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Integration of WirelessHART and STK600 Development Kit for Data

1. Do nothing echoing is handled by the ISR instead of in the main loop ADCSRA 1 lt lt ADSC _delay_ms 200 Page 114 0f 115 Integration of WirelessHART and STK600 for Data Collection in WSN Cres include crc h unsigned int crc_calc unsigned char data unsigned int length unsigned int h_value crc_ value 0xFFFFu cre_ poly 0x1021u ine i while length gt 0 crc value unsigned int datat lt lt 8 for i 0 i lt 8 i if crc_ value amp unsigned int 0x8000u gt 0 crc value crc value lt lt l crc poly else crc value lt lt 1 h_value crc_value crc_value 0xFFFFu return h value unsigned int cre_calc unsigned char data unsigned int length ere h Page 115 0f 115
2. Page 104 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN var3 m_ucVariableCode 0 0x07 var3 um_ Value m_ fValue 0 swapByteOrder var3 um_ Value m_ucValue var4 m_ucVariableCode 0 0x08 var4 um_ Value m fValue 20 swapByteOrder var4 um Value m_ucValue var5 m_ucVariableCode 0 0x09 varS um_ Value m_ fValue 0 swapByteOrder var5 um Value m_ucValue varo m_ucVariableCode 0 0x0A varo um_ Value m fValue 0 swapByteOrder var6 um Value m_ucValue var7 m_ucVariableCode 0 0x0B var7 um Value m_ fValue 0 swapByteOrder var7 um Value m_ucValue var8 m_ucVariableCode 0 0x0C var8 um_ Value m_ fValue 0 swapByteOrder var8 um Value m_ucValue Page 105 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN void UART_init UBRROH MYUBRR gt gt 8 Baud rate for communication with PC UBRROL MYUBRR UCSROB 1 lt lt RXENO 1 lt lt TXENO enable Rx and Tx for communication with PC UCSROC 1 lt lt UCSZ01 1 lt lt UCSZ00 8 bit parity none 1 stop bit UBRR1H MYUBRR1 gt gt 8 Baud rate for communication with VS220 UBRR1L MYUBRR1 UCSR1B eege 1 lt lt RXEN1 1 lt lt TXEN1 1 lt lt RXCIE1 enable Rx Tx and Rx for communication with VS220 UCSRIC 1 lt lt UCSZ11 1 lt lt UCSZ10 8 bit parity none 1 stop bit void UART transmit unsign
3. DLPDU DeHiGate ETRI FHSS HART 6LoWPAN Networks ISA LOS LNG LPG MCS PPDU SCADA TSBc TETRA UART UKF VSAT VOR ATmosph re EXplosible Application Programming Interface Cell on Wheel Data Link Packet Data Unit Deployable High Capacity Gateway Electronics and Telecommunication Research Institute Frequency Hopping Spread Spectrum Highway Addressable Remote Transducer Internet Protocol version 6 IPv6 over Low power Wireless Personal Area International Society of Automation Line of Sight Liquefied Natural Gas Liquefied Petroleum Gas Monitoring Control System PHY Protocol Data Unit Supervisory Control and Data Acquisition Telenor Satellite Broadcasting Terrestrial Trunked Radio Universal Asynchronous Receiver Transmitter Unscented Kalman Filter Very Small Aperture Terminal Vestibulo Ocular Reflex Page 4 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Contents List of Abbreviations sccecctacecieceacsaieisrocsteadneca sea eege ege Eegreggieng 4 List OF FIQUIES 2c mssciieeninmnvineaimrniiniti men NERA Menten kinetin 9 Listor Eo eee meee er eee E eee oe eee ee eee rr 11 1 att E peepee eee ee eee ee ee ee 12 1 1 Background and Motivation saissccisictiseisccsusdeteiteeincceuileleciiehiacneriaieeeinmaaseehins 12 1 2 Problem Statement EE 13 1 3 Literature Review ass ctecceecseiecntebeansacicccn Gu asecdace crasaehedeerdatesmracevvendechcac
4. 5 Implementation This chapter includes the detail description of how the features described in Chapter 4 have been implemented First we provide an overview of how to enable UART for transmission and reception of the development boards we are using Next is the description of implementation efforts we have made to interface VS220 with STK600 through simple API which can also be considered to be the core task of our thesis Afterwards we describe the implementation of interfacing an external sensor Gas Leakage with STK600 Atmega2560 and forward these sensor readings to VS220 The VS220 will then forward the readings to WirelessHART network through HART gateway Final step is the configuration of MCS to publish and visualize sensor readings over the web We used AVR studio 4 18 as the programming and debugging environment and code is written in C The implementation phases we have passed through during development of the whole system are listed below e Activation of UART between VS220 and STK600 e Implementation of simple API to integrate VS220 and STK600 e Integration of sensor with STK600 A sensor board e Implementation to integrate sensor with VS220 via STK600 e Visualization of data over the web interface MCS Next comes detail of each phase with the hardware setup and the main code written for development We have taken Figure 4 1 as a reference and connected entities are marked with the dashed box after the successful implementation
5. STK600 in ISP mode with ATmega2560 Love S STK600 in ISP mode with ATmega2560 ole x Main Program Fuses LockBits Advanced HW Settings HW Info Lars Main _ Program Fuses LockBis Advanced HW Settings HW info Fuse Value a Votages zeen SRT OA IAT URS a OCDEN VTarget i 50 v JTAGEN O SPIEN M WOTON 0O AREF 0 DH y EESAVE C E BOOTSZ Boot Fash size 512 words statt address 1FE00 ei B BOOTRST oO AREF H D Vv Kat CKOUT 0 ra we L E Read SUT_CKSEL Ext Cystal Osc 8 0 MHz Start up time 16K CK 65 ms el D m Clock Generator 16 01 MHz EXTENDED FF i HIGH ODF i 16006912 Low bt Firmware Upgrade Upgrade Auto read EI Wl Smart wamings d Verify after programming Program Verity Read Setting mode and device parameters OK Getting VTARGET 5 0V OK Entering programming mode OK Getting AREFO 0 01 V OK Reading fuses address Oto 2 OxFF OxDF OxFF OK Getting AREF1 0 01 V OK Leaving programming mode OK v Getting oscillator parameters OK T Figure 4 8 Hardware configuration for STK600 Atmega2560 Once the STK600 Atmega2560 is connected and hardware settings are done The next step is to build and run the program Then in the main window select Atmega2560 as device and signature byte and then read signature In the programming mode and target settings select ISP mode and set the frequenc
6. To get started with Atmega2560 and STK600 are described in 38 STK600 is flexible and offers socket card so it is easy to use different AVR MCU STK600 development kit offers access to all AVR device pins It has several useful hardware functions such as pushbuttons LEDs and data flash which is used to create a complete system for prototyping and testing new designs AVR studio is used to write and compile firmware and download the codes to any AVR device AVR studio has different versions available at 39 3 4 1 In System Programming ISP The use of STK600 is effective in a way that it supports ISP through its 6 pins ISP header ISP allows user to program the MCU while they are installed in a complete system rather than requiring the chip to be programmed prior the installation This implies that both programming and testing can be done in a single step instead of program the MCU separate and then mount it on the chip again to get the functionality of whatever has been coded 3 4 2 On chip Debugging The Joint Test Action Group In Circuit Emulator JSTAGICE mkll enables on chip debugging of the code on the AVR MCU It is used together with the AVR Studio s user interface and makes code debugging much easier The JTAGICE emulates the MCU without having to remove it from the target system the node and allows using break points and stepping the code by using step in function provided by AVR studio 3 4 3 Atmega2560 Atmega2560 is use
7. 26 The network manager creates and maintains a network wide link table It is also responsible for collecting diagnostic and system performance information which is used to monitor and assess the overall state of the network Transport Layer A unique feature of the WirelessHART transport layer is the block data transfer mechanism 26 which sets up a connection oriented communication between the host application and the field devices Network manager updates its routing and scheduling plan to provide the reliable and end to end ACK of the block data transfer For this purpose WirelessHART support both TCP IP Page 28 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN with ACK through Automatic Repeat Request ARQ for event notification and UDP which is without ACK when sending real time process data which has usually shorter life span The default number is set to 5 for re transmission of data Cross Layer Issues Figure 3 3 shows the typical architecture of the OSI protocol layers and WirelessHART stack where each layer performs its dedicated function well functioned in wired network However in wireless network the medium is shared resources are limited and loss communication channels promoted the paradigm of the cross layer design 83 This design provides better efficiency throughput better allocation of resources less delay and effective energy consumption for the wireless field devices For Wirele
8. Administration 00 18 16 F8 76 FF FF FF vars 9 7 20 81 e 1 22 58 15 22 57 27 Custom Icons a Device Codes Session Figure 6 7 Sensor readings over MCS 2 It can be noticed from above screen shots that we got the sensor values associated with var1 as floating points 147 and 145 The HEX representation of the same values are encircled in Figure 6 5 which proves that sensor data is now printing on MCS 6 6 Proof of Concept Implementation as a Whole Through the outputs of the experiments and tests performed in this section we have confirmed that the whole flow function correctly in terms of sending and receiving data and it is an evident to ensure that the implementation actually performs according to what we claim in Figure 4 1 In general we can say that we made this system able to get data from external sensors and end user can monitor sensor data over the web located anywhere in the world provided that it has Internet access 6 7 Discussions In this section we have outlined some problems encountered during experiments First of all is the voltage difference between STK600 and VS220 which had been overcome by using a temporary level convertor However it still needs to be perfect for the accurate results and to avoid VS220 for resetting Page 70 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN We also want to mention that in order to get the latest readings over web interface we need to refresh or res
9. Page 72 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN use in applications such as device movement e g shake or tilt etc Motion sensors are used for such kind of applications discussed in more detail in Section 7 2 7 1 1 Geomagnetic Field Sensor Geomagnetic field sensor monitors changes in the earth magnetic field It provides field strength data for all the three coordinate axes It can be used with rotation vector sensor to measure rotational movement It can be used to determine rotation and inclination of the device with the cooperation of accelerometer sensor 7 1 2 Orientation Sensor Orientation sensor monitors the device position relative to earth frame of reference particularly magnetic north It is the orientation sensor which gives geomagnetic field strength values to each of the three coordinate axes During a single sensor event orientation sensor provides azimuth pitch and roll values As stated earlier that orientation sensor receives its data through hardware based sensors i e device geomagnetic field sensor and accelerometer sensor Orientation sensor provides data to the following three axes by using these two hardware sensors e Azimuth rotation degree around the z axis The angle between magnetic north and the device y axis is called azimuth For example if the magnetic north and device y axis are aligned then azimuth value is 0 While if the device y axis direction is towards south t
10. it can be seen that there is a response for each successful request Message ID at the A place in frame is increasing with every successful transaction with the same ID in the response Moreover CRC 2 Bytes at the end of frame is also changed for successful transaction Furthermore 4 Bytes after each device variable code represents device variable value For now we have assigned them static values and we can change them with the values read from sensors Overall simple API has been implemented until now and is evidence that the communication between the two boards has been established and working properly 6 3 Scenario 2 Visualisation of Device Variable Values over Web Interface In this section we have shown that how the device variable codes and their corresponding device variable values can be seen over the web interface At this stage the network is connected through WirelessHART gateway VR910 in order to get the functionality of WirelessHART environment Page 66 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Network 108012 Readings a Dashboard aa page E remm E E GE searen a Devices Show Devices Registered only DH Name O Device Variable O a Network Health a Readings eme per page DE out ef total 7 1 1 a Commands Log Cmd Device Unit Update a Alerts EUI 64 Address Timestamp Name Value Classification i Last Update Received Missed No Variable Code Period Configuration
11. mencpy ucBuf fOut Index var2 m_ucVariableCode sizeof var2 m_ucVariableCode Index memcpy ucBuf fOut Index var2 um_Yalue m_ucValue sizeof var2 um_Value m_ucValue Index Index 4 memcpy ucBuf fOut Index var3 m_ucVariableCode sizeof var3 m_ucVariableCode Index memcpy ucBuf fOut Index var3 um_Yalue m_ucValue sizeof var3 um_Value m_ucValue Index Index 4 memcpy ucBuf fOut Index var4d m_ucVariableCode sizeof var4 m_ucVariableCode Index memcpy ucBuf fOut Index var4d um_Yalue m_ucValue sizeof var4 um_Value m_ucValue Index Index 4 memcpy ucBuf fOut Index var5 m_ucVariableCode sizeof var5 m_ucVariableCode Index memcpy ucBuf fOut Index varS um_Yalue m_ucValue sizeof varS um_Value m_ucValue Index Index 4 memcpy ucBuf fOut Index var6 m_ucVariableCode sizeof var6 m_ucVariableCode Index memcpy ucBuf fOut Index var6 um_Yalue m_ucValue sizeof var6 um_Value m_ucValue Index Index 4 memcpy ucBuf fOut Index var m_ucVariableCode sizeof var m_ucVariableCode Index memcpy ucBuf fOut Index var um_Yalue m_ucValue sizeof var um_Value m_ucValue Index Index 4 memcpy ucBuf fOut Index var m_ucVariableCode sizeof var8 m_ucVariableCode Index memcpy ucBuf fOut Index var8 um_Yalue m_ucValue sizeof var8 um_Value m_ucValue Index Index 4 Listing 4 Buffer to store response After generating the valid response for the
12. 10157 86080 Custom built communication solutions for the oil and gaz industry pdf Accessed 07 December 2012 5 Rigzone how offshore communications work Online Available at http www rigzone com training insight asp i_id 337 Accessed 27 December 2012 6 Telenor oil and gas solutions Online Available at http www telenorsat com internet data oil and gas services Accessed 27 December 2012 7 Level satellite communication point to point connection Online Available at http www level421 com index php id 1728 Accessed 12 January 2013 8 Ceragon offshore communications Online Available at http www ceragon com files files Ceragon_Offshore_Communications_Solution_Brief_2012100 4 pdf Accessed 27 December 2012 9 Nera networks Online Available at http Awww neratelecom com index html Accessed 27 December 2012 10 Ceragon the world s longest microwave radio hop to an offshore rig Online Available at http www ceragon com files library Case_Study YME longest_offshore_link pdf Accessed 27 December 2012 11 Tampnet connecting offshore and onshore Online Available at http www tampnet com home Accessed 28 December 2012 12 O amp G next generation fibres future in deep water operation Online Available at http www ngoilgasmena com article Fibres future in deepwater operations Accessed 28 December 2012 Page 86 of 115 Integration of WirelessH
13. 28 S 2023 02 28 00 35 1 F3 76 02 0F 21 CenPocirg 1 521037 13 41 52 13 41 52 2013 02 26 2023 62 26 O0 25 1E F8 76 02 0C EE Temperature 25 360001 09 13 42 00 13 42 2013 02 26 on 2023 02 25 00 28 1E F8 76 02 0C EE 01342 Humidity 18 415068 00113142 00 15 1E F2 75 02 0C EE aee DenPoint 0 280709 2023 02 26 rion 00 13 42 00 28 16 F8 76 02 CE F4 SoS mere 0 061035 2011 05 09 07 58 12 07 57 40 2011 05 03 2081 05 03 1B 1 F8 76 02 0E Fs t 00 15 1E F3 75 02 0E aiaa Temperature 21 200001 gen Figure 3 10 Built in sensor readings Page 35 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 3 3 4 Firmware Upgrade Procedure VS220 Rev 4 In order to make VS220 up to date it needs to upload the firmware The GUI application Upload2Serial_ exe upgrades the new WirelessHART firmware on the VS220 platform To load the WirelessHART firmware on the VS220 platform follow these steps 1 Connect the VS220 to the PC through a USB cable Mount connect the jumpersJ10 J12 J21 and put the SW5 on position 2 During the upload do not connect more than one VS220 router to the PC at the same time 2 Open the Upload2Serial application and select the COM port on which the VS220 is connected check the Escape Manufacturing information upload box do not forget to check this box as it will erase important data enter a 10 in the timeout box select area 4 as flash destination and select the VS220 firmware file Th
14. 5 Scenario 4 Visualisation of Sensor Data over Web Interface In order for the sensor data to be publish over the web interface we have configured monitoring host in a way that whatever is the value assigned to device variables can be updated in MCS The network is now connected to VR910 gateway Given below are the screen shots of the sensor data Network 1p 3012 a Dashboard e Topology a Device a Network Health a Readings HM mman a Alerts Configuration a Access Point Gateway a Network Manager a Device Management a Monitoring Host MODBUS a Advanced Settings Statistics a System Status Administration a System Upgrade Custom Icons Readings EUI 64 Address Command No Search Show Devices Registered only v Name Device Variable Ls Export Items per page DE out of total 7 Cmd Device Unit Update EUI 64 Address Timestamp Name Value Classification No Variable Code Period 2013 05 21 2013 05 21 00 1B 1E F8 76 FF FF FF LoopCurrent 9 1 0 059509 84 39 16 22 24 15 22 24 15 2013 05 21 2013 05 21 00 1B 1E F8 76 FF FF FF Temperature 9 S 23 759998 64 32 16 22 24 15 22 24 15 2013 05 21 d 2013 05 21 00 1B 1E F8 76 FF FF FF Humdity 9 3 49 876709 81 57 16 22 24 15 22 24 15 2013 05 21 b 2013 05 21 00 1B 1E F8 76 FF FF FF Dewpoint 9 4 12 674757 84 39 16 2013 05 21 2013 05 21 00 1B 1E F8 76 FF FF FF 22 24 15 22 24 15 00 18 1E F8 76 FF FF FF Ge wn 9 6 20
15. Appendix C Source EE 101 Page 8 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN List of Figures Figure 1 1 Conceptual overview of our system ENNEN 14 Figure 2 1 Point to point communication 7 Figure 2 2 Star network Il 16 Figure 2 3 Mesh network 7 ooo gcc a eho a aN a ca EN ced ede eee 17 Figure 2 4 Ceragon 123km over water link TO 17 Figure 2 5 Tampnet optical fiber links 11 sicc eis cteenceets tetedeee eas Relate nee dik et etic 18 Figure 2 6 WiMAX coverage areali2l ENEE 19 Figure 2 7 Typical scenario for Norphonic offshore VoIP telephone connected by Wi Fi 20 Figure 2 8 A typical ISA100 11a network with a star mesh topology O0O1 23 Figure 3 1 A typical WirelessHART network T EEN 25 Figure 3 2 Internal structure of the WirelessHART gateway Del 26 Figure 3 3 Communication protocol stack of the WirelessHART Tool 26 Figure 3 4 Packet format of the WirelessHART ID731 A 27 Figure 3 5 Detection of field Re EE 33 Figure 3 6 Monitoring control system setup ke 33 Figure 3 7 MCS login gereent eebe EENEG teeasuaelveleesv beahssdeunantieteaseteeeiieaee 34 Figure 3 8 WirelessHART NGIWONK ccccac tee seateaten rien cents coer actiee Ee cues eee cea EE 34 Figure 3 9 Joining of field router to the network ENNEN 35 Figure 3 10 Built in sensor readings sssessseeeeeeesseeeerrnntrsstrrtrrrnnrttstrttrtrrnnresettrrtnrnnnrsseennnn ennn 35 Figure 3 11 Atmel STK600 development board
16. Collection in WSN isFirst 0 reset the flag ucIndex 0 reset the Index counter ComposeResponse this will be the function where you ll have to parse th message and compose the respons return there is nothing else to do else we still have to receive characters buffer ucBuffIn ucIndex ucReceivedChar store the character in the UARTO transmit ucReceivedChar if you want print out the received character ucIndext increment the index ISR ADC_vect int Value UARTO_ Value transmit ADCH int ADCH varl um_ Value m_ fValue ADCH swapByteOrder varl um_Value m_ucValue ADCSRA 1 lt lt ADIF Page 112 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN int main void DDRF 0x01 Port F PIN 0 as output DDRB 0x01 PORTB 0x01 DDRF amp 1 lt lt PINF1 PORTF 1 lt lt PFO ZZeeztch DDRF 0x00 PORTF 1 lt lt PFO cli UART_init InitData InitADC UARTO transmit I Send smth to the PC to see if it works UARTO transmit n UARTO transmit i UARTO transmit t UARTO transmit 0 sei enable interrupts Page 113 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN ansigned char ucBuffer 7 0xF1 0x40 0x01 0x80 0x00 0xC6 0xF4 for Loop forever
17. E6 D4 E6 D4 E6 D4 EG D4 EG D4 Ee D4 E6 D4 E6 D4 E6 D4 E6 EEEEEEEEEEEEEEEEEERE GEEEEEEEEEEEEEEEEEEE 20 20 80 80 80 80 30 30 20 30 30 20 20 30 20 30 20 20 20 20 Figure 6 2 Requests from VS220 Observations Since we have not yet generated response for the requests So the message ID and CRC remains the same as stated in the simple API method that if the sender processor does not receive any response within the response time window 250ms the message will be sent repeatedly until a response is received 6 2 2 Read Data Response VS220 lt STK600 Atmega2560 STK600 respond for each request from VS220 with Read Data Response command which can be seen in Figure 6 3 Page 65 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN a EL a SS 8 Str 3 SEH S 8888 8 8888 d e RIRS RERS 8688 sgp 8828 8828 8828 38838 8858 88 8 S888 BENE FINE FINI FSN ZZN A 8888 8888 8882 888 gass 888g 88883 3883A Sst 888g 888 w o2 o3 AD oo 10 02 18 03 41 AD oo oO 66 10 02 18 03 41 AD oo oO BS 10 02 18 03 41 AD oo co E1 10 02 18 03 41 AD oo oO 32 10 02 18 03 AD co 8888 8888 8888 8888 88 B8kk 8888 SSRN BSR SEHR BEER BBG BB S228 8228 8229 32289 g2 85895 Sen 8sss 383I S 8888 8888 8888 888s 88 HRS ABAE ATAS AG 8888 8888 8888 88 8883 888 888s 88 Figure 6 3 Response by STK600 Atmega2560 Observations From above captured screen
18. Tx for communication with PC 1 lt lt UCSZ01 1 lt lt UCSZ00 7 7 8 bit parity none 1 stop bit MYUBRR1 gt gt 8 Baud rate for communication with 5S220 MYUBRR1 1 lt lt REEN1 1 lt lt TKEN1 1 lt lt RECIE1 enable Rx Tx and Rx Interrupt for communication with V S220 UCSR1iC 1 lt lt UCSZ11 1 lt lt UCSZ10 8 bit parity none 1 stop bit Listing 1 UART initialization Once UART is initialized then UART s Tx and Rx lines are enabled we have written the functions for UART data transmission and reception UART _ transmit is coded for VS220 and STK600 while UARTO_transmit is used to send the data received from VS220 to PC via STK600 Listing 2 Page 53 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN void UART_transmit unsigned char data PORTF 1 lt lt PFO set the WKU while PINF amp 0x02 wait for RDY to be low while UCSRIA amp 1 lt lt UDRE1 wait for UDRE flag UDR1 data load data to UDR for transmission PORTF amp 1 lt lt PFO clear the WKU void UARTO_transmit unsigned char data while UCSROA amp 1 lt lt UDREO wait for UDRE flag UDRO data load data to UDR for transmission Listing 2 UART transmit and receive function 5 2 Implementation of Simple API to Integrate VS220 and STK600 Once the UART setup is implemented we look forward to integrate VS220
