Operating Systems for Low-End Devices in the Internet of Things: A Survey

IEEE Internet of Things Journal

Volumn 3, Issue 5, 2016, Pages 720-734

  Hahm, Oliver ^a   Baccelli, Emmanuel ^a   Petersen, Hauke ^b   Tsiftes, Nicolas ^c  

^a INRIA SACLAY   (France)

^b FREIE UNIVERSITÄT BERLIN   (Germany)

^c SWEDISH INSTITUTE OF COMPUTER SCIENCE   (Sweden)

Author keywords

Embedded software; Internet of Things (IoT); low power electronics; operating system (OS)

Indexed keywords

COMPUTER OPERATING SYSTEMS; EMBEDDED SOFTWARE; INTERNET; LINUX; LOW POWER ELECTRONICS; OPEN SOURCE SOFTWARE; SOFTWARE DESIGN; SURVEYS;

COMPUTATIONAL POWER; HIGH END DEVICES; INTERNET OF THING (IOT); INTERNET OF THINGS (IOT); LIMITED MEMORY; OPEN-SOURCE OSSA; OPERATING SYSTEM (OS); RESOURCE CONSTRAINT;

INTERNET OF THINGS;

EID: 84987788989     PISSN: None     EISSN: 23274662     Source Type: Journal    
DOI: 10.1109/JIOT.2015.2505901     Document Type: Article

References (103)

