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WiSE-MNet: an experimental environment
for wireless multimedia sensor networks



   Christian Nastasi                     Andrea Cavallaro
    c.nastasi@sssup.it              andrea.cavallaro@eecs.qmul.ac.uk




          www.eecs.qmul.ac.uk/~andrea/wise-mnet.html
WMSNs: context

 • Wireless Multimedia Sensor Networks (WMSNs)
        – Evolution of WSNs to more complex (vectorial) data - e.g. audio, video
        – Several challenges
               •   high network scalability
               •   resource-constrained devices
               •   raw data cannot be (generally) transferred
               •   local processing is required (but it is much more complex than in WSNs)
        – Multi-disciplinary problem
               • networking
               • sensor signal processing
               • embedded system design



                                         Need a simulation environment for WMSNs!


C. Nastasi, A. Cavallaro                WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Network simulators

 • Several existing network simulators
        –   NS-2
        –   OPNET
        –   TrueTime
        –   OMNeT++


 • What are we looking for?
        –    Configurability (e.g. scripting languages, configuration interfaces)
        –    Support for standard and state-of-the-art communication protocols
        –    Extensibility
        –    Programming language



C. Nastasi, A. Cavallaro         WiSE-MNet: an experimental environment for wireless multimedia sensor networks
NS-2: a popular open-source network simulator

 • Modules written in C++
 • Simulation interface based on O-Tcl
 • Originally designed for TCP/IP computer networks
        – Extensions to support wireless network (external contribution)
        – Integration of wireless and wired networks not simple
        – Mobility requires extensions
 • Network stacks
        – generally much more complex than WSN’s stacks
 • Maintainability and extensibility are difficult

      http://www.isi.edu/nsnam/ns/




C. Nastasi, A. Cavallaro          WiSE-MNet: an experimental environment for wireless multimedia sensor networks
OPNET: a commercial network simulation software
   .
   • Modules written in C++
   • GUI for simulation
     scenarios and network models
   • Three levels of configurability
          – Network level
                 • defines topology
          – Node level
                 • defines node behaviour and data flow
          – Process level
                 • defines protocols’ logic through finite state machine formalism

        http://www.opnet.com/




C. Nastasi, A. Cavallaro               WiSE-MNet: an experimental environment for wireless multimedia sensor networks
TrueTime: a Matlab/Simulink toolbox

  • Mainly for control applications
         – to simulate (distributed) control
  • Node behaviour in Matlab/Simulink
  • Configuration through Simulink
  • Simple networking models
         – including IEEE 802.15.4
  • Integration with Matlab-based software is straightforward

        http://www3.control.lth.se/truetime/




C. Nastasi, A. Cavallaro           WiSE-MNet: an experimental environment for wireless multimedia sensor networks
OMNeT++: open-source (generic) network simulator

• Generic discrete-event simulation engine
• Generic modules interactions can be defined
       – behaviour is coded in C++
       – interconnections/composition
         specified through a
         Network Description (NED) language
       – parameters can be set through configuration files
• Highly flexible and extensible with external libraries
• Network elements
       – nodes, protocols, channels
       – provided (externally) as simulation models (INET, MiXiM, Castalia)

        http://www.omnetpp.org/



C. Nastasi, A. Cavallaro          WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Which simulation model?

 • Simulation Model: Castalia
        –   Designed to model distributed algorithm for WSNs
        –   Realistic wireless channel and radio models
        –   Physical process (real-world events) and sensing model
        –   Node Mobility
        –   Resource management (e.g. CPU, battery)


              http://castalia.npc.nicta.com.au/




C. Nastasi, A. Cavallaro             WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Castalia simulation model
                                          Physical Process
                                          Physical Process
                                           Physical Process


                       Node           Node                 ...                        Node


                                          Wireless Channel

                              to/from Physical Process



                              Sensor Manager                          Resource
                                                                      Manager

                                 Application

                                                                      Mobility
                              Communication                           Manager

                               to/from Wireless Channel          to/from Wireless Channel

C. Nastasi, A. Cavallaro               WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Proposed extensions to the Castalia model

  • Generalization of the sensor data-type
        – from scalar-based to any data type

  • Idealistic communication & direct application communication

  • Specific modules
        – moving target
        – simple camera modelling
        – target tracking application


  • Simple GUI
        – for 2D world representation


C. Nastasi, A. Cavallaro       WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Generalized data-types
  Castalia supports only scalar-based applications

   Scalar function

                                           Physical Process


                           Sensor Manager                        Scalar-based
    Scalar value

                             Application                                  ...
                           Communication


                                           Wireless Channel




C. Nastasi, A. Cavallaro    WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Generalized data-types
  We want to have any possible data-type: object-oriented approach

      Any process

                                                     Physical Process
                                                WiseBasePhysicalProcess

 WiseBasePhysicalProcessMessage
                                          Sensor Manager
                                      WiseBaseSensorManager                   Any data-type

 WiseBaseSensorManagerMessage
                                            Application
                                        WiseBaseApplication
                                                                                        ...
     WiseBaseApplicationPacket
                                         Communication


