v1.0.

0-20241127

Embedded Systems and IoT

Ingegneria e Scienze Informatiche - UNIBO
a.a 2024/2025
Lecturer: Prof. Alessandro Ricci

[module 3.2]
FROM EMBEDDED SYSTEMS
TO INTERNET OF THINGS
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 1
OUTLINE
• Internet of Things - Introduction
• From IoT to Enterprise/Industrial IoT
• IoT and Web of Things

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 2

INTERNET OF THINGS
• Internet of Things (IoT)
– the name was first introduced in 1999 by Kevin Ashton, as
founder of Auto-ID Center at MIT, about projects concerning RFID
technologies
– initial objective: to automate the digitalisation of the physical
world (objects, their id, measures, events..), by means of sensors
to feed data at real-time to the Internet, avoiding the manual
error-prone insertion by people [*]
• Strong impact to the society [**]
– not only at the technical level

[*] Kevin Ashton. “The ‘Internet of Things’ Thing’. RFID Journal, 2009. http://
www.rfidjournal.com/articles/view?4986 ]
[**] Samuel Greengard. The Internet of Things. MIT Press
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 3
IoT: A DEFINITION
• A definition [LIT]:
– “The IoT is what we get when we connect Things, which are not
operated by humans, to the Internet”
• systems composed by physical objects that are connected
and communicate by means of the Internet
• these physical objects are typically embedded systems
• IoT is at the core of Industrial Internet
– infrastructure supporting large-scale and robust connectivity
between devices and data
– integration of embedded system with sensors, software and
telecom systems
– also called “Industry 4.0” o smart industry o smart manufacturing

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 4

IoT: NUMBERS

[IOTF, p.72]

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 5

INTERNET EVOLUTION

[IoTF, p.68]

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 6

IoT - MAIN ELEMENTS
• “Things”
– embedded systems
– equipped with sensors, in particular
• Connectivity and communication
– adoption of specific communication protocols on top
of the Internet
• e.g. MQTT, CoAP
– interoperability issue
– IoT as System-of-Systems
• Critical aspects
– security
• identity, authentication, authorisation
– privacy & data ownership
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 7
SMART THINGS
• Simplified version [DIT]:

IoT =
Physical Objects +
Controller/Sensors/Actuators +
Internet

• …where the “things” (physical object) can be very

different kind of objects that people use daily
• Enchanted objects vision - D. Rose
– http://tedxtalks.ted.com/video/TEDxBerkeley-David-
Rose-Enchant

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 8

SMART THINGS EXAMPLES
• WeMo light switch & family
– http://www.belkin.com/us/p/P-F7C030/
• Kevo smart lock
– http://www.kwikset.com/kevo/
• Fitbit force wristband
– http://www.fitbit.com/
• Metromile
– https://www.metromile.com/
• Google Nest thermostat & family
– https://nest.com/
• …
• enchanted objects
– http://enchantedobjects.com/products/
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 9
SMARTPHONE ROLE
• Smartphone role in IoT
– can be themselves embedded systems
• being equipped by many different kinds of sensors,
to collect data, geo-localised, and send it through
the Internet
– can be a universal “remote controller”
• uniform user interface (UI) to interact with smart
things
– can be the control unit governing near devices by
means of protocols such as Bluetooth, possibly
connected with other wearable devices
• wrists, smartwatches, smartglasses

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 10

IoT EVOLUTION
• 5 stages [Por14,Por15,DBE17]
1. product stage
• the air conditioner
2. smart product
• the programmable air conditioner
3. smart connect products
• air conditioner accessible by the Internet
– controllable by the phone
– the company can check its functioning and
compare to other millions of other units to do
predictive maintenance
…

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 11

IoT EVOLUTION
• 5 stages [Por14,Por15,DBE17] (cont.)
4. product systems
• the smart thermostat talks to the connected HVAC
and the smart window blinds and heated floors
• key points
– interoperability & communication standards
» Web of Things (WoT) Initiative
– command and control platforms availability
» Apple HomeKit, Amazon Echo, Google
Home, Samsung SmartThings...
» industrial counter part: GE's Predix and
Hitachi's Lumada

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 12

IoT EVOLUTION
• 5 stages [Hep14,DBE17] (cont)
5. system of systems
• home appliances talking with home security talking
to the car and wearable devices talking to smart
hospital…
• key points
• interoperability
• scalability, openness
• governance