1. E. Upton and G. Halfacree, Meet the Raspberry Pi. Hoboken, NJ, USA: Wiley, 2012
2. "Arduino due," [Online]. Available: http://arduino.cc/en/Main/ arduinoBoardDue
3. Redwire Llc. "Redwire Econotag II," [Online]. Available: http://redwire. myshopify.com/products/econotag-ii
4. Zolertia. "Z1 datasheet," [Online]. Available: http://www.zolertia.com
5. "IoT-LAB: Very large scale open wireless sensor network testbed," [Online]. Available: https://www.iot-lab.info/hardware/m3
6. OpenMote. "OpenMote-CC2538," [Online]. Available: http://www. openmote.com/hardware/openmote-cc2538-en.html
7. MoteIV Corporation. "Telos-Ultra Low Power IEEE 802.15.4 compliant wireless sensor module," Datasheet [Online]. Available: http://www. willow.co.uk/html/telosb-mote-platform.php
8. C. Bormann, M. Ersue, and A. Keranen, "Terminology for constrained node networks," RFC 7228 (informational), Internet Eng. Task Force, May 2014 [Online]. Available: http://www.ietf.org/rfc/rfc7228.txt
9. M. Durvy et al., "Making sensor networks IPv6 ready," in Proc. 6th ACM Conf. Embedded Netw. Sens. Syst., 2008, pp. 421-422
10. "Pebble smart watch," [Online]. Available: https://getpebble.com
11. Huawei. "Huawei Network Congress 2015 announcement," [Online]. Available: http://pr.huawei.com/en/news/hw-432402-agilenetwork3.0. htm
12. "mbed OS," [Online]. Available: https://mbed.org/technology/os
13. Anand Karwa, Trak. In. "Google Brillo-An Internet of Things OS that runs on 32 MB RAM," [Online]. Available: http://trak.in/tags/business/ 2015/05/23/google-brillo-internet-of-things-operating-system
14. L. Mirani. (2014). "Chip-makers are betting that Moore's Law won't matter in the Internet of Things," [Online]. Available: http://qz.com/ 218514
15. M. Dohler, T. Watteyne, T. Winter, and D. Barthel, "Routing requirements for urban low-power and lossy networks," Internet Eng. Task Force, RFC 5548 (informational), May 2009 [Online]. Available: http://www.ietf.org/rfc/rfc5548.txt
16. J. Martocci, P. D. Mil, N. Riou, andW. Vermeylen, "Building automation routing requirements in low-power and lossy networks," Internet Eng. Task Force, RFC 5867 (informational), Jun. 2010, [Online]. Available: http://www.ietf.org/rfc/rfc5867.txt
17. K. Pister, P. Thubert, S. Dwars, and T. Phinney, "Industrial routing requirements in low-power and lossy networks," Internet Eng. Task Force, RFC 5673 (informational), Oct. 2009 [Online]. Available: http://www.ietf.org/rfc/rfc5673.txt
18. A. Brandt, J. Buron, and G. Porcu, "Home automation routing requirements in low-power and lossy networks," Internet Eng. Task Force, RFC 5826 (informational), Apr. 2010 [Online]. Available: http://www.ietf.org/rfc/rfc5826.txt
19. K. Rose, S. Eldridge, and L. Chapin, The Internet of Things: An Overview. Internet Soc. (ISOC), 2015
20. Freescale. "The MC13224V SoC," [Online]. Available: http://www. freescale.com/webapp/sps/site/prod-summary.jsp?code=MC13224V
21. ST Microelectronics. "STM32F100VC microcontroller," [Online]. Available: http://www.st.com/web/catalog/mmc/FM141/SC1169/ SS1031/LN775/PF216851
22. D. Dietrich, D. Bruckner, G. Zucker, and P. Palensky, "Communication and computation in buildings: A short introduction and overview," IEEE Trans. Ind. Electron., vol. 57, no. 11, pp. 3577-3584, Nov. 2010
23. R. Jedermann, T. Pötsch, and C. Lloyd, "Communication techniques and challenges for wireless food quality monitoring," Philos. Trans. Roy. Soc. London A: Math. Phys. Eng. Sci., vol. 372, no. 2017, 2014
24. W. Dong, C. Chen, X. Liu, and J. Bu, "Providing os support for wireless sensor networks: Challenges and approaches," IEEE Commun. Surv. Tuts., vol. 12, no. 4, pp. 519-530, 2010
25. L. Saraswat and P. S. Yadav, "A comparative analysis of wireless sensor network operating systems," Int. J. Eng. Technosci., vol. 1, no. 1, pp. 41-47, 2010
26. M. R. Palattella et al., "Standardized protocol stack for the internet of (important) things," IEEE Commun. Surv. Tuts., vol. 15, no. 3, pp. 1389-1406, Third Quart. 2013
27. R. Min et al., "Energy-centric enabling technologies for wireless sensor networks," IEEE Wireless Commun., vol. 9, no. 4, pp. 28-39, Aug. 2002
28. A. Milenkovíc, C. Otto, and E. Jovanov, "Wireless sensor networks for personal health monitoring: Issues and an implementation," Comput. Commun., vol. 29, no. 13, pp. 2521-2533, 2006
29. B. Hughes, R. Meier, R. Cunningham, and V. Cahill, "Towards realtime middleware for vehicular ad hoc networks," in Proc. 1st ACM Int. Workshop Veh. Ad Hoc Netw. (VANET'04), 2004, pp. 95-96 [Online]. Available: http://doi.acm.org/10.1145/1023875.1023894
30. "ITRON project archive," [Online]. Available: http://www.ertl.jp/ITRON/ home-e.html