19. board gt Note 1 e For all Data Pass Through commands the Atmega2560 specifies the Device Variable Code parameter which uniquely identifies the channel e The RF modem stack does not perform any assumption about the Channel Data but passes the response from the Atmega2560 as it monitors host application which will interpret the data The attribute value is 4 bytes with the first byte as Most Significant Byte Note 2 STX OxF1 is a special character that indicates the start of a new packet If this character needs to be sent in the middle of the packet it will be escaped with the escape character CHX OxF2 If any of the characters in the packet is e STX OxF1 It will be replaced with two characters OxF2 CHX and OxOE 1 s complement of OxF1 e CHX OxF 2 It will be replaced with two characters CHX OxF2 and 0x0D 1 s complement of OxF2 In other words whenever the receiver receives a CHX character it should discard it and the next character is 1 s complemented RF Modem VS220 Radio The RF modem VS 220 act as a User Application Program UAP instead of implementing HART command on the application processor This option is limited in the sense that only a single UAP is available with 4 pieces of local input analog channels CH_ANALOG_INPUT CH_INPUT_TEMP CH_INPUT_HUMIDITY and CH_INPUT_DEWPOINT and 8 pieces of Page 46 of 115 Integration of WirelessHART and STK600 for Data Collect
20. can be extremely costly and therefore needs to be handled quickly and efficiently Disruption factors include natural disasters earthquakes seismic changes and manmade disasters Natural disasters can be classified as tsunamis thunder storms flooding and hurricanes while maintenance activities repair restore and terrorist activities are subject to man made disasters Communication networks in offshore industry utilise multiple of communication technologies to get rid of any possibilities of failure when the network is operational But the industry has some strict and tight requirements for robust communication which is still a challenge for offshore industry From the industry prospective a network is said to be robust if it fulfils the requirements to operate for 24 7 without any failure 1 Offshore requires communication 24 7 in order to have continuous production without interruptions Therefore a network is said to be robust if it fulfils the requirements to operate for 24 7 which is only possible if the network is working properly without any failure Multiple communication technologies are used in oil industry which are further divided into two broad categories These are called inter offshore and intra offshore communication technologies These technologies are categorized on the bases of several reasons in which bandwidth cost propagation length and coverage area are the main parameters The technologies under the paradigm
21. field routers are detected by the same way Page 32 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 2 WirelessHART Provisioning Tool v1 0 4 DEVICE 00 1B 1E F8 76 FF FF FF Cal Device Information Vekene Device Information EUI 64 00 1B 1E F8 76 FF FF FF Device Revision Level 1 Ge Device Model Unknown Software Revision Level 1 Y E Manufacturer Unknown Hardware Revision Level 1 St HART Protocol Major Revision 7 Maximum Number Of Device Variables 13 E Physical Signaling Code Wireless Flags IEEE 802 15 4 2 4GHz DSSS with O QPSK Modulation Extended Field Device Status No problems detected Manufacturer Identification Unknown Private Label Distributor Unknown Device Profile WirelessHART Process Automation Device Long Tag Nivis WirelessHART v1502 O20EF4 Burst Mode Enabled Yes Maximum Burst Messages 3 Eer Configured Burst Messages 1 Tools Setti Ee E FS F8 Menuitems AltHF4 Exit Figure 3 5 Detection of field router 3 3 3 Monitoring Control System MCS MCS is the Nivis web based tool enables user to access monitor and control the WirelessHART network remotely The MCS provides a robust network management solution via a web based interface that can be accessed from any required location 40 It enables administrators to configure most attributes of their network environment including Backbone Router Access Point S
22. m ucVariableCode sizeof var2 m ucVariableCode Indextt memcpy ucBuffOut Index var2 um Value m_ucValue sizeof var2 um Value m_ucValue Index Index 4 Page 108 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN memcpy ucBuffOut Index var3 m_ucVariableCode sizeof var3 m_ucVariableCode Indextt memcpy ucBuffOut Index var3 um Value m _ucValue sizeof var3 um Value m_ucValue 1 Index Index 4 memcpy ucBuffOut Index var4 m_ucVariableCode sizeof var4 m_ucVariableCode Indextt memcpy ucBuffOut Index var4 um Value m _ucValue sizeof var4 um Value m_ucValue Index Index 4 memcpy ucBuffOut Index var5 m ucVariableCode sizeof var5 m ucVariableCode Indextt memcpy ucBuffOut Index var5 um Value m _ucValue sizeof var5 um Value m_ucValue Index Index 4 memcpy ucBuffOut Index var6 m ucVariableCode sizeof var6 m ucVariableCode Indext memcpy ucBuffOut Index var6 um Value m ucValue sizeof var6 um Value m ucValue Index Index 4 memcpy ucBuffOut Index var7 m ucVariableCode sizeof var7 m ucVariableCode Index memcpy ucBuffOut Index var7 um Value m ucValue sizeof var7 um Value m_ucValue Page 109 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Index Index 4 memcpy ucBuffOut Index var8 m_ucVariableCode sizeof var8 m_ ucVariableCode Indextt memcpy ucBuffOut Index var8 um Value m _ucValue sizeof var8 u
23. no 9 for our experiments Burst message This represents the index of the burst message integer 0 255 We used 0 is burst message index Update period This is an integer from 0 3600 seconds Integer 16 is used as update period Maximum update period The maximum update period is 3600 Variables Page 60 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Variable section contains following parameters lt Command no gt lt Burst messages gt lt Device variable code gt lt Name gt lt Device variable slot gt lt Device variable classification gt lt Units code gt Command no and burst messages are same as burst messages section Device variable code Device variable code is an integer either between 0 7 or 243 249 We used 5 6 and 7 as the first four is already used Name A user friendly name assigned to the published variable We assigned the name as var1 var2 and var Device variable slot The value indicates the position of the variable in the burst packet The value can be assign from the set of 0 1 2 3 4 5 6 7 We used 4 5 and 6 as device variable slots Device variable classification The integer in range 64 95 We used integer 84 64 and 81 to Var var2 and var3 respectively Units code Integer in range 1 169 or 220 239 250 are used as units code We used 39 32 and 57 for var1 var2 and var3 respectively Trigger This section contains following fie
24. not connected properly or the firmware is not the correct one The RTS and CTS lines are connected with a jumper ISR Description am transmitting on UART1 UART transmit Do u think that the interrupt routine ISR is executing after transmission Because if that is not executing it won t show anything on the hyper terminal Answer The ISR will execute independently from the main loop every time it receives a character over the UART In your last code couldn t see the ISR or the transmission to the Page 95 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN VS220 It should display the buffer on your PC terminal once and then start sending the buffer to the VS220 The VS220 should respond to the query API Messages Answer Regarding the API Messages since all of the API Messages that are defined here except from API_HEARTBEAT which applies to the SPI interface only are sent from the Application CPU to the Radio Modem you can implement only the ones you need or even none Because these messages are request from the AP to the Radio Modem regarding only the properties of the protocol used in your case UART they will not affect the publishing of data RF Modem Implementation Answer The RF Modem Implementation simply states that the Radio Modem handles all of the necessary HART commands used for the wireless communication and configuration and that the Application processor only needs to send t
25. of both the categories are briefly presented in Chapter 2 In order to keep oil and gas operations running smoothly offshore needs robust and reliable communication solutions Therefore a standard and open solution is required that can meet industry requirements The IEEE 802 15 4 specification has enabled low cost low power Wireless Sensor Networks WSNs capable of providing robust and reliable communication For oil and gas industry WSN applications offer great opportunities for communication and production where the wired counterparts may prove to be impractical However there are some issues related to use of WSN of which robustness power consumption and standardization are most important 2 Technical requirements have been highlighted in 2 for the deployment of WSN within the confines of oil and gas industry These technical requirements include long battery life quantifiable network performance friendly co existence with WLAN security and open standardize system Page 12 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Although WSNs are used in numerous applications but the adoption of wireless technology in process automation and offshore industry has been slow None of the industrial solutions based on standards such as 802 11 ZigBee Bluetooth have yet to serve as a standard solution for industrial applications 29 This is due to lack of open and international standard fulfilling the industrial
26. or essential for the services for which WirelessHART is designed PHY and MAC Layer The WirelessHART PHY layer is based on IEEE 802 15 4 standard which employs Offset Quadrature Phase Shift Keying O QPSk It uses DSSS technique to resist interference from jamming FHSS follows pseudo random sequence to hop carrier frequency over multiple channels due to this feature FHSS overcomes the narrow band interference generated by multi path fading WirelessHART uses 15 channels out of 16 channels from channel number 11 to 25 defined by the IEEE 802 15 4 Channel number 26 is not included in WirelessHART specification because it is not allowed in some countries 32 Each channel has a bandwidth of 2MHz and uniformly distributed 5MHz apart in the frequency band to avoid overlapping At physical layer PHY the packet format of the WirelessHART is identical to the PHY Protocol Data Unit PPDU of IEEE 802 15 4 It consists of preamble 4 bytes PPDU 1 byte anda variable length payload Data structures from the higher protocol layers are encapsulated in the PHY payload Packet format of the WirelessHART is described in Figure 3 4 DLL Payload PPDU ces ees Figure 3 4 Packet format of the WirelessHART 32 The logical link control layer defines the format of the Data Link Packet Dara Unit DLPDU 32 It consists of 1 byte Ox41 1 byte address specifier 1 byte sequence number 2 byte Network ID 2 or 8 byte destination and source
27. parse any request received from the VS220 and respond to it automatically The VS220 will send a read request to the STK6000 every 4 seconds and these requests must be responded with the response or Acknowledge ACK or Not Acknowledge NACK The response must be sent in 250ms maximum You ll have to interface your STK600 with whatever sensors you ll use in order to read data from them convert it in the appropriate format so you can send it to the VS220 Grounding Description Have you connected the ground between STK600 and VS220 Also have you managed to hook up an oscilloscope on the UART1 from STK600 VS220 Do you see any activity on the lines Answer suggest that you also connect the ground between the STK600 and VS220 you can connect the STK 600 GND to pin 9 on the VS220 Baud Rate Description Should define the Baud Rate for UARTO same as for UART1 VS220 as far as know Baud Rate has to be same for both the devices to communicate can see data in UDR1 register while debugging but am not getting anything On My PC hyper terminal Answer You don t have to define the same baud rate for UART1 and UARTO as long as UART1 is set at 38400 the same as the VS and UARTO is set the same as the PC Hyper terminal in your case 9600 The step by step information is not very relevant as the transmissions are at high speed suggest sending the Buffer over the UART over and over until you can see some data on your Hyp
28. requirements In 2007 the HART Communication Foundation HCF released the Highway Addressable Remote Transducer HART field communication protocol specification which includes the definition of wireless interface to field devices named as WirelessHART 29 Soon after WirelessHART the International Society of Automation ISA has released specifications for wireless systems in industrial automation and control systems and named as ISA100 11a Both WirelessHART and ISA100 11a aim to provide secure and reliable wireless communication for noncritical monitoring and control applications Both standards are used in process automation and control and are the main competitors to each other in the industry 2 During this project we focused on WirelessHART standard as the testbed was available in our laboratory We used WirelessHART development kit from Nivis By default Nivis WirelessHART measures temperature humidity and dew point However offshore industry uses different kind of sensors such as gas leakage sensor motion and position sensors etc Therefore we need to measure other type of sensors data through WirelessHART network for which we need to have a microcontroller which supposed to be integrated with WirelessHART field router By connecting some sensors to microcontroller we can make WirelessHART able to get the readings from external sensor as well which is the main motivation behind this thesis work Atmel AVR As mentioned earli
29. test it with one sensor i e a gas leakage sensor with ADC support but we plan to make our system flexible enough to support eight external sensors and get the functionalities of WirelessHART environment in WSN To interface a sensor an ADC pin on STK600 needs to be define so that it can read the value from the sensor and then assign this sensor value as device variable value to one of the device variable codes The device variable codes and device variable values are given in Section 4 3 2 4 2 4 Visualization of Sensor Data over Web Interface Li Gas leakage STK600 Atmega2560 Nivis fieldrouter ecreway VS220 sensor User interface onPC Intemet Step 4 Visualization of sensor data over web interface MCS The last but not the least step towards the completion of our system is the visualization of sensor data over the web interface so that we can able to monitor sensor data over WirelessHART from Page 42 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN anywhere in the world provided that the internet connection is available At this stage the whole network connects to the VR910 which acts as a gateway To do this we need to configure MCS which is explained in Section 4 4 4 3 Procedure to Integrate Nivis WirelessHART with STK600 Nivis WirelessHART is flexible in a way that users can interface the external sensor boards via serial UART or SPI which will allow them to write their own
30. too close Page 73 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 7 2 Motion Sensors In the past two and a half years motion sensing technologies begin to appear everywhere 49 such as video consoles smart phones etc For example geo tag cell phone photos play video games and channel surf across our TVs and cable boxes The Android platform uses several sensors to monitor the motion of a device Among several sensors accelerometer and gyroscope are used in Android platform and both are always hardware based Gravity linear acceleration and rotation vector sensors can be either hardware or software based Some devices based on software use accelerometer and magnetometer to derive their data while some other devices use gyroscope for the same purpose Accelerometer sensor is used by most Android platform devices while currently they use gyroscope as well Motion sensor is used to monitor device movement such as shake rotation or swing It measures the movement through the reflection of direct user input For example a user steering a car or controlling a ball in a video game A movement can also be defined as a reflection of the physical environment in which the device exists such as device movement while driving a car In the first case user monitors the motion with respect to the device frame of reference while in the second case user is monitoring motion relative to the world s frame of reference Mot
31. ud aman j Figure 3 1 A typical WirelessHART network 26 Figure 3 2 illustrates the internal structure of the WirelessHART gateway WirelessHART gateway is implemented with multiple field routers and works as a bridge to connect the WirelessHART network to the process plant The host plant can access the network devices through server interface which can be through either a single or multiple ports The network access points provide the actual physical connection to the WirelessHART network The WirelessHART virtual gateway works both as a source and sink for the network traffic it also provides buffering for large and burst data It communicates directly with network manager which is responsible for configuration and maintenance of WirelessHART network The network manager decides how to setup the communication route Security manager works in conjunction with network manager in order to prevent the attacks and intrusion to the WirelessHART network Page 25 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Host plant server interface Security Manager WirelessHART virtual gateway to wirelessHART device network Figure 3 2 Internal structure of the WirelessHART gateway 26 3 1 2 WirelessHART from Layers Prospective The communication protocol stack of the WirelessHART follows OSI Figure 3 3 The physical layer is responsible for signaling modulation and actual data transmission a
32. 0 11a 28 ISA100 11a is a specification for process automation The main focus of ISA100 11a is to provide secure and reliable wireless communication for non critical monitoring and control applications Currently the process automation industry is faced with two independent and competing standards Both are particularly designed to control and monitor field instruments through their air interface Each standard is supported by different industry competitors It is more important to have one global wireless standard for process and automation industry International wireless community has taken initiative for a common standard but it is expected to take time However in the current situation this is unlikely to happen in the near future Below section covers ISA100 11a while the next chapter covers WirelessHART in detail ISA100 11a The ISA100 11a is a multi functional standard for industrial applications It provides reliable and secure operation 29 to many different applications ranging from monitoring to closed loop control It is built due to the simultaneous transporting data application requirement from different protocols to a new control system ISA100 11a defines the OSI stack system management gateway and security specifications for low data rate wireless connectivity with fixed portable and moving field devices It requires very limited power consumption The ISA100 11a wireless communication stack is developed specifically for ha
33. 2013 05 14 2013 05 14 00 1B 1E F8 76 FF FF FF LoopCurrent 9 1 0 059509 84 39 16 142 6 12 05 08 12 04 48 a Access Point Gat oosp tere rerrtrst OST Temperature 3 2 24959999 o EE EE a6 a Gateway z Ross k ae 12 05 08 12 04 48 a Network Manager a 2013 05 14 2013 05 14 a Device Management 00 1B 1E F8 76 FF FF FF Humdity 9 3 31 722256 81 57 16 142 6 12 05 08 12 04 48 a Monitoring Host 2013 05 14 2013 05 14 MODBUS 00 18 1E F8 76 FF FF FF Dewpoint 9 4 6980438 84 39 16 WG a Advanced Settings 12 05 08 12 04 48 isti onic eo ie Statistics 12 04 48 12 04 48 2013 05 14 2013 05 14 a System Status 00 1B 1E F8 76 FF FF FF w 6 12 04 48 12 04 48 Administration 2013 05 14 2013 05 14 00 1B 1E F8 76 FF FF FF 142 6 12 04 48 12 04 48 a System Upgrade Custom Icons Figure 6 4 Visualisation of readings over web interface Observations From Figure 6 4 we can see that three more variables i e vari var2 and var3 are added in the Readings along with the pre defined sensors It is also clear that the same MAC address is displayed in the first column which indicates that all parameters belong to the same VS220 It can also be noticed that we got device variable values as 28 20 and 0 for codes 5 6 and 7 respectively These are the same values we got in response and can be seen in Figure 6 3 Note At this stage the data is not coming from sensor but some predefined static values 6 4 Scenario 3 Interfacing a Sensor Board with VS220 Thi
34. 3 6 2 Scenario 1 Integration of VS220 and STK600 Heouesiibesponse 64 6 2 1 Read Data Request VS220 GTkGOU Aimega2b 0 64 6 2 2 Read Data Response VS220 STK600 Atmega2560 sssnsseeeeeeseernne 65 6 3 Scenario 2 Visualisation of Device Variable Values over Web Interface 66 6 4 Scenario 3 Interfacing a Sensor Board with VG220 67 6 5 Scenario 4 Visualisation of Sensor Data over Web Interface 69 6 6 Proof of Concept Implementation as a Whole sssssssssssssssssesseseeeeeeeerrrrrrrrrrrrereeeeee 70 6 4 DISCUSSIONS 55625 tee oh te OR eher tee 70 6 8 Chapter Summary eu e E EE EEN DEEN A ENEE el E SE 71 7 Position and Motion Sensors A Survey eege daa eared eka hb Rios Reese 72 Page 7 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 7 1 GEET 72 7 1 1 Geomagnetic Field enger c ccces cesecceessdeceee case begs sstecved sa decnusvabedeet eeemeee eae 73 Pelee ele 73 7 1 3 Proximity E EE 73 7 2 Motion EE 74 E We E 74 7 2 2 e en ER 75 PAO ee EE 75 K DM BEE Te TEE 76 7 3 Vision System for Mobile ee E 76 8 DISCUSSION EE 80 8 1 Ee E DE 80 8 2 DeHiGate Deployable High Capacity Gateway ccccceeeeeeeeeeeeeeeeeeeeeetteeeeeeeees 81 8 3 El ctrical Equipment EE 82 9 Conclusion and Future e 84 Ot GOMCIUSIONS enne e a EEE A A E 84 e EE 85 TEE gedet eech eeh ae ek 86 Leet 93 Appendix A Overview of Sensors ET 93 Appendix B Correspondence with Nivis 94
35. 5 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 2 Overview of Offshore Communication Technologies Oil and gas industry communication are mainly divided into two categories which are briefly explained in later sections Different communication technologies are explained in detail which can be used as robust technologies for offshore industry 2 1 Inter offshore Communication Technologies Communication between different confines in oil and gas industry is called inter offshore communication For inter offshore communication technologies such as satellite microwave optical fiber and WiMAX are used to improve the robustness by evaluating the availability repair and replacement time in normal and catastrophic situations Catastrophic situations can be classified as natural disasters 1 Later section describes brief introduction about inter offshore communication technologies 2 1 1 Satellite In offshore communication the most widely used technology is satellite communication which requires Very Small Aperture Terminal VSAT link a broadband satellite link in space between offshore site and onshore 4 Satellite link requires large bandwidth to carry supporting services such as voice data and control traffic to and from shore The distance travelled by traffic from offshore to onshore is approximately 50 000 miles 1 which adds half a second latency The main drawbacks in satellite communications are delay i
