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A Simulator for Marine Wireless Sensor Networks

1. Simulation OMNeT IDE Edit Navigate Search Project Run Window Help New Alt Shift N gt vt X X ES E Simulation Open File o Close Ctrl W Close All Ctrl Shift W Save Ctrl S Save s Save All Ctrl Shift S Revert Move Rename F2 amp Refresh FS Convert Line Delimiters To Print Ctrl P Switch Workspace Restart s Import e Export Properties Alt Enter Exit 2 Problems 2 Module Hierarchy gt NED Parameters fs NED Inheritance x 0 items Description 3 Resource Path Locatic 4 m r n 0 items selected a 9 gt we c E Simulation ON File Edit Navigate Search Project Run Window Help eT IDE Introduction to OMNeT 4 N Import Projects Select a directory to search for existing Eclipse projects Select root directory Select archive file C Users tami Downloads MiXiM 2 0 1 tar gz Projects Y MixiM MixiM Mixnet inet 7 Copy projects into workspace Working sets T Add project to working sets Working sets Browse E Select All Deselect All Refresh Fig B 1 OMNeT installation screen shots a select a workspace b OMNeT introduction screen c import a project d import an existion project 64 File Edit Navigate Search Project Run Window New Alt Shift N E OMNe
2. int xGrid 0 int yGrid 0 int pX i int playground gt getX int pY int playground gt getY for int i 1 i lt pX gridSize i if x lt ixgridSize xGrid i break y y for int i 1 i lt pY gridSize i it y lt ixgridSize yGrid i break y int step int 255 pX gridSize pY gridSize int cluster pX gridSize yGrid 1 xGrid sprintf buff 0 2 2X 2 2XAF stepx cluster node gt get DisplayString setTagArg i 1 buff node gt get DisplayString setTagArg i 2 100 return cluster step cluster 1 Fig 3 11 findCluster method from OurBaseNet Routing The basic routing protocol that is provided uses distance between nodes to de termine the next hop When a message is sent the location of the receiver has to be provided The networking layer will determine the next hop for the message If the receiver is a neighbor the message is sent directly to the receiver If the receiver isn t a neighbor the message is sent to the neighbor that is closest to the receiver A method was added to the connection manager that allows for a node to look up the location of another node It uses this information to determine how to route the messages Figure 3 12 shows the findRoute method used to determine the host to 99 0 ODO CR QN int OurBaseNet findRoute int source
3. runsim baseSim baseSim id 1 ptrOx114f1 30 Zoom 0 59x _ runsim baseSim baseSim id 1 ptrOx1f4f1 30 Zoom ro ER A E a Nodes before discovery b Nodes after discovery Fig 3 23 Simulation with one cluster After the discover phase the node that displays the star icon is the cluster head A Sample Simulation Run Figures 3 25 through 3 30 show a simulation run First the user runs the UASim program which displays the General configuration tab shown in Figure 3 25a The user decides to load a per node configuration file shown in Figures 3 25b and 3 25c Figure 3 25d shows the new configuration parameters after loading the file The user then decides to change the frequency used in the connection manager This is illustrated in Figures 3 25e and Figure 3 25f At this point the simulation is configured and the user clicks on OK The system displays a list of configuration parameters Figure 3 26 The user clicks on Run UASim launches OMNeT in the visual mode Figure 3 27 shows that the underwater acoustic connection manager is being used which also means that the underwater acoustic channel is used Figure 3 28 shows the OMNeT window The user starts the simulation by clicking on Fast in the OMNeT window Figure 3 29 shows the simulation running and Figure 45 baseSim baseSim ey Ly A q E ce 003 ee esa AD A runsim baseS
4. Fig 3 3 Add Algorithm use case diagram 17 3 1 1 Structured Requirements Configure Simulation 1 The interface should allow the user to configure simulations The system displays the General tab with default configuration values The user selects the network type The user enters general simulation parameters T he user indicates if she wants a visual of the simulation The user can enter more configuration parameters 1 The user selects a tab 11 The system switches to the selected tab 111 The user enters desired options The user can reset to default configuration parameters 1 The user clicks on Reset To Defaults button li The system resets all configuration values to the default values The user can load per node configuration parameters 1 The user clicks on File menu 11 The system displays the File menu 111 The user selects Load Nodes option iv The system displays a file chooser v The user selects the desired file and presses Open vi The system closes the file chooser vii The system reads the per node configuration from the selected file 18 vii The user is viewing the last selected configuration tab h The user presses the OK button when all options are entered 1 The system displays a window containing the configuration parameters and their current values Run Simulation 1 The interface should allow the user to run a simulation a The us
5. April 2011 Online Available http www isi edu nsnam ns 54 13 14 15 16 26 S Bajaj L Breslau D Estrin K Fall S Floyd P Haldar M Handley A Helmy J Heidemann P Huang S Kumar S McCanne R Rejaie P Sharma K Varadhan Y Xu H Yu and D Zappala Improving simulation for network research University of Southern California Tech Rep 99 702b March 1999 revised September 1999 to appear in IEEE Computer Online Available http www isi edu johnnh PAPERS Bajaj99a html The ns 3 network simulator April 2011 Online Available http www nsnam org Opnet modeler April 2011 Online Available http www opnet com solutions network_rd modeler html A Varga and R Hornig An overview of the omnet simulation environ ment in Simutools 08 Proceedings of the 1st international conference on Simulation tools and techniques for communications networks and systems workshops ICST Brussels Belgium Belgium ICST Institute for Computer Sciences Social Informatics and Telecommunications Engineering 2008 pp 1 10 C Mallanda A Suri V Kuncharkarra S Iyengar R Kannan and A Durresi Simulating wireless sensor networks with omnet 2005 submitted to IEEE Computer A Boulis Castalia user s manual April 2011 Online Available http castalia npc nicta com au pdfs Castalia 20 20User 20M anual pdf Sense Sens
6. OMNeT is an extensible modular component based C simulation library and framework with an Eclipse based Integrated Development Environment IDE and a graphical runtime environment 23 It is free for academic use OMNeT provides a discrete event simulation engine graphical and command line execution of simula tions and visualization of results eliminating the need to develop these pieces MiXiM 24 is a framework for wireless and mobile networks developed using OMNeT It contains base models for physical network and MAC layers that can be used to build the functionality of wireless nodes This project will be using OMNeT and MiXiM as the framework for our marine WSN simulator Figure 3 4 shows a block diagram of the system Simulation Engine Creates configuration files and runs simulation Fig 3 4 UASim block diagram An expert user can choose to build run simulations using only the OMNeT IDE She will be able to build simulations using modules from any of OMNeT 21 model frameworks and the components developed specifically for this project based on MiXiM Other users may choose a simpler interface developed with this project that will be used in place of the OMNeT IDE for simulation configuration and execution T his interface will generate configuration and NED files needed to run simulations and run simulations with either OMNeT s command line or visual interface Both users w
7. ev lt lt find route for lt lt source lt lt endl char buff 255 sprintf buff node d source cModulex other simulation getModule source gt getParentModule const Coord pos ecm gt getPos other gt getld if pos NULL ev lt lt position lt lt pos gt info lt lt endl RTIterator it bool firstPass true double distance 0 0 int nextHop 1 for it routingTable begin it routingTable end it double d xit second gt pos gt sqrdist pos if firstPass firstPass false distance d nextHop xit first else if d lt distance distance d nextHop xit first y return nextHop Fig 3 12 findRoute method from OurBaseNet forward the message to Applications Two applications have been developed to demonstrate how the simulator works e The first applications has one node send a message to another node The nodes involved are read from the configuration file e The second application has nodes sending messages at random times to a sink The node that acts as the sink is specified in the configuration file 3 4 UASim GUI UASim is a Graphical User Interface GUI that builds configuration files for OM NeT and MiXiM without the user having to use the OMNeT IDE The user 34 can select from predefined simulations and has access to most of the configuration parameters that wou
8. gt 500 lt playgroundZ gt lt clusterSize unit m gt 125 lt clusterSize gt lt defaults gt lt l Define the panels that are available when configuring the simulation gt lt optionPanels gt lt panel name Application title Configure the Application dir app gt lt panel name Networking title Configure the Networking Layer dir net gt lt panel name MAC title Configure the MAC Layer dir mac gt lt panel name Physical title Configure the Physical Layer dir phy selected simType gt lt panel name Channel title Configure the Channel dir chan selected simType gt lt panel name Mobility title Configure the Mobility Type dir mob gt lt optionPanels gt lt Define how to find OMNet and MiXiM gt lt uasim gt Fig C 1 uasim xml over the module name When a module is select the configuration file is opened and the values are loaded into the table Figure C 2 shows a sample all zml The module specific files contain a prefix that should be written to the configu ration file with the value a label that is written as a comment to the configuration file the type of the module and the module name Each configuration parameter is written with units and if it needs to be written as a function this is for the configu lt all gt lt module name fromto short Node to Node fil
9. Argument interval Argument end Fig 3 10 filterSignal method from SeaWater 3 3 3 Simple Protocols The simulator implements some simple protocols that provide basic functionality Discovery A Hello protocol is implemented that allows for nodes to discover their neigh bors This is implemented in MiXiM s network layer When a node first becomes online it broadcasts a Hello message containing its location Any other node that receives the message responds with its location The sending node then builds a list of neighbors and a routing table Clustering A network can be non clustered or clustered Currently only static clustering is available In static clustering the world is divided into regions The size of the regions is a configuration parameter that can be specified by the user Each region determines a cluster The nodes in that region are in the same cluster The cluster head is chosen during the discovery period The cluster head is the node with the lowest id Figure 3 11 shows the method that determines which cluster a node belongs This is found in OurBaseNet 32 CON OOB QN WWWWWWNNNNNNNNNNRPRP RRB RRP RP ps TORWONFOBCANATRWNFPOWANOUBRWNrROL int OurBaseNet findCluster const Coordx pos bb gt getPos const Coordx playground world gt getPgs int gridSize int world gt getGridSize int x int pos getX int y int pos gt getY char buff 8
10. End of simulation dialog o OMNeT installion e E A A ae Install UASim into OMNeT aaa Install UASim into OMNeT o UASim configuration tabs 4 6 ac dl dae E de E RA A per node configuration file 0 0 0 02 2 0048 vill 99 40 44 49 B 6 0 1 0 2 0 3 Buttons to start visual simulation run 2 8 69 MASIA Sae RA RA ar A 12 Aa e a we Ge oh Se E hee Ge Se E P2 A configuration file for a UASim module 13 LIST OF TABLES TABLE Page 3 1 System requirements bold Rowe a OR A eek 16 1 INTRODUCTION Simulation is the imitation of something real used to test and study real life or to practice skills or tasks when practice in the real world is not viable due to cost or safety issues Simulation for computer scientists involves modeling real life or hypothetical situations on a computer Network simulators model devices and traffic in a computer network They are used to test new protocols study how different protocols interact or analyze performance Wireless Sensor Networks WSN are made up of tiny sensors that are generally used to sense their environment WSN are usually infrastructureless networks that rely on each sensor to function as part of the network Each WSN is application specific so no standard protocols like Ethernet or TCP have emerged Most of the research for WSN has been for terrestr