31. K. A. Stouffer, J. A. Falco, and K. A. Scarfone, "Sp 800-82. Guide to industrial control systems (ICS) security: Supervisory control and data acquisition (SCADA) systems, distributed control systems (DCS), and other control system configurations such as programmable logic controllers (PLC)," Gaithersburg, MD, USA, Tech. Rep., 2011
32. J.-H. Hoepman and B. Jacobs, "Increased security through open source," Commun. ACM, vol. 50, no. 1, pp. 79-83, Jan. 2007 [Online]. Available: http://doi.acm.org/10.1145/1188913.1188921
33. M. Masmano, I. Ripoll, A. Crespo, and J. Real, "TLSF: A new dynamic memory allocator for real-time systems," in Proc. 16th Euromicro Conf. Real-Time Syst. (ECRTS'04), 2004, pp. 79-88
34. A. Castellani, G. Ministeri, M. Rotoloni, L. Vangelista, and M. Zorzi, "Interoperable and globally interconnected Smart Grid using IPv6 and 6LoWPAN," in Proc. IEEE Int. Conf. Commun. (ICC'12), Jun. 2012, pp. 6473-6478
35. H. Petersen, M. Lenders, M. Wählisch, O. Hahm, and E. Baccelli, "Old wine in new skins? Revisiting the software architecture for IP network stacks on constrained IoT devices," in Proc. ACM MobiSys Workshop IoT Challenges Mobile Ind. Syst. (IoT-Sys), May 2015
36. P. Rosenkranz, M. Wählisch, E. Baccelli, and L. Ortmann, "A distributed test system architecture for open-source IoT software," in Proc. ACM MobiSys Workshop IoT Challenges Mobile Ind. Syst. (IoT-Sys), May 2015
37. J. Eriksson, A. Dunkels, N. Finne, F. Osterlind, and T. Voigt, "MSPsim-An extensible simulator for MSP430-equipped sensor boards," in Proc. Eur. Conf. Wireless Sens. Netw. (EWSN), poster/demo session, 2007, p. 27
38. Emul8. [Online]. Available: http://emul8.org
39. T. R. Henderson, M. Lacage, G. F. Riley, C. Dowell, and J. Kopena, "Network simulations with the NS-3 simulator," SIGCOMM Demonstr., vol. 14, 2008
40. A. Dunkels, B. Grönvall, and T. Voigt, "Contiki-A lightweight and flexible operating system for tiny networked sensors," in Proc. 29th Annu. Int. Conf. Local Comput. Netw. (LCN), 2004, pp. 455-462 [Online]. Available: http://dblp.uni-trier.de/db/conf/lcn/lcn2004.html# DunkelsGV04
41. "Contiki operating system," [Online]. Available: http://www.contikios. org
42. A. Dunkels, O. Schmidt, T. Voigt, and M. Ali, "Protothreads: Simplifying event-driven programming of memory-constrained embedded systems," in Proc. Int. Conf. Embedded Netw. Sens. Syst. (ACM SenSys), Boulder, CO, USA, Nov. 2006
43. E. Baccelli, O. Hahm,M. Günes, M. Wählisch, and T. C. Schmidt, "RIOT OS: Towards an OS for the Internet of Things," in Proc. 32nd IEEE INFOCOM, 2013
44. E. Baccelli, O. Hahm, H. Petersen, and K. Schleiser, "RIOT and the evolution of IoT operating systems and applications," ERCIM News, vol. 2015, no. 101, 2015 [Online]. Available: http://ercim-news.ercim. eu/en101/special/riot-and-The-evolution-of-iot-operating-systems-andapplications
45. "RIOT operating system," [Online]. Available: http://www.riot-os.org
46. H. Will, K. Schleiser, and J. H. Schiller, "A real-time kernel for wireless sensor networks employed in rescue scenarios," in Proc. IEEE Local Comput. Netw. (LCN), 2009
47. "Berkeley's OpenWSN project," [Online]. Available: http://openwsn. berkeley.edu
48. CNN lite: Lightweight implementation of the content centric networkign protocol," [Online]. Available: http://ccn-lite.net (2014)
49. R. Barry. "FreeRTOS, a free open source RTOS for small embedded real time systems," [Online]. Available; http://www.freertos.org
50. P. Levis et al., "TinyOS: An operating system for sensor networks," in Ambient Intelligence, W. Weber, J. M. Rabaey, E. Aarts, Eds. Berlin, Germany: Springer-Verlag, 2005, ch. 7, pp. 115-148 [Online]. Available: http://dx.doi.org/10.1007/3-540-27139-2-7
51. P. Levis, "Experiences from a decade of TinyOS development," in Proc. 10th USENIX Conf. Oper. Syst. Des. Implement. (OSDI'12), 2012, pp. 207-220 [Online]. Available: http://dl.acm.org/citation.cfm? id=2387880.2387901
52. Contributors of nuttx.org. (2015). "NuttX real-time operating system-NuttX real-time operatin system," [Online]. Available: http://nuttx.org, accessed on Mar. 10, 2015
53. "eCos embedded operating system," [Online]. Available: http://ecos. sourceware.org
54. "Home of the L4 community," [Online]. Available: http://l4hq.org
55. H. Härtig and M. Roitzsch, "Ten years of research on L4-based real-time systems," in Proc. 8th Real-Time Linux Workshop, 2006
56. G. Klein et al., "seL4: formal verification of an OS kernel," in Proc. ACM SIGOPS 22nd Symp. Oper. Syst. Princ., 2009, pp. 207-220
57. "Embedded Linux/microcontoller project," [Online]. Available: http:// www.uclinux.org
58. Google, "Open handset alliance, Android operating system," [Online]. Available: https://www.android.com
59. Google. "Project Brillo," [Online]. Available: https://developers.google. com/brillo
60. "ChibiOS/RT," [Online]. Available: http://www.chibios.org
