2022 Fifth International Conference of Women in Data Science at Prince Sultan University (WiDS PSU)

A Survey on Resource Management and Security

Issues in IoT Operating Systems
2022 Fifth International Conference of Women in Data Science at Prince Sultan University (WiDS PSU) | 978-1-6654-0812-7/22/$31.00 ©2022 IEEE | DOI: 10.1109/WIDS-PSU54548.2022.00017

Noura AlDossary Sarah AlQahtani Haya AlUbaidan

Department of Computer Department of Computer Department of Computer
ScienceCollege of Computer Science ScienceCollege of Computer Science ScienceCollege of Computer Science
and Information Technology and Information Technology and Information Technology
Imam Abdulrahman Bin Faisal Imam Abdulrahman Bin Faisal Imam Abdulrahman Bin Faisal
University University University
Dammam, Kingdom of Saudi Arabia Dammam, Kingdom of Saudi Arabia Dammam, Kingdom of Saudi Arabia

[email protected] [email protected] [email protected]

Abstract—Internet of Things (IoT) is described as a set of inter- processing capacity, and computation. In fact, the future of
connected objects that communicate through a network IoT applications requires secure connectivity between these
connection. IoT has been used in a variety of applications such devices [4].
as smart cities, education, and healthcare etc. Due to their This paper aims to compare various IoT-OSs in
implicit nature and usage, IoT devices have limited resources
such as memory size, battery power, and processing capabilities.
terms of resource management as shown in Figure 1,
Hence, it is vital to consider IoT Operating Systems (IoT-OS) including architecture, memory management, power
that are responsible for managing and controlling the IoT management, scheduling algorithms, programming
device's limited resources in a timely and efficient manner. This languages, file system management, and security features that
paper provides a detailed comparison of several existing IoT- can resist attacks. In addition, we suggested a security model
OSs in terms of architecture, memory management, power that can be used to increase the level of IoT-OS security.
management, scheduling algorithms, programming languages, The reminder for this paper is organized as follows.
file system management, and security features. In addition, it In Section 2 related work is summarized. In Section 3, we
investigates various popular IoT-OSs including Contiki, compare several types of IoT-OS. Section 4 presents the IoT-
TinyOS, RIOT, Lite OS, FreeRTOS, and Mbed. IoT-OS
OS secure model. We conclude this paper with future work
security model has been proposed to be used by many IoT
application areas. in Section 5.
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Keywords-Internet of Things, Operating Systems, Resource
Management, Security.

I. INTRODUCTION:
With the rapid development of technology, Internet of Things
(IoT) is becoming an essential part of our daily lives.
According to CISCO, by the year 2020, it is estimated that
the number of interconnected devices through IoT will
iexpand to about 50 billion devices [1]. IoT is a massive
network of interconnected objects, users, and entities that
collect and exchange data through network connections [2].
There is a diverse set of applications such as smart cities,
healthcare, and transportation that use IoT devices to carry
out tasks independently. Due to the high demand for IoT
devices and applications, IoT-OS has become more
important, and it plays a vital role.
The market for IoT operating systems is often
classified into two segments: commercial operating systems
and open-source operating systems. In fact, open-source OSs
are more popular since they often have permissive licenses
II. LITERATURE REVIEW:
like Berkeley software distribution and are maintained by
large IT organizations, such as FreeRTOS by Amazon. In There has been extensive research on IoT-OS, with researchers
addition, commercial operating systems, such as RTOSs low- addressing the limitations of IoT resources. This section discusses
related work on IoT-OS resource management.
cost IoT devices have been promoted using RTOS [3].
Authors of [5], conducted a comparison between several
However, IoT devices use IPv6 to allow devices to connect IoT-OSs and introduced a generic framework that may allow one to
with each other using the internet. By increasing the number pick the best IoT-OS based on their requirements. They discussed
of IoT devices, it is likely that some risks may be introduced. the properties including programming model, architecture,
Moreover, machines have a limited amount of energy, scheduling, memory management, networking, and portability to

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DOI 10.1109/WiDS-PSU54548.2022.00017

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carryout the comparison. In addition, [6]presented an analytical described the software as compatible with IoT development
study on the latest developments on IoT-OS. They focused mainly applications as long the OS worked with different protocols to
on the IoT-OSs and studied their advances in the field. Also, they address the communication purpose. As the conclusion in their
evaluated and compared existing IoT-OSs based on a set of criteria study, they noticed that all IoT operating systems outfitted with the
such as memory, programmability support and hardware support. most important network and communication protocols provide
Authors in [7] presents an overview of the most perfect usage for computing power as well as security part.
challenging and limitations in IoT technology. They also get brief However, as future work, they would go deeper to improve the way
on the IoT open-source operating system Contiki, TinyOS, RIOT, to protect the IoT environment from online dictionary attacks.
FreeRTOS, MbedOS, UClinux, μC/OS, and Lite OS. As result of Authors in [13] showed an overview of a diverse set of
their analysis of the current open-source OS, they provide the IoT OS, supported hardware, and research direction. In addition, the
classical structure of IoT-OS. Their paper will add value to article demonstrated the opportunities and challenges regarding
researchers to summarize the concept of IoT and guide them to performance, energy efficiency, interoperability, privacy, and
choose the best OS for their needs. Furthermore, authors of [2] security. In another paper [14], the authors analyzed the resource
investigated different IoT-OS which are TinyOS, Contiki, NanoRK, management for each of Contiki OS, TinyOS, LiteOS, FreeRTOS,
LiteOS, free RTOS and RIOT. Also, the authors highlighted the RTOS, Mbed, MantisOS, and Nano-RK and emphasized their
main advantages and disadvantages of the IoT-OS as well as their advantages, disadvantages, and applications. In addition, the authors
properties and architecture. They concluded that RIOT is the most found that the most used IoT-OS is Contiki OS due to its flexibility
suitable system for the internet of things since it satisfies the specific and support to real-time tasks. They proposed an IoT-OS model
requirements IOT scenarios. which contains the main characteristics of an IoT-OS that can be
Authors in [8] identified seven primary challenges for an used a various set of applications.
IoT operating system: OS architecture, scheduler and real-time Authors in [15]present an overview of the IoT ecosystem,
capabilities, programming paradigm, memory footprint, network including OS, middleware, communication layers, and architecture,
connectivity, hardware support, and energy efficiency. Furthermore, where each component of IoT has been discussed in detail. In fact,
the authors rank Tiny OS and Contiki OS as the most well-known an OS is a suite of programs that connects applications or users to
and widely used event-driven operating systems, while FreeRTOS, devices, where an OS is placed on IoT devices to enable programs
Mbed OS, and RIOT are less well-known and widely used. to operate and manage them. Moreover, the OS is responsible for
According to this article, a perfect IoT-OS has yet to be developed, managing and monitoring power usage, enabling instructions to run,
but many other difficulties, such as OS security and personalization programming the IoT device for its attributes, and facilitating
for IoT apps, must be considered. On another hands, authors in [9] connection between devices. The authors divided the OS into two
address one of the main parts of IoT technology which is categories: high-end, which is Linux-based, and low-end, which
applications. They have been discussing IoT Applications security could be either Linux-based or non-Linux-based. On the other hand,
and various kinds of attacks. They covered the most important IoT ecosystem security, scalability, heterogeneity, and
thread such as Wireless Sensor Network and Radio Frequency interoperability must be addressed at various levels of the
Identification Technology. Also, they recommend many ways to ecosystem.
improve the security for IoT devices communications, all these Authors in [16] their paper have been discussed the
communications must include encryptions, and for the critical and popular IoT-OSs available in the market are Mbed OS, Contiki OS,
real-time they recommend having access control. As future work, RIOT OS, Apache Mynewt, Zephyr, Android Things, Windows 10
they assumed that increasing security for IoT technology surely will IoT, and Embedded Linux. Also, they explained in detail the
impact positivity in user's trust. common IoT hardware Platform such as Brand, Raspberry Pi,
Nowadays, the Internet of Things (IoT) has become a fact Nvidia, and BeagleBoard. In their paper they focused on open -
of life. Authors in[10] compared IoT-OSs in terms of architecture, source system software products and compare them with
scheduling methods, networking technologies, programming commercial software many factors have been considered. As a result
models, and strategies for managing power and memory. Also, they of this comparison, Free software will be leading the growth in IoT.
found that each OS has its own advantages, disadvantages, and In addition, authors in [17]provide an in-depth study of today's most
constraints. Several major IoT-OSs are discussed in this paper, cutting-edge operating system technology, architecture, and
including Contiki, TinyOS, RIOT, and LiteOS, with the authors accessible networking stack protocols. Many open-source operating
comparing the IoT-OSs in various aspects. For example, the authors systems are reviewed, including Mbed, Contiki, Tiny OS, and Free
show four different types of OS architectures: monolithic, RTOS. In addition, current issues like intelligent data analysis,
microkernel, virtual machine, and layered. In fact, the target of IoT security, and real-time application synchronization are addressed by
scheduling algorithms is to maximize throughput, ensure fairness, the authors.
and maximize the utilization of resources. Hence, the authors in this Authors in [18]focused on the introduction of IoT, explain the
paper categorized scheduling algorithms into real-time and non-real- limitation of IoT, how to enable IoT technology, and architecture.
time scheduling algorithms. The authors found that security, The focus was on presenting the IoT architecture layers
privacy, and interoperability are the main difficulties encountered (Appliaction, Middleware, Network and perception) and the
by the Internet of Things. Moreover, IoT operating systems are possibility of security attackers in each layer. Also, their paper
responsible for ensuring efficient and timely resource management shows the different attacks such as Mirai Botnet, the Hackable
on restricted IoT devices. Authors in [11] discussed deep IoT cardiac devices, the Owlet Wi-Fi baby Heart Monitor,
devices and OS resource management. Their resource management theTRENDnet Webcam Hack, and The Jeep Hack. In the end, they
mechanisms are divided into many categories, such as process have suggested further research in Cyber-attacks.
management, memory allocation, power management,
communication management, and file systems. These approaches Table 1 shows an overview of a comparison between this study
further subdivide their issue formulations into categories. In and other related work in terms of resources management including
addition, resource management in IoT-OSs including Contiki, architecture, memory management, power management, scheduling
TinyOS, and FreeRTOS is being investigated. algorithm, programming language, file system management, and
Authors in [12] conducted the survey between available security features.
IoT-OSs such as ARM mbed OS, Windows 10 for IoT, Google
Brillo, FreeRTOS RIOT OS, and VXWORKS. They focused on the
design of the operating system which provides a big role in IoT
devices implementation and resources management. Also, they