11. 0005 maxTxAttempts 14 bitrate 15360 contentionWindow 20 Initializing module baseSim node nic phy stage 1 E busy threshold defined for SNRThresholdDecider Using phy layers sensitivity as busy threshold Fig 3 28 OMNeT simulation screen 48 baseSim baseSim Y Y YY BD Dot A E O T UC Zoom 0 36x PRA NectionManager AA FEA A Fig 3 29 A screen shot of the simulation running Event REAL 129 51U0590494b31U4 Dasesim noge le N1C PNy LUAPNYLayer 10 31 Event 292 T 8 510858463104 baseSim node 2 nic mac CSMAMacLayer id 30 Event 293 T 9 139563769167 basesim node 0 nic mac CSMAMacLayer id 14 ckoffTimer RX idle Event 294 T 9 140063769167 baseSim node 0 nic mac CSMAMacLayer id 14 inorMsg idle gt to send Event 2 Confirm gt Q Ey UAPhuLayer id 15 oie a o YES csMaMacLayer id 14 adio swit No more events simulation ended Event 2 at event 313 t 9 177372935833 UAPhyLayer id 15 rFrame en Event 2 UAPhyLayer id 23 Event 2 O VAPhyLayer id 31 Event 3 VAPhyLayer id 39 t Event 301 T 9 177252935833 baseSim node 0 nic phy UAPhyLayer id 15 Event 302 T 9 177252935833 baseSim node 0 nic mac CSMAMacLayer id 14 ransmission over Event 303 T 9 177252935833 baseSim node 1 nic phy UAPhyLayer id 23 Event 304 T 9 177252935833 baseSim node 1 nic mac CSMAMacLayer id 22 Fig 3 30 End of simulation dialog
12. 4 Add Algorithm Use Case e 60 AAL Develop Module se s ss cade ea ee ia a 60 A 4 2 Create Parameter Configuration File 60 A 4 3 Add Module To GUI Configuration 61 Appendix B Users Guide ssa Boe aa dd Re we we 62 BA Tostaat Ones e w p a dc sa ow eS ow a a a 62 Bill ONNO Pesa dd del 62 Baz MM e Bak fe Ek iso ee AES ES Pb Bw 62 B 1 3 UASim B 2 Using UASim B 2 1 The General Tab 0 00 02 a B 2 2 Other Configuration Tabs 5 20 Loading Node Data da roses as dl dd B 2 4 Running A Simulation 243 2 44 644 4 0482544 44 B 2 5 Results Appendix C Programmer s Guide 2 0 ee C 1 Required Tools C 1 1 Packages needed for GUI Development C 2 Adding to the Simulation Engine C 3 Modifications to the GUI vi 1 1 ek 2 2 2 3 2 4 2 0 2 6 3 1 3 2 3 3 3 4 3 0 3 0 3 7 3 8 3 9 LIST OF FIGURES Discrete event simulation components 3 DUA CCUM IE 5 OBE EN 6 Model structure in OMNeT 0 2 004 11 Basic structure of a sensor node in Sensim 12 Basic module structure in Castalia ooa oa a a 13 C a Es up Bs A ee ee A A E E 14 High level use case diagram for simulator 16 Configure Simulation use case diagram 17 Add Algorithm use case diagram e 17 UASim block diagram 4 2 0 ao a a id AH dad
13. 4 Beh ew RS Ee SG Ee SS Boe ewe ee 21 22 1 U er nterface q um a ria al 22 ia MIOS a e dd dd 22 3 2 3 Visualize Simulation 4 0 64 2 2448294 e Das 22 3 2 4 Add Algorithm mada o Gd dE E de ai dc E 23 30 IMDIementacti n ss jar e Ke EE e dt ee 24 3 3 1 The MiXiM Model sr be ge eA we e ee a 24 3 3 2 Underwater Acoustic Channel 27 do OPE PTOLOCO nas p a Be a CESTA RAE a we E 32 de UAS 2 ies ma ee A 34 3 4 1 Configuration Files 2 244 44624862 bad Eae 35 ome Glasses a k a a o do o A ae we a 31 3 5 Evaluation and Results sds a E 4 04 6 4 oa dd 42 3 5 1 Sample Simulation Runs 43 Sua NOM ISSUES a e a ar hae a a tl a So 46 4 Conclusions and Future Work usara ic we 50 dd FPE WOK EE 51 DedicatiOom intep ant rupu a o a a He SS Oe SSS RA ai 92 ACKNOWICASMCHES 2 644 446 444 455 4442 24 4 46 6444 6 254 64 dd 53 Bibliography and References 54 Appendix A Use Case Textual Descriptions a a a a a 56 A 2 High level Use Case a a a 56 A 2 1 Configure Simulation LAA A 56 A22 R n SIMS LIO y 4 ES AR E AA E E 56 AS Visualize simulations a a aa e E ad 57 A 2 4 Add Algorithm 424 gp MRE E A E E 57 A 3 Configure Simulation Use Case 2 20 0 0 0004 58 A 3 1 Set Simulation Parameters 06 58 A 3 2 Set Module Parameters oaoa a a aa 58 Asoo Load Node Dala tara 6S 4 6x AA a T 59 A 3 4 Reset To Defaults ara aaa A A 60 A
14. ado de 21 Possible screens for user interface o o a a 0 000 ee eae 23 Basie MiIXiIM simul tion s s a eoa oa a a e ada 24 MiXiM basic node and NIC modules 0 25 Classes MAIN So s c sd 26 Class diagram of MiXiM physical layer 0 29 filterSignal method from SeaWater 32 findCluster method from OurBaseNet 33 findRoute method from OurBaseNet 34 Vests veses eh ae eA ee A eS eB eS BRP Ye Re ed 36 vil 3 14 3 15 3 30 B 1 B 2 B 3 B 4 B 5 PUA SGA fe aaa he oc E He ee amp OG ES Ew WS Be Ew S A configuration file for a UASim module A per node configuration file ei a GE a ws Class diagram ol UASI s ss ad 64 4 4 4 44 8 4 dde de A de e di Code to get module parameters from the panel General configuration tab of UASim 0 0 0 02 A configuration panel in UASim 0 The configuration display window Difference in connectivity ss amp 4 wat BEARER AEE DE ES Simulation with one cluster qua a EEE E EE E ed A simulation with four clusters and eight nodes Screen shots from UASim The display of simulation parameters prior to running simulation Output from OMNeT that shows the connect manager used OMNeT simulation screen a o A screen shot of the simulation running
15. been developed using OMNeT These include a comprehensive collection of Internet protocol models in the INET Framework and the Mobility Framework which contains wireless sensor network simulation modules These are developed independently of OMNeT An OMNeT model is built using modules that communicate by message pass ing Simple modules are the lowest level and are developed in C They can be grouped together to form compound modules There is not a limit to the number of levels in the hierarchy T he module structure is shown in Figure 2 3 10 sim A a A ple modules Fig 2 3 Model structure in OMNeT Heavy lines show simple modules Thin lines show compound modules 16 Simple modules are built using OMNeT s object library This library includes functionality for high level debugging and tracing capabilities The structure of the model is written in NED OMNeT s topology description language Model behavior is found in the C code Model topology is included in the NED files Other simulation data like inputs that may vary from run to run is kept in INI files This separation of information keeps the model clean and allows for better tooling support 2 3 Wireless Sensor Network Simulators The focus on simulators for WSN seems to be on providing a sensor model that can be modified to suit a researcher s needs and a way to connect the nodes together to form a network The following sections introd
16. it is easier to use The GUI is made up of different tabs that allow the user to configure a simulation run The user is able to load per node data also B 2 1 The General Tab This tab allows for configuration of general simulation parameters Figure B 4a shows the General tab B 2 2 Other Configuration Tabs The other tabs allow the user to configuration parameters for the specific modules used in the simulation These tabs will display the different options for each module When one of the options is selected the parameters for that option will be display in the table Any of the parameters can be changed to the desired value Figure B 4b shows one of the configuration tabs B 2 3 Loading Node Data If the user wants to place nodes in specific locations they enter the information into a text file and then load it into the interface by selecting File Load Node Data and then they select the per node file in the file broswer The format of the file is as 67 O 0 JO oa wON HH SIMGUI Eras Le SIMGUI Eras File File Load Node Data General Application Networking mac Physical Channel Mobility Quit lication Networking mac Physical Channel Mobility Configure General Parameters Configure General Parameters Network Type Underwater Acoustic w Network Type Underwater Acoustic Number of Nodes 4 Number of Nodes la Number of Runs Number
17. may be developed for the simulator in the future Configuration parameters for individual nodes in the simulation can be loaded from a file to give more control over node placement The simulator runs on both Microsoft Windows operating system and Linux It was tested on Microsoft Windows 7 operating system and Gentoo Linux It is expected to run on any OMNeT and Java supported platform Results show that the GUI can correctly generate the configuration files needed to run an OMNeT gt MiXiM simulation It is also shown that a terrestrial and under water acoustic simulation with the same node configuration has different connectivity between the nodes This is expected because of the differences in the medium and the frequencies of the signals The simulator is a good first step at providing a complete underwater acoustic 50 channel and a easy way to configure underwater acoustic simulations 4 1 Future Work The underwater acoustic channel currently relies on attenuation of the signal to rep resent an underwater simulation Many parts of the physical layer and channel are still too similar to a terrestrial counterpart More work is needed to provide a better underwater acoustic channel that more fully represents underwater conditions and communications Not all of the initial requirements have been satisfied T he simulator lacks ability to have multiple types of nodes More node models should be devel
18. of Runs Playground Area 500 x 500 x 500 meters Playground Area 500 x 500 x 500 meters Grid Unit 125 meters Grid Unit 125 meters 7 Visual Run 7 Visual Run Reset To Defaults Cancel OK Reset To Defaults Cancel OK a b Fig B 4 UASim configuration tabs a General tab b Example of the other con figuration tabs follows node number parameter value parameter value Configuration values for number of nodes playground size grid unit and visual run from the General tab can also be set in the file Figure B 5 shows an example of the per node file B 2 4 Running A Simulation Once all of the simulation parameters have been selected the user can presses the OK button This will open a new window that displays the configuration paramteres If these parameters are set correctly the user can run the simulation mobility x 300 mobility y 300 mobility z 0 mobility x 600 mobility y 600 mobility z 0 mobility x 600 mobility y 10 mobility z 0 3 mobility x 10 mobility y 600 mobility z 0 playgroundX 700 playgroundY 700 playgroundZ 0 gridSize 700 numNodes 4 Fig B 5 A per node configuration file 63 by pressing the Run button This causes the GUI to write out the necessary configuration files in the runsim directory and then it will launch either OMNe T s Tkenv for a visual simulation or the Cmdenv for a command line simulation I
19. readings throughout the water column The underwater sink is removed and the sensors communication multi hop to the surface station Figure 2 2 shows a 3D architecture Data Retrieval Using An Autonomous Underwater Vehicle In this type of system 5 6 7 8 sensors are place on the seabed Each sensor has some limited storage capacity that it uses to save sensed data An Autonomous Underwater Vehicle AUV travels through the water and collects data from each sensor using wireless communications The AUV then returns to the surface with the retrieved data t wr o Dis satellite Si ts surface sink P heat ASA onshore sink a cg CZ 4 e z p surface 7 Th WW ds Coe sink i Y J J J x Mas Gy J surface Lin 7 q 2S station z N k 3 TT 7 E m GNL y i a acoustic a f de vertical link Fig 2 2 3D Architecture 3 Another use of an AUV is to equip it with sensors and have it collect data as it moves through water They can function without tethers cables or remote control making them a good choice for many applications in oceanography environment monitoring and resource study 3 Smart Plankton The Smart Plankton project 9 10 proposes to develop nodes for marine WSN based on marine biology and aquatic micro organisms Smart Plankton aren t an chored to seabed but drift in the water column like real plankton 2 1 2 Communication Radio
20. simulation parameters It will allow the user to set up a simulation that OM NeT may not be able to run or a simulation that runs but doesn t do anything Better validation and error checking is needed This should be in the GUI and the OMNeT modules e The nodes do static clustering and determine a cluster head This information is not used for any node functionality or routing 49 4 CONCLUSIONS AND FUTURE WORK Underwater WSN is an emerging field that requires much research in the areas of sensor nodes architecture and protocols To assist with this research a simulator that can handle underwater environments is needed Many simulators for networking applications exist but at this time there is only one that we know of that can handle underwater acoustic sensor networks This simulator does not easily run on Microsoft Windows operating system and is based on the ns 2 simulator which has been superseded with ns 3 This project implements an underwater WSN simulator that can also be used for terrestrial WSN This simulator is built on top of the OMNeT framework and uses the MiXiM models for WSN It contains an underwater acoustic channel and provides sample applications and a networking layer to assist with future development of modules In addition to the simulation framework a GUI was created that will allow a user to easily configure a simulation run The GUI utilizes configuration files for easy addition of modules that
