1 Số hóa bởi Trung tâm Học liệu – ĐHTN http //www lrc tnu edu vn S Smart Lecture Room for Smart Campus Building Automation System Kien Tran Pham Thai Master thesis submitted under the supervision of P[.]
Smart Lecture Room for Smart Campus Building Automation System Kien Tran Pham Thai Master thesis submitted under the supervision of Prof Dr Ir Martin Timmerman In order to be awarded the Master’s Degree in MSc in Electronics and Information Technology Engineering Academicyear 2014-2015 Master thesis submitted under the supervision of Prof Dr Ir Martin Timmerman In order to be awarded the Master’s Degree in MSc in Electronics and Information Technology Engineering S Academicyear Số hóa Trung tâm Học liệu – ĐHTN 2014-2015 Tai ngay!!! Ban co the xoa dong chu nay!!! http://www.lrc.tnu.edu.vn Abstract In the recent years, the terms of “Internet of Things” and “Smart Building Automation System” come into practical implementations from a hot topic for researches and developments Beyond the concept of every facilities or appliances in your apartment or office can be controlled remotely, as an automated entity, such system is now required to be intelligent The intelligence include an adaptive operation with context awareness, energy efficiency, and comfort living experience However, it is difficult to realize such complicated systemsdue to a gap between a high levels of abstract level in expectations to an actual operational devices, which is called design flow The purpose of this work is to realizea Smart LectureRoom, from a classical campus lecture room,as a complete solution for both building manager and user During the development, the design process for this particular system is constructed The realized system will be analyzed to have better improvements in the future The development process is based on a general embedded system design process with adaptions in context of the particular Smart Lecture Room The thesis grows in five stepsof progression Firstly, the design concepts are defined and follow withan investigation typical lecture rooms in VUB - Vrije Universiteit Brussel campus This investigation deliversa picture of the real installation of infrastructure The first stepcontinues with findings of problems of the invested rooms to usefor later definition of requirements of overall system After that, a general architecture for the smart room, which contains information about the development platforms, is proposed and lateris divided into subsystems for simplification Secondly, an actual design and prototyping of the conceptual smart room in term of software on specified hardware components is performed on the distributed subsystems Thirdly, the subsystems are integrated back in a complete system for further evaluations and analyses Fourthly, the results is presented and discussed Finally, the thesis ends with a summarization of the work and potential future improvements As the results, the prototyped system is not only capable of providing automation control features for the facilities of the class room from a centralized control interface, Room Controller, with high a resolution GUI touch screen The facilities of the room are managed by the Room Nodes There are Room Nodes: Main Switch Node, Dimmer Node, Sensor Node, Door Lock Node, and Window Node The nodes will both receive control actionsand send data toward the Room Controller For example, the user can switch the states of lights remotely or manually, dim the lights, read environmental information of the room, open the main door with his/her RFID tags, check if the windows or door is opened or closed, and even be alerted when any of the windows is broken The prototyped system also elevatethe room up to a higher level with intelligent features The intelligence provides an automatic reduction of wasted energy with occupancy-based mechanism In addition to that, besides the autonomous operations, to offer management features, a Building Server connects individual smart rooms together for monitoring purposes The Building Server has images of the rooms in the building An image contains the states, values of all facilities in the room, and be updated with real-time changes from Room Controllers As such, the manager will be able to monitor the equipment of every single room in the campus building Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Keywords: Smart Lecture Room, Smart Building management system, Smart Cities, Real-time embedded system, MVC JavaFX Embedded system, Multitasking system, ZigBee two ways communication Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Acknowledgements First and foremost, I would like to express my deep gratitude to my promotor Prof Dr Ir Martin Timmerman for his enormous support, encouragements, and guidance since I had started the Master Thesis with zero knowledge in the field Approved by the professor from 15th September of 2014, Prof Martin Timmerman offered me a cozy work space with full access to the devices for me to develop my embedded design skills Gradually, with his talents in both