ROME - Routing Over Mobile Environment

This document introduces ROME, a geographic routing protocol for wireless sensor networks (WSNs) with mobile nodes. It first gives some background about ROME, its objective and its operation. Then the hardware resources and software environment to install ROME are described. After illustrating how to install the ROME application, it briefly explains how to run this routing solution.

Introduction

Experiments on real-hardware testbeds, have shown that even if the nodes in WSNs are static, the network exhibits high dynamics because of the instability of communication links and the disappearance of some of the nodes due the depletion of their energy and to their failure. New nodes can also be added to the network at any time, which also causes variable network connectivity. Furthermore some of the sensor nodes could be mobile, being worn by humans, carried by animals, or mounted on mobile robots and vehicles.

Objectives of ROME

ROME is designed for WSNs characterized by high dynamics, such as node addition, node removal and the mobility of some of the network nodes. It has the desirable properties of optimized performance through cross layer design, receiver-based relay selection, asynchronous nodal duty cycles and the ability to deal with connectivity holes in the network topology all aimed to solve the WSNs issues.

Installation

Hardware and Software Requirements

Installing the ROME protocol requires the following hardware tools and software packages:

• ​Linux PC (Ubuntu)/ ​Windows XP
• ​JAVA SE jdk-6u21
• ​TinyOS-2.x
• ROME software package

We assume that the installation PC is running a Linux operating system, and the ​TinyOS-2.x and ​JAVA environment have been installed and configured properly. We skip the installation of TinyOS. A user could refer to ​TinyOS-2.x for an installation guide.

Installation

In order to route data packets ROME requires the position of each node of the WSNs. This position, which could in future come from a GPS unit, are now statically stored in a file. Each node is unique localized by its (X,Y,Z) coordinates with respect to a fixed point. Note that these coordinates do not have necessarily to be in an absolute reference system (like GPS) but also relative to a certain point.

The file to be included in the project needs to have this format :

#define N_NODES_TESTB	27
uint8_t positions[N_NODES_TESTB][3] = {
	{50, 55, 8},	// 
	{48, 55, 8},	// 
	{50, 51, 8},	// 
        ............
};

Each node has a elements in the above array with index set equal to the node's TOS_NODE_ID. In case this could not be achived it is always possible to implement a mapping layer for the requirents SOME_NOD_ID_POLICY->TOS_NODE_ID translation

For what it concerns mobile nodes the same observations are due. At the moment the mobility is implemented throught a static data structure which mime the position the mobile node would be in next steps. A file with the moves track needs to be filled and then parsed with the script generateMobilityInclude which eventually transform the raw position data into a file compileable by TinyOS.

An example of mobiliy data position follows:

NODE 3:
(0, 0, 0)
(20, 0, 0)
(20, 20, 0)
(0, 20, 0)
;

NODE 6:
(10, 0, 0)
(10, 10, 0)

• define the mobility pattern for each node in a data file. Coordinate must be specified in 3-d format. Paths can have arbitrarily length up to uint8_t max size.
• run the python script generateMobilityInclude.py to parse the mobility pattern data file. The script will generate an header file MobilityPatterns?-AUTOGEN.h, containing pattern definition.

generateMobilityInclude.py MOBILITY_PATTERN_FILE

• rebuild the ROME application

The sink node requires a bit more attention. The ROME Makefile needs to specifiy the TinyOS TOS_NODE_ID of the sink noce. This is achived with the compile time define

#define ROME_SINK_NODE 81

The installation of ROME is rather easy and the following brief introduces how the ROME resource could be loaded into the nodes.

• First of all, a user needs to install and configure TinyOS-2.x and JAVE Environment jdk-6u21 properly.

• Then the user compile the ROME application.

  make telosb
  

• Install the compile firmware into the nodes.

make telosb reinstall.<node ID> bsl,/dev/ttyUSB*

Running ROME

The following describes about how to run the ROME application and how to test whether it is installed properly.

• Operation
  
  • First, turn on all normal nodes, except the sink. Please note that after a node is powered on, its red led will flash indicating the radio is being duty cycle on and off.
    
  • Turn on the Sink node.
    
  • The blue LED on some nodes will blink indicating the transit of data packet
    

• Monitor the debug messages

A user is able to use the serial output to watch the debug messages:

# java net.tinyos.tools.PrintfClient -comm serial@/dev/ttyUSB*:telosb 

The debug messages should start to be shown in the terminal as following: