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2
Success of the BTnode Project
The BTnodes are enabling
• Experimental Research
– XTC/S-XTC, DSN, SNIF, Lighthouse, WSN Metrics
• Engineering Education
– Lectures, tutorials and theses
• Project Collaborations
– Smart Buildings, PermaSense
• Industrial Cooperation
– Siemens, Art of Technology
• ...
2004
2002
2000
2
BTnode rev1
BTnode rev2
BTnode rev3
4
Prominent Visions of the Time…
3 2 14 33 59155
226299
215
10
200
400
600
800
1000
1200
1999 2000 2001 2002 2003 2004 2005 2006 2007 2008
ACM Publications with "Sensor Networks" in the Title
Total Annual
[MobiCom 1999]
[MobiCom 1999]
[MobiCom 2000]
5
Electrical Engineering meets Computer Science
Jan Beutel
– EE background (ETH Zurich)
– Visiting researcher @ Berkeley Wireless Research Center
– PicoRadio Project Kickoff
– Starting on a PhD in Computer Engineering
Oliver Kasten
– CS background (TU Darmstadt)
– Visiting researcher @ ICSI, Berkeley
– Starting on a PhD in Pervasive Computing
7
Our Own Project Drivers in 2000
•Smart everyday objects– self aware
– context sensitive
– cooperative
– integration into computing environment
• Wearable computing
•Mobile and ad hoc networking– integrated application protocols
– scalable multi-hop routing
• NCCR MICS (Terminodes) only started in 2002
display
context sensor array:
camera, light,
microphone,
GPS
distributed
reconfigurable
computer
body area
network:
wireless
communication:
WLAN, GSM,
10
Dual Design Strategy
• Hardware design and first cardboard prototype
• Developer kit mock-ups
– Speeding up software development
11
Education: First Master Thesis based on BTnodes
• Atmel ATmega103L
– 8-Bit RISC CPU @ 3.6 MHz
– 4kB SRAM, 128kB Flash
– Only one hardware UART
– GCC toolchain
• Ericsson Bluetooth
– Point to point only
– Limited availability
– Lacking documentation
• Software
– Event driven scheduler[Master Thesis, ETH Zurich, 2000]
12
Research: Bluetooth Experimentation – Inquiry Delay
1minquiring unit inquired unitN
um
ber
of
inquirie
s co
mple
ted p
er
inte
rval
Time intervals [ms]
50% (750 out of 1500) inquiriescompletedwithin interval [0, 1900] ms
= 2.2s
x50=1.9s
x95=4.7sx99=5.4s
[Kasten, PACT ‘01]
13
Research: Configurable Bluetooth Ethernet Bridge
WURM hardware architecture
• CPU for:
– Legacy C-code, binary only code
– Low-intensity, background tasks
• Reconfigurable unit for:
– High-performance tasks
– Low-power tasks
• Multiple Bridges can be controlled from one host
[Walder, Personal and Ubiquitous Computing, ISWC ’02]
14
Research: Bluetooth Enabled Appliances
• Communication with other Bluetooth enables devices
• Standard Bluetooth profiles for SMS, OBEX and RFCOMM
BTnode enabled Egg Carton SMS from Egg Carton Interactive Dialog
[Siegemund, Ubicomp ’02]
17
61 mm
40 m
m
BTnode rev2.2 – Hardware Details
IntegratedPIFA Antenna
LEDs,Reset,Clocks
CommunicationEricsson Bluetooth Module
Generic Sensor Interfaces
UART and I2C Data Interfaces
Power Management
Memory128 kB Flash64 kB SRAM4 kB EEPROM
CPUAtmel ATmega 128L MCU8-Bit RISC (max. 8 MHz ~8MIPS)
18
Getting the Details Right...
• Example: design error (256k vs 64k memory chips)
– 1 month for debugging the memory interface
– 200 hand-patched BTnode rev2
19
Research: TinyBT using dual Bluetooth BTnodes
• Dual frontend BTnodes
• Allowing formation of transparent Scatternets
• Bluetooth for TinyOS– good power performance due to
high throughput of Bluetooth
[Leopold, SenSys ‘03]
20
Research: Prototyping Wireless Sensor Networks
• Lightweight OS
– Event-driven model
– Simple scheduler using callbacks
– Low level device drivers
– Stripped down Bluetooth stack
• Programming
– Standard C language
– System software as library
[Beutel, EWSN ‘04]
21
Research: Bluetooth Multihop Network Topologies
– Initial experiments
– Time-multiplexed, dumbbell-like connections
XHOP
Large, connected
topologies
Simple, top-down
tree-building
TreeNet
Distributed tree
topology formation
Random connection
points
Streaming data
DSNtrees
[Computer Communications 2005 , SensSys ’04, IPSN ‘05]
22
Research: Network Topologies Experimentation
[Beutel, IPSN 2005]
• TreeNet puzzle
– MICS Research demo at Monte Verita review 2003
– Based on BTnode rev2
– Multihop routing
– Remote execution
– First Scatternet implementation
• DSNtrees
– Based on BTnode rev3
– Largest Bluetooth network
– 70+ nodes
23
Education: How fast is it to get going?