21. the simulation is run Figure 3 19 shows the program 38 O NO CURE ON now we need to iterate over the parameters from the configuration tabs from the more options screen it params entrySet iterator while it hasNext 4 Map Entry pairs Map Entry it next System out println pairs getKey pairs getValue er is the root of the document and will specify the module that has the parameters Element er Element pairs getValue label is completely unnecessary it just makes the file look pretty Attribute a er getAttribute label ini println if a t null 4 ini printin RARE a getValue HA else ini print n 44HHHHHHE E pairs getKey parameters 4444H44H prefix defines if there is an extra piece of information that needs to be part of the parameter string Usually this is something like nodes x a er getAttribute prefix String prefix If a l null d prefix a getValue Type is used for modules that can be specified with like in the ned files Value contains the name of the module that should be a i gt e cvArbute psd f E o 4 String t a getValue a er getAttribute value if a null ini println baseSim prefix t V a getValue The children contain all of the parameters for the selected module Print t
22. wireless connection manager calculates an inter ference distance maxID and then connects any hosts within maxI D Interference distance is calculated as follows maxID wi x pMax 16 0 x 7 x minRP Tha 3 3 where wil is wavelength calculated as speedOf Light f and pMazx is maximum transmission power and minRP is minimum receive power calculated as minRP 10 005 and alpha is the minimum path loss coefficient pMaz sat alpha and f are all read from the configuration files For this project s underwater channel the speed of light was replaced with the speed of sound underwater in the wavelength calcula tion This is probably not the correct way to calculate interference in an underwater environment but lack a good model to implement the interference distance correctly Aqua Sim assumes communication is possible to any other node within a radius of 100 Whether or not the signal can be received is based on how it attenuates The channel in MiXiM is handled in combination with the connection manager and the physical layer The connection manager determines who can communicate with whom The ChannelAccess class is called by the physical layer to actually put a signal on the channel This class handles propagation delay It will queue the signal to be sent at the appropriate amount of delay The physical layer applies any 28 attenuation models to the signal it receives and then determines if the resul
23. 05 EmNetS II The Second IEEE Workshop on May 2005 pp 151 152 I Vasilescu K Kotay D Rus M Dunbabin and P Corke Data collection storage and retrieval with an underwater sensor network in SenSys 05 Pro ceedings of the 3rd international conference on Embedded networked sensor sys tems New York NY USA ACM 2005 pp 154 165 M Dunbabin P Corke I Vasilescu and D Rus Data muling over underwater wireless sensor networks using an autonomous underwater vehicle in Robotics and Automation 2006 ICRA 2006 Proceedings 2006 IEEE International Con ference on May 2006 pp 2091 2098 C Detweiller I Vasilescu and D Rus An underwater sensor network with dual communications sensing and mobility in OCEANS 2007 Europe June 2007 pp 1 6 D Anguita D Brizzolara A Ghio and G Parodi Smart plankton a nature inspired underwater wireless sensor network in CNC 08 Proceedings of the 2008 Fourth International Conference on Natural Computation Washington DC USA IEEE Computer Society 2008 pp 701 705 Smart plankton November 2009 Online Available http www smartplankton org X Che I Wells P Kear G Dickers X Gong and M Rhodes A static multi hop underwater wireless sensor network using rf electromagnetic commu nications Distributed Computing Systems Workshops International Conference on vol 0 pp 460 463 2009 The network simulator ns2
24. 20 Initializing module baseSim node 5 nic phy stage 1 No busy threshold defined for SNRThresholdDecider Using phy layers sensitivity as busy threshold Initializing module baseSim node 6 utility stage 1 Initializing module baseSim node 6 arp stage 1 Initializing module baseSim node 6 mobility stage 1 updatePosition HostMove startPos 119 014 175 035 direction 0 0 startTime O speed O Initializing module baseSim node 6 appl stage 1 position 119 014 175 035 Initializing module baseSim node 6 net stage 1 color is 3F00AF step 63 I am in cluster 1 I am node 6 Initializing module baseSim node 6 nic mac stage 1 queueLength 5 slotDuration 0 04 difs 0 0005 maxTxAttempts 14 bitrate 15360 contentionWindow 20 Initializing module baseSim node 6 nic phy stage 1 No busy threshold defined for SNRThresholdDecider Using phy layers sensitivity as busy threshold Initializing module baseSim node 7 utility stage 1 Initializing module baseSim node 7 arp stage 1 Initializing module baseSim node 7 mobility stage 1 updatePosition HostMove startPos 50 250 direction 0 0 startTime O speed O Initializing module baseSim node 7 appl stage 1 position 50 250 Initializing module baseSim node 7 net stage 1 playground 400 400 0 color is BD7EAF step 63 I am in cluster 3 I am node 7 Initializing module baseSim node 7 nic mac stage 1 queueLength 5 slotDuration 0 04 difs 0
25. A Simulator for Marine Wireless Sensor Networks GRADUATE PROJECT Submitted to the Faculty of the Department of Computing Sciences Texas A amp M University Corpus Christi Corpus Christi Texas in Partial Fulfillment of the Requirements for the Degree of Master of Science in Computer Science by Tamara King Spring 2011 Committee Members Ahmed Mahdy Committee Chairperson Ajay Katangur Committee Member David Thomas Committee Member ABSTRACT Most of the research for wireless sensor networks has been done for terrestrial applications There is growing interest in marine wireless sensor networks for data collection for oceanography applications water conditions and exploration Marine wireless sensor networks are in early stages of research and much work needs to be done to move wireless sensor networks underwater Currently underwater nodes are not available commercially making it hard to test existing protocols in an underwater environment or develop new underwater protocols This report presents a simulator with underwater channel capabilities This project implements a simulator that contains an underwater acoustic chan nel It is built on top of OMNeT and the MiXiM framework The simulator can run both underwater and terrestrial simulations The simulator can use many of MiXiM s existing modules for MAC layer The simulator provides a simple network ing layer that includes discovery static clustering and simple rou
26. Events e Main Successful Scenario 1 User selects tab to enter module specific configuration parameters 2 System displays available modules with default selected IS A T System display configuration parameters for selected module User selects desired module System displays configuration parameters for select module User changes desired configuration parameters System maintains changes e Alternate Scenarios 1 Module missing a Steps 1 3 in main scenario b Desired module isn t available c User selects a different module Postconditions User is on last selected tab A 3 3 Load Node Data Title Load node data Actors User Preconditions User has created a per node configuration file and has started simulator and is on General tab Flow of Events e Main Successful Scenario o ee 8 User presses File menu User selects Load Node Data option System displays a file chooser User selects configuration file and presses Open System closes file chooser System reads configuration file and keeps node data in memory System updates any general configuration parameters read from file User sees configuratino parameters updated e Alternate Scenarios La File permissions wrong a Steps 1 6 in main scenario b System can open file because of permission problems c System displays error message d User acknowledges error message Postconditions User is on General tab with any changes displaye
27. Frequency RF which is used in terrestrial WSN is not the medium typ ically used when doing wireless communications underwater The high frequency radio waves are strongly attenuated in water making them unsuitable for underwater communication Acoustic Acoustic communications are typically used for USN Acoustics suffer from slow signal propagation about 5 orders of magnitude lower then radio waves in the air and the bandwidth is limited due to absorption 9 Optical Optical communications are popular for USN also Historically done using in frared frequencies new research shows that blue green frequencies work best under water and blue LEDs are being used for optical communications 5 Optical commu nication has better bandwidth then acoustics but requires line of sight has limited range and can be affected by turbulence and dirty water 11 Radio Frequency Electromagnetic Che et al 11 suggest that in some circumstances RF communications can be used in marine WSN RF can be used in coastal monitoring systems where there is a large amount of aeration and sediment in the water column In these conditions it can out perform acoustic and optical communications which are susceptible to turbulence and dirty water 2 2 Existing Network Simulators There are many network simulators available today Some provide frameworks for simulation development and others are more focused on specific areas First some popular
28. Length 512 nic mac queueLength 5 nic mac headerLength 24 nic mac slotDuration 0 04 nic mac difs 0 0005 nic mac maxTxAtempts 14 nic mac defaultChannel O nic mac bitrate 15360 nic mac contentionWindow 20 nic mac txPower 100 Fig 3 26 The display of simulation parameters prior to running simulation Initializing module basesim stage 0 Initializing module baseSim connectionManager stage ll Using the underwater acoustic connection manager Initializing module basesim world stage IN1T1ALLZING channel basesim node Ls N1c upperLvontrolin cnanned Initializing module basesim node 0 stage O Fig 3 27 Output from OMNeT that shows the connect manager used a a OMNeT Tkenv baseSim Y D amp File Edit Simulate Trace Inspect View Options Help C Bg El FM sale id 442 uit e AR a 3 oso E SN Run 0 baseSim Run faster no animation and rare inspector updates F6 T 0 272656294517 Next basesSim node 1 net id 24 Msgs scheduled 9 Msgs created 48 Msgs present 48 Ev sec n a Simsec sec n a Ev simsec n a start hello start hello 7 start hello start hello start hello delay timer 01 10 sec baseSim basesir E scheduled event color is BD7EAF step 63 I am in cluster 3 I am node 5 Initializing module baseSim node 5 nic mac stage 1 queueLength 5 slotDuration 0 04 difs 0 0005 maxTxAttempts 14 bitrate 15360 contentionWindow
29. Project Run Window Help iO vE GIB i O Q 4D UA New Go Into Open in New Window B Copy Ctrl C Paste Ctri V X Delete Delete Move Rename F2 Import Export Clean Project Refresh FS Close Project Close Unrelated Projects E type filter text Project References Resource Builders C C Build o Projects may refer to other projects in the workspace Use this page to specify what other projects are referenced by the project E akopa Exclude from build C C General Project references for marine Build Configurations OMNeT marine Make Targets Project References Index Refactoring History Resourt j W Generate NED Documentation Run Depua settings Remove OMNeT Support Convert To Run As Debug As Profile As Team lierarchy 23 NED Parameter Compare With ees Restore from Local History rom mapp SendAppLa ectionManager h 7 ated make out gcc debug mapp SendA Properties Alt Enter type filter text Makemake a On this page you can configure source folders and makefile generation Builders these two are independent of each other All changes apply to all C C Build configurations C C General v ly marine makemake deep recurse gt marind Makemake OMNeT L 5 Documentation Ge Custom Make Mak