36. 64 32 je Se 22 24 15 22 24 15 2013 05 21 2013 05 21 00 1B 1E F8 76 FF FF FF var3 9 tf 20 81 57 16 22 24 15 22 24 15 1 1 Last Update Received Missed 45 28 45 28 45 28 Figure 6 6 Sensor readings over MCS 1 Page 69 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Network 1p 8012 Readings Dashboard EUI 64 Address Command No Search Topology Sg a Devices Show Devices Registered only P Name Device Variable UC Export Network Health a Readings Items per page DEN out of total 7 Commands Log Cmd Device Unit Update a Alerts EUI 64 Address Timestamp Name Value Classification Last Update Received Missed lanes Variable Code Period Configuration 2013 05 21 2013 05 21 nfig 00 1B 1E F8 76 FF FF FF LoopCurrent 9 1 0 059509 84 3 e 1 1 22 58 15 22 57 27 ae 00 1B 1E F8 76 FF FF FF PER Gaps 2 23 240002 a aae U 1 1 1B 1E F8 76 FF FF emperature Gateway 22 58 15 z 22 57 27 a Network Manager 2013 05 21 8 2013 05 21 a Device Management 00 1B 1E F8 76 FF FF FF Humdity 9 3 50 830383 a 5 je 1 1 22 58 15 22 57 27 a Monitoring Host BEE 2013 05 21 2013 05 21 MODBUS 00 1B 1E F8 76 FF FF FF Dewpoint 9 4 12485559 a zm 16 1 1 a Advanced Settings Ge ec E 2013 05 21 2013 05 21 Statistics 22 58 15 22 57 27 System Stat 00 1B 1E F8 76 FF FF FF ee 2 9 6 20 64 zo e See 1 1 tem Status 1B 1E F8 76 FF FF I var 22 58 15 22 57 27 inistrati 2013 05 21 2013 05 21
37. AAA 37 Figure 4 1 Desired network system EEN 40 Figure 4 2 UARTO connections with RS 232 to monitor data over PC eeccesseeeeeeeeeeeeeeeeeees 41 Figure 4 3 VS220 UART2 pin configuration E 43 Page 9 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Figure 4 4 UART integration of VS220 and GTkGO0 Atmega2bet 44 Figure 4 5 Voltage level convertor 25 260 ccaeiiested Ee CA te tenaesSacves sue tens dsdacvet EA ee ENEE EN 44 Figure 4 6 Analog Digital e El 47 Figure 4 7 Monitoring host in MCS een 48 Figure 4 8 The AVR studio 4 18 IDE iipuccpcersdased ccivevoletadarvacnivateeoratapudechwanpieladbauee euciteamalandonwenteee 49 Figure 5 1 UART frame SUP este ont ss Sat dei clea Eeer 53 Figure 5 2 Integration of STK600 and Nivis VD 54 Figure 5 3 Sensor interlaced with S PAGOG iss camcetieitvers onetienedn nnd anienedtenaemeneenn 57 Figure 5 4 Sensor communicating with VS220 via STK600 sssesssesesnerrerrsssrerrrrrnnrrssrrrrrrrnn 58 Figure 5 5 Publish of sensor data over the web interface IMC 60 Figure 5 6 Configuration of monitoring NEE 62 Figure 6 1 STK600 loopback EE 63 Figure 6 2 Requests from VS eet EENS CN EAEEEgENEENER AENNEEEEN ENEE 65 Figure 6 3 Response by GThRGOU Atmega2bpt ENNEN EEN 66 Figure 6 4 Visualisation of readings over web mterface A 67 Figure 6 5 Data from sensor interfacing GT EEN 68 Figure 6 6 Sensor readings over MGS 1 EE 69 Figure 6 7 Sensor readings over MGS 2 se s
38. ART and STK600 for Data Collection in WSN 13 Netronics communications infrastructure in the oil field wireless is the way Online Available at http www netronics networks com oil_gas_application html Accessed 29 December 2012 14 TETRA today Online Available at http Awww tetratoday com Accessed 30 December 2012 15 TETRA enabling critical communications in the oil and gas sector Online Available at http www motorola com web Business Solutions TET RA 20Solutions Oil 20and 20Gas _Do cument Static 20Files OIL_GAS_Whitepaper_10pp_EN pdf Accessed 30 December 2012 16 Offshore technology no strings attached wireless communications in offshore industry Online Available at http www offshore technology com features feature48399 Accessed 5 January 2013 17 Norphonic Online Available at http Awww norphonic no web applications maritime voip communications for oil a gas ships and offshore facilities html Accessed 5 January 2013 18 Ethernet enables midstream oil and gas communications Online Available at http www belden com resourcecenter documents upload Ethernet_Oil_Gas_WP pdf Accessed 6 January 2013 19 Industrial Ethernet product overview Online Available at http www hirschmann com en Hirschmann_Produkte Industrial_ Ethernet index phtml Accessed 6 January 2013 20 Dalbro M Eikeland E in t Veld A J Gjessing S Lande T S Riis H K Sorasen O
39. Both the threads repeat until the user enters the exit command In the vision thread several processes related to vision are executed Processes include reception of stereo image from the camera target search building up the disparity map vision error calculations feedback angle and target position display the image output and marking of Page 77 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN the target The face detection algorithm is developed by Postech and Electronics and Telecommunication Research Institute ETRI 55 It is used to search the target The system calculates the centre point of the searched target to compute the error to the set point 0 0 While in the estimation thread the system computes robot motion information For example Euler angles and the position of the robot The system combines the robot motion information and stereo vision information to calculate the angles of pan and tilt actuation The system controls pan and tilt actuators which are attached to a stereo camera It enable the camera to always face the moving target Feedforward is used to adjust the change caused by the robot motion The gyroscope and robot wheel encoders are used in the feedforward control Through the feedback control the system adjusts the error caused by the target motion The system also constructs the disparity map to calculate the depth of the target in the stereo image The stereo image informati
40. D4 E6 F1 18 03 80 28 05 43 18 00 00 los 41 AD 00 00 07 41 AD 00 00 08 41 AD OO 00 09 00 00 00 00 0A 00 00 00 00 0B 00 00 00 00 OC 00 00 00 00 OD 41 F1 10 02 80 08 05 06 07 08 09 OA 0B OC D4 EG F1 18 03 80 28 05 43 21 00 00 06 41 AD 00 00 07 41 AD 00 00 08 41 AD 00 00 09 00 00 00 00 0A 00 00 00 00 0B 00 Figure 6 5 Data from sensor interfacing STK600 Observations From above output screen it is clear that the readings we are getting from sensor interfacing STK600 is sent to VS220 through device variable code 05 and is then forwarded over WirelessHART by VS220 Since we have only one sensor to integrate with STK600 and therefore use only one device variable code Similarly more sensors can be attached to STK600 as we have eight user defined channels The representation of analog value is four bytes float with the first byte as most significant byte Page 68 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Gas Leakage Sensor Readings Hex Value 43 11 00 00 43 13 00 00 43 18 00 00 43 21 00 00 Note Floating point value 145 147 152 161 Type Smoke Smoke Smoke Smoke Unit ppm ppm ppm ppm We have tested this sensor with normal air and smoke but we have only captured values with smoke just to make sure that the sensor is sending correct readings to field router VS220 At this point we look forward to see if the sensor data is published over web interface through VR910 6
41. EEE RSJ International Conference on vol no pp 3778 3783 18 22 Oct 2010 55 Jin S Kim D Nguyen T T Jun B Kim D Jeon J W An FPGA based Parallel Hardware Architecture for Real Time Face Detection Using a Face Certainty Map Application specific Systems Architectures and Processors 2009 ASAP 2009 20th IEEE International Conference on vol no pp 61 66 7 9 July 2009 56 Bahn W Park J Lee C H Kim T l Lee T Shaikh M M Kim K S Cho D I A Motion Information Based Vision Tracking System with a Stereo Camera on Mobile Robots Robotics Automation and Mechatronics RAM 2011 IEEE Conference on vol no pp 252 257 17 19 Sept 2011 57 Shaikh MM Bahn W Lee C Kim T I Lee T J Kim K S Cho D I Mobile Robot Vision Tracking System using Unscented Kalman Filter System Integration SII 2011 IEEE SICE International Symposium on vol no pp 1214 1219 20 22 Dec 2011 58 Liu T Inoue Y Shibata K A Novel Motion Sensor with Nine Degrees of Freedom Biomedical Engineering and Informatics BMEI 2011 4th International Conference on vol 2 no pp 1027 1030 15 17 Oct 2011 Page 90 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 59 MER telecom cell on wheels Online Available at http mer telecom com CategoryID 2928 amp ArticlelD 114 Accessed 31 January 2013 60 Wiki for electrical equipment in hazardous areas On
42. G Normal protection grade for use in gaseous atmosphere I Device is certified for operation in atmosphere with concentration of hydrogen ia Protection type Intrinsic safety Protection type Non sparking IC T4 Temp class T4 maximum surface temperature 135 C 5 T Temp class T5 maximum surface temperature 100 C Page 83 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 9 Conclusion and Future Work The main goal of our thesis is Integrate Nivis WirelessHART development kit with STK600 Atmega2560 in order to collect data in WSN and visualize the sensor data on the PC over the web interface In this chapter we will provide evaluation of our project as whole conclusions drawn from this project and future work 9 1 Conclusions During this project we have presented a theoretical study about several communication technologies used in offshore industry to provide reliable and robust communication After a careful survey of existing technologies used in offshore we have identified two industrial standards based on IEEE 802 15 4 i e WirelessHART and ISA100 1 1a We used WirelessHART development kit from Nivis The WirelessHART kit has few integrated sensors WirelessHART itself is a black box and thus unable to program In order to measure and control other sensors besides the integrated sensors it needs an external sensor board The external sensor board senses the
43. G GING BE 37 3 4 3 EELER ee EE 37 3 5 Preparation to Build up jhehNetwork 38 4 System Requirements and Design acacia ssid eesti ee Ae 39 e CR CET erei e a e a E a a EE E 39 4 2 System DESIGN EE 39 4 2 1 Integrate STK600 and V S220 eegener eessen eegen dE ee A0 4 2 2 Interface between PC and GIG ENNEN 41 4 2 3 Interface a Gas Leakage Sensor to Send Data to VS220 via STK600 42 4 2 4 Visualization of Sensor Data over Web Interface ssesssseeeeeeesseerrerrnnreseee 42 4 3 Procedure to Integrate Nivis WirelessHART with GT 43 4 3 1 Hardware Integration sccccceiscasesehetaserah eeeiloneeeehd eae iedentieveel AEN EA eee 43 4 3 2 Software Integration A Simple AP EEN 45 Page 6 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 4 4 Configuration of MOS ile eB cca ee Ee ed Eeer 47 45 AtmelAVR Studio 4 18 ee hee Bh Ee eelere 48 6 GOM P Ree e E 50 4 7 Chapter SUMMA eege eee ae Hee are 51 5 Implementation EE 52 5 1 Activation of UART between VS220 and STK600 0 cece eeeeeeeeeeeeeeeeeeeeeeeteeeeeeeees 52 5 2 Implementation of Simple API to Integrate VS220 and GT 54 5 3 Integration of Sensor with STK600 A Sensor Board 57 5 4 Implementation to Integrate Sensor with VS220 via STK600 ssesssssssseeeeeeeseeeenne 58 5 5 Visualization of Data over the Web Interface IMC 59 56 C apter SUMMA EE 62 6 Experimental E 63 6 1 Test Scenario STK600 Atmega2560 Loopback Test 6
44. Integration of WirelessHART and STK600 for Data Collection in WSN Zar UNIVERSITY OF AGDER Integration of WirelessHART and STK600 Development Kit for Data Collection in Wireless Sensor Networks BY Muhammad Maqsood and Awais Masood Internal Supervisors Frank Yong Li and Ahmed Noor Co Supervisor Erlend Knutson Master Thesis in Information and Communication Technology IKT590 in Spring 2013 Faculty of Engineering and Science University of Agder Grimstad 03 June 2013 Status Final Page 1 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Keywords Offshore industry WSN WirelessHART STK600 Simple API Gas leakage sensor Abstract Offshore industry operates in world s most challenging environment Oil and gas facilities aim for continuous production to achieve the desired goals and a robust communication network is required to avoid production loses The IEEE 802 15 4 specification has enabled low cost low power Wireless Sensor Networks WSNs capable of providing robust communication and therefore utilises as a promising technology in oil and gas industry The two most prominent industrial standards using the IEEE 802 15 4 radio technology are WirelessHART and ISA100 11a These are currently the competitors in the automation and offshore industry In this project we have worked on Nivis WirelessHART development kit that has some on board sensors Our main goal is to integrate WirelessHART with e
45. OC 00 00 00 00 31 D3 F1 10 02 A5 08 05 06 07 08 09 OA OB OC 2F 9B F1 18 03 A5 28 05 43 7F 00 00 06 41 AD 00 00 07 41 _ AO 00 00 08 41 A0 00 00 09 00 00 00 00 0A 00 00 00 00 0B 00 00 00 00 OC 00 00 00 00 F7 00 F1 10 02 A6 08 05 06 07 08 09 OA OB OC 9E 54 F1 E 18 03 A6 28 05 43 7F 00 00 06 41 AO 00 00 07 41 AO 00 00 08 41 AO 00 00 09 00 00 00 00 0A 00 00 00 00 0B 00 00 00 00 OC 00 00 00 00 AC 54 w r Mk Kn dip Na H Clear ON H Cen port COM10 baud 38400 bits 8 parity None stop bits 1 1 ee ee re AER Figure 4 9 COM port toolkit 3 9 4 7 Chapter Summary In this chapter we have mentioned the requirements associated with this project in addition to the basic design proposals for various requirements in order to come up with a complete network as specified in Figure 4 1 It can also be clear from this chapter that what is existing and what is missing in our desired system A WirelessHART gateway with the fully implemented WirelessHART environment and HART protocol is available along with the field routers VS220 with some built in sensors and a web interface However what is missing can get from the requirements as mentioned in this chapter and we have provided an approach for implementing these missing features for this project The real implementation of the core behaviour and functionality of this system is described in next chapter Page 51 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN
46. RT and STK600 for Data Collection in WSN 49 EDN networks motion sensors de mystified Online Available at http www edn com design sensors 4402401 1 Motion sensors de mystified Accessed 13 April 2013 50 Kim T II Bahn W Lee C Lee T J Shaikh M M Kim K S Vision System for Mobile Robots for Tracking Moving Targets Based on Robot Motion and Stereo Vision Information System Integration SII 2011 IEEE SICE International Symposium on vol no pp 634 639 20 22 Dec 2011 51 Papanikolopoulos N P Khosla P K Kanade T Visual Tracking of a Moving Target by a Camera Mounted on a Robot A Combination of Control and Vision Robotics and Automation IEEE Transactions on vol 9 no 1 pp 14 35 Feb 1993 52 Bo Z H Kui Y Dong L J A Fast and Robust Vision System for Autonomous Mobile Robots Robotics Intelligent Systems and Signal Processing 2003 Proceedings 2003 IEEE International Conference on vol 1 no pp 60 65 vol 1 8 13 Oct 2003 53 Peng J Srikaew A Wilkes M Kawamura K Peters A An Active Vision System for Mobile Robots Systems Man and Cybernetics 2000 IEEE International Conference on vol 2 no pp 1472 1477 vol 2 2000 54 Park J Hwang W Kwon H I Kim JH Lee CH Anjum M L Kim K S Dong L J High Performance Vision Tracking System for Mobile Robot Using Sensor Data Fusion with Kalman Filter ntelligent Robots and Systems IROS 2010 I
47. S220 and STK600 Atmega2560 Request Response e Scenario 2 Visualisation of device variable values over web interface e Scenario 3 Interfacing a sensor board with VS220 e Scenario 4 Visualisation of sensor data over web interface Next is the results for each of the test scenario and observations and discussions associated with each experiment 6 1 Test Scenario STK600 Atmega2560 Loopback Test We have started with a very simple test on STK600 just to make sure that the UART for STK600 Atmega2560 sends receives data properly To do so a simple code sends character from PC to STK600 and it is supposed to send the same character through UART interface to our PC via RS 232 In order to perform this experiment we have managed to set up UARTO of Atmega2560 in a way that TXD and RXD of RS 232 spare are connected to PORTE1 and PORTEO respectively while RTS CTS are connected together with a jumper X CTU eal About XModem PC Settings Range Test Terminal Modem Configuration Line Status Assert GEIS OTR e RTS Bek comPon Pocket Screen How ddggkkaa DD DD 64 64 67 67 6B 6B 61 61 EE EE 70 77 77 66 66 72 72 aaaappwwffrr 61 61 61 61 70 eeaaddoopp 1 65 65 61 61 64 64 er er 70 70 6C 6C kwwqq 6B 6B 77 77 71 71 COM 9600 8 N 1 FLOW NONE Rx 21 bytes Figure 6 1 STK600 loopback test Page 63 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Observations We can see from Figu
48. T is Simple Reliable and Secure which makes it a leading wireless communication technology for intelligent process measurement using HART protocol The HART protocol uses Frequency Shift Keying FSK which makes it possible for digital communication on top of the 4 20 mA The HART protocol communicates at data rate of 1200 bps and does not interrupt or interfere with the 4 20 mA signal HART is a master slave protocol which means a device can only send receive when ordered by the master HART has two main operation modes i e peer to peer mode and multi drop mode In a network maximum two masters are allowed primary and secondary Therefore a handheld terminal can be used without communication interference to the primary master 31 Page 24 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 3 1 1 Structure of WirelessHART Network Figure 3 1 shows a typical WirelessHART network which consists of a group of network devices i e field devices connected to the gateway In the network each field router has a communication link to the gateway forms star network Each field device has the capabilities to act as source sink and router at the same time Therefore the field devices form mesh topology with each other network manager By aa ez a i 7 N eo oe A FT TE een ANS L 2 i 8 st ke field device To host plant ep SE e j x Le Y j tet vi a __ eae handheld device
49. Wireless Sensor Networks for Off shore Oil and Gas Installations Sensor Technologies and Applications 2008 SENSORCOMM 08 Second International Conference on vol no pp 258 263 25 31 Aug 2008 21 Carlsen S Skavhaug A Petersen S Doyle P Using Wireless Sensor Networks to Enable Increased Oil Recovery Emerging Technologies and Factory Automation 2008 ETFA 2008 IEEE International Conference on vol no pp 1039 1048 15 18 Sept 2008 22 Akhondi M R Talevski A Carlsen S Petersen S Applications of Wireless Sensor Networks in the Oil Gas and Resources Industries Advanced Information Networking and Applications AINA 2010 24th IEEE International Conference on vol no pp 941 948 20 23 April 2010 23 Low K S Win W N N Er M J Wireless Sensor Networks for Industrial Environments Computational Intelligence for Modelling Control and Automation 2005 and International Conference on Intelligent Agents Web Technologies and Internet Commerce International Conference on vol 2 no pp 271 276 28 30 Nov 2005 Page 87 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 24 Approved Draft Revision for IEEE Standard for Information technology Telecommunications and Information Exchange between Systems Local and Metropolitan Area Networks Specific Requirements Part 15 4b Wireless Medium Access Control MAC and Physical Layer PHY Specifications for Low Rate Wir
50. X serial marking system includes a main class which is further divided into sub classes The main class shows the equipment group which is divided into two either Mining or Non Mining Equipment group is together with equipment category and type of explosive atmosphere The equipment category shows the level of protection offered by the equipment While explosive atmosphere can be either Gas or Dust Usually equipment used in oil and gas is always classified as Group II i e Non Mining The sub category or sub class of ATEX includes specifications on protection type gas group and temperature class The wireless instrumentations require ATEX certification according to standard instrumentation specification for equipment in oil and gas industry Therefore the suitable ATEX specifications for wireless sensors are group Il category 2G protection type ia gas group IIC and temperature class T5 While for the gateway in wireless sensor networks the minimum requirements are ATEX group II category 3G gas group IIC protection type nA gas Page 82 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN group IIC and temperature class T4 Table 5 shows the information about ATEX required specification classes according to oil and gas industry Table 5 Explanation of ATEX classes 20 Symbol Explanation Determines a group II device non mining 2G High protection grade for use in gaseous atmosphere 3
51. a backup technology So in case of any failure of the main technology the integrator will route the traffic to Page 80 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN the secondary technology The integrator is also able to adjust load balancing between two technologies However later on we came to know that such kind of solutions are already deployed in the oil and gas industry Therefore we moved ahead for another solution 8 2 DeHiGate Deployable High Capacity Gateway During our thesis we studied DeHiGate as another solution however the project is already finished This is a kind of an ad hoc network where multiple ad hoc networks are interconnected to each other through gateways The main concept of DeHiGate is taken from Cell on Wheel CoW 59 DeHiGate is mobile wireless ad hoc network which is used for emergency services to provide source of communication The network is fully automatic self configurable and self healing Figure 8 2 shows DeHiGate architecture Gtw Gateway Satellite d een BEE 4 ADSL b fil Ve TETRA WLAN P Multimode multitechnology ADSL node terminal Gtw Gateway Figure 8 2 DeHiGate architecture We were looking for such a solution where all the current technologies such as satellite cellular TETRA and Wi Fi converged and controlled by one router entity The integrator solution has very close resemblance with this solution All of our requireme
52. acking mobile robots The pan and tilt actuators are attached to the stereo camera which makes the camera able to face the moving target The proposed structure consists of pan and tilt motor encoder controller stereo camera and main processor as shown in Figure 7 2 Page 76 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Feedforward Disturbance controller Target Motion of robot and target Pan Tilt Motor Robot motion data Target position calculator GR on the updated State of camera and target Image set point 0 0 Pan Tilt motion controller Pan Tilt motor encoder Image processor Figure 7 2 Vision system for mobile robot 50 Output Image Stereo Camera Target position on the robot frame P measured by stereo camera Frame transformation calculator Pan tilt angle R R m Target position on the camera plane Stereo image The feedforward controller the target position calculator the frame transformation calculator the command generator and the image processor are implemented on the main processor The feedforward controller is used to measure the motion of the mobile robot and outputs the information of the robot frame transformation The feedforward control uses gyroscope and robot wheel encoders The target position calculator adjusts the error caused by target position error motio