of his expertise and business experience, I had received his motivation, advice, suggestion to not only develop my thesis in a professional way but also in a very business oriented manner A long with funding me for the equipment, he also always available to comment on my progress reports, solve the troubles, and revise my work with his immense knowledge Besides my promotor, I would like to send my sincerely thanks to the crew of Embedded System Lab: Long Peng, Fei Guan, and Dr.Hasan Fayyad-Kazan, for the supports during the development of my thesis with their insights knowledge on technologies, devices supply and IT infrastructure I also would like to express my thankful attitude to all my friends in Belgium and my Vietnamese friends here in Belgium and back in Vietnam for their encouragements, blesses, even just chitchats to help me overcome the difficulties in my study abroad Last but not least, I would like to thank my family: My parents: Tran Duc Tin, Pham Thi Van Ha, my younger sister: Tran Pham Kim Ngan, my brother in law: Dinh Ngoc Minh, and my new born nephew, for giving me infinitive source of motivation and backing me up with up and downs in my life Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Table of contents Abstract Acknowledgements Table of contents List of abbreviations List of figures 10 Introduction 14 1.1 Motivation and Objective 14 1.2 Related works 14 1.3 Scope and Roadmap 19 1.4 Methodology 20 Pre-prototyping process 22 2.1 Design concepts 22 2.2 Field investigation and Problem identification 24 2.2.1 Field investigation 24 2.2.2 Problems identification 26 2.3 System requirements 26 2.4 System architecture 29 2.5 Subsystems distribution 32 2.5.1 Introduction 32 2.5.2 Network model 33 2.5.3 Data model 35 2.6 Summary 38 Room Nodes 40 3.1 General description 40 3.2 General architecture 40 3.3 Main Light Switch Node 42 3.4 Dimmer Node 46 3.5 Sensor Node 48 3.6 Door Lock Node 51 3.7 Window Node 53 3.8 Summary 55 Room Controller and Building Server 56 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn 4.1 Room Controller 56 4.1.1 Description 56 4.1.2 Hardware architecture 56 4.1.3 Software architecture 57 4.1.4 Model 57 4.1.5 View 58 4.1.6 Controllers 59 4.2 4.2.1 Description 65 4.2.2 Architecture 66 4.2.3 Functionalities 66 4.3 Building Server 65 Summary 67 Post-prototyping process 68 5.1 System integration 68 5.2 5.2.1 Functionalities evaluation 68 5.2.2 Analysis of Room Nodes 69 5.2.3 Analysis of Room Controller 71 5.2.4 Cost evaluation 74 5.3 System evaluation and Analysis 68 Summary 75 Results 77 6.1 Prototyped devices 77 6.2 Graphical user interface 78 6.3 Summary 80 Conclusions 81 Future works 83 References 85 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn List of abbreviations BAS Building Automation System BS Building Server FTDI Future Technology Devices International GPIO General Purpose Input Output GPU Graphical Processor Unit GUI Graphical User Interface HBAS Home-Building Automation System JSON JavaScript Object Notation JSSC Java Simple Serial Connector MCU Micro-Controller Unit MVC Model-View-Controller PLC Programmable Logic Controller RC Room Controller RF Radio Frequency RFID Radio-Frequency Identification RTOS Real Time Operating System SBS Smart Building System SOA Service Oriented Architecture WSN Wireless Sensor Network Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn List of figures Figure 1: Hierarchical arrangement of smart spaces 15 Figure 2: Services model of a proposed Building Automation System 17 Figure 3: Hardware components of a node 18 Figure 4: General embedded system design process 20 Figure 5: Smart Lecture Room design process 20 Figure 6: The Smart Lecture Room in context of Smart Buildings 22 Figure 7: The high level components of a Smart Lecture Room 22 Figure 8: The transformation of a conventional lecture room to a smart room 23 Figure 9: The management interface of the building gathers all individual Smart Lecture Rooms with its own services 24 Figure 10: The invested building D of VUB Campus with factors for consideration in each of the rooms 24 Figure 11: The light system in the lecture rooms 25 Figure 12: The ventilation system in the rooms 25 Figure 13: The radio frequency door lock in the rooms 26 Figure 14: Proposed features of the Smart Lecture Room 27 Figure 15: The system should serve three different types of actors 27 Figure 16: Construction of a Node 28 Figure 17: Construction of the Room Controller 29 Figure 18: The construction of the Building Server 29 Figure 19: Overall system architecture for the Smart Lecture Room 30 Figure 20: The overall system architecture in details 32 Figure 21: There are subsystems in total, after the subsystems distribution 33 Figure 22: The coordinator (Room Controller) and its connected nodes (5 Room Nodes) 34 Figure 23: Addressing scheme in a star topology with LQIs (Link Quality Indicator) 35 Figure 24: Static local IP addresses of Room Controller and Building Server 35 Figure 25: Format of exchanging wireless data payloads between Room Controller and