30. T Project Open File E3 Project Close Ctrl W Simulation Close All Ctri Shift w Simple Module Compound Module Save Ctrl S Network Save As Network Description File NED Save All Ctri Shift S fa Message Definition msg Revert Dj Initialization File ini Move Bi Analysis File anf Rename F2 it os Refresh F5 S gt 3 Convert Line Delimiters To 5 erias Text File w Wizard Print Ctrl P Class OMNeT Switch Workspace gt F Other Restart Import Export Properties Exit Alt Enter E Problems EE Module Hierarchy 3 NED Parameters fg NED Inherita Build MiXiM SPE tear sew w ar FE loppcmdenvd loppenvird loppsimd lwsock32 ln sf out gcc debug examples multiConnect ke 2 Leaving directory c Users tami demo t ke 1 Leaving directory c Users tami demo t IA New OMNeT Project Initial Contents Create a new OMNeT Project Select one of the options below Project name marinel Select template Empty project with src and simulations folders Location C Users tami demo project marine gt amp Examples E MiXiM Use default location Support C Development Add content template by URL b c Fig B 2 Installing UASim into OMNeT a add a new project menu options b name the new project c select an empty template 69 File Edit Navigate Search
31. ation of the acoustic signal an AnalogueModel called SeaWater was developed that maps the attenuation on to the signal A Decider then determines if the channel is busy or idle and if the signal is strong enough to be received This project is currently using MiXiM s SNRT hresholdDecider which decides a signal s correctness by checking its signal to noise ratio against a threshold An underwater acoustic decider may need to implement in the future The following modules developed for this project handle the underwater channel and attenuation of the signal OurWorldUtility This class inherits from BaseWorldUtility It adds in a variable for the speed of sound underwater which is used in several of the calculations It reads and saves the size of a grid for use with static clustering T his module can be used with terrestrial and underwater acoustic simulations It is required to run the sample networking layer provided with the simulator OurConnectionManager Inherits from BaseConnectionManager It adds a method to return the position of a given node This is used in the simple routing protocol provided with the simulator It contains a copy of the calcInterDist calculate interference distance method from ConnectionManager for terrestrial networks This con nection manager is used in terrestrial simulations 30 UAConnectionManager Inherits from OurConnectionManager The calcInterDist method is overri
32. bilit ES ss NicEntry ChannelAccess T C e E in BaseLayer fy fy AL AN AS BaseAppil ayer EAS AAA BasePhyLayer gt ES F BaseNetwl ayer A A BaseMacl ayer BaseMacLaver E E E nz MacToPhyInterface FFP SS a RE DeciderToPhylInterface Fig 3 8 Some of the base classes in MiXiM From lightest shades of gray to dark est MiXiM classes that deal with the channel classes contributed for un derwater acoustic channel classes contributed for terrestrial channel classes contributed for either type of simulation communicate while the simulation is running even if the nodes are moving Even though the connection manager has decided that two nodes can commu nicate that doesn t mean that they will be able to send and receive messages from each other When the physical layer in a node receives a signal it will apply any attenuation models to the signal that are required in the simulation After the signal has been attenuated a decider determines if there is still signal there to receive How The Classes Work MiXiM s BaseModule contains the ability to receive notifications from the black board The ChannelAccess module inherits from BaseModule through BatteryAccess and registers that it wants to receive location information from the mobility module used in the node When the ChannelAccess module receives notification that the node has moved it notifies the BaseConnectionManager of the nod
33. bility x 600 mobility y 600 mobility z 0 mobility x 600 mobility y 10 mobility z 0 3 mobility x 10 mobility y 600 mobility z 0 playgroundX 700 playgroundY 700 playgroundZ 0 gridSize 700 numNodes 4 Fig 3 16 A per node configuration file allows the user to load a file containing per node configurations in addition to play ground and grid size values A sample file is shown in Figure 3 16 Any node item can be configured through the file including location speed network layer MAC layer etc 3 4 2 Classes The class diagram for UASim is shown in Figure 3 17 SimGUI This is the main module for the GUI It builds the base frame the menu bar and the navigation buttons It contains a tabbed pane that holds all of the panels for simulation configuration Simulation The Simulation class holds the configuration parameters for the simulation run It parses the main configuration file for UASim and stores the configuration 37 l TOSTFINGL string getParameters List Fig 3 17 Class diagram for UASim values This class also builds the configuration files for OMNeT and runs the simulation Figure 3 18 shows the code to get the module parameters from the panels and writes it to omnetpp ini SimPanel The SimPanel class builds the General configuration panel for UASim It is displayed as the first tab on the tabbed pane It deals with parameters such as number of nodes and how
34. configuration values 2 User enters module configuration values 3 System maintains configuration values 4 User presses OK button 5 System displays configuration values e Alternate Scenarios 1 Module missing a Steps 1 2 in main scenario b Desired module isn t available c User selects different module Postconditions User is on configuration parameter display A 2 2 Run Simulation Title Run simulation Actors User Preconditions User has the program running has configured a simulation and is on the display configuration parameters screen Flow of Events e Main Successful Scenario 1 User presses Run button 2 System runs simulation 3 System shows busy indicator while simulation is running 4 System displays last selected tab when simulation finishes e Alternate Scenarios 50 1 Configuration wrong a Step 1 in main scenario b Configuration parameter is wrong c d User presses Cancel System removes configuration parameter display e System display last select tab f User modifies configuration Postconditions User is on last selected tab A 2 3 Visualize Simulation Title Visualize simulation Actors User Preconditions User has run a simulation Flow of Events e Main Successful Scenario User runs OMNeT IDE User selects runsim project User select results folder User selects data sets User selects results displays 6 System displays results ee e Alternate Scena
35. d den The new method uses the speed of sound in water instead of speed of light to calculate the interference distance T his connection manager is used in underwater acoustic simulations UAChannelAccess Inherits from ChannelAccess The calculatePropagationDelay method is over ridden The new method uses the speed of sound in water when calculating propagation delay BaseUAPhyL ayer A copy of BasePhyLayer that inherits from UAChannelAccess instead of Chan nelAccess Creating an independent underwater acoustic physical layer will make any future changes to the physical layer and or channel easier UAPhyLayer Inherits from BaseUAPhyLayer This class sets up the analogue models and deciders The salt water analogue model is initialized here SeaWater Inherits from AnalogueModel and is used in UAPhyLayer to apply the underwater attenuation to the signal Figure 3 10 shows the filterSignal method that is called to apply the attenuation to the signal SeaWaterMapping Contains the attenuation functions for underwater acoustics l Hu O O ON DTK WN RA void SeaWater filterSignal Signal s const Move amp senderMove s getMove const Coord amp senderPos senderMove getPositionAt s getSignalStart double dist senderPos distance pos simtime_t start s getSignalStart simtime_t end start s getSignalLength s addAttenuation new SeaWaterMapping this dist Argument start
36. d 59 A 3 4 Reset To Defaults Title reset to defaults Actors User Preconditions User has started simulator and has made changes to general configu ration parameters Flow of Events e Main Successful Scenario 1 User wants to reset changes 2 User presses Reset To Defaults button 3 System reset parameters to defaults read from configuration files 4 System displays default parameters Postconditions User is on General tab with defaults displayed A 4 Add Algorithm Use Case A 4 1 Develop Module Title Develop module Actors Developer Preconditions Developer has OMNeT MiXiM and UASim installed and working correctly Flow of Events e Main Successful Scenario 1 Developer implements new module in OMNeT IDE 2 Developer debugs new module in OMNeT IDE 3 Developer saves new module in OMNeT IDE Postconditions Developer has a new working module A 4 2 Create Parameter Configuration File Title Create configuration files Actors Developer Preconditions Developer has a new working module Flow of Events e Main Successful Scenario 60 1 Developer edits new XML configation file 2 Developer adds configuration parameters with default values and units to file 3 Developer saves file 4 Developer copies file to correct directory for module type e Alternate Scenarios 1 Can t save file a Steps 1 3 in main scenario b System can t save file due to system error c Developer handles s
37. d have some mechanism to add new protocols Since the simulator needs to simulate marine WSN development of a model for an acoustic channel is required The simulator should provide a graphical user interface that allows the user to configure a simulation run actually run the simulation and then visualize the results The system needs to be able to scale to a large amount of sensor nodes A set of core protocols should be provided with the simulator These protocols should include common MAC protocols routing protocols and protocols to handle clustering Both static and dynamic clustering protocols are required Table 3 1 shows lists of functional and non functional requirements Configuration options should include type of network number of nodes proto col algorithms to use clustering options and number of runs Figures 3 1 3 2 and 3 3 show the use case diagrams for the marine WSN simulator Appendix A contains the textual descriptions for the use cases 15 Requirements Scalable Configure simulation Extensible Visualize simulation and results Modular Provide core protocols Run under Windows Model underwater wireless channel Graphical user interface Add algorithms to system Table 3 1 System requirements Marine WSN Simulator User Developer Fig 3 1 High level use case diagram for simulator 16 Configure Simulation User Fig 3 2 Configure Simulation use case diagram Add Algorithrn Developer
38. e gt lt panel name Channel title Configure the Channel dir chan selected simType gt lt panel name Mobility title Configure the Mobility Type dir mob gt lt optionPanels gt lt Define how to find OMNet and MiXiM gt lt uasim gt Fig 3 13 uasim xml Per Node Configuration File Node location is handled by the MiXiM s mobility module and the default con figuration for a simulation run sets the nodes to random locations Editing an om netpp ini file in the OMNeT IDE allows for the user to configuration each node individually A way to do per node configuration was needed in UASim The GUI lt all gt lt module name fromto short Node to Node file fromto xml default 1 gt Send message between two random nodes lt module gt lt module name tosink file tosink xml short Node to Sink gt Nodes randomly send to sink lt module gt lt all gt Fig 3 14 An all xml 36 JIM oR WN FR OONDOHKWNEH 2 lt appl prefix node label Application Layer Parameters type applType value SendAppLayer gt lt sink gt 4 lt sink gt lt debug gt false lt debug gt lt burstSize gt 3 lt burstSize gt lt headerLength unit bit gt 512 lt headerLength gt lt appl gt Fig 3 15 A configuration file for a UASim module mobility x 300 mobility y 300 mobility z 0 mo
39. e fromto xml default 1 gt Send message between two random nodes lt module gt lt module name tosink file tosink xml short Node to Sink gt Nodes randomly send to sink lt module gt lt all gt Fig C 2 An all xml 12 JIM oR WN FR lt appl prefix node x label Application Layer Parameters type applType value SendAppLayer gt lt sink gt 4 lt sink gt lt debug gt false lt debug gt lt burstSize gt 3 lt burstSize gt lt headerLength unit bit gt 512 lt headerLength gt lt appl gt Fig C 3 A configuration file for a UASim module ration files for the Analogue models Figure C 3 shows module specific configuration file New modules should be added to all xmi in the appropriate subdirectory and a configuration file containing the parameters should be added to the directory After that is done the GUI will display the new module as an option when it is run next 13