53. address 1 byte DLPDU specifier 1 byte keyed Message Integrity Code MIC a 2 byte Cyclic Redundancy Check CRC and a variable length DLL Payload The MAC layer is the sub layer of Data link layer WirelessHART uses TDMA technique to ensure contention free transmission of the data Each time slot is 10msec In broadcast message Page 27 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN many receivers can be assigned to the same time slot Multiple time slots form a super frame These super frames are then repeated at fix rate throughout the network lifetime Two field devices one is source and other is destination can be assigned a single timeslot to ensure the contention free access to the wireless medium Neighbor table gives the list of neighbor nodes which are directly connected to the device where graph table is used to keep information of the routing table For the transmission device randomly chooses a link from the available link list and uses channel offset to calculate the channel frequency As the frequency hopping provides channel diversity therefore the time slot is shared by multiple nodes The collision is avoided at destination by using the random back off mechanism Broadcast messages however are not allowed on shared time slots The source transmits a DLPDU upon the successful reception of ACK DLPDU from the destination If it does not receive ACK DLPDU from the destination then the data transmiss
54. ady been deployed in offshore industry 8 1 Integrator Solution In the beginning of our project we worked on integrator solution Figure 8 1 shows the idea of integrator solution On Shore Satellite MW Fiber Wi MAx Integrator Figure 8 1 Integrator solution It is obvious from the figure that different communication technologies are integrated together We have suggested to use both WSN and Wi Fi within the confines of oil rig WSN is used to monitor control and measure the states of the instruments while Wi Fi is used for the communication purposes to the end user Both the technologies will terminate at one receiver For example the data sent by hundreds of sensors is received by one main receiver sink Similarly the data traffic generated by Wi Fi is also terminated to one main receiver These two receivers are connected together through an integrator integrator can be a router While at the other end let say multiple inter offshore communication technologies are connected and terminated to the integrator Suppose any failure occurs in the communication technologies which can be any factor as explained in Chapter 1 During the failure of one technology for example satellite link is down Then the integrator is responsible to route all the traffic from satellite link to the other communication technology As explained earlier some offshore companies use two technologies at the same time one as backbone while second as
55. ailable at http www atmel com tools studioarchive aspx Accessed 26 February 2013 40 Nivis WirelessHART development kit user guide monitoring host configuration 41 AVR freaks AVR community Online Available at http www avrfreaks net Accessed 26 February 2013 42 COM port toolkit Online Available at http com port toolkit soft32 com Accessed 07 May 2013 43 Atmel microcontroller 8 bit Atmega2560 user manual Online Available at http www atmel com images doc2549 pdf Accessed 26 February 2013 44 X CTU software Online Available at http www digi com support productdetail pid 3352 amp osvid 57 amp type utilities Accessed 09 April 2013 45 The virtual machine shop open and closed loop control Online Available at http www kanabco com vms cnc_control cnc_control_03 html Accessed 11 April 2013 46 Madni A M Keynote Speech Smart Configurable Wireless Sensors and Actuators for Industrial Monitoring and Control Sensors 2009 IEEE vol no pp 1658 1659 25 28 Oct 2009 47 Developer API guides position and motion sensors Online Available at http developer android com guide topics sensors sensors_position html Sensors pos prox Accessed 12 April 2013 48 eHow how do proximity sensor works Online Available at http www ehow com how does_5002749_proximity sensors work html Accessed 12 April 2013 Page 89 of 115 Integration of WirelessHA
56. and STK600 through Simple API Figure 5 2 y Gas leakage STK600 Atmega2560 Nivis field router ey VS220 sensor User interface onPC Figure 5 2 Integration of STK600 and Nivis VS220 Page 54 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN We are now able to see the messages from VS220 on COM port We respond to the messages accordingly based on the API integration manual as discussed in Chapter 4 Compose Response method Listing 3 is explained below From the requests we have to store the message ID since we need to use the same message ID in the response Therefore the received message is stored in the buffer Two buffers are defined one for the incoming data and second for the outgoing data an index for keeping count of the characters and a byte count The format for the response message is OxF1 0x18 0x03 Msg ID 0x28 Data CRC Where OxF1 STX 0x18 Data pass through response 0x03 Message type read data response 0x28 Data size These bytes are hardcoded while the rest variables depend on data The Msg ID is the same as the request ID void ConposeResponse uintl t crc_value 0xFFFF uintl6_t crc_poly 0x1021 unsigned int length int i j Index 0 ucBuf fOut Index 0xF 1 Indext ucBuf Out Index 0x18 Indext ucBuf fOut Index 0x03 Indext if ucButfIn 3 0xF2 1f ucBuffIn 4 0x0E ucBuffOut Index 0xF1 If it gets escape chara
57. application code through a Nivis simple API Each of the sensor board allows user to build a WirelessHART network out of the box and evaluate the performance of the Nivis WirelessHART system System parameters can be configured and monitored through MCS hosted on the VR910 VR910 delivers all the information from a full topological view to in depth network health information about sensor devices in the MCS console 4 3 1 Hardware Integration The external processor can communicate with Nivis radio using either a UART interface UART2 for VS220 or an SPI interface The pin configuration of VS220 UART2 is shown in Figure 4 3 UART2_RTS __UART2_ CTS O 49 Figure 4 3 VS220 UART2 pin configuration The following settings are used for the UART interface e Default Baud rate 38400 bps e Bits 8 e Parity None e Stop bits 1 The AVR STK600 Atmega2560 has four UART interfaces but we use UART1 as the communication interface with VS220 radio For UART1 on Atmega2560 PD2 and PD3 act as Rx and Tx respectively Moreover two GPIO pins are required for RDY and WKU and we have taken PFO and PF1 as RDY and WKU respectively Figure 4 4 Page 43 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN NIVIS VS2220 UART2 STK600 UART1 PFO WKU PF1RDY Figure 4 4 UART integration of VS220 and STK600 Atmega2560 Voltage Level Convertor When VS220 is interfaced with STK600 the VS220 resets cont
58. as industry are presented in 22 including industrial mobile robots real time inventory management process and equipment monitoring and environment monitoring 23 IEEE 802 15 4 standard defines low rate Wireless Personal Area Networks WPANs 24 which enables numerous applications within the field of WSN 25 The more recent field of WSN is wireless instrumentation WSN is used in wide variety of applications however the introduction of wireless technology in process automation industry is slow Wireless solutions for industrial applications based on standards such as IEEE 802 11 ZigBee Bluetooth and Internet Protocol version 6 IPv6 over Low power Wireless Personal Area Networks GLoWPAN have not yet achieved a breakthrough The main reason for wireless industrial solution is the lack of an open robust and international standard 26 Process automation industry was revolutionized with the introduction of new standard based on IEEE 802 15 4 in 2007 when the HCF released the HART field communication protocol specification The specification includes the definition of wireless interface to the field devices known as WirelessHART 27 Besides the WirelessHART development by HCF s another organization called ISA introduced a standard which defines wireless systems for industrial automation and control applications ISA100 standard is a family standard which cover several applications ISA launched their first standard in 2009 as ISA10
59. communication networks in offshore industry were based on simple radio communication Today the latest technologies with advanced features such as optical fiber microwave satellite and WiMAX etc became an essential part of offshore industry 1 Oil and gas exploration continues to expand at a rapid pace 3 The advantages of new technologies allow operators to access energy resources further way from shore than ever before In the operation of production and distribution any disruption is extremely costly and needs to rectify quickly and efficiently Therefore robust adaptable and reliable communication solutions are essential to keep oil and gas operations running smoothly 4 Robust and cost effective technologies are always the first priority for operators and industry Communication solutions are based on various factors such as the distance data must travel the remoteness of the installation and the amount of data that must be transmitted as well as the availability of the technology 5 1 4 Key Objectives This thesis aims to investigate standards and open solutions for robust communication in offshore industry After a thorough research on the topic we came to know that WirelessHART and ISA100 11a standards are most prominent and competitors in the big picture for open standard in offshore industry But we keep our scope limited to WirelessHART More specifically the key objectives in this thesis work are as follows e Survey e
60. cter in the middle then assign Fl to start else ucButfOut Index 0xF2 Qx0E is 1 s complenent of F1 else ucBuffOut Index ucBuffIn 3 Inder ucBuffOut Index 0x28 data size 40 bytes Indext Listing 3 Compose response Page 55 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN The Data field is actually the data read by the sensor and it is 40 bytes long The VS220 is capable to forward 8 variables each of 5 bytes long The pattern of the response is as follows OxF1 0x18 0x03 0x80 0x28 0x05 0x3D 0x7A 0x00 0x00 0x06 0x3D 0x7A 0x00 0x00 0x07 0x3D 0x7A 0x00 0x00 0x08 0x3D 0x7A 0x00 0x00 0x09 0x00 0x00 0x00 0x01 0x0A 0x00 0x00 0x00 0 x01 0x0B 0x00 0x00 0x00 0x01 0Ox0C 0x00 0x00 0x00 0x01 CRC The bold bytes are variable codes and need to set accordingly The first four groups of four bytes i e Ox3D 0x7A 0x00 0x00 are the analog values and the next four groups 0x00 0x00 0x00 0x01 are the digital values The CRC is two bytes long and it is calculated on all of the bytes except the STX OxF1 Please note that these values 0x3D 0x7A 0x00 0x00 and 0x00 0x00 0x00 0x01 are purely used as an example and need to change according to the sensor values Listing 4 shows the buffer to store response memcpy ucBuf fOut Index varl m_ucVariableCode sizeof varl m_ucVariableCode Index memcpy ucBuf fOut Index varl um_VYalue m_ucValue sizeof varl um_Value m_ucValue Index Index 4
61. ctrical Equipment Ex Electrical equipment in hazardous areas is defined as a place where flammable gases occur exist 60 Electrical equipment explodes in the presence of flammable gases flames and ignition etc Therefore such equipment are kept in location which does not initiate any explosion This is very important parameter for any industry such as oil and gas industry oil refinery and chemical industry etc Many strategies exist for the safety in electrical installations The simplest strategy is to minimize the amount of electrical equipment installed in a hazardous area either to keep the equipment out of the area altogether or to make the area less hazardous by ventilation with clean air Since oil and gas industry and its process areas fall within the category of hazardous locations therefore strict requirements apply for any equipment installed in these potentially explosive areas 21 The requirements are related to different levels of explosion proof properties of the equipment The regulations for equipment and safety systems intended for use in hazardous locations within the European Union EU are found in the 94 9 EC ATEX directive French ATmosphe re EXplosible 61 The ATEX directive states two fundamental requirements e The certification of equipment to use in hazardous locations e Requirements for equipment and manufacturers Countries outside the EU use different directives which are not directly comparable The ATE
62. d 18 March 2013 70 Tekscan pressure mapping force measurement and tactile sensors Online Available at http www tekscan com Accessed 18 March 2013 71 Interlinkelectronics force and position sensors Online Available at http www interlinkelectronics com Accessed 18 March 2013 Page 91 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 72 Sunrom technologies sensors Online Available at http www sunrom com sensors Accessed 18 March 2013 73 ArrowEurope sensors Online Available at http www arroweurope com products technologies products semiconductor ic html Accessed 18 March 2013 74 Acal bfi sensors Online Available at http Awww acalbfi com uk Sensors c CAT 14 Accessed 18 March 2013 75 Murata MEMS Online Available at http www murata com products sensor pickup index html mems Accessed 18 March 2013 76 Panasonic 3D image sensor light sensor pressure sensor acceleration sensor Online Available at http oewa panasonic com components built in sensors Accessed 18 March 2013 77 Freescale magnetic pressure touch sensor Online Available at http www freescale com webapp sps site hnomepage jsp code SNSHOME Accessed 18 March 2013 78 Ocean controls sensors Online Available at http oceancontrols com au Sensors html Accesses 18 march 2013 79 Asperhiem A Sj en R V Skaar K F L Design and impleme
63. d as a routing card with STK600 Atmega2560 is low power and high performance Atmel 8 bit AVR MCU 43 It consists of 256KB ISP flash memory 8KB SRAM and 4KB EEPROM It has total 100 pins in which 86 are General Purpose Input Output GPIO pins The 100 pins are categorized as 32 general purpose working registers 5 SPI 1 12C 4 USARTs 16 channel 10 bit A D converter 1 analog comparator 6 flexible timer counters with compare modes 16 output compare channels 4 input capture channels and 15 PWM channels Atmega2560 achieves a throughput of 16 MIPS at 16MHz and operates between 4 5 5 5 volts Page 37 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 3 5 Preparation to Build up the Network We installed and configured Nivis WirelessHART testbed 35 at University of Agder UiA Various experiments were performed to measure temperature humidity and dew point However we want to monitor data from other most commonly used sensors in offshore industry Since Nivis radio is not programmable so we cannot interface any external sensor to the Nivis testbed Therefore we need to have another sensor board which collects and transmits the data to the Nivis field router and we have chosen ATMEL AVR 36 STK600 development board as a starter kit To establish communication between the two aforementioned entities we have to manage to setup Universal Asynchronous Receiver Transmitter UART connections between the two and nee
64. d char data EES 433 PORTA PORTF 1 lt lt PFO set the WKU PORTE 2 while P NF amp 0x02 vait for RDY to be low Bror while I UCSRIA amp 1 lt lt UDRE1 wait for UDRE flag it might be a typo here in y 438 PORTD UDR1 data load data to UDR for transmission 4 SS PORTE PORTE amp 1 lt lt PFO clear the WKU E ag 5S PORTG A8 poATH vA void UARTO_transmit unsigned char data Name Address Vale Bits E 4 LI gt qg E cAUsers awais Documents stk stk c 4b E Build Message 5 Find in Files Breakpoints and Tracepoints ATmega2560 AVR Simulator Auto oe ini Coll CAP NUM OVR Figure 4 8 The AVR studio 4 18 IDE We select AVR GCC as a project type In the fuses settings select SUT_CKSEL and choose the option Ext Crystal Osc 8 0 MHz Start up time 16K CK 65ms and turn the switch to EXT close to ISP header on STK600 circuit board HW setting is used to set voltage to the target AVR Set VTarget to 5 5V and clock generator to 7 3728 KHz This frequency is more user friendly 41 After setting voltage the Vtarget LED turned green In the hardware settings depopulate AREFO and AREF1 and connect the ISP through 6 pin serial cable The captured screens for Hardware setup is shown in Figure 4 8 Page 49 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN
65. data from sensors and transmit to the field router which ultimately forward the readings to the user over the web interface through the gateway Hence the field router requires to integrate with any other external sensor board Our main contribution for this thesis work are as follows e We have established communication between VS220 and STK600 for which a serial communication protocol according to simple API has been implemented e Connect a gas leakage sensor to STK600 and programmed it in a way that it sends data to VS220 which is then forwarded to WirelessHART via HART gateway Now the WirelessHART development kit is able to gather data from external sensors through STK600 along with the built in sensors e To visualize the data over the web we configured the MCS MCS publishes the sensors data coming from external sensor board to the WirelessHART environment e Comparative study of different kind of position and motion sensors has also presented in this report which will be tested with our testbed in the future In conclusion the overall goal of our thesis has been achieved Since we can now connect any sensor to STK600 for getting the functionalities of WirelessHART so the whole system exhibits as plug and play Page 84 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 9 2 Future Work We have identified a few issues enlisted below which we believe future efforts are required The network pe
66. ds to implement a serial communication protocol as an Application Programming Interface API In order to make all this setup fully functional we have specified a list of requirements in addition with system design in next chapter Page 38 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 4 System Requirements and Design In this chapter we have defined the system requirements in addition to design proposals and our decisions on how to implement the various modules It also provides the description to the hardware and software utilized in our development and testing environment In addition we have provided rationale behind our choices of such tools Moreover it presents the procedure defined to implement Nivis simple API which is in fact the critical phase of our project and serves as a metric for successful completion of our project 4 1 Requirements From Figure 1 1 we have outlined the following requirements to get a complete and accurate system 1 Implement Nivis simple API to integrate field router VS220 with STK600 via UART interface 2 Manage an interface between PC and STK600 and set up UART on STK600 PC to see real time communication Request Response between VS220 and STK600 via RS 232 interface 3 Interface sensor with STK600 in order to transmit sensor data to VS220 to be forwarded over WirelessHART through HART gateway 4 Configure web interface provided by Nivis to visualize the data
67. ecurity Modbus and Alerting In order to access WirelessHART network through monitoring control system following setup should be made as shown in Figure 3 6 Ethernet cable to VR910 blue cable AC cable provided with VR910 Ethernet cable to router user provided Figure 3 6 Monitoring control system setup Next setup the IP connectivity of the PC or laptop to the following configuration IP address 192 168 0 120 Page 33 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Subnet mask 255 255 255 0 Gateway 192 168 0 101 Open the browser and enter the IP address of the VR910 default being http 192 168 0 101 Once the address is accessed a login screen appears Figure 3 7 Password Figure 3 7 MCS login screen Enter the valid user name and password the default user name and password is User name admin Password adminadmin Once the access is granted the browser will display the MCS web interface home page It shows the default network i e Nivis AP Nivis Gateway Nivis WHart Manager Since we are working on one field router Figure 3 8 so the capture shows only one field router along with the core network Devices Baren OOOO Geen OOOO Show Devices Rogatered oly S J Reset Items per page BO out of total 4 Access Port WrelessrAaT Device Network Menager WreesstART ro Nvs Whar Manager Network Manager Poet VIE GW Gateway MrelessHART Gatensy Figu
68. ed This multipoint method of access is economical provides extremely reliable links and excellent redundancy options to ensure connectivity Netronics 13 is a global wireless broadband and WiMAX leader provides solution over 120 Mbps of capacity Page 18 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN in each cell a capacity which is enough to support many concurrent applications across the operational region Figure 2 6 shows the brief coverage area of WiMAX Figure 2 6 WiMAX coverage area 13 2 2 Intra offshore Communication Technologies Communication within confine of oil and gas industry is called intra offshore communication For intra offshore communication technologies such as TETRA Wi Fi Ethernet and WSN are used These technologies are used to cover small geographic area Later in this section intra offshore technologies are explained 2 2 1 TETRA Terrestrial Trunked Radio TETRA is an established and proven standard which is adopted worldwide for public safety and private organizations TETRA is a wireless communication technology used to provide security to people TETRA is used for application with requirements 14 such as flexibility and scalability efficient communications reliability and system availability and data communications Effective and robust communication is basic need for offshore industry from both business and safety prospective Any interruption to drilling pipeli
69. ed char data PORTE 1 lt lt PFO set the WKU while PINF amp 0x02 wait for RDY to be low while UCSRIA E 1 lt lt UDRE1 wait for UDRE flag E UDR1 data load data to UDR for transmission PORTF amp 1 lt lt PFO clear the WKU Page 106 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN void UARTO transmit unsigned char data while UCSROA amp 1 lt lt UDREO wait for UDRE flag UDRO data load data to UDR for transmission void ComposeResponse unsigned short crc uintl6 t value uintl6 t crce_value 0xFFFF uintl t crc_poly 0x1021 unsigned int length ipe op iF Index 0 ucBuffOut Index 0xF1 Indext ucBuf fOut Index 0x18 Page 107 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Index ucBuf fOut Index 0x03 Index if ucBuffiIn 3 0xF2 if ucBuffIn 4 0x0E ucBuffOut Index 0xF1 If it gets escape character in the middle then assign Fl to start else ucBuffOut Index 0xF2 Ox0E is 1 s complement of F1 else ucBuffOut Index ucBuffin 3 Indext ucBuffOut Index 0x28 data size 40 bytes Index memcpy ucBuffOut Index varl m_ucVariableCode sizeof varl m_ucVariableCode Indextt memcpy ucBuffOut Index varl um Value m ucValue sizeof varl um Value m_ucValue Index Index 4 memcpy ucBuffOut Index var2
70. el sensor VS220 User interface on PC Figure 5 4 Sensor communicating with VS220 via STK600 VS220 radio is now able to display external sensor data along with built in sensors During the implementation of simple API static values are assigned to the device variables i e var var2 and var8 as can be seen from Listing 6 Page 58 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN void InitDataf varl m_ucYariableCode 0 0 05 varl um_Value m_fV alue 28 swapByteOrder varl um_Yalue m_ucValue var2 m_ucYariableCode 0 0x06 yar2 um_VYValue m_fValue 20 svwapByteOrder var2 um_Yalue m_ucValue var3 m_ucVYariableCode 0 0x07 var um_Value m_fV alue 20 swapByteOrder var3 um_Yalue m_ucValue Listing 6 Init data To get the sensor data these variables require dynamic value from ADC pin where the sensor is connected In ISR we assigned ADC high bit value to the var1 so whenever ADC pin has some data to send an interrupt will occur which takes the data and send over UART Listing 7 ISR ADC_vect int Value UARTO_transmit ADCH VYalue int ADCH varl um_Yalue m_fValue ADCH swapByteOrder varl um_Value m_ucValue ADCSRA 1 lt lt ADIF D Listing 7 ADC ISR We can interface up to eight sensors with STK600 to get readings from external sensors and forward them to WirelessHART gateway via VS220 radio as we have eight user defined channels 5 5 V