                                                         Wireless Channel




C. Nastasi, A. Cavallaro          WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Idealistic communication
  Seemingly from the application point of view: bypass communication

                                     Physical Process


                 Sensor Manager                                   Sensor Manager


                      Application                                     Application


                  Communication                                    Communication


                                    Wireless Channel



                                WiseDummyWirelessChannel


C. Nastasi, A. Cavallaro             WiSE-MNet: an experimental environment for wireless multimedia sensor networks
New specific modules

 • WiseMovingTarget - physical process
        – moving target on a ground plane
        – different types of motion: e.g. linear, circular, random
        – target represented as a box

 • WiseCameraManager - sensor manager
        – top-down facing camera
        – object detections produced: bounding boxes
        – can be extended to any FOV, projection model or
          to use real-world images

 • WiseCameraApplication - application layer
        – hierarchy of modules implementing a distributed tracking algorithm

C. Nastasi, A. Cavallaro        WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Simulation example
  Tracking algorithm
        –   Distributed Particle Filter (DPF)
        –   Sequential measurement aggregation through partial posterior exchange
        –   Guassian Mixture Modelling (GMM) to approximate the partial posterior
        –   # Particles = 500                                        1:4
                                                                             f(x k | Z1:k 1 , z k )  f(x k | Z1:k )
                         1
     f(x k | Z1:k 1 , z k )          start                          estimate
                                                                                       4
                                                                                      zk
                                           1
                                          zk


                                  2
                                 zk
   f(x k | Z1:k 1 , z k:2 )
                       1

                                                                                3
                                                                               zk
                                                                                           f(x k | Z1:k 1 , z k:3 )
                                                                                                               1


Distributed target tracking under realistic network conditions
C. Nastasi, A. Cavallaro
Proc. of Sensor Signal Processing for Defence, London, 28-29 September 2011
C. Nastasi, A. Cavallaro                       WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Network delay problem
     Communication affects tracking performance
                                               f(x k | Z1:k 1 , z k:4 )  f(x k | Z1:k )
                                                                   1


                         1
     f(x k | Z1:k 1 , z k )        start                         estimate
                                                                                    4
                                                                                   zk
                                       1
                                      zk
         ∆t                                                                                               ∆t
                                2
                               zk
  f(x k | Z1:k 1 , z k:2 )
                      1

                                                                             3
                                                                            zk
                                                                                        f(x k | Z1:k 1 , z k:3 )
                                                                                                            1


                                                        ∆t
 Analysis of performance degradation with increased network load
 •      0-GMM (exchanging the whole particle set)
 •      5-GMM (mixture of 5 Gaussians to approximate the particle set)

C. Nastasi, A. Cavallaro                    WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Simulation setup

   • Network
          –   T-MAC protocol, BW = 250 kbps
          –   request-to-send/clear-to-send mechanism
          –   acknowledged-transmission mechanism
          –   number of retransmissions: 10


   • Cameras
          –   Covering 6000 sqm
          –   500 sensors (random uniform distribution)
          –   6m from the ground plane (top-down facing)
          –   Frame Rate = 1fps




C. Nastasi, A. Cavallaro        WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Performance degradation due to network delay




C. Nastasi, A. Cavallaro   WiSE-MNet: an experimental environment for wireless multimedia sensor networks
Conclusions

 • Conclusions
        – Realistic simulation environment for WMSNs
               • Extension of the Castalia/OMNeT++ simulation model
               • Generic data-type support
               • Simplistic world model
        – Application example: distributed target tracking

                          Simulator available as open source at
                       www.eecs.qmul.ac.uk/~andrea/wise-mnet.html



 • Future work
        – More complex networking conditions
        – Support for real-world images

C. Nastasi, A. Cavallaro             WiSE-MNet: an experimental environment for wireless multimedia sensor networks

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WiSE-MNet: an experimental environment for Wireless Multimedia Sensor Networks

  • 1. WiSE-MNet: an experimental environment for wireless multimedia sensor networks Christian Nastasi Andrea Cavallaro c.nastasi@sssup.it andrea.cavallaro@eecs.qmul.ac.uk www.eecs.qmul.ac.uk/~andrea/wise-mnet.html
  • 2. WMSNs: context • Wireless Multimedia Sensor Networks (WMSNs) – Evolution of WSNs to more complex (vectorial) data - e.g. audio, video – Several challenges • high network scalability • resource-constrained devices • raw data cannot be (generally) transferred • local processing is required (but it is much more complex than in WSNs) – Multi-disciplinary problem • networking • sensor signal processing • embedded system design Need a simulation environment for WMSNs! C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 3. Network simulators • Several existing network simulators – NS-2 – OPNET – TrueTime – OMNeT++ • What are we looking for? – Configurability (e.g. scripting languages, configuration interfaces) – Support for standard and state-of-the-art communication protocols – Extensibility – Programming language C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 4. NS-2: a popular open-source network simulator • Modules written in C++ • Simulation interface based on O-Tcl • Originally designed for TCP/IP computer networks – Extensions to support wireless network (external contribution) – Integration of wireless and wired networks not simple – Mobility requires extensions • Network stacks – generally much more complex than WSN’s stacks • Maintainability and extensibility are difficult http://www.isi.edu/nsnam/ns/ C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 5. OPNET: a commercial network simulation software . • Modules written in C++ • GUI for simulation scenarios and network models • Three levels of configurability – Network level • defines topology – Node level • defines node behaviour and data flow – Process level • defines protocols’ logic through finite state machine formalism http://www.opnet.com/ C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 6. TrueTime: a Matlab/Simulink toolbox • Mainly for control applications – to simulate (distributed) control • Node behaviour in Matlab/Simulink • Configuration through Simulink • Simple networking models – including IEEE 802.15.4 • Integration with Matlab-based software is straightforward http://www3.control.lth.se/truetime/ C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 7. OMNeT++: open-source (generic) network simulator • Generic discrete-event simulation engine • Generic modules interactions can be defined – behaviour is coded in C++ – interconnections/composition specified through a Network Description (NED) language – parameters can be set through configuration files • Highly flexible and extensible with external libraries • Network elements – nodes, protocols, channels – provided (externally) as simulation models (INET, MiXiM, Castalia) http://www.omnetpp.org/ C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 8. Which simulation model? • Simulation Model: Castalia – Designed to model distributed algorithm for WSNs – Realistic wireless channel and radio models – Physical process (real-world events) and sensing model – Node Mobility – Resource management (e.g. CPU, battery) http://castalia.npc.nicta.com.au/ C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 9. Castalia simulation model Physical Process Physical Process Physical Process Node Node ... Node Wireless Channel to/from Physical Process Sensor Manager Resource Manager Application Mobility Communication Manager to/from Wireless Channel to/from Wireless Channel C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 10. Proposed extensions to the Castalia model • Generalization of the sensor data-type – from scalar-based to any data type • Idealistic communication & direct application communication • Specific modules – moving target – simple camera modelling – target tracking application • Simple GUI – for 2D world representation C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 11. Generalized data-types Castalia supports only scalar-based applications Scalar function Physical Process Sensor Manager Scalar-based Scalar value Application ... Communication Wireless Channel C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 12. Generalized data-types We want to have any possible data-type: object-oriented approach Any process Physical Process WiseBasePhysicalProcess WiseBasePhysicalProcessMessage Sensor Manager WiseBaseSensorManager Any data-type WiseBaseSensorManagerMessage Application WiseBaseApplication ... WiseBaseApplicationPacket Communication Wireless Channel C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 13. Idealistic communication Seemingly from the application point of view: bypass communication Physical Process Sensor Manager Sensor Manager Application Application Communication Communication Wireless Channel WiseDummyWirelessChannel C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 14. New specific modules • WiseMovingTarget - physical process – moving target on a ground plane – different types of motion: e.g. linear, circular, random – target represented as a box • WiseCameraManager - sensor manager – top-down facing camera – object detections produced: bounding boxes – can be extended to any FOV, projection model or to use real-world images • WiseCameraApplication - application layer – hierarchy of modules implementing a distributed tracking algorithm C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 15. Simulation example Tracking algorithm – Distributed Particle Filter (DPF) – Sequential measurement aggregation through partial posterior exchange – Guassian Mixture Modelling (GMM) to approximate the partial posterior – # Particles = 500 1:4 f(x k | Z1:k 1 , z k )  f(x k | Z1:k ) 1 f(x k | Z1:k 1 , z k ) start estimate 4 zk 1 zk 2 zk f(x k | Z1:k 1 , z k:2 ) 1 3 zk f(x k | Z1:k 1 , z k:3 ) 1 Distributed target tracking under realistic network conditions C. Nastasi, A. Cavallaro Proc. of Sensor Signal Processing for Defence, London, 28-29 September 2011 C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 16. Network delay problem Communication affects tracking performance f(x k | Z1:k 1 , z k:4 )  f(x k | Z1:k ) 1 1 f(x k | Z1:k 1 , z k ) start estimate 4 zk 1 zk ∆t ∆t 2 zk f(x k | Z1:k 1 , z k:2 ) 1 3 zk f(x k | Z1:k 1 , z k:3 ) 1 ∆t Analysis of performance degradation with increased network load • 0-GMM (exchanging the whole particle set) • 5-GMM (mixture of 5 Gaussians to approximate the particle set) C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 17. Simulation setup • Network – T-MAC protocol, BW = 250 kbps – request-to-send/clear-to-send mechanism – acknowledged-transmission mechanism – number of retransmissions: 10 • Cameras – Covering 6000 sqm – 500 sensors (random uniform distribution) – 6m from the ground plane (top-down facing) – Frame Rate = 1fps C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 18. Performance degradation due to network delay C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks
  • 19. Conclusions • Conclusions – Realistic simulation environment for WMSNs • Extension of the Castalia/OMNeT++ simulation model • Generic data-type support • Simplistic world model – Application example: distributed target tracking Simulator available as open source at www.eecs.qmul.ac.uk/~andrea/wise-mnet.html • Future work – More complex networking conditions – Support for real-world images C. Nastasi, A. Cavallaro WiSE-MNet: an experimental environment for wireless multimedia sensor networks