40. e different options for that particular part of the simulation For each option there will be an other file that contains the values that the user can set for that module along with a default value Figure 3 14 shows the all xml for the different applications available in the simulation Figure 3 15 shows a module specific file for configuration values 30 CON DOOB QN CONDO BRWN FR lt uasim gt lt Tie in values from the main screen to the option panel gt lt simTypes optionPanel Channel gt lt sim Type name Underwater Acoustic value ua gt lt simType name Terrestrial value rf gt lt simTypes gt lt defaults gt lt numNodes gt 4 lt numNodes gt lt numRuns gt 1 lt numRuns gt lt playgroundX unit m gt 500 lt playgroundX gt lt playgroundY unit m gt 500 lt playground Y gt lt playgroundZ unit m gt 500 lt playgroundZ gt lt clusterSize unit m gt 125 lt clusterSize gt lt defaults gt lt l Define the panels that are available when configuring the simulation gt lt optionPanels gt lt panel name Application title Configure the Application dir app gt lt panel name Networking title Configure the Networking Layer dir net gt lt panel name MAC title Configure the MAC Layer dir mac gt lt panel name Physical title Configure the Physical Layer dir phy selected simTyp
41. e s new location The BaseConnectionManager will recalculate who can communicate The physical layer handles attenuation using an AnalogueModel to modify the signal and a Decider to determine if the signal is strong enough to receive or is just nolse 3 3 2 Underwater Acoustic Channel To have a realistic simulation of acoustic communications underwater it is neces sary to model how sound behaves in that medium Signal attenuation and propagation delay are the primary focus of this project Interference may also be an issue The Aqua Sim Section 2 3 4 code was compared with the vanilla ns 2 Section 2 2 1 code to see how their underwater channel diftered from the regular wireless channel Most of the differences are with how the signal is attenuated and how it determines if two nodes can communicate Attenuation is the reduction in amplitude and intensity of a signal Attenuation k at distance x is given as A x xfa where k is the spreading factor 1 for cylindrical 1 5 for practical and 2 for spherical a is a frequency dependent parameter 22 a 10 ER 21 where a f is the absorption coefficient given by Thorp s equation 22 011xf 4x f EC ss 10 x 202000 39 U pt Foot Pt ES where f is in kHz This shows that attenuation is dependent on frequency as well as distance Interference is determined in the connection manager when it decides which nodes can communicate The in the air
42. easy way to configure a simulation while still pro viding the user the ability to change most parameters of a simulation The GUI was developed so new modules algorithms could be added easily and with minimal or no changes to the GUI code The GUI can run the simulation once configured The user views simulation results in the OMNeT IDE 3 5 1 Sample Simulation Runs This section will discuss expected results and show actual simulation results for the functionality of the simulator Connectivity Because an Underwater Acoustic Simulation UAS is different from a Terrestrial Simulation TS different connectivity is expected for a simulation with the nodes located in identical positions Because of the smaller frequency used underwater nodes further apart should be able to communicate Figure 3 22 shows the General tab and resulting node connectivity for terrestrial and underwater acoustic simulations Both simulations loaded the node file in Figure 3 16 No configuration parameters were Changed except for the network type 43 SimGUI na w baseSim baseSim V O Y SIDO DOM aan O TT vala DD tunsim baseSim baseSim id 1 ptrOx1f4f0a0 Zoom 0 59 Application sesim am world connectionManager nodel2 Configure General Parameters Number of Nodes 4 Number of Runs Playground Area 500 x 500 x 500 meters Grid Unit 125 meters Visual Run E a General tab for TS b TS resulting c
43. emake Options Makemake n x i NED Source Folder No Make Makefile generation Makemake options for marine Project References Refactoring History anal Target Scope Compile Link Custom Preview Run Debug Settings i Edit makefi Taget ype Executable 9 Shared library dll so or dylib Static library lib or a Reese Y Export this shared static library for other projects O No executable or library NOTE To prevent the makefile from compiling any source file exclude this folder from build pe Source Location Include Target name 9 Default marine Beon gt Output Specify name without extension lib prefix marine Output directory out Restore Defaults Apply C o SS Gon c d Fig B 3 Installing UASim into OMNeT a add a new project menu options b name the new project c select an empty template 66 Now that all of the projects are loaded select build all Project Build All and compile everything The GUI in uasim has a shell script and a bat file to launch the the program It comes with all of the necessary jar files to run B 2 Using UASim UASim is a GUI developed in Java that will allows the user to configure a simulation without using the OMNeT IDE The GUI allows the user to access most of the configuration parameters available in the IDE but
44. er configures the simulation and presses OK b The system displays a window containing the configuration parameters and their current values c The user presses the Run button d The system writes out necessary configuration files e The system runs the simulation f The system displays a visual of the simulation if requested g The system indicates that the simulation is running with a busy cursor h The system detects when the simulation is done i The system changes to the regular cursor j The user is viewing the last selected configuration tab Visualize Simulation Results 1 The user should be able to visualize simulation results a The user runs the OMNeT IDE b The user opens the runsim project 19 c The user clicks on the results folder d The user selects the desired data sets e The user selects the desired output f The system displays the data sets Add Algorithms to System 1 The system should be able to integrate new algorithms a The developer codes a new module that implements the algorithm in OM Ne I IDE b The developer creates an XML file containing configuration parameters for module c The developer puts XML file in correct directory for module type d The developer edits all xml file in module type directory and adds infor mation about new module e The system will allow selection and configuration of new module when run 20 3 2 Design
45. f the user is running a visual simulation they will need start the simulation manually Figure B 6 and close out all of the OMNeT windows when the simulation is done running Y Y Y RRA LEA Zoom 049x OMNeT Tkenv baseSim LEER T 1 Next n a nodel3 Msgs created 211 Msgs present 19 Ev sec n a Simsec sec n a Ev simsec n a af 0 1 0 o baseSim bas lux Event 346 T 7 746864073407 ESTE nodeL0 nic phy qUAPRuLagars id 15 on selfmsg HOST MESSAGE AirFr E scheduled ev Event 347 T 7 PEA baseSim nodeL0 nic mac CSMAMacLayer id 14 on HOST MESSAGE MacPkt id packet not for me deletin Event 348 T 7 746864073407 baseSim node 1 nic phy CUAPhyLayer id 23 on selfmsg HOST MESSAGE AirFr Event 349 T 7 746864073407 baseSim nodel 1 nic mac CSMAMacLayer id 22 on HOST MESSAGE MacPkt id packet not for me deleting Event 350 T 7 746864073407 baseSim node 31 nic phy CUAPhyLayer id 39 on selfmsg HOST MESSAGE AirFr Event 351 T 7 746864073407 baseSim nodel3 nic mac CSMAMacLayer id 38 on HOST MESSAGE MacPkt id sending pkt to upper Event 352 T 7 746864073407 baseSim nodeL 3 net OurBaseNet id 36 on HOST MESSAGE NetwPkt id 201 handling packet from 28 packet to 36 I am 36 x Event 353 T 7 746864073407 baseSim node 31 appl SendAppLayer id 35 on HOST MESSAGE CApplP
46. hem to the ini file List par List er getChildren Iterator plt par iterator while pIt hasNext Element e Element plt next a e getAttribute unit String value e getValue if a null value a getValue y a e getAttribute func DE sea mu lly 4 value a getValue 1 value ni println baseSim prefix er getName e getName value Fig 3 18 Code to get module parameters from the panel 39 ps L ay SimGUI ES General Application Networking Physical Channel Mobility Configure General Parameters Network Type Underwater Acoustic y Number of Nodes 4 Number of Runs Playground Area 500 x 500 x 500 meters Grid Unit 125 meters Y Visual Run Reset To Defaults Fig 3 19 General configuration tab of UA Sim with the SimPanel General tab displayed ConfigPanel ConfigPanel holds the configuration information for an OMNeT component like the physical layer or mobility module A ConfigPanel consists of a list of available modules and a table containing the configuration parameters for the selected module These panels are built dynamically using the information found in the configuration files The individual panels are specified in uasim sml Panel information is read from the all zml found in the directory specified in uasim xml all rml gives general
47. his file lists what panels are should be added to the interface in the optionPanels section Each panel has a name and a title to display on the panel It also specifies the directory found in the config directory that contains the modules available on the panel and configuration files for each module The sim Types section defines how the network selection on the General tab con trols values on the specified panel This is used mainly to set the channel module to the select network type on the General tab The defaults section defines default values for the fields on the General tab Each subdirectory contains module specific configurations The all cml file con tains the list of modules available Each module has a name a short description the file that contains the configuration values if they are the default for the tab and a long description The long description is displayed in a tooltip when the mouse hovers 1 CON DOOB QN CON OOK WN FR lt uasim gt lt Tie in values from the main screen to the option panel gt lt simTypes optionPanel Channel gt lt sim Type name Underwater Acoustic value ua gt lt simType name Terrestrial value rf gt lt simTypes gt lt defaults gt lt numNodes gt 4 lt numNodes gt lt numRuns gt 1 lt numRuns gt lt playgroundX unit m gt 500 lt playgroundX gt lt playgroundY unit m gt 500 lt playground Y gt lt playgroundZ unit m
48. ial environments There is growing interest in marine WSN for collection of data for oceanography applications water conditions and exploration Because of current lack of underwater wireless sensors development of necessary protocols for marine WSN will benefit from a simulator designed to deal with underwater conditions 1 1 Motivation It appears that commonly used protocols in terrestrial WSN will not be as effective underwater so research is needed to create new protocols or modify existing ones 1 This is because of the underwater channel and its effects on the signals used in communication Also power consumption is a concern with marine WSN The protocols used in marine WSN will need to be low energy protocols developed for the underwater environment Underwater nodes are not commercially available at this time making it very costly to develop a test bed for marine WSN This makes it difficult to test or evaluate the performance of existing and proposed algorithms in an underwater setting A simulator that can handle marine conditions would be beneficial for researchers This simulator can be used to evaluate the performance of algorithms without building a test bed The TAMUCC WSN group requires a simulator that they can use to test pro posed protocols They require a system that allows them to build run and visualize simulations It needs to have an underwater channel They need to be able to extend the system and it needs to ru
49. ill use the OMNe T IDE for visualization of results Other visualization options will be developed if needed 3 2 1 User Interface OMNeT uses several configuration files and NED files to define a simulation To simplify the configuration of a simulation run a Graphical User Interface GUI will be developed to generate needed configuration files for OMNeT Figure 3 5 shows possible screens for the user interface The interface will allow for the user to run the simulation 3 2 2 Logging As the simulation runs certain metrics will be logged OMNeT allows vector and scalar output from modules This data is collected by the different modules Modules may need to be configured or modified to get saved data The data is written to text files that can be processed by the Analysis Tool in the IDE They can also be processed by other tools There is also an event log that captures detailed information of the simulation that can be used to verify that modules are running as expected 3 2 3 Visualize Simulation The OMNeT IDE will be used to visualize the simulation results If necessary additional tools will be written to aid with simulations results 22 a General tab b Clustering tab MainWindow Preview MainWindow Preview c Protocol tab d Node tab Fig 3 5 Possible screens for user interface 3 2 4 Add Algorithm To add an algorithm the user will need to develop an OMNeT module that implemen