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 13

FROM IOT
TO ENTERPRISE/INDUSTRIAL IOT
• IoT as key technology for industry & enterprises
– Industry 4.0
• fourth industrial revolution
– key aspect: data
• collect data at real-time through sensors
• big-data, real-time, big-stream
• Enterprise IoT vs Industrial IoT (I-IoT)
– Enterprise IoT => general term used to refer at IoT
used at the enterprise level
– Industrial IoT (I-IoT) => characterisation of Enterprise
IoT specifically in the context of manufacturing &
industries

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 14

INDUSTRY 4.0

http://www.eesc.europa.eu/?i=portal.en.group-1-new-news.34501

PC ISI-LM UNIBO IoT - An Overview 15

FOUR INDUSTRIAL REVOLUTIONS

[IoTF, 85]

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 16

 ENTERPRISE IOT
• Conceptual Framework to identify the Enterprise IoT level [*]
• Integration of IoT with Artificial Intelligence (AI) / Machine Learning
(ML) often called as Precision <Something>
- Precision Medicine, Precision Agricolture, …
• Enterprise applications driving business outcomes
• Precision machine services
Do
• technologies that allow to learn from data collected
• learning and analysis systems including query technology
Learn and both supervised and unsupervised machine learning

• Technologies designed to collect data, which are increasingly

Collect time-series data being sent every hour, minute, second
• BigData, BigStream technologies

Connect • things can be connected to the Internet in various ways.

• Choices depend on amount of data to be transmitted, how far
you need to go, how much power you have, how fast data
should arrive…
Things
• embedded systems & smart things
• sensing capabilities in particular

ESIOT
(*) Timothy Chou.ISI-LT - UNIBO
Precision. From Embedded
Principles, Practices and Solutions Systems
for the Internet to IoT Crowdstory, 2016
of Things. 17
SIMPLIFIED ARCHITECTURE OF
AN ENTERPRISE IOT SYSTEM

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 18

SIMPLIFIED ARCHITECTURE OF
AN ENTERPRISE IOT SYSTEM

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 19

I-IOT DEVICES & PROTOCOLS

[VC18]
PC ISI-LM UNIBO I-IOT - FURTHER NOTES 20
I-IOT DATA FLOW
• From data generation to their processing on the cloud

PC ISI-LM UNIBO [VC18] I-IOT - FURTHER NOTES 21

I-IOT DATA FLOW
• From data generation to their processing on the cloud

PC ISI-LM UNIBO [VC18] I-IOT - FURTHER NOTES 22

SCADA SYSTEMS
• SCADA stands for Supervisory Control and Data Acquisition
– reference Machine to Machine (M2M) systems used in industries
since mid 1970
– supervisory systems to exert remote control on devices/
systems/plant
• It’s a kind of Industrial Control System
– i.e. computer-based systems that monitor and control industrial
processes in some physical environment
– SCADA system are large-scale ICS
• multiple nodes, distributed over large-scale territories

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 23

 nice video:
SCADA SYSTEM https://www.youtube.com/watch?v=WQWJzgbdq1E

http://blog.cimation.com/blog/key-differences-between-scada-dcs-and-hmi-systems
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 24
SCADA: MAIN ELEMENTS - RTUs
• Sensors and Remote terminal units (RTUs)
– at the base layer of a SCADA there is a sensor
network
• allow for monitoring the functioning and state of
industrial machines and processes
– connected to sensors we have the remote terminal
unit (RTU)
• their job is to collect relevant data from sensors and
transform them into digital signals to be sent to the
remote control station

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 25

SCADA: MAIN ELEMENTS - THE PLC
• Programmable logic controller (PLCs)
– The programmable logic controller o PLC (“Controller
logico programmabile”) are computers connected to
the sensor network & RTU
– PLC job is to supervise and coordinate data collection,
instructing/controlling both RTU and sensors
• it is the PLC that that has the “super-loop”,
specifying when to do the sampling
– programming languages: IEC 61131-3 standard family

nice videos:
https://www.youtube.com/watch?v=PbAGl_mv5XI

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 26

PLC PROGRAMMING WITH IEC
61131-3
• IEC 61131-3 is the third part of the international standard IEC 61131
for PLC (programmable logic controllers).
• It defines a set of programming languages:
– Ladder diagram (LD), visual
– Function block diagram (FBD), visual
– Structured text (ST), textual
– Instruction list (IL), textual
– Sequential function chart (SFC)
• this is the main one, used to realise complex control programs