61. CooCox. "CoOS," [Online]. Available: http://www1.coocox.org/ CoOS.htm
62. ERIKA Enterprise. [Online]. Available: http://erika.tuxfamily.org/ drupal
63. G. Strazdins, A. Elsts, and L. Selavo, "MansOS: Easy to use, portable and resource efficient operating system for networked embedded devices," in Proc. 8th ACM Conf. Embedded Netw. Sens. Syst., 2010, pp. 427-428
64. S. C. Kim, H. Kim, J. Song, M. Yu, and P. Mah, "NanoQplus: A multi-threaded operating system with memory protection mechanism for WSNs," in Proc. 1st China-Korea WSN Int. Workshop (CKWSN'2008), 2008, vol. 20, no. 8, 2008
65. "NanoRK operating system," [Online]. Available: http://www.nanork. org
66. "Nut/OS," [Online]. Available: http://www.ethernut.de/en/software
67. "Liquorice OS for embedded systems," [Online]. Available: http:// sourceforge.net/p/liquorice/wiki/Home
68. RTEMS. "Real-time executive for multiprocessor systems," [Online]. Available: http://www.rtems.org
69. "SOS 2.X," [Online]. Available: https://projects.nesl.ucla.edu/public/sos-2x
70. S. Bhatti et al., "MANTIS OS: An embedded multithreaded operating system for wireless micro sensor platforms," in Mobile Networks and Applications, 2005
71. "MANTIS OS," [Online]. Available: http://www.sourceforge.net/ projects/mantisos
72. "Lorien," [Online]. Available: http://lorienos.sourceforge.net/index.php/ Main-Page
73. "LiteOS," [Online]. Available: http://www.liteos.net
74. Express Logic Inc. "ThreadX," [Online]. Available: http://rtos.com/ products/threadx
75. Express Logic Inc. "Express Logic's ThreadX® to bring full RTOS capabilities to the ARM® mbedTM ecosystem," [Online]. Available: http://rtos.com/news/detail/express-logics-threadx-brings-full-rtos- capabilities-to-arms-mbedos-ec
76. Blackberry Ltd. "QNX," [Online]. Available: http://www.qnx.com
77. Wind River Syst. "VxWorks," [Online]. Available: http://www.windriver. com/products/vxworks
78. "Wind river rocket," [Online]. Available: http://www.windriver.com/ products/operating-systems/rocket
79. SYSGO. "PikeOS," [Online]. Available: http://www.sysgo.com/products/ pikeos-rtos-and-virtualization-concept
80. Segger. "embOS," [Online]. Available: https://www.segger.com/ embos.html
81. Mentor Graphics. "Nucleus RTOS," [Online]. Available: http://www. mentor.com/embedded-software/nucleus
82. SCIOPTA Systems AG. "SCIOPTA," [Online]. Available: http://www. sciopta.com/products/kernel.html
83. Micrium. "uC/OS-II," [Online]. Available: http://micrium.com/rtos/ ucosii/overview
84. Micrium. "uC/OS-III," [Online]. Available: http://micrium.com/rtos/ ucosiii/overview
85. Green Hills Software. "μ-velOSity," [Online]. Available: http://www.ghs. com/products/micro-velosity.html
86. Microsoft. "Windows CE," [Online]. Available: http://microsoft.com/ windowsce
87. Huawei. "LiteOS," [Online]. Available: https://github.com/OIOTC/ Liteos
88. Arduino. [Online]. Available: http://arduino.cc
89. Espruino. "JavaScript for microcontrollers," [Online]. Available: http:// www.espruino.com
90. "Tessel embedded development platform," [Online]. Available: https:// tessel.io
91. node OS. [Online]. Available: http://node-os.com
92. N. Brouwers, K. Langendoen, and P. Corke, "Darjeeling, A feature-rich VM for the resource poor," in Proc. Int. Conf. Embedded Netw. Sens. Syst. (ACM SenSys), Berkeley, CA, USA, 2009
93. S. Bocchino, S. Fedor, and M. Petracca, "PyFUNS: A python framework for ubiquitous networked sensors," in Proc. Eur. Conf. Wireless Sens. Netw. (EWSN), Porto, Portugal, Feb. 2015
94. M. Doddavenkatappa, M. C. Chan, and A. Ananda, "Indriya: A lowcost, 3D wireless sensor network testbed," in Proc. Conf. Testbeds Res. Infrastruct. Develop. Netw. Communities (TridentCom), 2011
95. Travis CI. [Online]. Available: https://travis-ci.org
96. "The DES testbed virtualization framework," [Online]. Available: https:// github.com/des-testbed/desvirt
97. C. Adjih et al., "FIT IoT-LAB: A large scale open experimental IoT testbed," in Proc. 2nd IEEE World Forum Internet Things (WF-IoT), Dec. 2015
98. M. Günes et al. (2008-2014). "DES-testbed," [Online]. Available: http:// www.des-testbed.net
99. "lwIP-A lightweight TCP/IP stack," [Online]. Available: http:// savannah.nongnu.org/projects/lwip
100. Sensinode Ltd., NanoStack Manual, 2007
101. D. Déharbe, S. Galvão, and A. Moreira, "Formalizing FreeRTOS: First steps," in Formal Methods: Foundations and Applications, M. Oliveira and J. Woodcock, Eds. New York, NY, USA: Springer, 2009, vol. 5902, pp. 101-117 [Online]. Available: http://dx.doi.org/10.1007/978-3-642-10452-7-8
102. C. Pronk, "Verifying FreeRTOS; A feasibility study," Softw. Eng. Res. Group, Delft Univ. Technol., Delt, The Netherlands, Tech. Rep., 2010
103. P. Basiliere and J. Tully, "Gartner study: Makers and startups are the ones shaping the internet of things," Maverick Res., Gartner, 2014