50. im basesim id 1 ptroxit4foco oom 0 6 x node 1 Fig 3 24 A simulation with four clusters and eight nodes Nodes of the same color are in the same cluster Nodes with star icons are cluster heads 3 30 shows that the simulation ended 3 5 2 Known Issues e Currently the underwater acoustic model used in simulations relies mainly on attenuation of the signal The model is basically MiXiM s terrestrial model with attenuation changes applied The physical layer functions like the terrestrial physical layer and still sends things call AirFrames The NIC is a terrestrial NIC In the future it may be necessary to modify everything from the physical layer down to model underwater hardware and conditions more realistically e Under Microsoft Windows M operating system UASim is unable to launch OMNeT when Run is pressed This is an issue with Microsoft Windows operating system and Java and is yet to be resolved T he configured simulation can be run by hand using the run bat script generated by UASim This script is found in the config run directory e Because of the generic way that the GUI is built it isn t validating all of the 46 S w SimGUI SimGUI File E 6 amp Quit cati n Networking Physical Channel Mobility Application Networking Configure General Parameters Underwater Acoustic y Number of Nodes a Number of Runs Configure General Parameters Underwater Acoustic N
51. information on the modules and the file that contains the configuration parameters This file is read to build the table Figure 3 20 shows one of the ConfigPanels displayed Module 40 A El ay SimGul we sy ES General Application Networking Physical Mobility Configure the Application Node to Node Node to Sink Parameter Yale sendHost E 12 Reset To Defaults Fig 3 20 A configuration panel in UASim A Module contains a JDOM representation of the configuration options for an OMNeT component Param TableModel Param TableModel allows a Java JTable to hold a JDOM Element The table consists of two columns a label and a value Modifying a value in the table will save the value back to the JDOM hierarchy SimConfigDisplay This class displays a window with all of the current configuration settings for a simulation run It contains the buttons that will actually start the simulation running It is displayed when the OK button is clicked on the UASim window Figure 3 21 shows the SimConfigDisplay 41 Configuration Parameters mobility upaoatelnterval 10 mobility x 1 mobility 1 mobility 2 1 applsendHost 2 appl recwHost 3 appl debug false appl burstsize appl headerLength 512 hic mac queuveLength 5 hic mac headerLength 24 nic mac slotDuration 0 04 nic mac difs 0 0005 nic mac masT Attempts 14 nic mac defaultchannel O nic mac bitrate 15360 nic mac co
52. it for them to be available A control element deals with system state An operation is something an entity does or happens to it An example of components in a discrete event simulation is customers queueing for bank tellers Customers are entities which wait for resources the bank tellers Events happen when customers enter the queue leave the queue or leave the teller Operations would be actions performed by the customer like depositing money Figure 1 1 shows customers at the bank Tellers Customers Fig 1 1 Discrete event simulation components Customers are entities Tellers are resources Events happen when customers enter queue leave queue and leave teller Operations like deposit money are performed by customers 2 LITERATURE REVIEW In this section introduces underwater wireless sensor networks and how they are currently being used Then some existing networking simulators are reviewed 2 1 Underwater Sensor Networks Underwater Sensor Networks USN are used to monitor different conditions un derwater including temperature pressure and salinity Some USN include wireless communications and some do not Marine or underwater WSN are in early stages of research and many ideas about node architecture network architecture and protocols are only theoretical 2 1 1 Types of Underwater Sensor Networks This section introduces some actual and proposed USN Sensor Retrieval In some USN sensors inc
53. kt id 20 host 3received packet from 2 x Event 354 T 7 746984073407 baseSim node 21 nic phy UAPhyLayer id 31 on selfmsg radio switching ove Event 355 T 7 746984073407 baseSim nodel21 nic mac CSMAMacLayer id 30 on Radio switching overt c lt gt No more events simulation ended at event 356 t 7 746984073407 Calling finishO methods of modules neighbors 12 0 1 Fig B 6 Buttons to start visual simulation run B 2 5 Results After running a simulation the event log and any captured metrics will be in run sim results The OMNeT IDE User Guide http omnetpp org doc omnetpp41 userguide userguide html covers in detail how to use sequence diagrams on the event log and how to analyze results using the IDE 69 APPENDIX C PROGRAMMERS GUIDE The intent of our simulator was for researcher to be able to add new protocols for testing We provided some sample modules to use as a basis In addition many of the MiXiM modules can be used Adding new protocols is done in the OMNeT IDE and then configuration files in the UASim GUI are modified to include the new protocols C 1 Required Tools See the User s Guide Appendix B for information on installing the base system You will need to install OMNeT MiXiM and the UASim code The OMNeT IDE can be used to edit compile run and debug simulation modules You will also need a JRE or the Java SDK if you are plan to r
54. ld be found in OMNeT ini file normally called omnetpp ini The GUI is implemented in Java Java was chosen for portability reasons All internal configuration files are written in XML so JDOM is required for the GUI to run It also requires the Visual Swing package which was used in Eclipse for visual development of the GUI 3 4 1 Configuration Files To try to make it easier to add new functionality to UASim without having to edit the Java code most of the functionality is driven by configuration files All of these files are stored in XML This makes them easy to parse and update The configuration files are found in the config directory in the UASim code Within this directory there are other subdirectories that hold more configuration files The main configuration file is wasim xml This file is used primarily to build the GUI It contains default values for general simulation parameters and what panels should be displayed The root directory and the location of the configuration file is specified as a parameter to the virtual machine The config directory must exist in the root directory Figure 3 13 shows uasim zml uasim zml also defines which OMNeT components can be configured through the interface and where the configuration files for that component are found The com ponent configuration files should be in subdirectories in the config directory Within each of those subdirectories the is a file called all xmil This file lists th
55. lude some limited storage capacity and their collected data is saved to that storage The sensors are gathered from the water when data collection is finished and the data is retrieved from the sensor 3 No underwater communication is involved Wired Wireless Mix In this type of USN 4 the sensors are attached to a buoy with a wire They communicate their sensed data over the wire The buoys have some wireless commu nication capability that is used to communicate with other buoys and the shore 2D Architecture A proposed architecture 3 for Marine WSN called a 2D architecture has the sensors anchored to the seabed Sensors then communicate wirelessly to an under water sink The underwater sink is responsible for communications with a surface station The surface station communicates with mobile sinks and the shore Figure 2 1 shows a 2D architecture _ ten w o a ia surface sink ha _ satellite E _ a A e x gt MA A onshore sink pl surface WHY sink surface A station f YY hfe a o qa AR En k j Sd X A LE a UW SIM a NE je e ff A T a 1 Af c Fy E pre cme Y S do vw Y uw sensop y vertical link horizontal multi hop limk cluster Fig 2 1 2D Architecture 3 8D Architecture The 3D architecture 3 is similar to the 2D architecture except the sensors are anchored at different levels to take
56. mponent port model allows for a new component to replace any existing one as long as interfaces do not change SENSE aims to be extensible reusable and scalable It provides bat tery application network MAC and physical layer models wireless channel and a sequential simulation engine 2 3 4 Aqua Sim Aqua Sim is a simulator for underwater sensor networks 20 It is built on top of ns2 It is intended to be run in parallel with the CMU wireless package 21 Aqua Sim is the only simulator that we have found that is designed for marine WSN It implements an acoustic channel handling attenuation and collisions in a manner appropriate for underwater conditions The simulator has been tested against the test bed at University of Connecticut s Underwater Sensor Network Lab T he tests show that Aqua Sim can reliably simulate the real world 22 14 3 UNDERWATER ACOUSTIC WSN SIMULATOR This section discusses the requirements design and implementation of this project s underwater acoustic WSN simulator UASim Some results from the simulator are also provided 3 1 Requirements This project proposes a simulator that focuses on marine WSN The simulator will be able to handle terrestrial WSN networks in addition to marine WSN The primary use of the simulator is to test proof of concept for MAC and networking protocols It needs to have a modular design to make it easy to plug and play different combinations of protocols Users shoul
57. my committee Dr Ajay Katangur Dr David Thomas and especially Dr Ahmed Mahdy committee chair for their time and effort A special thanks goes to the developer s of OMNeT and MiXiM who saved me from reinventing the wheel and provided a great foundation for my work 59 El 2 10 11 12 BIBLIOGRAPHY AND REFERENCES A Mahdy Marine wireless sensor networks Challenges and applications In ternational Conference on Networking vol 0 pp 530 535 2008 T Schriber and D Brunner Inside discrete event simulation software how it works and why it matters in WSC 99 Proceedings of the 31st conference on Winter simulation New York NY USA ACM 1999 pp 72 80 I Akyildiz D Pompili and T Melodia Underwater acoustic sensor networks research challenges Ad Hoc Networks vol 3 no 3 pp 257 279 May 2005 Online Available http dx doi org 10 1016 j adhoc 2005 01 004 T Voigt F Osterlind N Finne N Tsiftes Z He J Eriksson A Dunkels U Bamstedt J Schiller and K Hjort Sensor networking in aquatic environ ments experiences and new challenges in LCN 07 Proceedings of the 32nd IEEE Conference on Local Computer Networks Washington DC USA IEEE Computer Society 2007 pp 793 798 I Vasilescu K Kotay D Rus L Overs P Sikka M Dunbabin P Chen and P Corke Krill An exploration in underwater sensor networks in Embedded Networked Sensors 20
58. n under Microsoft Windows operating system While there are many simulators for wired and wireless networks including WSN only one has been found for marine WSN Section 2 3 4 and it does not meet all of the re quirements of the TAMUCC WSN group namely the ability to run on a Microsoft Windows M operating system There is concern about it being based on ns2 Section 2 2 1 since it is being replaced with ns3 Section 2 2 2 and ns3 is not backwards compatible with ns2 1 2 Discrete Event Simulation Most of the network simulators available today are discrete event simulators Discrete event simulations can be viewed as the flow of traffic or transactions in the system 2 Each discrete piece of traffic flows from point to point and may have to compete for utilization of resources with other traffic A discrete event simulation is one where the model changes only at a discrete set of time points These time points are often randomly chosen Simultaneously occurring events are done serially within the time point Within a simulation there exists an entity traffic or transaction that instigates and responds to events Events are happenings that change the state of the model Entities can be external specified by the modeller or internal created by the sim ulation software A resource is a system element that provides a service Entities typically use resources Resources may be limited and entities have to compete for them or wa