Room Nodes 36 Figure 26: Elements of a full JSON object 37 Figure 27: Elements of partial JSON objects 38 Figure 28: The partial architecture of the Smart Lecture Room system 40 Figure 29: General hardware architecture for the Room Nodes 40 Figure 30: Generic Multi-tasking, two ways, enhanced reliability communication for ChibiOS on Arduino MEGA platform 41 Figure 33: User can control the light system either by using the Room Controller interface or the wall-mounted button switch 43 Figure 34: The particular architecture of the Main Light Switch Node 43 Figure 35: Inherited multitasking architecture for the Main Switch Node 44 Figure 37: The difference in patterns of collected values from sensor with and without the presence of current flow 44 Figure 38: Sampled data with windowing (size = 10 samples) 45 10 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Figure 69: The Raspberry memory performance at steady state At the steady state, the device uses 4457 classes and 57 threads The threads will increase when user takes actions on the GUI A closer look to the running threads of the system is described below In the figure, you can find the tasks of Websocket Connection, Buzzer connection, GUI, XBee connection, USBTTY serial listener and so on Figure 70: Multithreading visualized graph for the MPU of the Raspberry Pi 72 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Away from the analysis of fabricated resource, an important resource as well is the removable SD cardoccupation This device stores the boot up image of the operating system, the application, and the database As the system operates, available free space of the memory card will be drecreased with the growth of the dababase Consequently, a more quantative observasion on the behaviour of the component should take place In limited time budget, the SD card only be used in the development time (in design and debug phase) instead of a full cycle operation As the results, the SD card had collected certain amount of data into its space The SD card is then removed and used a tool to see how its was Figure 71: SD Card data occupation From the figure 75, the SD card is GB in storing space with 56 MB is used for boot image, and 61% of free space This could not be a good sign for long term usage because the device is only up for running in short development period Either the SD card space should be added or a system requires further optimization in database processing A last analysis is the evaluation of the communication This test is to show how stable the communication is This test is implemented by sending 100 packets from one of the Room Nodes to the Room Controller or vice versa The success rate of transmitted packet, the signal strength of the senders and the receiver are all measured As the results, the signal strength is powerful with bars over five bars This is an obvious result because the distance is quite close and in the light of sight without obstacles The successive packet rates are 100% This ensure that there will be no missing packet Even in the hazard condition, the packet lost may happen, the software solution will take over 73 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Figure 72: Range test for XBee communications between Room Nodes and Room Controller 5.2.4 Cost evaluation 74 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Figure 73: The overview of cost per components over total cost of all the five Room Nodes As the figure 77 revealed, the cost of the MCU or GPP contributed as major amount on over total cost in each Node By selecting lower price MCU, the cost of the Room Nodes will be significantly lower The further optimization on cost can be the consideration of replacement for the Raspberry Pi and the display SHARED COST OF SUBSYSTEMS ON OVERALL SYSTEM COST Room Controller Window Node Door Lock Node Main Light Switch Node Sensor Node Dimmer Node Figure 74: The costs of subsystems compare to total system cost As can be seen, the Room Controller cost accounted almost for 30% of the total cost due to its components The other nodes are quite equal in prices However, the difference between the RC and a Room Nodes is quite slightly A better system should have much large the differences between the Room Controller and its Nodes This is obvious when a room may contain more Room Nodes and even more Nodes with identical nodes to apply on different facilitates For instance, a room has different radiators, or two main doors If the cost of any single node is too expensive, the scalability of the room may have a negative effect on the total bill 5.3 Summary The chapter covered the integrations of the subsystems and the necessary analyses, evaluations for several aspects of the system The obtained data can be used for further optimization in both performance and system cost 75 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn 76 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Results The chapter describes the results of the development process 6.1 Prototyped devices Light bulbs Main Light Switch Node Window Node Dimmer Node Window Frame Window Frame Door Lock Node Room Controller Main Door Sensor Node RFID Keys Figure 75: Overall Smart Lecture Room system As can be seen, the Room Controller hasadisplay to provider touch HD interface to user On top of it is the connection for the XBee module to communicate with the Room Nodes Next to it is the power plug for the Mail Light Switch and Dimmer Node because those devices need the high voltage power source Under the power plug is the USB hub to power low voltage for operations of the MCU in each of the Nodes The hub also powers the display and the Pi In this set up all the power of the Nodes and display for RC come from one source but in practice they must be separated On the right hand side, there are the Main Switch Node, Dimmer Node, Windows Node and the Door Lock Node On the top of the panel is the light bulbs to simulate the control of the Main Switch and the Dimmer On the far right, there is the windows and main door to simulate the contact magnet open close state At the right bottom are RFID keys to simulate user access On the other side of the panel are the other part of the RC with the Pi underneath the display, power cord and the Ethernet cable to connect the room with the Building Server 77 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn 6.2 Graphical user interface Figure 76: Welcome tab of the SLR to provide basic information Here is the intro interface of the room This provides basic information about the room including the location, room code and additional information about system connectivity: Local database, XBee communication, Websocket communication and the peripheral buzzer status Figure 77: Light system tab of the SLR to offer controls on lighting system This is the interface for light control system From this tab, the user can toggle state of the light by pushing the button There will be a “Bip” to notice user action on the touch button is performed The text in the button will be updated with the action of the user on both touch screen and from the manual button switch on the Node To control the brightness of the light bulbs, the user can select it to be fully switch on, fully off or just light up at 50% of the brightness by pressing the button Similar to the main switch, there will be the sound to notice user There is a slight difference is the states of the light after command is performed is not update on the text on the button but in the Current Dimming Light Level text next to the buttons 78 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Figure 78: Environment sensing tab of the SLR to offer overview of environmental information In this tab, the user can review the environmental information, which is sensed by the sensor node The information about light level and temperature is updated in real-time on the interface and also saved in database The user can browser the historical measured data from database by pressing either the View Light data or View Temp The rending of the line graph for data visualization may take a while Then, 10 latest data points is loaded on the graph shortly Figure 79: Access Control tab of the SLR to show current state of main door and entered users In this access control tab, the current state of the main door (Opened or closed) is displayed in text format on the left side On the right side is the list of accessed user in the room with proper key The light should be refresh to see most recent record by pressing refresh button 79 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Figure 80: Security tab of the SLR to offer current states of two windows frame and its glass state The last tab for user interface is the Security section where the status of the two windows frames are monitored as well as the windows glass status is reported In case of glass broken, an alert sound will be triggered Figure 81: The received JSON packets in back end Building Server In the Building Server, the JSON packets are received and decoded to display the content in the console interface to prove that the connection is established and the exchanging data is properly done 6.3 Summary The chapter provided the results of the thesis with both hardware components and how the users can interact with the system via its interface 80 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Conclusions Acomplete solution for a Smart Lecture Room has realized and satisfied the requirements at early stage, which has developed from the abstract information to the real devices The pre-prototyping conceptual design has beenan early properguidance for the realization of the system The postprototyping analysis has maderoom for improvements for the system The thesis began withan introductive information and an adaptive methodology for development of the Smart Lecture Room in the Chapter In the Chapter 2, we started the design process with the definitions of design concepts These concepts gave the readers a broad context at high abstractive level about the system, as a guidance for later works From