71. eless Personal Area Networks WPANs Amendment of IEEE Std 802 15 4 2003 IEEE Std P802 15 4 D6 vol no pp 2006 25 Yu Q Xing J Zhou Y Performance Research of the IEEE 802 15 4 Protocol in Wireless Sensor Networks Mechatronic and Embedded Systems and Applications Proceedings of the 2nd IEEE ASME International Conference on vol no pp 1 4 Aug 2006 26 Kim A N Hekland F Petersen S Doyle P When HART Goes Wireless Understanding and Implementing the WirelessHART Standard Emerging Technologies and Factory Automation 2008 ETFA 2008 IEEE International Conference on vol no pp 899 907 15 18 Sept 2008 27 HART Field Communication Protocol Specification Revision 7 0 HART Communication Foundation Sept 2007 28 Wireless Systems for Industrial Automation Process Control and Related Applications ISA 100 11a 2009 Standard 2009 29 Petersen S Carlsen S WirelessHART Versus ISA100 11a The Format War Hits the Factory Floor Industrial Electronics Magazine IEEE vol 5 no 4 pp 23 34 Dec 2011 30 Ikram W Thornhill N F Wireless Communication in Process Automation A Survey of Opportunities Requirements Concerns and Challenges Control 2010 UKACC International Conference on vol no pp 1 6 7 10 Sept 2010 31 HART communication foundation co existence of WirelessHART with other wireless technology Online Available at http pt hartcomm org protocol trainin
72. en click on the start button press the reset button on the VS220 and the loading procedure will begin After the loading is done a message with disconnected will appear in the lower corner of the Upload2Serial Application 3 Now to run the updated firmware disconnect jumpers J10 and J21 while connect jumpers J12 J16 J17 J18 J19 and J20 Then press the RESET button 3 4 ATMEL STK600 Development Board The STK600 37 is a standard socket card for development on single chip solutions connected on small router board Single chip solution means that all the logic and controllers are embedded in a single chip unlike those where the radio and microcontroller are separate chips connected on a circuit board STK600 is a starter kit from Atmel Figure 3 11 a development system for both 8 bit and 32 bit AVR microcontroller It gives a quick start to designers to develop code on the AVR combined with advanced features for using the starter kit to prototype and test new designs The AVR device mounted on the top of STK600 use routing card which is used to route the signals from the AVR device to the appropriate hardware of STK600 In addition the STK600 comes with another Micro Controller Unit MCU Atmega2560 which is 8 bit AVR MCU as a routing card A brief overview of Atmega2560 is given later in this section Page 36 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Figure 3 11 Atmel STK600 development board
73. er that we have a WirelessHART development kit from Nivis but we need to arrange a microcontroller and we will programme it in a way that it can communicate with Nivis field router VS220 After a survey and useful suggestions from Stig Peterson a research scientist in SINTEF we preferred to use STK600 Atmega2560 as a starter kit from Atmel Atmel is a company that manufactures electronic circuits and microcontrollers To receive STK600 we have enrolled in Atmel AVR University program through their website 1 2 Problem Statement In this project we are using Nivis WirelessHART development kit which allows user to integrate their products for WirelessHART compatibility Each Nivis field router has three built in sensors but we are interested to make it capable to gather data from external sensors So the overall goal of this project is to integrate a Nivis WirelessHART development kit with the external sensor board to build a WirelessHART network out of the box and evaluate the performance of Nivis WirelessHART system Figure 1 1 illustrates the whole flow of the project Page 13 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN External Sensor Development WirelessHART Board MCU Field router i Figure 1 1 Conceptual overview of our system WirelessHART Gateway 1 3 Literature Review Technologies used in offshore communication were not so advanced in mid 20 century So the
74. er to enable easier and tighter integration between all levels of the corporation In industrial applications performance improvements made Ethernet as reliable and robust technology Hirschmann is technology and market leader in industrial networking and Belden is world leader in providing signal transmission solutions 19 These two jointly set solutions for industrial Ethernet solutions Ethernet provides seamless interoperability system integration Ethernet is very flexible as it works with co existence of technologies such as copper fiber and wireless etc Due to high degree of flexibility and use of common components Ethernet is a natural fit and most cost effective solution to integrate data in oil and gas industry 2 2 4 Wireless Sensor Network WSN WSN specifications defined in IEEE 802 15 4 as low power and low cost In offshore industry sensors cost efficiently eliminate the need for cables Sensor is able to collect data in remote or hostile areas and enables new applications In offshore industry sensors are used for underwater and production applications 20 and to monitor the production process prevent or detect oil and gas leakage Gullfaks offshore field located in North Sea 21 decline in flow line pressure leads to large financial losses is resolved by wireless temperature sensor network A Page 20 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN number of WSN applications in oil and g
75. erTerminal and work from there Also the buffer should be unsigned char ucBuffer 7 OxF 1 0x40 0x01 0x80 0x00 0xC6 0xF4 they are in hex format no need for the characters Also if you have an oscilloscope monitor the Rx and Tx lines between the VS220 and the STK to make sure that the UARTS are working Simple or Full API Description Do we need to implement Nivis simple or full API on these development kits Answer To use the Nivis Versa Node radios you need a microcontroller which you can program and run an Application Processor capable of Nivis API Simple or Full This Page 97 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN microcontroller also needs to be capable of UART or SPI communication the minimum specifications for these serial communication lines can be found in the first sections Hardware Integration in each Nivis Full Simple API Manuals Nivis Simple API SW Integration Description We integrated Nivis router with STK600 and now we can adjust the no of bits baud rate parity and stop bits want to ask how we can implement API message format Because we searched on net but we did not find any data help material about API message format implementations If we get any example code method in order to get an idea that we can proceed further We are now working on SW Integration part of Nivis Simple API We wonder if you can provide us some sort of methods or functions so tha
76. essage ID 0x00 Data Size Ox8F61 CRC And the response sent from your board OXF 1 0x48 0x05 0x80 0x01 0x03 0x86 0x04 Meaning OxF1 Start Character 0x48 API Message Response 0x50 API_MAX_UART_SPEED 0x80 Message ID 0x01 Data Size 0x03 Data Baud rate 38400 0x8604 CRC Regarding the software implementation suggest that you keep all your data in structures so it will be easier to form the messages You can use an UART interrupt for receiving the messages and after the complete reception of a message After the reception of the start character count 3 bytes then read the data size and count the number of bytes in the data size plus 2 bytes for the Page 99 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN CRC place it in a queue You can then parse and respond to the messages in the queue until the queue is empty External Sensor Readings over MCS Description If connect Nivis VN220 field router with external sensor board in our case Atmel STK600 via UART2 how we can check it in software MCS that VN220 has detected a new device or any other indication Answer If you connect your external sensor board with the VN220 there will be no indication of this in MCS as the two boards VN220 and Atmel STK600 act as a single field device and is perceived as one by the MCS One indication of the correct operation of the two boards could be the publishing of data
77. et the web page each time The reason behind this could be that the web interface is a product for development and not for the end user We can observe from the aforementioned screen shots that in some experiments packet loss rate is higher than packet received which simply lower down the throughput of overall WirelessHART environment It losing some packets until it has a chance to obtain a service with the Network Manager The sending of the data mechanism requires a periodic service with the Network Manager and until the Network Manager allocates the bandwidth for this service the data cannot be sent to the gateway thus resulting in a packet lose Nevertheless we could not publish all the eight variables over the web as we are using the older version of VR910 which is VR910 MCS v1 5 5 We need to have a latest version VR910 MCS v 2 0 in order to get the data from all eight channels 6 8 Chapter Summary In this chapter we have shown the results of the experiments performed on the implemented system in order to verify its function and evaluate our progress We provide an overview of various tests performed on the final system and the tests on individual components in the network as well At the end of the chapter we have outlined some key issues encountered during the experiments Page 71 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 7 Position and Motion Sensors A Survey This chapter covers position and m
78. ets the global coordinate system through the relative position information of a target which prevents error in robot motion information The system works properly while the mobile robot moves on the predetermined trajectory The experiment results show the maximum pixel error of the target image is 23 pixels while in the experiments the robot runs for 10 times on the trajectory Kalman filter and multi sensor data fusion is used for vision tracking 54 In this approach robot motion information is computed by accelerometer gyroscope and wheel encoders The concept is derived from the human eye reflex mechanism which is called Vestibulo Ocular Reflex VOR used for the head motion adjustment Extended Kalman filer and indirect Kalman filter are used to estimate location and angle of the robot A slip detector is also used to detect slip occurrence By using one of the two filters the output of slip detector decides the final motion of the robot and expected rotation angle of the camera The vision tracking system is mounted on the mobile robot The system demonstrates excellent tracking and recognition performance Unscented Kalman Filter UKF accurately estimates the position and orientation of the mobile robot 57 UKF integrates information from encoders position and orientation sensors and active beacons These position and orientation sensors are used to rotate the camera towards the target during robot motion The UKF is an efficient sensor
79. flag to see if the character received is the first of the message void UART transmit unsigned char data void UARTO transmit unsigned char data void UART_init void InitADC Page 102 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN void ComposeResponse void InitData void TransmitData unsigned char data unsigned int length void TransmitData unsigned char data unsigned int length unsigned int AuxLength unsigned char ucChar AuxLength length 1 while length ucChar datatt if ucChar 0xF1 amp amp length lt AuxLength UART transmit 0xF2 UART transmit 0x0E UARTO transmit OxF2 UARTO transmit 0x0E else if ucChar 0xF2 UART transmit OxF2 UART transmit 00D UARTO transmit OxF2 UARTO transmit 0x0D else Page 103 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN UART_ transmit ucChar UARTO_ transmit ucChar void swapByteOrder unsigned char string unsigned char aux aux string 0 n tring O0 string 3 n tring 3 aux aux string 1 n tring l string 2 n tring 2 aux void InitData varl m_ucVariableCode 0 0x05 varl um_Value m fValue 28 swapByteOrder varl um Value m_ucValue var2 m_ucVariableCode 0 0x06 var2 um_Value m fValue 20 swapByteOrder var2 um_ Value m_ucValue
80. fusion algorithm which has an advanced filtering technique to reduce the position and orientation errors of the sensors The system compensates the slip error by switching between two different UKF models which are designed for slip and no slip cases respectively The slip detector is used to detect the slip condition by comparing the data from the accelerometer and encoder to select the either UKF model as the output of the system The results show significant reduced errors and successful target tracking for various motion scenarios This chapter is summarized as the accelerometer is the best option as a motion sensor technology in terms of power consumption It consumes ten times less power as compare to gyroscope and magnetometer In terms of accuracy a novel motion sensor with nine degrees of freedom is developed by 58 In 58 the new motion sensor is designed with triaxial gyroscope triaxial accelerometer and triaxial magnetometer and showed more precise and accurate results as compare to the commercially available measurement systems Page 79 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 8 Discussions This chapter provides information on different solutions initially investigated and proposed for robust and reliable communication in offshore industry Although we spent some time to study and investigate these solutions but during the meetings with industry experts we came to know that they have alre
81. g resources wiHART_resources CoExistence_WirelessHA RT_LIT122 pdf Accessed 08 February 2013 32 Petersen S Carlsen S Performance Evaluation of WirelessHART for Factory Automation Emerging Technologies amp Factory Automation 2009 ETFA 2009 IEEE Conference on vol no pp 1 9 22 25 Sept 2009 33 Goldsmith A J Wicker S B Design Challenges for Energy Constrained Ad Hoc Wireless Networks Wireless Communications IEEE vol 9 no 4 pp 8 27 Aug 2002 34 Madan R Cui S Lall S Goldsmith A Cross layer Design for Lifetime Maximization in Interference Limited Wireless Sensor Networks INFOCOM 2005 24th Annual Joint Conference of the IEEE Computer and Communications Societies Proceedings IEEE vol 3 no pp 1964 1975 vol 3 13 17 March 2005 Page 88 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 35 Nivis wireless sensor networks WirelessHART development kit Online Available at http www nivis com products product php pID 16 Accessed 28 February 2013 36 Atmel official Online Available at http www atmel com Accessed 26 February 2013 37 Atmel STK600 Online Available at http www atmel com tools stk600 aspx Accessed 26 February 2013 38 Getting started with STK600 and Atmega2560 Online Available at http web uvic ca lienh 560 tutorial_1 Accessed 26 February 2013 39 Atmel AVR studio and AVR archives Online Av
82. geiademaae ac 14 1 4 e Ee 14 15 EE ne ere eee ee rete ee ee ee Eege 15 2 Overview of Offshore Communication Technologies 16 2 1 Inter offshore Communication Technologies AEN 16 2i Satellite EE 16 2 1 2 ee Sie sata cca eee tara ee pang saan ene daca egesas ete acnieeatse ee ieeeeceaes 17 21 8 Optical FIDE nent Eiere gebei ere 18 A WIMAX rit eta sates a tacutesniae cecrimianneaia a a A amarante tenn 18 2 2 Intra offshore Communication Technologies ssssssseeeeessseseenrrrrersserernrrnnnreserrnnne 19 22l TETRA EE 19 GE E E 19 SE EDITING ee 20 2 2 4 Wireless Sensor Network WSN ENNEN 20 3 Introduction to WirelessHART and STK600 Development Kn 24 3 1 WirelessHART Brief E 24 Page 5 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 3 1 1 Structure of WirelessHART Network 25 3 1 2 WirelessHART from Layers Prospective ceeecceeeeeeeeeeeeeeeeeeenneeeeeeeeeeeteeee 26 3 2 WirelessHART vs ISA100 11a Gummenm ccc ceeeeeee eee eeeeeetteeeeeeeeeeeetenetaaeeeeeeees 29 3 3 Nivis WirelessHART Development kt 31 3 3 1 Contents of Nivis WirelessHART sssssnnseenssensnnrrnressserrnerrnnrsserrrrrrrnnnsssrrrnne 31 3 3 2 WirelessHART Provisioning Togo 32 3 3 3 Monitoring Control System MCL 33 3 3 4 Firmware Upgrade Procedure VS220 Rev Al 36 3 4 ATMEL STK600 Development Board kee 36 3 4 1 In System Programming ISP o 8 aiciesterecctte idee eee nes earteenetictle neni 37 34 2 On chip DED U
83. he data to the Radio and the Radio will forward it over the Wireless Network Tool Used to Implement Simple API Description Which tool is used in order to implement simple or full API as we have connected Nivis router with Atmel STK600 UART2 pins are used from nivis end while Rs232 spare are used at STK600 end now how we can implement these settings in software Answer In order to implement Simple or Full API you ll need an IDE such as in your case for the STK600 AVR Studio First of all you will have to implement the UART interface on your STK600 in order to be able to receive messages from the VN220 The settings needed for the UART interface are Baud Rate 38400 Bits 8 Parity None Stop Bits 1 Next step will be to program the Simple or Full API in your STK600 The Nivis API is a message request response type API The VN220 will send message requests over the UART and the STK600 needs to be able to respond to them and vice versa The format of the API messages and the necessary messages that need to be implemented are described in the WirelessHART Full Simple API Integration Manual Implementation of Simple API Page 96 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Answer Regarding the implementation of the Simple API you will have to implement all the commands featured in the Simple API Integration Manual Also you ll have to implement some sort of mechanism that can
84. hen this value is 180 Similarly y axis direction towards east gives 90 azimuth and towards west results in 270 azimuth value e Pitch degrees of rotation around the x axis Pitch has two extreme values either 180 degree or 180 degree the values of pitch can be between these two maxima and minima Pitch value is positive when the positive z axis rotates toward the positive y axis Similarly when the positive z axis rotates toward the negative y axis it gives negative pitch e Roll degrees of rotation around the y axis When the positive z axis rotates toward the positive x axis then it is called positive and the value of roll is 90 degree While positive z axis rotates towards negative x axis gives negative roll value of 90 degree Hence the range of roll values are from 90 degree to 90 degree 7 1 3 Proximity Sensor This sensor determines the distance between an object and a device e g how far away an object is from a device Proximity sensor detects objects when they get within a certain distance from the sensor 48 When the proximity sensor detects an event then it automatically sends a signal to the electronic circuit to perform the specific action In a single event this type of sensor provides a single value each time Generally proximity sensor is used to determine the distance between a person s face and a handset For example when a user makes or receives a phone call Many proximity sensors detect anything that comes
85. iedeed ei cach S cher dee ppeseeinide latte recede en 70 Figure 7 1 Accelerometer orientation Tag ENEE 75 Figure 7 2 Vision system for mobile robot IO ENEE 77 Figure 7 3 Vision and estimation threads TO 78 Figure 8 1 Integrator SOIT EE 80 Figure 8 2 DeHiGate architecture oc Sc ateceharadh tik Seales day sk Renae earnkan ele Ra Rae dee eta eee 81 Page 10 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN List of Tables Table 1 Key differences and similarities between WirelessHART and ISA100 11a 0 29 Table 2 Components of Nivis WirelessHART eeeee ennenen ne nenennnnnnennnnnnnnnnnnnnnnnnnnnn nenen 31 Table 3 API message format sso ie Se arate ee ah ce iat is a ad ee ad ee 45 Table 4 Data pass through Commands eeneg tides hoe ee ee eed 46 Table 5 Explanation of ATEX classes SEI cnc teen cen Eege beats oer eee atte ae adie es 83 Table 6 Overview EE 93 Page 11 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 1 Introduction In this chapter we provide background and motivation about this thesis The problem definition will be explored in detail along with the key objectives to be done during the project At the end of this chapter we have discussed literature review followed by report outline and structure 1 1 Background and Motivation Oil and gas industry operates in some of the world s most challenging environments Any disruption to production
86. ifferent types of sensors e g position motion accelerometers and gyroscope often deployed within the same network application each with different capabilities interfaces and support different protocols for data and communications Position and motion sensors are discussed in next section in more details 7 1 Position Sensors The Android platform uses two type of sensors i e geomagnetic field sensor and orientation sensor in order to determine the position of a device Android platform uses another type of sensor called proximity sensor to determine how close the face of a device is to an object 47 Among these three sensors the geomagnetic field sensor and proximity sensor are hardware based While the orientation sensor is software based Geomagnetic field sensor is used by most handset and tablet manufacturers Proximity sensor is usually used by handset manufacturers to determine when a handset is being close to the user s face for example during a phone call The orientation sensor drives its data from geomagnetic field sensor and accelerometer sensor Position sensors are used to determine a device s physical position with respect to the world s frame of reference As an example geomagnetic field sensor can be used in conjunction with accelerometer to find a device s position with respect to magnetic North Pole One can use orientation sensor in their application to determine the device position Positions sensor does not
87. il a response is received API Message Format Table 3 API message format Field Size Bytes Comments STX 1 OxF1 Start of Character When this is received the receiver discards any other message in progress and start receiving this new message Message Header 1 Consists of Requests Response bit O0 Request and 1 Response and Message class e g Data Pass Through Message Type 1 Depends on Message Class in Message Header e g Read Data Request or Read Data Request Message ID 1 Used for correspondence between Request and Response Must be same for Request and Response Data size 1 Represents the number of data bytes in the message Data 0 X The Req Res message data Could be the value from sensor CRC 2 CRC is based on a standard CRC algorithm CCITT CRC 0x1021 as the polynomial and includes everything between but not including the STX and CRC The initial value is OxFFFF Data Pass Through Commands Page 45 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN The Data Pass Through message category consists of three sub commands Table 4 Data pass through commands Message Type Values Comments Write Data Request 1 Writes data to the application processor sensor board Read Data Request 2 Requests data from the application processor sensor board lt Read Data Response 3 Receives data from the application processor sensor