59. nal All modelling can be done purely in C or scripting can be done with Python 2 2 3 OPNET Modeller OPNET Modeler 15 is a full featured commercial product produced by OPNET Technologies It is the fastest discrete event simulator in industry 15 It contains hundreds of models for wired wireless protocols and vendor devices OPNET Modeler provides a GUl based debugging and analysis environment The simulator is free to qualified universities OPNET Modeler contains an add on for wireless networks 2 24 OMNeT Objective Modular Network Test bed in C OMNeT 16 is a generic framework for discrete event simulation While it was designed for network simu lation it is also used in other areas It is intended to fill the gap between ns2 and expensive commercial products like OPNET OMNeT provides basic tools to build simulations OMNeT design requirements include e Simulation models should be hierarchical and built from reusable components This allows for large scale simulation e Simulation software should aid in visualization and debugging of the simulation model e The simulation engine should be modular and allow for customization e Simulations should be embeddable in larger applications e Data interfaces should be open e Simulation software should provide an Integrated Development Environment IDE for development of simulations and analysing results Frameworks that assist with simulation of networks have
60. network nodes e Scenario generation assists with building appropriate test scenarios especially in large simulations Scenario generations handles topology traffic patterns and dynamic events such as link failures ns2 provides an interface to load topologies from other programs designed specifically for topology generation New programs can be used usually with just a conversion of file format The ns2 library contains modules to simulate different traffic patterns such as web or ftp traffic e Visualization of simulation data and results assists researchers in understanding the behavior of the network e Easy extensibility allows users to add new protocols functionality and scenar 108 ns2 has a split programming model Protocols are implemented in C Topol ogy and scenario description are done in an object oriented version of Tel called oT cl This design is used to make protocols more efficient and the scripts that control the simulation easy to write 2 2 2 ns ns3 14 is the eventual replacement of ns2 It is a combination of all patches to ns2 and some enhancements ns3 tries to avoid some of the problems in ns2 like inter operability and coupling between models lack of memory management debugging of split language objects Because of some of the design decisions ns3 is not backward compatible with ns2 The collection of protocols available in ns2 has to be ported to ns3 The split programming environment is now optio
61. ntention Window 20 nic mac txPower 100 Fig 3 21 The configuration display window Node This class contains node specific configuration values These values are written out to the omnetpp ini file prior to any of the other module information This ensures that the simulation determines the correct parameters for the node 3 5 Evaluation and Results T his project was intended to provide a framework that would allow future researchers to build their own simulations for underwater acoustic WSN It should provide some modules containing different protocols and applications to demonstrate functionality of the simulator and an underwater acoustic channel An interface should be provided to configure and run simulations UASim has met most of its requirements It is built on top of OMNeT and the MiXiM framework which provides a GUI for development of new modules algorithms 42 visual and command line execution of simulations and visual representation of results UASim adds onto MiXiM by providing an underwater acoustic channel that allows for the signal to attenuate correctly for sound underwater A sample networking layer is provided that includes discovery clustering and simple routing MiXiM s CSMA module is used for the MAC layer Sample applications are provided that drive the simulations All provided modules and many of MiXiM s examples can also be used as a basis for developing new algorithms The UASim GUI provides an
62. oaded When the projects display unselect Mixnet and press finish Figure B 1d OMNeT will import MiXiM and start compiling You will now have a MiX M directory in your project directory To add UASim to OMNeT select File gt New 0MNeT Project Figure B 2a Type in marine as the project name and press Next Figure B 2b Select an Empty project as the template and press Finish Figure B 2c If you are asked to overwrite any files select No marine will show up in the Project Viewer on the left hand side of the OMNeT window Right click on marine and select Properties Figure B 3a Select Project References and check MiXiM Figure B 3b Open the OMNeT options and click on Makemake Click on marine in the middle box and then click on the Options button Figure B 3c In the Options window select Shared library and press OK Figure B 3d Follow the same procedure to install the runsim directory When adding Project References select both MiXiM and marine There is no need to set the Makemake options for runsim 63 Ba Workspace Launcher Select a workspace OMNeT IDE stores your projects in a folder called a workspace Choose a workspace folder to use for this session Workspace C Users tami demo project Use this as the default and do not ask again
63. of the radio and handles clock drift in the node The channel module is based on empirically measured data The radio model captures features of real low power radios including multiple states and transmission power levels Figure 2 5 shows the basic module structure of Castalia Each node is connected to one or more wireless channels and one or more physical processes Since a node might communicate on different frequencies there are multiple wireless channels Multiple physical processes are provided if the node has multiple sensors Physical process 1 Wireless Channel 1 gt Fig 2 5 Basic module structure in Castalia 18 The structure of a node is shown in Figure 2 6 A Castalia node contains simple modules for sensors application layer and hardware resources Communications to the wireless channel is a compound module that consists of models for routing MAC and radio 2 3 3 SENSE SENSE 19 is a simulator for WSN developed on top of a discrete event simulator called COST SENSE is component oriented architecture designed to avoid the inter 13 To From physical process b o be Resource Manager Sensing Device Manager Battery CPU state Memory Application nl Any module read only Communications composite module Mobility Module To From wireless channel to wireless channel Fig 2 6 Castalia node 18 dependency of modules often found with object oriented design Their co
64. onnectivity es SimGUI Y Y Y Z w IbaseSim baseSim Y O Y File SiBO DOM cmd HT ru Zoom 0 59 General Application Networking MAC Physical Channel Mobility Configure General Parameters Network Type Underwater Acoustic y Number of Nodes 4 Number of Runs Playground Area 700 x 700 x lo meters Grid Unit 700 meters Visual Run node 1 Reset To Defaults c General tab for UAS d UAS resulting connectivity Fig 3 22 Differences in the connectivity for TS and UAS using the same simulation configuration Static Clustering In static clustering the playground is divided into square regions Each node calculates their cluster and sends that information to other nodes during the discovery phase The node also calculates its color based on the cluster Nodes in the same cluster will be the same color The node with the lowest id is selected as the cluster head All nodes start marked with a star but after the discovery phase only the cluster head will still have a star Figure 3 23a shows the beginning of a simulation 44 with one cluster The nodes are all the same color and marked with a star Figure 3 23b shows the simulation after the discovery phase with only one cluster head Figure 3 24 shows a simulation run with four clusters and eight nodes a w baseSim baseSim 1 baseSim baseSim Y x 2i BO Dox aan O TT 208 gt Csi Boi Doi raras OD TT i A ajf
65. oped as require ments for the nodes become available In most cases creating a new NIC module for the node maybe be sufficient With the addition of multiple types of nodes the simulator would need to handle heterogeneous and homogeneous simulations This may require the development of additional connection managers Dynamic clustering has not been implemented Visualization of simulation results has not been fully explored This system relies on the abilities of OMNeT IDE to view results and the event log generated by a simulation run More work may be needed in this area More logging may need to be added to the modules to capture required metrics MiXiM 2 0 provides a new package called Mixnet that allows the user to use both MiXiM and the INET framework together INET provides many modules for the upper network stack that MiXiM is missing This could potentially allow for many existing protocols to be used in our underwater acoustic environment As this ability in MiXiM matures it should be investigated as it may increase the number of protocols available for networking layer application layer etc without having to develop them locally ol DEDICATION This work is dedicated to my husband Scott King and my son Graham who had to put up with my general crabbiness while I pursued my Master s degree Without their love and support this would not have been possible 92 ACKNOWLEDGMENTS I would like to thank the members of
66. or network simulator and emulator April 2011 Online Available http www ita cs rpi edu sense index html Aqua sim April 2011 Online Available http ubinet engr uconn edu mediawiki index php Aqua Sim Monarch project April 2011 Online Available http www monarch cs rice edu cmu ns html P Xie Z Zhou Z Peng H Yan T Hu J Cui Z Shi Y Fei and S Zhou Aqua sim An ns 2 based simulator for underwater sensor networks in OCEANS 2009 MTS IEEE Biloxi Marine Technology for Our Future Global and Local Challenges October 2009 pp 1 7 Omnet April 2011 Online Available http www omnetpp org Mixim April 2011 Online Available http mixim sourceforge net K Wessel M Swigulski A K pke and D Willkomm Mixim the physical layer an architecture overview in Simutools 09 Proceedings of the 2nd In ternational Conference on Simulation Tools and Techniques ICST Brussels Belgium Belgium ICST Institute for Computer Sciences Social Informatics and Telecommunications Engineering 2009 pp 1 8 Jdom April 2011 Online Available http www jdom org dO APPENDIX A USE CASE TEXTUAL DESCRIPTIONS A 2 High level Use Case A 2 1 Configure Simulation Title Configure simulation Actors User Preconditions User has started simulator and is at main screen Flow of Events e Main Successful Scenario 1 User enters general
67. rios 1 No results a Steps 1 4 in main scenario b Desired simulation data not found c User exists OMNeT IDE Postconditions User is on OMNeT IDE visual results A 2 4 Add Algorithm Title Add algorithm Actors Developer Preconditions Developer has implemented the new algorithm Flow of Events e Main Successful Scenario 1 Developer creates XML file containing algorithm parameters ot Developer places XML file in appropriate directory Developer edits all xml in appropriate directory Developer adds new algorithm to all xml Developer saves all xml 6 System make available new algorithm when run O ee e Alternate Scenarios 1 System error saving all xml a Steps 1 5 in main scenario b System can t save file due to system error c Developer corrects system error Postconditions New algorithm is added to new system A 3 Configure Simulation Use Case A 3 1 Set Simulation Parameters Title Set simulation parameters Actors User Preconditions User has started simulator and is on General tab Flow of Events e Main Successful Scenario User selects network type User enters number of nodes User enter playground information User indicates if they want a visual run System maintains configuration changes e e ds Postconditions User is on General tab A 3 2 Set Module Parameters Title Set module parameters Actors User Preconditions User has started simulator and is on General tab Flow of
68. simulators are introduced then some simulators for WSN are reviewed 2 2 1 ns2 ns2 is the most widely used free network simulator ns2 development started in 1989 and by 1995 development was being done through the VINT project and supported by DARPA 12 ns2 was to provide an improved set of tools for researchers to simulate networks 13 The developers concluded that researchers would benefit from a common well tested simulation environment This would provide researchers with a common format for results allowing for easier comparison across research endeavors and validated models for common protocols A well built simulator would also provide a way to study protocol interaction With better tools researchers can spend their time developing protocols instead of developing simulators for individual work There are five capabilities that were important to ns2 development abstraction emulation scenario generation visualization and extensibility 13 e Abstraction allows for detail hiding When studying a protocol at a low level the details are important Observing protocol interaction may not require a high level of detail and the detail can be abstracted out giving better performance in the simulation Higher abstraction means less accuracy in the simulation but in many scenarios this may be acceptable e Emulation is when the simulator is connected to a live network and traffic flows between the simulator and real world