those concepts, we then invested several real lecture rooms in VUB campus toacquire an actual picture of the infrastructures and identified the problems for the next design phase Since the problems were seen, the new system, was defined with requirements: Provided features or services from automation level to intelligent level regards security and scalability Serving actors of system developer, system users and building managers, concerning development speed and user comfort Connectivity and communications Basic components to construct the smart features From the requirements, a general architecture wascreated In this part, we discussed about the entities, and their connections in a layered architecture Later on, we then described the details about the chosen technologies, software, hardware and tool set, which are essential development dimensions Before prototyping process of the system, wedecided to dividethe whole system into subsystems The distribution then followed by information about the addressing topology and agreements in data exchanging formats The Chapter introduced the design and debug process of the first type of subsystems, Room Nodes Room Nodes were aset of end devices, which shared similarities in hardware and software architectures To allow the Room Nodes to communicate in two ways manner with a high reliability in context of multitasking environment, a software solution usingChibiOS was proposed by the developer Along the design of the nodes, the non-straight forward characteristic of data reading from the current sensor in Main Light Switch Node wassolved by calculating of variances for an obtained data set in a sampled window This allowed the Node to recognize the presence of the pattern of the current is for ON or OFF state In Chapter 4, we discussed the realization of both Room Controller and Building Server The Room Controller was the brain of the entire system with a sophisticated software architecture, MVC (Model-View-Controller) architecture The Room Controller designed to provide: Graphical user interface, smart control strategies and database accessing Among the Model, View and Controllers components, the Controllers wasemphasized with detailed information about the number of controllers, their functionalities, and operations to enable the Room Controller to cooperate the 81 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Room Nodes The Controllers offered not only the automation features to control or process information back and forth with the Room Nodes They also provided the intelligent feature to permit the smart room to perform self-saving in term of electricity for the light system The last subsystem, Building Server,designed up on a chosen platform and technologies to provide monitoring features for the building manager actors The subsystem was be able to have a back end Websocket server to read and decode JSON data packetsfrom Room Controllers and an attached front end GUI (Graphical User Interface) However, due to a limited time budget, the work of the Management GUI of the Building Server only stopped at the basic processing of JSON to display in text format There was no database or graphical interface implemented After having a prototyped and debugged subsystems, the subsystems wasassembled together at integration phase We then succeeded to evaluate the integrated system in: Functionalities of the prototype fulfilled thedesired ones in the early section 2.3 Performance analysis for Room Controller in: o CPU Threading to see expected threads and malicious tasks o Memory consumption of the Raspberry Pi with only 512MB of RAM o SD card occupation to see database usage behavior o Communication range tests to show the robustness of wireless links Performance analysis for Room Nodes in term of memory usage in MCU (Microcontroller) environment Cost analysis to have picture of cost distribution within a subsystems and among subsystems in a whole room Those analyzed information allowed the system to have a certain kinds of metrics to evaluate the efficiency of future improvements Chapter discussed the results in both hardware components and usage of user interfaces to make used of the automated controls and smart functionalities Lastly, the summation of the work is introduced in conclusions inChapter 82 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn Future works The further works to make a more advancedsystem can be done by both optimizations and additions of new functionalities up on the realized system In term of performing optimizations on the prototyped system, a reconsideration of the chosen MCU hardware platform to a lower price and resource should be done This will lower the price of the system as a whole Another optimization can be applied on the source code of both Room Controller and generic multitasking code architecture for Room Nodes To deliver a better performance for the GUI, the multithreading and concurrency was applied However, this introduces more threads into the system, a better solution is to lower the number of threads