88. inuously and MCS does not detect the field router The reason for the resetting is the voltage difference between STK600 and VS220 VS220 operates on 3 3V whereas STK600 operates on 5 5V It is therefore recommended to have voltage level converter that converts 5 5V input voltage to 3 3V output voltage To do so two resistors with 1KQ and 1 4KQ are used in shunt We have connected a Tx Rx line with this circuit in a way that Tx PD3 pin of STK600 is connected to the input of 1KQ while the Rx is taken at the output of 1 4KO Figure 4 5 Vin 5 5 V Vout 3 3V ee eee sarra zg Figure 4 5 Voltage level convertor Page 44 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 4 3 2 Software Integration A Simple API Software integration can be done by implementing the simple API protocol which is designed to define a standard communication interface between the RF modem processor VS 220 and application processor STK600 Atmega2560 In this case the RF modem processor is the master of communication and the messages are handled on a FIFO basis by VS 220 Communication Flow Communication between VS220 and Atmega2560 is based on two kinds of packets Requests and Response The Nivis radio sends the Read data Request periodically and STK600 Atmega2560 has to respond that request with the Read Data Response Command in 250ms maximum Otherwise the sender processor sent requests repeatedly unt
89. ion Page 30 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 3 3 Nivis WirelessHART Development Kit The kit allows users and integrators to quickly integrate their application to the WirelessHART standard It also provides users with the ability to evaluate the performance of the WirelessHART standard The entire network is monitored through web based graphical user interface This interface gives information about the network field devices network states and topology It allows user to update remotely the entire system 3 3 1 Contents of Nivis WirelessHART This section contains components of Nivis WirelessHART kit Table 2 depicts the devices and their description Table 2 Components of Nivis WirelessHART Component Picture Comment Versa Router VR910 The VR910 is an all in one industrial wireless gateway The architecture of VR910 supports Nivis WirelessHART software The VR910 software components are preinstalled and configured It has functional features include access point gateway network manager and security manager and MCS host application Versa Sensor VS220 The Nivis VS220 is a development board designed specifically for WirelessHART to enable fast product integration and development for industrial wireless solutions Temperature dew point and humidity sensors are integrated in it a Loop board VL10 The Nivis VL10 is designed for WirelessHART applications t
90. ion Orientatio n detection Magnetic ZMZ20 Diodes Inc Analog Digital Linear Position 50 Field Proximity Detector etc Page 93 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Appendix B Correspondence with Nivis We have contacted Nivis customer support and they gave us feedback to our queries The following feedback help the students who will work in this direction VS220 Power Issue Answer Please try to power the VS220 through the USB port SW4 in position 3 and check if the JP1 on the HART Modem Board is populated Run the WirelessHART provisioning tool as Administrator VS220 Field Router Detection Description have attached the mini clips of WirelessHART modem with VS220 made the connection just you mentioned in your email about J7 J8 and J22 as can be seen from the attached figure The LED is on both SW4 and SW5 are position 2 While the USB port is COM8 in my system When i start WirelessHART provisioning tool it does not detect VS220 have one reason in my mind that if we replace the old batteries with new batteries What do you think what can be the problem that provisioning tool does not detect the VS220 Answer Could you please try connecting to the devices with the Microlink and in the provisioning tool after you detect the device in the Tools menu click on the Start Assisted Join Button Also after doing this for all devices please download and
91. ion in WSN input output user defined analog digital channels A device variable with a unique code is assign to each of the above mentioned channel The VS220 is capable to forward 8 variables each 5 bytes long This indicates that the STK600 Atmega2560 have to send all the variables regardless of how many user defined channels are being used The device variable codes start from 0x05 and end at Ox0C Each variable code has the format Device Variable Code 1B Device Variable Value 4B Once the device variables and their corresponding values have been assigned then by using these assigned device variables and appropriate HART commands the WirelessHART burst mechanism can be configured to publish some or all of the supported channels data to the gateway The pre defined and user defined channels on VS220 and STK600 can be seen from Figure 4 5 VS220 STK600 CH Analog Input a CH Analog 7 CH Analog 2 CH Input emp L m g Coen le CH_Analog_3 MCU Atmega2560 CH_Input_Humidity CH Anden A CH_Input_DewPoint gegen CH_Digital_1 CH_Digital_2 le CH_Digital_3 e CH_Digital_4 Figure 4 6 Analog Digital channels 4 4 Configuration of MCS This section presents how the user interface is configured to publish data from external sensors User interface is configured in monitoring host which can be found in monitoring control system In user interface three settings are being configured i e bur
92. ion is regarded as a failure and the DLPDU will be retransmitted by the source in the next time slot Network Layer Network layer is responsible to route packets across the network discovers and maintains routing tables Network layer functions are handled by network manager in WirelessHART network The network manager maintains a complete list of devices in the network keeps full knowledge of the network topology and responds to hosts regarding the network level information 26 The network manager configures the route for the entire network Routing protocol is based on shortest path as an optimization metric taking the transmission energy into consideration 26 During the start up phase network manager uses cost function to construct the routing table This results a collection of routing graphs where each edge of the graph represents the possible transmission path between the two devices Each graph is associated with a unique graph ID which is passed to the devices in the network to be placed in the packet header to determine which path is to be used for transmission To maintain reliability and ensure the path diversity each device holds at least two neighbors for transmission in each routing graph Network manager is also responsible for link scheduling which schedules the time for the packet to be sent Proper configuration of link schedules reduce latency by smart routing increase network throughput and balance the network load
93. ion sensor is unable to monitor device position by itself It can be used with geomagnetic field sensor to determine a device position relative to the world s frame of reference The most frequently used sensor for motion detection and monitoring are rotation vector and gravity sensor Particularly rotational vector is more flexible and versatile It can be used for a wide range of motion related tasks e g gestures detection angular change monitoring and relative orientation changes monitoring Ideally rotational vector sensor is better choice during an augmented reality application developing a game or a camera stabilization application 7 2 1 Accelerometer Acceleration applied to the device is measured by an acceleration sensor including force of gravity Accelerometer determines the acceleration which is applied to a device by measuring force applied to the sensor Accelerometer uses the standard sensor coordinate system This means when a device is laying on a table in its natural orientation Figure 7 1 the following conditions apply e If the device is pushed to left side so it moves to the right it gives positive value to the x acceleration e If the device is pushed to the bottom so it moves away with respect to the user reference point the y acceleration value is positive Page 74 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN e f the device is pushed in upward direction i e towards
94. isualization of Data over the Web Interface MCS Until now we are only able to see the readings of built in sensors of VS220 However we can configure Monitoring Host Management in the user interface to get the new readings from the sensors interfacing STK600 In the monitoring host we have modified burst messages which are used to publish data to the gateway Figure 5 5 illustrates the flow of sensor data Page 59 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN WirelessHART Fe Gas leakage STK600 Atmega2560 Nivis field router gateway Intemet Y sensor VS220 RE Ee User interface ee E AAE ee A EEN Figure 5 5 Publish of sensor data over the web interface MCS Burst messages Figure 5 6 are used to publish sensor readings to the gateway In monitoring host three parameters need to configure for the new variable i e burst messages variables and triggers Following fields need to modify when a new variable is required to publish over the web interface Burst message format Burst message format fields are lt EUI64 gt lt COMMAND NUMBER gt lt BURST MESSAGE gt lt UPDATE PERIOD gt lt MAXIMUM UPDATE PERIOD gt EUI64 This is 8 bytes grouped in 2 shows the address of the field router In our case the EUI64 address of the field router is 00 1B 1E F8 76 FF FF FF Command no This is an integer from the set 1 2 3 9 33 178 We used command
95. k is operating on 16MHz but by default the successive circuitry requires an input clock frequency between 50 kHz and 200 kHz as per datasheet 43 So dividing 16MHz by 50 KHz and 200 KHz 320 and 80 is obtained respectively As 128 is the division factor between 80 and 320 according to the data sheet of Atmega2560 43 so set all the bits of Analog Digital Pre Scalar ADPS as high Listing 5 Page 57 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN void InitADC Y ADMUX 1 lt lt ADLAR 1 lt lt REFSO 1 lt lt REFS1 ve For Aref AVcc ADMUZ 1 lt lt ADLAR 1 lt lt REFSO ADCSRA 1 lt lt ADPS2 1 lt lt ADPS1 1 lt lt ADPSO Prescalar div factor 128 ADCSRA 1 lt lt ADEN 1 lt lt ADIE Turn on ADC ADCSRA 1 lt lt ADSC Do an initial conversion void UARTO_transmit unsigned char data I UCSROA amp 1 lt lt UDREO wait for UDRE flag data load data to UDR for transmission unsigned char UARTO_receive void unsigned char data while UCSROA amp 1 lt lt RKECO 3 data ADCH return data Listing 5 Sensor data over UART The function UARTO_transmit transmits to PC whatever received from ADC pin 5 4 Implementation to Integrate Sensor with VS220 via STK600 The sensor board i e sensor and SKT600 is integrated with VS220 as shown in Figure 5 4 UART Gas leakage STK600 Atmega2560 Nivis fieldrouter fi
96. l increase in data traffic and hence the power consumption of the nodes near to the gateway increase accordingly ISA100 11a implemented the IEEE 802 15 4 PHY 24 with a few minor modifications It operates on 2 4GHz band and use channels 11 25 defined by IEEE 802 15 4 The bandwidth of each channel is 2MHz The channels are spaced 5MHz apart ISA100 11a uses the combination of Direct Sequence Spread Spectrum DSSS and Frequency Hopping Spread Spectrum FHSS as modulation technique DSSS divides the information signal into small fragments that are spread across the available frequency channel With FHSS the channel that is selected for data transmission will alternate in a pseudo random sequence Page 23 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 3 Introduction to WirelessHART and STK600 Development Kit This chapter presents a detailed explanation of the wireless industrial standard WirelessHART It covers the standard from both technical and systematical point of view which enables WirelessHART to compete with the challenges e g data and network security interference real time delivery in unprotected radio spectrum and robustness We have examined how the WirelessHART standard compares to the layering in the standard OSI model and how it maps to the standard layers of OSI model The comparison of ISA100 11a and WirelessHART in terms of most prominent features is also presented It also presents the o
97. lds lt COMMAND NUMBER gt lt BURST MESSAGE gt lt BURST TRIGGERT MODE SELECTION gt lt DEVICE VARIABLE CLASIFICATION gt lt UNITS CODE lt TRIGGER LEVEL gt Command no and burst message are same as other two sections Burst trigger mode selection This specify the mode of the burst message Integer 0 Continuous 1 Window 2 Rising 3 Falling 4 On change We select 0 for continuous bursts Device variable classification Integer in range 64 95 we used 64 for our experiment Units code We set the unit code as 120 Trigger level This shows the floating trigger value e g 0 000000 Page 61 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Monitoring Host Burst Messages 00 1B 1E F8 70 00 00 1B 1E F8 70 00 00 1B 1E F8 70 00 00 1B 1E F8 70 00 00 1B 1E F8 70 00 2 00 1B 1E F8 78 02 0F 02 i 00 1B 1E F8 76 02 0F 11 9 0 16 3600 00 18 1E F8 76 02 0C EE 9 0 16 3600 00 16 1E F8 76 02 0E F4 9 0 16 3600 A 00 1B 1E F8 76 FF FF FF 9 0 16 3600 S r 44 02 3 44 02 2 44 03 9 44 03 3 44 03 2 9 00 1B 1E F8 76 FF FF FF 9 0 16 3600 Variables 9 0 2 Temperature 1 64 32 9 0 3 Humdity 2 81 57 9 0 4 Dewpoint 3 84 39 9 0 5 vari 4 84 39 Is vari 4 84 39 Change Del Trigger I 0 64 120 0 000000 Del l Save Delete Figure 5 6 Configuration of monitoring host Load the new burst message se
98. line Available at http en wikipedia org wiki Electrical_equipment_in_hazardous_areas Accessed 05 February 2013 61 ATEX directive 94 9 EC directive 94 9 EC of the European parliament and the council of 23 March 1994 Online Available at http www netinform net Vorschriften GW Ex 94_ 9 en whnjs htm Accessed 05 February 2013 62 Sandboxelectronics sensors Online Available at http sandboxelectronics com store index php main_page index amp cPath 66 amp zenid v9t2ehf8h8fr g8ojvsgfts4326 Accessed 1 March 2013 63 Futurlec gas sensors Online Available at http www futurlec com Gas_Sensors shtml Accessed 1 March 2013 64 Emartee Sensors Online Available at http emartee com product 42 156 MQ2 20Gas 20Sensor 20Brick 20 201 Accessed 1 March 2013 65 NXP angular sensors Online Available at http www nxp com products sensors angular_sensors Accessed 4 March 2013 66 Farnell motion sensors Online Available at http no farnell com motion Accessed 4 March 2013 67 Sparkfun sensors Online Available at https www sparkfun com categories 23 Accessed 10 March 2013 68 Diodes Inc motor sensors Online Available at http www diodes com products catalog browse php parent id 199 Accessed 11 March 2013 69 ElfaDistrelec electronics and automation sensors Online Available at https www elfaelektronikk no elfa3 no_en elfa init do toc 18996 amp name Sensors Accesse
99. m Value m_ucValue Index Index 4 Zoossen cale ucBufrfOurtrl Index 1 ucBuffOut Index crc_calc ucBuffOut 1 Index 1 gt gt 8 Index ucBuffOut Index crc_calc ucBuffOutt1 Index 2 amp OxOOFF Index TransmitData ucBuffOut Index void InitADC ADMUX 1 lt lt ADLAR 1 lt lt REFSO 1 lt lt REFS1 For Aref AVcc ADMUX 1 lt lt ADLAR 1 lt lt REFSO ADCSRA 1 lt lt ADPS2 1 lt lt ADPS1 1 lt lt ADPSO Rrescalar div factor 128 ADCSRA 1 lt lt ADEN 1 lt lt ADII Gl IN Turn on ADC ADCSRA 1 lt lt ADSC Do an initial conversion because this one is the slowest and to ensure that everything is up and running Page 110 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN ISR USART1 RX vect UARTO transmit UDR1 What you receive from VS220 send to the PC _delay_ms 200 unsigned char ucReceivedChar ucReceivedChar UDRI1 if ucReceivedChar 0xFl1 check to see if it s the start of a new message isFirst 1 set the flag if isFirst we received the STX char if ucIndex 4 check to see if it s the 5th byte this byte is the data size ucByteCount ucReceivedChar store the data size if ucIndex ucByteCount 7 we received all of the bytes of the message Page 111 of 115 Integration of WirelessHART and STK600 for Data
100. n by using the motion information of the robot The command generator calculates the angles of pan and tilt motion controller and transmits this data to the pan tilt motor The image processor processes the stereo image to obtain the target position on the image plane The proposed system employs the stereo vision information in feedback path The target position is calculated using pinhole camera model The system calculates the depth of the target by constructing a disparity map with the stereo image The disparity map contains the depth information of each pixel The system searches for the target on both the sides of the image i e left and right of the image to calculate the average depth value of the target area from the disparity map By using the information of target position with respect to the robot the system adjusts the accumulated error which is caused by the gyroscope and the robot wheel encoders For example when the robot is slipped then estimated error of robot motion is generated by the data of robot wheel encoders However the system updates the target position data relative to the robot which removes the accumulated error of estimated robot motion Relative position updates make the system enable to track the moving target because the change in the relative position includes the displacement of the target Figure 7 3 shows the system which is multi thread structure It is composed of the vision thread and the estimation thread
101. n transmitted data and limited bandwidth Latest satellite techniques allow huge capacities that were not available a few years ago Theoretically it is now possible to use entire band of 500 MHz capacity on one satellite link In practice Telenor Satellite Broadcasting TSBc offers high powered satellite capacity to facilitate the ever increasing demand from offshore industry for bandwidth 6 Satellite communication forms different topologies such as point to point communication shown in Figure 2 1 star network in Figure 2 2 and mesh network which is shown in Figure 2 3 4 1 G7 SK Satellite e H vc SW D bA A 4 P Vs kr Satellite x a cA Lues Sa Co we ZE IS g AE e dd gt x e A z e P cs D A VSA A D z S A es Master Earth Stanon enee YAS Maser Earth Spe VSAT HUB VSAT JE HUB VSAT Figure 2 1 Point to point communication 7 Figure 2 2 Star network 7 Page 16 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Satellite EX gt Ki mee CH i VSAT ps vi A gt ZS A gt e A CA oS eg been EN Master Earth Statio KZ VSAT HUB VSAT Figure 2 3 Mesh network 7 2 1 2 Microwave Microwave Line of Sight LOS communication technology carries data through wavelength a wavelength less than one meter in length Microwave provides more bandwidth but at shorter distance Typically microwave technology is used for location which is within close proximi
102. nd is same as IEEE 802 15 4 with a few minor modifications WirelessHART protocol specifications define Link and Network layers The Data link layer determines how the common wireless medium is shared between the network devices it is also responsible for formatting data packets detection correction of error bits The network layer is the core for WirelessHART network which is responsible for routing topology control end to end transmission reliability and flow control Transport and Application layers are provided by the HART standard osl WirelessHART Application Application Presentation HART Session Network Network WirelessHART Physical Physical IEEE 802 15 4 Figure 3 3 Communication protocol stack of the WirelessHART 79 Transport Successful transmission relies on proper functioning of each layer Therefore when the field devices collect and transmit the temperature and pressure measurement to the gateway Then the measured data is collected and pass down through the OSI layer protocol stack and Page 26 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN communicated over the wireless channel If transmission involves intermediate router then the data goes up to and down from the network layer and at destination packets go up to the application layer at the gateway The functions of each layer is presented below WirelessHART areas are highlighted which is either unique
103. ne or refinery operations due to lack of efficient communications can have major financial consequences A typical oil pipeline pumps more than 3 million of oil per hour 15 while oil industry operates for 24 hours therefore efficient communication is necessary in order to save large financial loses 2 2 2 Wi Fi Wi Fi is another technology used for intra offshore communication According to 16 advance of wireless technology is one of the great success stories of the 21 century Page 19 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Norphonic 17 VoIP offshore telephones use two communication technologies Usually Norphonic is connected to Ethernet using optical fiber but it is also connected to an external Wi Fi transceiver antenna to transmit and receive signals Figure 2 7 Thus a wireless communication solution is provided to offshore by Norphonic Multi directional WEI Transceiver Antenna Power Supply ak 24V DC Power cable Cable LAN 10 100 Mbps Figure 2 7 Typical scenario for Norphonic offshore VoIP telephone connected by Wi Fi 2 2 3 Ethernet Offshore industry uses three types of networks 18 The first type is used for control and safety systems The second type is used for Supervisory Control and Data Acquisition SCADA systems The third type of network is used for Intranets i e internal communication in offshore Ethernet is used in all the three type of networks in ord
104. ntation of a rudimentary WirelessHART network January 2010 https www duo uio no bitstream handle 10852 341 69 DesignxandxlmplementationxofxaxRudim entaryxWirelessHARTxNetwork pdf sequence 1 80 CRC16 CCIT Online Available at http srecord sourceforge net crc16 ccitt html Accessed 25 April 2013 Page 92 of 115 Appendices Appendix A Overview of Sensors Integration of WirelessHART and STK600 for Data Collection in WSN It was another task during our work to find the sensors which are compatible with STK600 but at the same time the sensors need to be ATEX certified Particularly the sensors used in oil and gas industry Table 6 shows details for gas leakage position and motion sensors Different type of sensors used for multiple purposes can be cited in 62 78 Table 6 Overview of sensors Sensor Title Sensor Type Company Output Remarks Price Gas Leakage MQ 2 Sandboxelectronics Analog Smoke LPG CO 5 95 Gas Leakage MQ 6 Sandboxelectronics Analog LPG LNG 8 95 Gas CO2 Futurlec Analog PWM CO 109 9 Concentration UART Angular KMA210 NXP Analog Magnetic Angle 5 18 sensors Sensor Acceleration AFG11311 Farnell Analog 1 axis accelerometer 1386 NOK Acceleration SEN 10537 Sparkfun Digital 3D Gaming Tilt 29 95 Motion sensing Event recorder Position 1GT101DC Honeywell Digital Hall Effect Gear 439 33 NOK Tooth Sensor Motion MMA9550LR FreeScale PWM Digital Tilt 1 56 1 Detect