69. ting These modules and MiXiM s modules can be used as basis for developing new simulations A graphical user interface has been developed that can be used to configure and run a simulation without using the OMNeT integrated development environment This interface is less complex but allows most of the configuration parameters found in OMNeT to be set Configuration of specific nodes can be loaded through a separate file Abstract TABLE OF CONTENTS Table of Contents lt amp 4 4 8 bed ed 6 bed ra a E SE A INE AN AE List of Tables a 1 Introduction escama a Be a Re a RO 1 1 12 INOUIVALION a mera USERS AT E eS owe ee Discrete Event Simulation 2 0002 we Literature Review suvhas guria ANEEL we wwe el 2 9 Underwater Sensor Networks 0 2 1 1 Types of Underwater Sensor Networks 212 ACOMIMUDICALION amp soa bo a ba ee a a we A 22 0 ENE Modeller ses ace o ee he we eS Bowe EE Dil AMINO ba Skee a god A ee dl we a r Wireless Sensor Network Simulators Bod CNS a iaa ACI ee Ras Zones Castalia tek E He ae eG ee Se ae A RR a Doe INS ee ee we E e ee Ses es n o DO SGU OM a Ane he o Sr SO ee ed vk we aa 111 11 111 vi 3 Underwater Acoustic WSN Simulator 15 dal Reg irements ssa hee At he oe BR ee BAP ee Bes 15 3 1 1 Structured Requirements 18 dor IESO 254
70. ting signal is indeed a signal or just noise Attenuation is handled through an AnalogueModel and a Decider determines if the signal can be received Figure 3 9 shows the classes used in the physical layer lt lt interface gt gt MacToPhyInterface A na LE nn Es ns a a 17 T send recy lt lt interfaces gt l l l l i DeciderToPhylnterface l l l l l l l A FS Fig 3 9 Class diagram of MiXiM physical layer 25 There is a connection between the NIC and physical layer in each node and the connection manager Each NIC is registered with the connection manager and the location of the NIC is used to determine which nodes are in range to communi cate Because of this relationship simple inheritance isn t possible when creating the underwater acoustics channel The propagation delay calculation is in the ChannelAc cess class and is called by the physical layer when a message is sent The underwater acoustic physical layer needs to have be a UAChannelAccess instead of a ChannelAccess so it was necessary to create a new base physical layer for the underwater channel 29 BasePhyLayer was copied to create a BaseUAPhyLayer which deals with the under water channel There is also an underwater connection manager and world utility manager that inherit from MiXiM s base classes and override or add the functionality needed for the simulator To implement the attenu
71. ts the functionality of the new algorithm This will be written in C A new algorithm module is added to the configuration files for the developed GUI This allows the new algorithm to be available to the end user 23 3 3 Implementation This section discusses MiXiM s wireless model and describes how the simulator was implemented 3 3 1 The MiXiM Model MiXiM provides a structure for nodes and a means to connect them together for communications Figure 3 6 shows a basic MiXiM simulation It is made up of a number of nodes a connection manager world utility module and the playground the region where nodes can be placed The world utility module stores global information about the simulation like the size of the playground The connection manager is responsible for setting up the communications between the nodes node lt Fig 3 6 Basic MiXiM simulation Figure 3 7 shows the structure of a node in MiXiM Each node is comprised of modules that represent networking layers and other functionality of a node like mobility Each node contains a module for the application networking layer and NIC The NIC is composed of two modules the MAC layer and physical layer These modules communicate primarily through message passing that is implemented to closely represent the functionality of the network stack Base functionality is provided 24 mobility a Basic node b Basic NIC Fig 3 7 MiXiM basic node and NIC mod
72. uce some simulators for WSN With the exception of Aqua Sim in Section 2 3 4 none of these simulators support marine WSN 2 3 1 Sensim Sensim 17 is a general purpose simulator for WSN built on top of OMNeT meant to be similar to the Mobility Framework for OMNeT gt Sensim implements each layer of a node as a simple module The node itself is a compound module 11 that contains the layer modules hardware modules and a CoOrdinator module The CoOrdinator module coordinates the activities of the hardware and the software mod ules For example the Battery module will be updated when a message is sent in the Physical Layer module to reflect the amount of battery used Figure 2 4 shows the structure of a node seming Application y E Physical Layer dONrZADgAOS A sensor Node Direct communication eric hann Wireless Channel Sensor Channel Messages Fig 2 4 Basic structure of a sensor node in Sensim 17 MAC 802 11 MAC Layer and Directed Diffusion with Geographical and En ergy Aware routing Network Layer have been implemented using Sensim s design Studies of the simulator have shown it to be an order of magnitude faster then ns2 and it has more efficient memory usage 2 3 2 Castalia Castalia 18 is another WSN simulator built on top of OMNeT Its focus is to provide realistic models for the radio and wireless channel It strives for real 12 istic node behavior in relation to access
73. ules in each module that handles the message passing Other modules may communicate through the blackboard This allows for the modules to not be coupled to tightly call module a s methods within module b A module can read items it is interested in off the blackboard and can also write information to it There is also a global blackboard that can be used to read write global values The utility module in Figure 3 7 is the blackboard Figure 3 8 shows many of the base classes used in MiXiM and how they relate to each other All of these classes ultimately inherit from OMNeT s simple module In most cases the programmer can just inherit from the base modules provided by MiXiM and then add their specific functionality in the module Setting Up Connections Potential connections between nodes are determined by MiXiM s connection manager which handles the communication channel Each simulation has at least one connection manager that determines if two nodes are in range to communicate It does this by calculating an interference distance If one node is less than the interfer ence distance from another node the connection manager will connect them together and communication may be possible The connection manager maintains who can 29 E EN E E E BaseUtilit BaseWorldUtilit le BaseConnectionManager ImNotinable BlackBoaro fy A fy ConnectionManager od BatteryAccess AAA E al A A A BaseMo
74. umber of Nodes 4 Number of Runs Network Type Network Type Playground Area Playground Area s00 x 500 x 500 meters Grid Unit 125 meters 500 x 500 x 500 meters Grid Unit 125 meters Visual Run Visual Run Reset To Defaults Reset To Defaults l o Open YO amp SimGUI Look I o Belt General Application Networking Physical Channel Mobility Configure General Parameters 5 nodeclusters C nodes Network Type Underwater Acoustic y Number of Nodes 4 Number of Runs Playground Area zoo x zoo x o meters Grid Unit 700 meters File Name node2 O Files of Type All Files D Visual Run Reset To Defaults SimGUI General Application Networking Physical Channel Mobility General Application Physical Channel Mobility Configure the Channel Underwater Acoustic Radio Frequency Configure the Channel Underwater Acoustic Radio Frequency Fig 3 25 Screen shots from UAsim a initial UASim screen b load a per node configuration file c file chooser when selecting a per node configuration file d General tab after per node configuration file is loaded e select a parameter to change f modify a simulation parameter Configuration Parameters mobility updatelnterval 10 mobility x 1 mobilityy 1 mobility z 1 appl sendHost 2 appl recwHost 3 appl debug false appl burstSize 3 appl header
75. unthe UASim GUI C 1 1 Packages needed for GUI Development The GUI requires Visual Swing and JDOM The jar files for those are provided with the UASim sources Eclipse and Visual Swing The GUI was developed using Eclipse with the Visual Swing plugin GUI devel opement in Java can be painful at best without a visual way to create any interfaces I selected Visual Swing and Eclipse because they were easy to use some what familar alter using OMNeT and free JDOM JDOM provides a Java based solution for accessing manpulating and out putting XML data from Java code 26 TO C 2 Adding to the Simulation Engine It is best to have some familiarity with the tools that are being used The Tictoc tu torial that comes with OMNe T is a good introduction to implementing modules in OMNeT MiXiM provides a Beginner s Guide and tutorials to help introduce how their networks are implemented These tutorials should give the developer enough information to understand how to implement a new module in OMNeT MiXiM New modules for UASim should be added in the marine C 3 Modifications to the GUI Unless changes are needed to the layout of the GUI or new configuration parameters need to be added to the General tab most additions to the GUI can be done through the configuration files All of the configuration files are in the uasim config The main configuration file is uasim cml An example of the file is shown in Figure C 1 T
76. urceforge net We have developed on MiXiM 1 2 and 2 0 Our modules may not work with newer versions of MiXiM Detailed installation instructions are available at http sourceforge net apps trac mixim wiki Installation Don t install MiXiM until you have the UASim source on your machine B 1 3 UASim UASim can be installed from a tar ball or the git repository if you have access Change to the directory where you want to install the software and either untar the tar ball or clone the repository You will now have a directory called project In that directory there are subdirectories that contain the source code The marine 62 directory contains the UASim pieces for OMNeT The uasim directory contains the Java GUI The runsim directory is a OMNeT project that the GUI uses to run the simulations The GUI will write configuration files in this directory and launch simulations Next install MiXiM into the project directory We do this by running the OM NeT IDE Run omnetpp when asked set the workspace to the the project direc tory that was installed for UASim Figure B 1a and press OK When the OMNeT windows comes up select the Workbench icon on the right hand side Figure B 1b To import MiXiM Select File gt Import Figure B 1c In the Import window open the General folder and select Existing Projects into Workspace and press Next Choose Select archive file and browse to the location where MiXiM was down l
77. ystem error Postconditions Developer has created configuration file and placed it in the correct directory A 4 3 Add Module To GUI Configuration Title Add module to GUI configuration Actors Developer Preconditions Developer has a new working module and has saved a parameter configuration file to correct directory Flow of Events e Main Successful Scenario 1 Developer edits all xml file in module type directory 2 Developer adds item for new module 3 Developer saves all xml file 4 Developer has added new module to simulation GUI e Alternate Scenarios 1 Can t save file a Steps 1 3 in main scenario b System can t save file due to system error c Developer handles system error Postconditions Developer has added the new module to the simulation GUI 61 APPENDIX B USER S GUIDE UASim is a simulator built on top of OMNeT and MiXiM that simulates underwater acoustic wireless sensor networks B 1 Installation This section describes how to install UASim and its dependencies B 1 1 OMNeT OMNeT can be downloaded from http www omnetpp org We have done our development using OMNeT 4 1 Our modules may not work with newer version of OMNeT An installation guide is included with the software It can also be found online on the OMNeT documentation page http www omnetpp org documentation Please follow the installation guide to install OMNeT B 1 2 MixiM MiXiM is available at http mixim so

A Simulator for Marine Wireless Sensor Networks

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