after another). • Sensor Deployment Step • Compute deployment location then send “release” message and position to node. • Sensor Latching Step • Compute location, attach itself, completion message. • Sensor Replacement Step • Consume battery power during the data collection phase. • Detach itself, go to faucet, exit.

  12. Single-Release Point the enabling concept Single-release point Place sensors at a single release point Sensors automatically place themselves in the pipes

  13. How to realize single-release point? • Sensor placement • Mobile sensors • Sensor latch mechanism • Sensor placement algorithm • Sensor localization • Sensor replacement • Sensor replacement algorithm

  14. Limitations • The spatial topology of pipeline must be known. • Manual effort is required to open faucets.(at the beginning, at battery replacement) • Current sensor measures 6 cm in diameter.

  15. Outline Motivation TriopusNet System Design Evaluation Limitations Related Work Conclusion

  16. TriopusNetautomate WSN deployment in pipeline Triopus nodethree arms for latching Single-release point • Gateway node • Gateway node • Gateway node

  17. TriopusNetautomate WSN deployment in pipeline • Sensor placement • Mobile sensors • Sensor latch mechanism • Sensor placement algorithm • Sensor localization • Sensor replacement • Sensor replacement algorithm

  18. Mobile sensor (components) Sensor mote(Kmote) Actuator(motor) pull/push a mechanical arm Localization sensors water pressure + gyro Water proof case Vertical horizontal Pipe pipe

  19. Mobile sensor (kmote) • A TelosB-like platform, TinyOS compatible • Smaller form-factor, only CPU board is needed + = Kmote CPU board USB board (program uploading) (data processing)

  20. Mobile sensor (latch & delatch mechanism) Linear actuator, off-the-shelf from market A motor with gear inside to control the arm Spec: • Stroke: 2cm • Weight: 15gram • Arm extending speed: 2cm/sec 2cm 1cm 0cm

  21. Prototype #1 (8cm diameter)

  22. Prototype #2 • One motor driving the three arms. • Replace 3 AAA with lithium battery.

  23. Prototype #2 (6cm diameter)

  24. 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

  25. Sensor placement algorithm root water inlet branch 2 n7 branch 1 faucet 1 n6 n1 branch 3 faucet 4 n4 n5 faucet 3 faucet 2 n2 n3

  26. Sensor placement algorithm root water inlet branch 2 n7 branch 1 faucet 1 n6 n1 branch 3 faucet 4 n4 n5 faucet 3 faucet 2 n2 n3

  27. Sensor placement algorithm root water inlet branch 2 n7 branch 1 faucet 1 n6 n1 branch 3 faucet 4 n4 n5 faucet 3 faucet 2 n2 n3

  28. Sensor placement algorithm root water inlet branch 2 n7 branch 1 faucet 1 n6 n1 branch 3 faucet 4 n4 n5 faucet 3 faucet 2 n2 n3

  29. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 n6 n1 n4 n5 n2 n3

  30. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 1st n6 n1 n4 n5 n2 n3

  31. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 1st n6 n1 n4 n5 2nd n2 n3

  32. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 1st n6 n1 n4 n5 3rd 2nd n2 n3

  33. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 1st n6 n1 4th n4 n5 3rd 2nd n2 n3

  34. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 1st n6 n1 5th 4th n4 n5 3rd 2nd n2 n3

  35. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 n7 6th 1st n6 n1 5th 4th n4 n5 3rd 2nd n2 n3

  36. Sensor placement algorithm root Post-order traversal : n1 -> n2 -> … n7 7th n7 6th 1st n6 n1 5th 4th n4 n5 3rd 2nd n2 n3

  37. Sensor placement algorithm Post-order traversal : n1 -> n2 -> … n7 Reasons: 1. Assure nodes cover all pipes 2. Allow blockage-free movement (bottom-up placement) root 7th n7 6th 1st n6 n1 5th 4th n4 n5 3rd 2nd n2 n3

  38. Sensor placement algorithm Single-release point • Gateway node Testing packet received ratio Bad link quality Good link quality, placement completed • Gateway node • Gateway node

  39. Sensor localization Pressure graph • Previous PipeProbesystem • 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

  40. Data Collection Single-release point • Collection Tree Protocol (CTP) in TinyOS • Multi-sink tree to balance network load (reduce the hope count and packet loss) • Gateway node • Gateway node • Gateway node

  41. Sensor replacement algorithm Single-release point • Gateway node • Gateway node Low Battery… • Gateway node

  42. Outline Motivation TriopusNet System Design Evaluation Limitations Related Work Conclusion

  43. Testbed

  44. Testbed spatial layout Single-release point 150cm 200cm 200cm 200cm 200cm 200cm

  45. Evaluation metrics • Automated sensor placement • # Nodes for pipeline deployment • Data collection rate • Energy consumption • Automated sensor replacement • Data collection rate

  46. Experimental procedure (4test scenarios) Scenario 2 Single-release point 5 tests for each scenario gateway Scenario 3 Scenario 4 Scenario 1 gateway gateway

  47. # Deployed Nodes(Static v.s. TriopusNet deployment) Real node location of three test runs from scenario 4. It shows the dynamic of each deployment. TriopusNetA TriopusNetB Static (90cm) TriopusNetC

  48. # Automated Sensor Deployment Avg # of nodes deployed -Static: 7.5 -TriopusNet: 4.4 Avg. node-to-node distance: 173cm Std: 58cm • The overall large variation implies that the Radio range varies significantly from location to location.

  49. Avg. node-to-node distance

  50. Avg. node-to-node distance

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