105. nts are met by DeHiGate solution It is obvious from the figure above that satellite GPRS ADSL WLAN and TETRA are connected to the gateway DeHiGate While the other nodes i e multimode multitechnology nodes are connected to each other and at the same time with the gateway as well on ad hoc bases DeHiGate uses network management system which collects status information from the terminals radios and gateways and presents the collected information to the network manager and operational leaders In this way network manager and operational leaders always keep detailed overview of the network A network manager can easily zoom in and zoom out to see or hide the details The network management system poses the topology overview and detailed network information which shows the geographical position of the terminals and gateways Page 81 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN DeHiGate has clear advantages over traditional ad hoc network For example easy to optimise possible to use different frequencies in different access network more stable network less interference and less hidden node problem The network management system architecture assumes a relative stable network However the nodes bought from the company sexnet few years ago does not exist anymore The operating system and the project name of the nodes are Linux distro and voyage Linux project respectively and currently both are dead 8 3 Ele
106. o enable customers to connect a variety of 4 20mA devices in order to transmit sensor data using the WirelessHART standard to the gateway ar t Microlink HART protocol The Microlink is a USB to HART device interface It provides the hardware interface between HART and a computer with a USB Page 31 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN modem interface e ffe j C LY 3 3 2 WirelessHART Provisioning Tool WirelessHART provisioning tool is an application used to detect and configure the VS220 sensor board and the VL10 power loop board It is used to connect the boards with the WirelessHART network as well to set the burst configuration for the variables published by the boards To detect a device connect any field router to the PC through Microlink HART protocol USB cable To detect the field router follow the next steps 1 Connect jumpers J7 and J8 while J22 is depopulated 2 Both SW4 and SW5 are set to position number 2 and insert the batteries Connect two mini clips of Microlink USB cable with VS220 TR1 and TR2 3 Press Detect Device button in the provisioning tool and click start After successful detection of the device an output window will appear as shown in Figure 3 5 Sometimes VS220 is not detected then either change the batteries or set the SW4 to position 3 and connect the field router to the PC through USB cable All the three
107. of each phase 5 1 Activation of UART between VS220 and STK600 Atmega2560 consists of four UART interfaces A UART is a component that transmits 8 bits of data over a serial line The UART feature of the AVR MCU can communicate with another MCU multiple MCUs or a computer using a voltage level shifter or converter The UART can transmit data using a buffer and a shift register and same is the case with receiving data It creates a frame of data that can be recognised on both transmitting and receiving end The UART frame structure Figure 5 1 consists of 11 bits in total out of which 8 bits are data bits while 2 bits are used as start and stop bits and 1 is parity bit Page 52 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN UA RT Frame Ki Par Stop Message Bits 1 character Start Figure 5 1 UART frame structure We managed to set up UART1 to communicate STK600 with VS220 UART2 header However UARTO of Atmega2560 is used for communication with PC through RS 232 interface so that we can see the requests generated by VS220 on COM port toolkit 3 9 Remember that the baud rate for both UARTs is 38400bps and clock frequency has set to 16MHz Listing 1 shows UART initialization and activation void UART_init UBRROH UBRROL UCSROB UCSROC UBRR1H UBRR1L UCSR1B MYUBRR gt gt 8 Baud rate for communication with PC MYUBRR 1 lt lt REENO 1 lt lt TXENO enable Rx and
108. on MCS send by external sensors over WirelessHART environment 4 2 System Design In this section we provided the description of requirements and how to implement them in order to get a fully functional system Figure 4 1 depicts the design of our system based on the requirements specified in Section 4 1 Page 39 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN a RS 232 i UART N pore Gas leakage STK600 At S WirelessHART sensor mega2560 Nivis E Gang ech z User interface on PC Figure 4 1 Desired network system A step by step clue of design phases of our system is as follows 4 2 1 Integrate STK600 and VS220 UART g STK600 Atmega2560 Nivis field router VS220 Step 1 STK600 and Nivis VS220 integration The first step to start with the designing of system is to make Nivis field router VS220 able to communicate with STK600 which is the core of our system To do so we will use UART interface of both for serial data communication The basic hardware settings and how to connect them using UART is provided in detail in Section 4 3 1 Once this is done we will look forward to the software integration of both where it needs to implement a serial communication protocol which is explained in detail in Section 4 3 2 Once simple API is implemented then VS220 start sending requests to STK600 and we have to respond those requests as defined according to simple API Page 40 of 115 Integra
109. on and the data of pan and tilt actuator encoders are combined in the feedback control In the experiments the vision error and the recognition rate are measured while the mobile robot on which the proposed system is installed and the target are moving The system achieves excellent tracking performance in the various scenarios Start Creating vision thread Creating estimation thread aa eerst 2 vent se estimation No Yes event set i Capturing stereo image Yes s update No Searching target lag set2 from the image Yes No Updating target position Any target Yes Resetting update flag Updatin an tilt motor Gm gegen data Loading gyroscope and wheel encoder data Calculating target a position Compensating Yes for robot motion Setting update flag Calculating actuation angle Displaying the stereo image Transmitting ane thie darga actuation command position Locking vision event Locking estimation event Got Figure 7 3 Vision and estimation threads 50 Page 78 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Another system for vision tracking is proposed by 56 In which stereo camera is used for vision tracking based on motion information Gyroscope and encoders are used to obtain robot motion information While stereo camera calculates the relative position of the target from robot The system res
110. origin and at the same time the observer observes from any positive location in x y or z axis then the rotation of the device is counter clockwise Rotation is positive in the counter clockwise direction that is an observer looking from some positive location on the x y or z axis at a device positioned on the origin would report positive rotation if the device appeared to be rotating counter clockwise This is the standard Page 75 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN mathematical definition of positive rotation and this is not the same definition for roll used by the orientation sensor The output of the gyroscope is integrated with respect to time in order to calculate a rotation which describes the change of angle over the timestamp Standard gyroscopes provide rotational data without filter or correction of noise Practically gyroscope noise introduces error which needs to be overcome Usually the drift and noise are monitored by other sensors such as accelerometer or gravity sensor 7 2 4 Linear Accelerometer The linear acceleration sensor provides three dimensional vector which represent acceleration along each device axis excluding gravity This sensor can be used to obtain acceleration data without the influence of gravity For example this sensor can be used to check the speed of the car such as how fast the car is running Linear accelerometer has an offset which needs to remove to obtain
111. otion sensors and their types These sensors play very important role to locate the exact location of the moving object and adjust the tilt of the mobile robot accordingly Later section in this chapter presents practical scenarios where both the sensors are used and excellent results has been achieved due to the accuracy of both the sensors The sensors briefed in this part of the thesis can also be connected to our WirelessHART testbed Recently with the introduction of intelligent wireless sensor based controls revolutionize the industry on account of reduced costs better power consumption management easy maintenance and deployment in remote areas Industrial applications such as maintenance monitoring control and security etc are the successful stories of such kind of sensors Instrumentation systems 45 are either open or closed loop control systems The loops are formed through sensors and actuators in order to control certain parameters or state of the system The system elements always communicate among each other usually requires a real time performance and built in fault tolerance for communication failure Predictive maintenance involves to track the physical state of equipment and to take action if an acceptable or allowed state is violated 46 In case of any violation sensors raise an alarm They are very useful to keep the machine down time slow and help locate the problem before the machine breaks down Typical systems employ d
112. ping and debugging embedded application on AVR chips The IDE supports on chip debugging breakpoints viewing of registers I O ports and instruction level stepping This makes it a very powerful tool for the development of embedded AVR applications AVR Studio 4 18 is the mostly used version with the development boards like STK500 and STK600 and is built on Visual Studio which gives it a powerful base in terms of editor features compared to the previous versions A screen shot of the AVR studio 4 18 IDE can be seen in Figure 4 7 Page 48 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN AVR Studio CAUsers Awais Documents stk stk c R e SES i EI File Project Build Edit View Tools Debug Window Help 8X Msie e VA T E Ee S A S EA EA E EE a EE aE Trace Disabled Jr mmm Ge um Ae BS xs eG stk default define BAUD1 38400 baud rate for S220 E FEGE 7 es scores define MYUBRR1 FOSC 16 BAUDI 1 77 UBRR for baud 38400 at 7 3728 Mhz clock EMS Name Value Header Files External Dependencies STOEN p include lt avr io h gt HD ANALOG_COMPARA GE Other Files include lt avr interrupt h gt uf poor Loan include lt util delay h gt z sacru void UART_transnit unsigned char data SI A EEPRom void UARTO_transmit unsigned char data 3 S EXTERNAL ween void UART_transmit unsigne
113. r which the data is sent The table in section 3 4 1 shows the Assigned Device Variable Codes 1 4 are the Variable Codes assigned to the sensor on the VS220 Analog Input Temperature Humidity and Dew Point The next variable codes 5 12 are the user defined variable codes These are the channels that you ll use to transmit your values to the VS220 For example if you have one sensor connected to your STK600 and you want to transmit the value that it reads to the VS220 you can use let s say Ch_Analog_1 which has the Device Variable Code 5 So when you ll transmit the data to the VS220 with the data pass through message you ll have to send the device variable code 5 in this example followed by 4 bytes which represent the value read from the sensor in float format Loop Test Answer Load the code on STK600 and the flow should be the following Upon start the STK will send the string Init to the PC then it enables the interrupts and whatever comes from the VS220 it will send to the PC Please note that the baud rate for the STK600 PC communication is 9600 Read Data Request Description How can make VS 220 able to send Read Data Request command periodically to STK600 Do we need to program in the form of frame format Answer The VS 220 sends the Read Data Request periodically on its own you don t have to program it or anything If you can t see any communication on the UART this can be caused by two reasons the UART lines are
114. re 3 8 WirelessHART network If the attached field router is not detected then open the provisioning tool and follow the procedure as discussed in Section 3 3 2 After detecting the field router click tools option and then start assisted join The device is fully connected to the network Figure 3 9 Page 34 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN WirelessHART Provisioning Tool v1 0 4 DEVICE 00 1B 1E F8 76 FF FF FF Tools Assisted Join Device Monitor p doin Status 1 Searching for network 2 Joining 3 Negotiating bandwidth A Join complete Start Assisted Join _ Stop Monitoring l J Operational E Save log to file Figure 3 9 Joining of field router to the network Since the field router devices are preconfigured to publish the Primary Secondary Tertiary and Quaternary variables which are internally mapped to the readings of Current Temperature Humidity and Dew Point from the on board integrated sensors Figure 3 10 Readings beta sage D commande J Shan Devices Name C Device varise E Items per page ECET out of total 8 afi Cmd Device Unit Update EUI 64 Address Timestamp Name Value Classification Last Update Received Missed No Variable Code Period 00 15 1E F3 75 02 0F 11 2013 02 28 emperature 24 720001 OL Siz 13 41 52 00 28 16 F8 76 02 0F 21 ates Humidity 21 928046 2013 02 28 23 41 52 13 41 52 2013 02
115. re 6 1 that double characters are displaying in the screen It means the character we send from the PC to STK600 echoed back to PC which proves that the loopback test is just works fine Next we have presented the outputs of step by step clue as described in Chapter 5 6 2 Scenario 1 Integration of VS220 and STK600 Request Response In this section we have presented the results from Data Pass Through commands 6 2 1 Read Data Request VS220 gt STK600 Atmega2560 Once the UART connections between the two devices is established and software integration is implemented we can see that the VS220 starts sending Read Data Request Figure 6 2 commands which has the following format F1 10 02 80 05 06 07 08 09 OA OB 0C D4 E6 Where F1 is the start of character 10 is the message header High nibble 1 denotes that message is a Data Pass Through command and low nibble 0 denotes that it is a request 02 is the message type Read data Request 80 is the message ID which will change with every successful transaction and the first message will have the message ID 80 08 is the Data size 8 Bytes in this case 05 0C represents Device variable codes D4 E6 are the CRC of all the above data excluding STX character These bytes will change with every successful transaction Page 64 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN D4 EG D4 EG D4 E6 D4 E6 D4 EG D4 E6 D4 E6 D4 E6 D4 E6 D4 E6 D4
116. request we used Interrupt Service Routine ISR to respond for every request over UART through Compose Response function CRC is calculated based on a standard 16 bit CRC CCIT algorithm which used 0x 1021 as a polynomial 80 which can be seen by the function crc_calc Appendices 3 Page 56 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Note The data used at this stage is not collected but manually generated As a consequence after the implementation of Nivis simple API the two boards STK600 and VS220 are able to transmit and receive messages through UART interface 5 3 Integration of Sensor with STK600 A Sensor Board Next step is to interface a gas leakage sensor to STK600 now it acts as a sensor board MQ 2 gas sensor is connected to STK600 Figure 5 3 which is sensitive to LPG i butane propane methane alcohol hydrogen and smoke We used MQ 2 sensor due to analog output Pa a Gas leakage STK600 Atmega2560 Nivis field router Sway of intemet ae J VS220 User interface on PC Figure 5 3 Sensor interfaced with STK600 Since the sensor produce continuous analog output so we used ADC pin on STK600 to convert the analog value to digital For Atmega2560 port F and port K can be used as ADC ports and we have chosen PFO as ADC pin Due to the ADC input voltage range VCC voltage is kept 5V However we may also use selectable 2 56V or 1 1V ADC reference voltages The cloc
117. response Page 100 of 115 Appendix C Source Code new Cc Integration of WirelessHART and STK600 for Data Collection in WSN define FOSC 16000000 define BAUD 38400 define BAUD 38400 define MYUBRR FOSC 16 BAUD 1 Clock Speed Baud Rate define BAUD1 38400 baud rate for VS220 define MYUBRR1 FOSC 16 BAUD1 1 UBRR for baud 38400 at 16Mhz clock inclu inclu inclu inclu de de de de lt avr io h gt lt avr interrupt h gt lt util delay h gt lt string h gt define FOSC 16000000 define BAUD 38400 define BAUD 38400 define MYUBRR FOSC 16 BAUD 1 Clock Speed Baud Rate define BAUD1 38400 baud rate for VS220 define MYUBRR1 FOSC 16 BAUD1 1 UBRR for baud 38400 at 16Mhz clock include lt avr io h gt include lt avr interrupt h gt include lt util delay h gt Page 101 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN include lt string h gt include lt util crcel6 h gt include crc h define poly 0x1021 typedef struct unsigned char m_ucVariableCode 1 union float m_fValue unsigned char m_ucValue 4 um Value VARIABLI GI VARIABLI GI varl var2 var3 var4 var5 var6 var var8 volatile unsigned char ucBuffIn 50 unsigned char ucBuffOut 50 volatile unsigned char ucIndex 0 unsigned int Index unsigned char ucByteCount 0 int isFirst 0
118. rformance parameters were not focused throughout the experiments such as network throughput packet loss ratio end to end delay jitter etc which can be the starting point for our future work To make the WirelessHART development kit more stable in order to provide full functionality to end users To test other types of sensors with the network we provided will be the next future task Finally to configure ISA100 11a with the same setup and compare the results with WirelessHART to analyse which standard is the best one since both are the competitors as industrial standards in automation processes Page 85 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN References 1 Devender Maheshwari Robust offshore networks for oil and gas facilities January 2010 http repository tudelft nl view ir uuid 3A9cdfa8d4 ab0e 4776 bbe2 407c4cd6cdf2 2 Petersen S Doyle P Vatland S Aasland C S Andersen T M Dag Sjong Requirements Drivers and Analysis of Wireless Sensor Network Solutions for the Oil amp Gas Industry Emerging Technologies and Factory Automation 2007 ETFA IEEE Conference on vol no pp 219 226 25 28 Sept 2007 3 Ceragon point link Online Available at http www ceragon com newproduct asp ID 1 10 Accessed 07 December 2013 4 Cassidian custom built communication solutions for the oil and gas industry Online Available at http www cassidian com documents
119. rsh industrial environments and their unique demands on robustness interference rejection and security Page 21 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN A typical ISA100 11a installation kit consists of a group of components both physical devices and software modules each is capable to fulfil one or more defined functions In ISA100 11a each device has a set of roles which are defined to describe their functions and capabilities ISA100 11a device performs one of the following tasks 29 Input Output I O Each device in ISA100 11a provides sensor data to other devices or uses the actuators data from other devices Router A router is a device used to route data from other devices in the network Provisioning A tool which is used to detect and connect a device to the network is called provisioning tool Backbone Router A device which is capable to route data to or from a backbone network Gateway A device which provides an interface between a wireless networks to the global Internet It is the gateway which allows end user to access the network System Manager It is an application used to control monitor and measure the network parameters It governs the network network devices and network communications Security Manager It is an application used in conjunction with the system manager to provide a secure system operation System Time Source A device that is responsible to maintain
120. s section includes the results Figure 6 5 that shows the data from gas leakage sensor in the response that STK600 send to VS220 to be forwarded over WirelessHART Page 67 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Received 08 05 06 07 08 09 0A OB OC D4 E6 F1 18 03 80 28 05 43 11 00 0006 41 AO 00 00 07 41 AO 00 00 08 41 AD 0D 00 09 00 00 00 00 OA 00 00 00 00 08 00 00 00 00 OC 00 00 00 00 BDES F1 10 02 80 08 05 06 07 08 09 DA OB OC D4 E6 F1 18 03 80 28 05 43 1 00 oke 41 AD 00 00 07 41 AD OD 00 08 41 AD 00 00 09 00 00 OD OD OA 00 OD 00 00 OB 00 00 00 00 OC 00 00 00 00 BDES Fi 10 02 80 08 05 06 07 08 09 0A OB OC D4 E6 F1 10 02 80 08 05 06 07 08 09 0A 0B OC D4 E6 F1 18 03 80 28 05 43 13 00 00 06 41 AD 00 00 07 41 AD 00 00 08 41 AD 00 00 09 00 00 00 00 OA 00 00 00 00 0B 00 00 00 00 OC 00 00 00 00 64 F2 0D FI 10 02 80 08 05 06 07 08 09 OA OB OC D4 E6 F1 18 03 80 28 05 43 13 00 00 06 41 AD 00 00 07 41 AD 00 00 08 41 AD OD 00 09 00 OD 00 00 OA 00 00 00 00 0B 00 00 00 OD OC 00 OD OD 00 64 F2 0D F1 10 02 80 08 05 06 07 08 09 0A 0B OC D4 E6 F1 18 03 80 28 05 43 13 00 00 06 41 AD 00 00 07 41 AD 00 00 08 41 AD OD OD 09 00 00 00 00 0A 00 00 00 00 0B 00 00 00 00 OC 00 00 00 00 64 F2 0D F1 10 02 80 08 05 06 07 08 09 OA OB OC D4 E6 F1 18 03 80 28 05 43 1A 00 00 06 41 AD 00 00 07 41 AD 00 00 08 41 AD 00 00 09 00 0D 00 00 0A 00 00 00 00 OB 00 00 00 00 OC 00 00 00 00 D456 F1 10 02 80 08 05 06 07 08 09 OA 0B OC
121. send us a set of logs from http lt VR_IP gt admin The username is admin and password is adminadmin VS220 Detection Issue Description connect HART modem USB with my laptop and the two mini clips with VS220 TR1 and TR2 while populating J7 and J8 and depopulating J22 At the same time turned on WirelessHART provisioning tool in order to detect device both the red and green LEDs are on sometime it shows the device connected but after some time it prompt an error with disconnection tried all the three VS220 each has the same problem once connected and then disconnect Can you please explain where we make the mistake and what is the proper configuration to detect the device Answer When the WirelessHART provisioning tool detects VS220 meanwhile the Monitoring Control System detects the same device However Monitoring control system does not show as the VS220 disconnected with provisioning tool Page 94 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN You can connect the two USB Microlink mini clips to the TR1 and TR2 pins both on the VL10 and the VS220 Please note that for connecting the Microlink to the VS220 you ll have to populate J7 and J8 and depopulate J22 There is no need for a 250 ohm resistor Hyper Terminal Description am now able to get some responses on the hyper terminal Answer The Device Variable Code parameter is an identifier that is used to keep track of all the channels ove
