Sensor Data Collection Through Unmanned Aircraft Gateways Andrew Jenkins, Daniel Henkel, Timothy X Brown University of Colorado, Boulder Infotech@Aerospace ’07 March 14, 2007

AUGNet Group 1 16cm Group 2 241cm 11/10/2018 Ad hoc UAV Ground Network

Sensor Data Collection Delay tolerant traffic! SMS-3 Gateway-2 CDMA Sensor-1 SMS-1 Sensor-2 SMS-2 Gateway-1 Sensor-3 Have sensors all on left side Highlight ferrying to the right side SMS locations Sparsely distributed sensors Limited radio range, power Multiple monitoring stations 11/10/2018

Implement sensor data collection Special gateway nodes the key Overview We combine: A restricted form of delay tolerant networking (DTN); Service discovery mechanisms Implement sensor data collection Special gateway nodes the key 11/10/2018

To deliver sensor events to monitor station Problem To deliver sensor events to monitor station To deliver commands to sensors Challenges Sensors and monitors do not know each other Links may be intermittent End-to-end connectivity may never exist 11/10/2018

Why not Sensor Networks? Events collected at base stations within network Specialized addressing and routing What if Monitor Station is elsewhere? Monitor Station and sensor in different networks Addressing? Routing? 11/10/2018

Why not Ad Hoc Networks? Ad hoc networks: Does not solve Peer-to-peer routing Does not solve Intermittent connectivity Inter-networking 11/10/2018

Why not IP Networks? Traditional IP networks: Assumes Route across network domains Assumes End-nodes can assume burden End-to-end connectivity Network-wide services always accessible DNS 11/10/2018

Best network for each stage Special nodes at boundaries Approach Staged delivery Best network for each stage Special nodes at boundaries External Network SMS1 GW1 SMS2 Ad Hoc Network T1 GW2 External Network Sensors SMS3 GW3 T2 Sensors 11/10/2018

Network Overlay Model Network 1 Network 2 Network 3 MANET SMS Gateway 6.0.0.0 10.0.0.0 192.168.0.0 MANET Sensor SMS Gateway Terminus Sensor SMS Gateway SMS Sensor Sends to fixed address Reliable Forwarding NAPT Multicast GW Discovery Custody Transfer Reliable Forwarding NAPT Multicast GW and SMS Discovery Custody Transfer Reliable Forwarding SMS Discovery Reliable Forwarding 11/10/2018

Network Stack 11/10/2018

Software Implementation Click Modular Router 11/10/2018

Hardware Implementation RTT 40ms, 15hrs sustained operation Soekris SBC, embedded Gentoo Linux Atheros miniPCI, Madwifi-ng driver 11/10/2018

Performance Results I Loss Rate 11/10/2018

Performance Results II DTNClock Demo 11/10/2018

Generic sensor data collection solution Conclusions Generic sensor data collection solution Reliable (no need for end-to-end connectivity) Hides complexity from end points Can overlay many different networks Working delay tolerant network 11/10/2018

henk@colorado.edu http://recuv.colorado.edu/ The End henk@colorado.edu http://recuv.colorado.edu/

Research & Engineering Center for Unmanned Vehicles (RECUV) Research and Engineering Center for Unmanned Vehicles University of Colorado at Boulder http://recuv.colorado.edu The Research and Engineering Center for Unmanned Vehicles at the University of Colorado at Boulder is a university, government, and industry partnership dedicated to advancing knowledge and capabilities in using unmanned vehicles for scientific experiments, collecting geospatial data, mitigation of natural and man-made disasters, and defense against terrorist and hostile military activities. 11/10/2018