nice video:
https://www.youtube.com/watch?v=Qf32qtHfowQ

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 27

PLC PROGRAMMING WITH IEC
61131-3

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 28

SCADA: OTHER ELEMENTS
• Telemetry system, to connect PLC and RTU to central control
station, data warehouse, and the enterprise system
– can be a computer network such as a LAN o even a WAN, or it
can be ad-hoc serial line
• MTU (Master Terminal Unit)
– control server that periodically collect all data from PLC, process
the data to get useful info, store the info and send control
commands
• HMI (human machine interface)
– interface that allows human operators to access to data, monitor
them and interact with the system
• Historian
– software service storing time-stamped data, events, alarms — so
a database which is queried for creating graphs and reports on
the HMI

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 29

SCADA HMI - EXAMPLE

http://www.armani-engr.com/hmiscada.html
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 30
I-IOT DATA FLOW
• From its generation at the field level to its processing in the cloud

PC ISI-LM UNIBO I-IOT - FURTHER NOTES 31

THE OPC STANDARD
• OPC is the acronym of Open Platform Communication
– software layer that makes it possible to interact with the industrial data
source through its own protocol for querying tags and time-series, and
exposing them by means of a standard interface to the upper levels and
external systems
– acting as a translator between the controllers and producers of the
industrial data and the consumer systems
• used to abstract PLC or DCSes specific protocols (e.g. Modbus and
Profibus) into a standardized interface
• function as a middle-man for SCADA & co converting generic OPC
read & write requests into device-specific requests and vice-versa
• Through OPC, PLCs or DCSes can expose tags, time-series, alarms, events
and Sequence of Events (SOE) to any system that implement the OPC
interface
– SCADA and Historian where initially developed as consumers of
industrial data, implementing an OPC client interface, but themselves
become producers of industrial data, implementing an OPC server
interface

PC ISI-LM UNIBO I-IOT - FURTHER NOTES 32

OPC SPECIFICATIONS
• Two main specifications
– OPC Classic (old, ~1995)
• based on Windows OS and OLE / DCOM
– OPC-UA (~2005)
• based on service-oriented approach as defined by IEC 62451
• not only for Windows, to be embeddable also in small devices

nice intro/overviews:
https://www.youtube.com/watch?v=-tDGzwsBokY
https://www.youtube.com/watch?v=vRk42W_4R0o

PC ISI-LM UNIBO I-IOT - FURTHER NOTES 33

I-IOT DATA FLOW
• From its generation at the field level to its processing in the cloud

PC ISI-LM UNIBO I-IOT - FURTHER NOTES 34

THE EDGE DEVICE
• Device which enables the IIOT
– physically located in the factory
– linked from one side to the industrial data sources through the OPC
server, and from the other side to the cloud through the IoT Gateway
• Different kinds of approaches in industries about arranging and conceiving
the edge device

PC ISI-LM UNIBO I-IOT - FURTHER NOTES 35

I-IOT DATA FLOW
• From generation to processing in the cloud

PC ISI-LM UNIBO [VC18] I-IOT - FURTHER NOTES 36

IOT E CLOUD
• Key feature of IoT: capability to directly/indirectly send
data to the Internet
• This allows for managing big data and big streams
generated by sensors
– that could not be stored locally
• The info become accessible by means of specific Internet
or Web services, enabling the exchange with other
applications, in particular mobile app
• Important role of the cloud
– services fo device management, data storage, offline
analysis, etc.
– open systems

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 37

 CLOUD
• “Cloud computing”
– Cloud computing is a model for enabling ubiquitous, convenient, on-
demand network access to a shared pool of configurable computing
resources (e.g., networks, servers, storage, applications, and
services) that can be rapidly provisioned and released with minimal
management effort or service provider interaction. (*)
• Resources are provisioned as-a-service on the network and can be at
three different levels:
– IAAS - infrastructure as a service
• virtualised HW / resources — servers, storage, network
– PAAS - platform as a service
• execution runtime, database, web servers, IDEs,…
– SAAS - software as a service
• applications — CRM, office apps, mail apps, etc.
• Client side (desktop, mobile, wearable, embedded..)
– modern browsers - HTML5, JavaScript
(*) Peter Mell, Timothy Grance, The NIST De nition of Cloud Computing. NIST, Special Publication
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 38
800-145, Settembre 2011.
fi
CLOUD LEVELS

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 39

CLOUD AND IOT
• In the IoT case, cloud services are primarily used for:
– collecting data from devices
• stream
– accessing to the collected data
• pull, event-driven
• offline and online analysis
– device management
• Big Data
– the volume and velocity of the generated data could be large,
calling for specific techniques for storing, access, and manage

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 40

IOT AND THE CLOUD

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 41

 IOT APPLICATION DOMAINS
2794 L. Atzori et al. / Computer Networks 54 (2010) 2787–2805

Fig. 3. Applications domains and relevant major scenarios.