122. sky with an acceleration of A mie then z acceleration value is equal to A 9 81 which corresponds to the acceleration of the device A m s minus the force of gravity 9 81 me e A device in static position has 9 81 acceleration value which corresponds to the acceleration of the device 0 m s minus the force of gravity which is 9 81 m s Z Heading Figure 7 1 Accelerometer orientation 49 In general the accelerometer is a better option to monitor device motion Nearly every Android powered handset and tablet has an accelerometer and it consumes 10 times less power than the other motion sensors In order to reduce gravitational forces and reduce noise accelerometer needs to implement low pass and high pass filters which is a draw back in these sensors 7 2 2 Gravity Sensor The gravity sensor provides a three dimensional vector which is used to indicate the direction and magnitude of gravity It has the same unit as used by the acceleration sensor i e m s Similarly it uses the same coordinate system as used by the acceleration sensor The output of the gravity sensor and accelerometer is identical when a device is at rest 7 2 3 Gyroscope The gyroscope measures the rate or rotation in rad s around a device s x y and z axis It uses the same coordinate system as used by acceleration sensor In the counter clockwise direction the value of the rotation is positive It means if the device is positioned on the
123. ssHART only cross layer design of MAC and network layer for energy consumption has been considered TDMA link scheduling optimizes the routing for each node and also minimizes the total energy consumption of the network This can be achieved by load balancing between field devices which work as transceiver between Access Point AP and the nodes at higher levels This problem can be formulated as a multi constraint convex optimization and can be solved using an iterative algorithm at the gateway 34 3 2 WirelessHART vs ISA100 11a Summery As stated earlier WirelessHART and ISA100 11a are competitors in the long run of becoming the de facto global standards for process and automation industry Table 1 highlights the key differences and similarities we have found between the two standards during our study Table 1 Key differences and similarities between WirelessHART and ISA100 11a Properties WirelessHART ISA100 11a Comment Field devices Each node acts as Either simple node or In ISA100 11a node router router depends on its routing capabilities Network topology Mesh network Star star mesh Topology depends on the role of the field device in ISA100 11a Flexibility Less flexible More flexible WirelessHART has few while ISA100 11a has many optional parameters Page 29 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Protocol support HART protocol Tunneling protocol Both
124. st messages variables and trigger values Burst messages format consists of parameters such as EUI64 command number burst message and update period etc are configured While in variable section the parameters such as command number message bursts device variable code name device variable slot device variable classification and unit code are configured Similarly command number burst messages burst trigger mode selection device variable classification unit code and trigger values are configured in trigger format section Command number and burst message is same for all the three sections Figure 4 6 shows monitoring host in MCS Page 47 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Network 10 9012 s Toooloey e Devices Stan Cewces Repsteredorty Je Network Heth a Reagngs Iems per page EENEI out of total 4 s Commands Log we emm Glen reg AP Actas Point WirelesstART Device FULL JOIN WA Configuration o Aepgan Pain Niis WirelessHART wiSO2 O20F11 Cevice WA FULL_JOIN N A Geway Network Manager WirelessHARTt F980 Nines WHat Manager Netwerke pt FULL JOIN N A etno anager LTH KIVIS GW Gatemay WirelessHART Gatenay FULL_JOIN WA Statistics Syste Simus Administration s System Uperade Figure 4 7 Monitoring host in MCS 4 5 Atmel AVR Studio 4 18 We have utilised AVR studio for development and debugging purposes Atmel AVR is an Integrated Development Environment IDE for develo
125. t is Integrate WirelessHART and STK600 development kit for data collection We are very much obliged to thank our university supervisors Dr Frank Yong Li and Anmed Noor for their constructive support and supervision throughout our thesis without which it would have been really difficult to achieve our goals Their timely feedbacks helped us correcting our mistakes and improving our thesis We are thankful to our co supervisor Erlend Knutsen for his assistance during meetings at Applica consulting We would also like to thanks Stig Petersen from SINTEF for refining our problem definition and sharing his rich experience in wireless sensor networks with us We are grateful to Stefan Vos from Nivis who provided us full support despite of being in Romania Furthermore we would like to thank Lill Hege Hals for initializing this project and who has arranged meetings with the experts in oil and gas industry Thanks to Pal Berg for his kind suggestions about different oil and gas industry parameters Thanks to Stale Enes Manager integrated control systems in National Oilwell Varco for his help and encouragement during our thesis We are grateful to our families back in Pakistan to support us to study at the University of Agder Muhammad Maqsood Awais Masood University of Agder Grimstad Norway 03 June 2013 Page 3 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN List of Abbreviations ATEX API CoW
126. t we can get idea for implementation or if we can get some relevant example codes for the procedure mentioned in Nivis Simple API doc Answer The API message format is as follows STX Message Header Message Type Message ID Data Size Data CRC The STX is the start character for every message and it has a value of OxF1 The Message Header indicates the Message class bits 7 4 and if the message is a request or response bit 3 0 Request 1 Response The Message Classes are 1 Data Pass Through 2 Reserved 3 Reserved 4 API Messages 5 ACK 6 NACK 7 User Board The Message Type depends on the Message Class The Message ID is used for synchronization between message requests and responses It must be incremented every new request and kept the same for the respective request s response Page 98 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN The Data size represents the number of data bytes in the message without the CRC The Data represents the request response message data The CRC is a CCITT CRC algorithm with the polynomial 0x1021 and includes every byte of the message except the STX and CRC It is 2 bytes long An example of API Message API_MAX_UART_SPEED that reads the maximum UART Speed of your board is OxF1 0x40 0x05 0x80 0x00 Ox1A 0x34 Meaning OxF1 Start Character 0x40 API Message Request 0x50 API_MAX_UART_SPEED 0x80 M
127. the actual reading It is easy to remove offset in the application during the calibration step During calibration step the user set the device on a table and reads the offset for all the three axes Then user can subtract that offset from the acceleration sensor s direct reading to obtain the actual linear acceleration In the next section vision system for mobile robots to track moving objects targets are presented The experiment is based on robot motion and stereo vision information The tracking system is based mainly on position and motion of the target and mobile robot that s why position and motion sensors are briefly explained in previous sections 7 3 Vision System for Mobile Robots The vision information system is one of the most effective way to achieve high performance in critical application scenarios 50 Control method is used to obtain stable vision input and keep an eye on a target while the robot is moving Therefore highly effective control system is the basic parameter required to track moving object in a vision system The vision tracking system based on multiple sensors proposed by 51 53 Multiple sensors has advantages since it reduces the computational cost of the vision information processing and improves the tracking performance in various scenarios 54 Multiple sensors such as gyroscope robot wheel encoders pan and tilt actuator and the stereo camera are used by 50 to track moving targets through vision tr
128. the master time source for the system In ISA100 11a the sensors and actuators do not exhibit the routing capabilities Due to these characteristics ISA100 11a field devices can be defined as either simple end nodes with no routing capabilities or router nodes with routing capabilities Therefore due to the role of the field devices within the network ISA100 11a forms star mesh star or mesh network A typical ISA100 11a network with a star mesh topology is illustrated in Figure 2 8 Page 22 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Routing Backbone Gateway System Manager and Security Manager 2 SZ n p E D O Plant Automation Network Backbong Router R Figure 2 8 A typical 1SA100 11a network with a star mesh topology 29 The backbone network represents a wired network which connects different ISA100 11a devices and components together Backbone router is used for configuration Gateway system manager security manager and backbone router reside in the same physical device Typically in a mesh network the sensors nodes which are directly connected to the backbone router face high traffic load In the figure above devices such as A B F and G has high traffic load The main reason for high traffic of these devices as they forward the packets to the gateway on behalf of rest of the nodes within the network In congested network this result in a substantia
129. tion of WirelessHART and STK600 for Data Collection in WSN 4 2 2 Interface between PC and STK600 Rei RS 232 UART A STK600 Atmega2560 Nivis field router VS220 Step 2 Interface between PC and STK600 In order to observe the communication between STK600 and VS220 we required an interface between STK600 and PC For this we need to set up another UART on STK600 in a way that it can communicate with the PC so that we can able to see the real time communication between STK600 and VS220 on our PC To do so we will use RS 232 spare header and UARTO on STK600 Figure 4 2 and connect RS 232 port of STK600 to USB port on PC through RS 232 to USB serial cable We use a data analyser COM port toolkit 3 9 for data visualization which is explained later in this chapter Figure 4 2 UARTO connections with RS 232 to monitor data over PC Page 41 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 4 2 3 Interface a Gas Leakage Sensor to Send Data to VS220 via STK600 Gas leakage STK600 Atmega2560 Nivis field router sensor VS220 Step 3 Gas leakage sensor interface with STK600 and VS220 Next step needs to implement is to interface a sensor with STK600 and make it to be able to forward sensor data to VS220 VS220 will then forward data over WirelessHART environment through HART gateway To do so we must have a senor with UART Analog or SPI interface because STK600 support these three interfaces Currently we
130. tional satellite and microwave can no longer provide the necessary bandwidth and reliability pushing the need to go to high capacity reliable fiber optic networks 12 In normal operations case most of the traffic is routed via fiber optics due to its enormous bandwidth 1 However if redundancy link is not included in the form of ring topology then breakdown in fiber cable proves to be a disaster as most of the traffics is routed via this link To avoid such situations operators use either optical redundancy or combination of multiple technologies Optical redundancy is not cost efficient solution Multiple combinations of technologies such as optical fiber and microwave radio links are used by Tampnet Tampnet is an authorized telecommunication operator in Norway and Australia Tampnet developed high capacity resilient and low latency communication network of multiple technologies i e fiber backbone and microwave radio links serves both the Norwegian and UK sectors Tampnet optical fiber link is shown in Figure 2 5 TRONDHEIM ORERGEN O STAVANGER ABERDEEN O LONDON O Figure 2 5 Tampnet optical fiber links 11 2 1 4 WiMAX WiMAX is another inter offshore communication technology Unlike traditional point to point microwave WiMAX refers to wireless cells which cover many miles in diameter The WiMAX antenna provides 18 Mbps coverage within a 25 km radios Each cell enables anyone or anything within the footprint to be connect
131. to the MCS once you ve implemented Simple or Full API Packet Lose Description The packet loss and packet delivered are nearly the same what are the reasons for too much packet loss missed packets Is it due to the voltage level converter Answer Yes these are the received values from the STK600 not the overall packets that are sent over the WirelessHART environment It is losing some packets until it has a chance to obtain a service with the Network Manager The sending of the data mechanism requires a periodic service with the Network Manager and until the Network Manager allocates the bandwidth for this service the data cannot be sent to the Gateway thus resulting in a few values lost Updated Readings Description The WirelessHART development kit is this just a testbed or a real product which can be used in industry Because we always restart reset each time for the latest value Answer The Web Interface is a product for development and not for the end user You have to refresh or click on the search button to update the value Sequence Number Description Sometimes the sequence no of the packet is not changed it shows the same sequence no all the time for different sensor values what can be the reason Answer The sequence number is incremented every successful received packet If something is wrong with the packet message ID data size CRC it will resend the packet with the same sequence number until it gets the correct
132. ttings in monitoring host and press Activate to update the readings Next in the readings section we can see the new variables along with the built in sensors Sensor data associated with each variable is also updated which can be seen in Chapter 6 5 6 Chapter Summary In this chapter we provided an overview of various approaches and steps taken on our way to implementation We have given step by step details on how the system is implemented starting out from the core phase simple API and end up with complete functional system referred to as Figure 4 1 A complete picture of working system A source code written for different phases has also explained in addition to functions used for implementation of this application The modification and configuration of MCS and monitoring host to publish sensor data over web interface is also described in detail To evaluate our implementation we have provided some experimental results in the next chapter Page 62 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 6 Experimental Results In this chapter we provide an overview of various tests performed on Nivis WirelessHART and STK600 on the basis of settings performed in previous chapters We then evaluate our results in order to prove the completeness and accuracy of our concept mentioned in Section 1 2 Different scenarios we have performed experiments are enlisted below e Test Scenario e Scenario 1 Integration of V
133. ty to each other such as cluster of facilities on field Microwave is much more cost effective solution It overcomes the capacity and latency capabilities of traditional satellite communication 8 Shorter distance is the limitation for microwave communication technology However Nera networks currently Ceragon 9 which is a key communication equipment supplier to Norwegian offshore industry since the 1970s solved the shorter distance problem Ceragon used advanced PointLink system and Evolution Long Haul technology and delivered a high capacity radio link which is unaffected by fading harsh weather conditions or rig movements Ceragon s microwave provides the main link while satellite connection provides low capacity backup Ceragon built 123km link to Talisman Canada largest petroleum company Yme oil field in the Norwegian North Sea and became the world longest microwave radio over water link to an offshore rig with capacity of 128Mbps 10 The microwave link is shown in Figure 2 4 Stavanger Sandnes Ka Bjerkreim TV mast 123 km Kristiansand Yme Zs Figure 2 4 Ceragon 123km over water link 10 Page 17 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN 2 1 3 Optical Fiber Optical fiber communications revolutionize offshore operations 11 Fiber optic provides high capacity broadband access increase efficiency and major cost savings The capabilities of bandwidth and reliability of tradi
134. use different routing protocols and supported by different market players Interoperability Facilitate Interoperability issue Due to the optional interoperability between vendors parameters Transport layer Supports ACK and NACK Supports only NACK ISA100 11a provides connectionless services Modulation scheme DSSS and FHSS DSSS and FHSS Both use combination of these two modulation schemes Physical layer IEEE 802 15 4 IEEE 802 15 4 Both operates in 2 5GHz 2 5GHz same ISM band Channel bandwidth 2MHz 2MHz Channel spacing 5MHz 5MHz Channel access TDMA and frequency hopping TDMA and frequency hopping Coexistence Friendly coexistence Friendly coexistence with other wireless with other wireless systems systems Why WirelessHART Despite what has just been stated WirelessHART still dominates the market because WirelessHART enabled devices are already available as well as 26 million installed HART devices worldwide Due to the fact that WirelessHART is more popular in process and automation industry we were interested to work on WirelessHART and fortunately we had Nivis WirelessHART development kit in UiA lab Nivis radio VS220 has limited sensors and we aim to make it capable to get the readings from external sensors to obtain the functionality of WirelessHART environment The description to set up Nivis WirelessHART development testbed is presented in next sect
135. verview of Nivis WirelessHART development kit with its components and function for each component It also provides the key features of the starter kit and microcontroller used during the project which are STK600 and Atmega2560 respectively At the end of this chapter we provide a brief summary for the starting point of this thesis in terms of practical work and planning of project 3 1 WirelessHART Brief The WirelessHART was officially released in September 2007 as the first open wireless communication standard specifically designed for process measurements and control applications It operates at 2 4GHz ISM radio band It is Time Division Multiple Access TDMA based wireless mesh networking technology It offers self configuring little or no training is necessary for the plant workers to start using it self healing multi hop mesh network with robust and secure communication links WirelessHART provides interoperability to devices and capable to deliver sensor data in most hostile and remote areas to a process plant In WirelessHART reliable communication is achieved by modulation techniques through DSSS and FHSS It uses retransmission mechanisms It provides spatial path diversity through the mesh network Data security is achieved by multi layered approach for authentication integrity WirelessHART is using well tested encryption algorithms which ensures the security level necessary for the plant 26 The main motivation point of WirelessHAR
136. xisting solutions and open standards used in offshore e Setup Nivis WirelessHART testbed and perform experiments e Integration of Nivis WirelessHART with Atmel AVR development kit STK600 Atmega2560 in order to forward readings from external sensors over WirelessHART network to the HART gateway Page 14 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Configure a user interface to visualize the sensors data over the web interface by Nivis Perform tests and validate the conceptual overview given in Figure 1 1 1 5 Report Outline The rest of the report is structured as follows Chapter 2 provides a brief overview of offshore communication technologies Chapter 3 presents WirelessHART layered architecture of WirelessHART and elaborates the differences between two standards and overview of Atmel STK600 development kit System requirements and design is defined in Chapter 4 Chapter 5 gives detailed information of the steps taken throughout development and how the project has been implemented Chapter 6 covers experimental results and tests performed on WirelessHART and STK600 Analytical survey about position and motion sensors are described in Chapter 7 Different approaches solutions and parameters investigated during this study are discussed in Chapter 8 Finally conclusions and future work are presented in Chapter 9 followed by references specifies source material and appendices Page 1
137. xternal sensor board so that we can get the readings from external sensors and publish the data over web interface provided by Nivis Since Nivis WirelessHART field router is not an open source and un programmable therefore it is considered as a black box Due to lack of such capabilities we cannot connect external sensor directly to Nivis radio We have chosen Atmel STK600 Atmega2560 development kit as an external sensor board In order to establish communication between STK600 and Nivis WirelessHART we have written an application in AVR studio and flash it to STK600 over the USB connection We have implemented a serial communication protocol called Nivis simple API and made Nivis board able to get data from sensors interfacing STK600 Nivis radio will then forward this data to WirelessHART through HART gateway Moreover we have configured Monitoring Host to visualize the data from external sensors along with built in sensors over the Monitoring Control System MCS Finally we evaluate our implementation by various experiments and prove that the overall flow is working properly Page 2 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN Preface This report is the final result of a 30 credits Master Thesis IKT590 completed at the Faculty of Engineering and Science University of Agder UIA in Grimstad Norway The work on this project started from 01 January 2013 and ended on 03 June 2013 The main goal of our projec
138. y to 200 kHz It is important to note that always select hex file from the default folder of the program Then click the program to flash the hex file on STK600 In the same way the elf production file format needs to select and program each time 4 6 COM Port Toolkit 3 9 COM port toolkit 3 9 Figure 4 9 has been used during our project to visualize the real time communication between VS220 and STK600 on our PC through RS 232 serial interface It is a data and timing analyser designed specifically to isolate the problems with serial data communication RS 232 COM port toolkit is an indispensable test tool for industrial control and SCADA design and test engineers system integrators field service and maintenance engineers The product enables shorter and less costly development intervals for serial communications equipment improved mean time to repair following equipment 42 Page 50 of 115 Integration of WirelessHART and STK600 for Data Collection in WSN e a ed Si 01 24 57 ASCII Received CS AD 00 00 08 41 AO 00 00 09 00 00 00 00 OA 00 00 00 00 OB 00 00 00 00 OC 00 00 00 00 87 7B F1 10 02 A3 08 05 06 07 08 09 OA OB OC 5C 24 F1 18 03 A3 28 05 43 7F 00 00 06 41 AO 00 00 07 41 AO 00 00 08 41 AO 00 00 09 00 00 00 00 0A 00 00 00 00 0B 00 00 00 00 OC 00 00 00 00 41 A8 F1 10 02 A4 08 05 06 07 08 09 OA OB OC 40 DEF 18 03 A4 28 05 43 7F 00 00 06 41 AD 00 00 07 41 AO 00 00 08 41 AO 00 00 09 00 00 00 00 0A 00 00 00 00 0B 00 00 00 00

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