• From tool installation to first applications in less than a day
24
After 3 Years of BTnodes…
• 200 units disseminated with 16 research groups
– Smart objects
– Routing algorithms
– Wearable computing
– Perceptual computing
– Software and operating systems
• Need for more devices apparent
– At the end of 2003, we only had a few specimens left to ourselves...
• Limiting factor
– Radio capabilities
VTT, FI
DSG, ETH Zurich, CH
PCCV, ETH Zurich, CH
TecO, University of Karlsruhe, GE
PLAY, Interactive Institute, SE
TIK, ETH Zurich, CH
IFE Wearable Lab, ETH Zurich, CH
NTT DoCoMo, Munich, GE
Ptolemy Group, UC Berkeley, USA
Art of Technology, Zurich, CH
DistLab, Diku, Copenhagen, DK
LAP, EPF Lausanne, CH
CS Department, Lancaster University, UK
LSL, EPF Lausanne, CH
TinyOS Group, UC Berkeley, USA
University of Uppsala, SE
26
A new Era – Outsourcing and Commercialization
• Cooperation with ETH spin-off „Art of Technology“
– Advisory role as design house
– Sourcing of all components
– Outsourcing to contract manufacturer
– Quality control
– Responsible for sales and product shipments
Prototype 2nd Generation 3rd Generation
28
BTnode rev3 – Hardware Architecture Details
• System core– Atmel ATmega128– 256 kB SRAM– Generic IO/peripherals– Switchable power supplies– Extension connectors
• Dual radio system
• Bluetooth radio– 2.4 GHz Zeevo ZV4002
• Low-power radio– 433-915 MHz ISM
Chipcon CC1000
• On-board antennas58 mm
32
.5 m
m
29
The BTnut System Software
• Multi-threaded OS frame in C– Standard open-source tools
• Built on top of Nut/OS framework– Oriented towards networking applications
– Non-preemptive, cooperative multi-threading
• Rapid prototyping– HW emulation on Linux PC
• Debugging support– Built in OS tracer (μsec resolution)
– Storage of OS events
[btnode]$trace oneshot TRACE mode ONESHOT, restarted
[btnode]$trace TRACE STATUS
Mode is ONESHOT
Size is 500
contains 77 elements
[btnode]$trace print 10
TRACE contains 500 items, printing 10 items.
TAG PC/Info Time[s:ms:us]
---------------------------------------------------
Thread Yield idle 13:524:336
Thread Sleep LED 13:524:604
Thread Yield idle 13:581:857
simulate
emulateupload
compile
30
The BTnode Platform – Beyond Hard- and Software…
• Hardware and system software don’t yet make a platform…
• Documentation resources
• Demo applications and tutorial
• Developer kit & Installer CDROM
• The BTnode community
– Development hosted on sourceforge.net
– Webpage & Mailing list
The BTnode Platform is a system solution for fast-prototyping of sensor network applications.
31
Education: Lectures and Labs
• Graduate labs using the BTnode Tutorial
– Embedded Systems (EE, 150 students)
– Wireless Sensor Networks (CS, 30 students)
• Biannual undergraduate robotics lab using Lego Mindstorms
• 60+ successfully completed student projects
32
Education: Hands-on Conference Tutorials
• Build your own WSN application in under 3 hours
– Originating in lectures at ETH Zurich
– Minimum prerequisites required
– Introduction to BTnodes
– Installation of tools
– My first multi-hop BTnut app
– Interfacing to handhelds/SMS
• Held at EWSN 2007 and INSS 2007
33
Research: 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
[Negri, EWSN ’06, CCNC ‘06]
34
• Bluetooth Mesh Networking based on BTnode Spec
Research: Topology Control Algorithms
Paper-grade algorithm to robust implementation
[Wattenhofer ‘04]
Experiments, measurements and evaluation
[Dyer, AHSP ‘07]
35
Research: Deployment of Sensor Networks
• Tools and methodology for deployment and validation
[Ringwald, DCOSS ‘07]
[Wöhrle, EmNets ‘07]
Passive Inspection
[Beutel, IPSN ‘05, EWSN ‘07]
Testbeds
Automated Testing
37
Industry: Siemens Building Technologies
• Safety Critical Sensor Networks for Buildings
• CTI Project with Siemens Building Technologies (Zug)
39
Research Impact
• Spurred interdisciplinary research
• 100+ scientific publications based on or related to BTnodes
40
Worldwide Technology Transfer
0
10
20
30
40
50
60
South
Kore
a
CH
New
Zeala
nd
Turk
ey
USA D
Gre
ece
Turk
ey D
CH
CH
CH I D
CH D
CH
CH
South
Kore
a
Turk
ey
New
Zeala
nd
CH
CH A D
CH D
CH D I D D
CH E D D B
UK
SF D D B E D
CH
CH
CH D
DK
Pakis
tan
CH D S
CH D D
BTnode rev3 sales 2004-2007BTnodes
USB Adapter
Developer Kits
• BTnode rev3 devices sold to customers from 17 countries
• Commercial replicas resulting from open source policy
41
A True NCCR MICS Success Story
• BTnodes have been present at every MICS event
– Presentations, Posters, Demos, Hands-on Tutorials, Reviews, Industry Forum, Conferences, Newsletter, Press, …
44
http://www.btnode.ethz.ch
BTnode Online Resources