Tratto da: [Luigi Atzori, Antonio Iera, Giacomo Morabito.
The Internet of Things: A survey. Computer Networks, 54 (2010)]
storage, distribution and sale- of
ESIOT ISI-LT semi-products and prod-
UNIBO goods together with information about the type and status
From Embedded Systems to IoT 42
ucts, returns’ processing and after-sales service. It is also of the goods can be integrated to provide important infor-
SMART CITY, URBAN OS & APPS

INTERNET OF THINGS
CLOUD

(Urban OS, Plan IT)

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 43
IOT: CRITICAL ASPECTS AND
CHALLENGES
• Security
• Privacy
• Data ownerships
• Application-level interoperability
– definition of standards and ref. architectures
– e.g. Web of Things (WoT) initiative

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 44

 IoT + WEB = WEB-OF-THINGS
• Web of Things (o WoT) bringing IoT things into the
World Wide Web, providing each thing a REST-ful API
– enabling interoperability at the application level
– enabling interaction with the thing using the web, in
spite of the lower level protocol used thing
implementation
• Zigbee, Bluetooth, 6LoWPAN…

Guinard, Dominique; Vlad Trifa; Erik Wilde (2010). "A Resource Oriented Architecture for the Web of Things".
Proc. of IoT 2010 (IEEE International Conference on the Internet of Things). Tokyo, Japan.

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 45

WoT = IoT + APPLICATION LEVEL
Enter the Web of Things

Easier to program, faster to integrate data and services, simpler

to prototype, deploy, and maintain large systems.

Web: Application level Web of Things:

HTTP, HTML, JSON, ... (OSI layer 7) HTTP, JSON, WebSockets, ...

Internet: Encoding and Transport Internet of Things:

TCP/IP, Ethernet, ... (OSI layers 1-6) Bluetooth, ZigBee, Wi-Fi,...

More lightweight and optimized for embedded devices

(reduced battery, processing, memory and bandwidth usage),
more bespoke and hard-wired solutions.

Figure 1.4 The Web of Things is concerned with only the highest OSI layer (7),
whichESIOT
handles applications,
ISI-LT - UNIBO services, and data.From
Working with such a high level of
Embedded Systems to IoT 46
abstraction makes it possible to connect data and services from many devices
 ically connected to each other. In other words, devices can (but don’t have to) be

WEB OF THINGS (WoT)

GET
http://geneva.ch/weather/

HTTP WWW/LAN
PUT
http://hotel.ar/room105/lock

• Web developers
• Native/desktop apps
• Web services and APIs GET
• Analytics, storage http://myhome.london/fire/alerts.rss

Figure 1.6 The Web of Things allows developers and applications to exchange data with any
physical object or device using standard HTTP requests, regardless of how the device is connected.
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 47
 Central
node

WOT - NETWORK TOPOLOGIES

Central
node

112 Star topology

CHAPTER 5 Building networks of Things Star of stars topology

• Star topologies Figure 5.2 Star topology: all nodes communicate with a single central node. Star of stars topology:
nodes connect to intermediate nodes (gateways), which are in turn connected to a central node using
Light bulbs
a star topology.

wireless radio protocol such as ZigBee. Those gateways Gateways

are in turn connected to your
internet router (the central node) using Ethernet.
MESH NETWORKS
The last network topology that you might encounter inCentral the IoT is also the most com-
node
plex: mesh networks. In a mesh network, there are no central nodes because any node
Central
in the network is able to forward messages from one node to another. As an example,
node
consider the devices shown in figure 5.3. The Pi on the left is too far from the Intel
Edison onStar thetopology
right to communicate with it directly. Instars
Star of a mesh network, the Pi can use
topology
the nearby devices as intermediate hops, called relays, to forward the message to its
Figure 5.2 Star topology: all nodes communicate with a single central node. Star of stars topology:
• Mesh topologies destination.
nodes connect toIn
a star topology.
this particular
intermediate case, thewhich
nodes (gateways), Pi can
are inuse
turnthe Arduino,
connected which
to a central
the Edison, to relay the message. In short, a mesh network means that you can extend
is using
node connected to