because the more created threadsthe more memory resource will be used for stacking Moreover, the Java source code of the Room Controller should be pass through an optimization to fully respect the object oriented programming concept of Java At the moment, the code is using several public static variables, which is not a good practice in Object Oriented Programming In addition to that, the code structure should be reorganized to have a better execution efficiency Another matter is the rapid growth of the local database of the Room Controller We can solve the matter by increasing sampling period of Sensor Node from several minutes up to 15 – 20 minutes to have less data captured For more sustainable development, the database of the node should have a regular cleanup bymigrating entire old data to back up on the Building Server For example, every six months, the MySQL database in the Raspberry Pi will set a day to transfer all the data to the BS to have room for newer data arrivals.Furthermore, to manage the Room Node addresses, currently, manual actions are performed to handle the ones A better solution is to design functions for the XBee Controller to be able to automatically scan the Nodes that being online and constant checking the presence of those As the results, the Room Controller will have an awareness of new associated Nodes or disassociated Nodes For the Room Nodes, the implementation of ChibiOS RTOS is still have plenty of room for optimization of atomic statements within Mutex locks Moreover, the operations of the RX and TX Tasks with timeout management of packets in packet array is being monitored with MCU clock ticks Theremight be a slight glitch when the system reach maximum bit value of millisecondsin time capturing function Lastly, a closer look on running behavior of the Nodes requires the usage of more insight tool in memory analysis For the Building Server, a further development of the GUI to visualize data, and also capability of sending action from its interface to every individual roomsshould be done Indeed, this will introduce a new actor into the system,Building Server action, away from the existing ones: User, Intelligent Engine, and XBee receiver For the communication among the subsystems, the wireless link between the Nodes and the Room Controllers requires a formatted Data model The model introduces quite amount of overhead or even unnecessary redundancies in the packet payload To have a better communication, a compact format convention should be designed.In addition to that, so far, the system delivers wireless packets with plain data, no implementation of encryption By observing and sniffing the system, 83 Số hóa Trung tâm Học liệu – ĐHTN S http://www.lrc.tnu.edu.vn hackers can take over the control of the system in short time To solve the problem, we should enable the encryption functionality of ZigBee with proposals of static or dynamics 128 bits AES keys To enhance the system with addition of new functionalities, the enhancements can be done through the enlargement of coverage and more added intelligent features For the enlargement of the coverage, the more hardware components will be added to the existing Nodes or to have more Nodes with special functionalities By adding more hardware component on exiting Nodes for example: CO2 and Smoke sensor for SensorNode to increase safety for user Current sensor presence as well in the Dimmer Node to measure power consumption Camera for Raspberry Pi for surveillance Shading motor controller for Window Nodes Automatic door closer/opener for the Door Lock Node On screen malfunction report for Room Controller The users can type in messages to send to Building Server Management Interface to report the unusual behaviors of the devices in the room More Nodes can be added to cover more facilities in the room such as: Outlet Node to handle plugged devices Radiator Node to handle heating system Ventilator Node to handle the input and output of air for the room without windows The node can handle also the monitor of air quality External Sensor Node to collect reference about outside environment for even smarter system To have a smarter system, the developer can have more addedintelligent features This can be done in several ways Firstly, an awareness about the time and schedulingfor the RC would be a nice features By having a scheduler, or an association with a Google Calendar through its provided APIs (Application Programming Interfaces), the Smart Lecture Room can schedule their subsystems to have more integrated scenarios For example, the heating system can be started up before the room is actually in use to provide comfort to user when they arrive Secondly, the light level and the heat level in the room can be monitored by set points The intelligent engine will maintain a constant light level or room temperature with information from the internal sensor node and external sensor node This will save energy and also provide better user comfort Furthermore, due to 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