the range of each device by adding more nodes. You can also make the network more
– mesh networks wireless radio protocol such as ZigBee. Those gateways are in turn connected to your
internet router (the central node) using Ethernet.
– relays MESH NETWORKS
From: Pi
The last network topology that you might encounter in the IoT is also the most com-
To: Edison
plex: mesh
Content: networks.
Hello World! In a mesh network,
Pi 3
there are no central nodes because any node
BeagleBoard
in the network is able to forward messages from one node to another. As an example,
consider the devices shown in figure 5.3. The Pi on the left is too far from the Intel
Edison on the right to communicate with it directly. In a mesh network, the Pi can use
the nearby devices
Pi
as intermediate hops, called relays, to forward the message to its
Edison
destination. In this particular case, the Pi can use the Arduino, which is connected to
the Edison, to relay the message. In short, a mesh network means that you can extend
the range of each device by adding more nodes. You can also make the network more
Arduino

Figure 5.3 Mesh topology: messages are forwarded across several devices to reach their destination.

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 48

From: Pi
WOT
LEVELS

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 49

WEB OF THINGS AT W3C
• Web of Things Interest Group
– https://www.w3.org/WoT/
• Web of Things Working group
– https://www.w3.org/WoT/WG/
• First Submission of the Web Thing Model
– https://www.w3.org/Submission/2015/01/
• Current proposals
– WoT Architecture
• https://w3c.github.io/wot-architecture/
– WoT Things Description
• https://www.w3.org/TR/wot-thing-description/

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 50

IOT: TECHNOLOGY ROADMAP

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 51

WHO IS MAKING IOT:
MAKERS AND TINKERERS

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 52

MOBILE COMPUTING AND IOT
• Mobile computing
– software systems running on mobile devices
• smartphones, tablets
– peculiar aspects
• user interaction
• energy-awareness
• intermittent network connection
• location-based/context-aware app
•…

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 53

MOBILE COMPUTING AND IOT
• In IoT two main aspects:
– mobile devices as interface to interact with smart
Things & Environments
• Personal Area Network (PAN) - Bluetooth, BLE,
NFC.. - + Internet
– mobile devices as IoT Things themselves
• equipped with many sensors, actuators, network
connection
• tracking user-related data

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 54

WEARABLE COMPUTING AND IOT
• Wearable computing & eyewear computing
– wearable devices
• smart-watch, smartglasses,…
• typically coupled with mobile devices
– Bluetooth
– peculiar aspect
• hands-free / on-the-go
• IoT context
– interface for extending the interaction with physical
environments augmented, extended with a virtual
functionalities
– Augmented Reality
• ..Mixed Reality,
Extended Reality
ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 55
REFERENCES
• Kevin Ashton. “The ‘Internet of Things’ Thing’. RFID Journal, 2009. http://
www.rfidjournal.com/articles/view?4986
• Luigi Atzori, Antonio Iera, Giacomo Morabito. The Internet of Things: A survey.
Computer Networks, 54 (2010)
• Samuel Greengard. The Internet of Things. MIT Press
• [IOTF] IoT Fundamentals. Networking Technologies, Protocols, and Use Cases for the
Internet of Things. Hanes et al. CISCO press. 2017
• [DIT] A. McEwen and H. Cassimally. Designing the Internet of Things. Wiley
• [LIT] P. Waher. Learning the Internet of Things. Pack publishing.
• [BIT] Charalampos Doukas. Building Internet of Things with the Arduino.
• Guinard, Dominique; Vlad Trifa; Erik Wilde (2010). "A Resource Oriented Architecture
for the Web of Things". Proc. of IoT 2010 (IEEE International Conference on the
Internet of Things). Tokyo, Japan
• [Por14] M. Porter, J. Heppelmann. How Smart, Connected Products Are Transforming
Competition. Harvard Business Review. November 2014
• [Por15] M. Porter, J. Heppelmann. How Smart, Connected Products Are Transforming
Companies. Harvard Business Review. October 2015
• [DBE17] D. De Loach, E. Berthelsen, W. Elrifai. The Future of IoT. 2017
• [VC18] G. Veneri and A. Capasso. “Hands-On Industrial Internet of Things”. Packt,
2018

ESIOT ISI-LT - UNIBO From Embedded Systems to IoT 56