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 additional useful purposes. Hence, the processor can shift to a
Compari
son key
Architectur
Memory
Memory
Power
Scheduling Programming
File
System Security
lower-power mode, which helps extend battery life more
e
Manage
ment
Size
Manage
ment
Algorithm Language Manage Features effectively. Real-time scheduling (RTS) and earliest deadline first
ment
scheduling (EDF) are two scheduling algorithms that have been
Author

[5] — — — —

developed for TinyOS. Moreover, TinyOS developed using NesC
[6] — — — — —
programming language, where a log-structured flash (ELF) file
[7] — — —
[2] — — system is used to allow low-power operation [21]. On the other
[8]
[9]
— — — — —
—
hand, TinyOS relies on TinySec library that provides link layer
[10] — — — — — security techniques to ensure confidentiality, integrity, and
[11] — — — —
[12]

—
 authenticity of messages shared between devices [25].
 
[13] — — — — —
C. RIOT:
[14] — — — — — —
[15]
[16]
—
—
—
— —
RIOT is an open-source OS that provides developers with a
[17] — — — — — — friendly environment to develop IoT applications for small devices.
—
[18]
This
— — — — — — — —
It’s based on a microkernel architecture. In terms of memory
paper
management, RIOT provides both static and dynamic allocations
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for applications [26]. It occupies a minimum of 1.5KB for RAM
and 5KB for Rom[20]. Also, it is uses preemptive, priority based
and Tickless scheduling models [27]. In terms of power
management, the idle thread will specify the deep sleep mode to
III. IOT-OPERATING SYSYTEM COMPARISON
reduce power consumption. RIOT is developed using C and C++
This section compares several IoT-OSs in terms of resources languages[26]. In addition, it supports file system management to
management, and security features as shown in the Table 2. manage massive amounts of data efficiently (eg. FAT SL file
system) [10]. Moreover, RIOT offers basic security capabilities, it
supports DTLS transport layer security as well as crypto secure
A. Contiki: elements [28].
Contiki OS is a lightweight, portable, and adaptable operating
system. It is one of the most popular open-source operating systems. D. LiteOS:
At the Swedish Institute of Computer Science (SICS) in 2003, Adam LiteOS [29]is an open-source, Unix-like OS that provides an
Dunkels developed Contiki OS [19]. It requires a minimum of 2 KB abstraction for wireless sensor networks. It uses modular
for RAM, and 30 KB for ROM [20]. Contiki was built using a architecture, which provides reliability. The tools associated with
Monolithic modular architecture. The interaction of modules in a LiteOS enables the operation of one or more wireless sensor
monolithic kernel is less expensive and has a smaller memory network in a unix-like fashion, installation of programs, transfer of
footprint. This modular is well-suited for sensor networks with data or configuration of sensors. As for power management, there is
memory constraints [21]. Contiki uses a preemptive multi-threading no specific approach discussed. But the system enters sleep mode
scheduling algorithm and is built using C programming language. when there are no tasks to execute in the queue [14]. Furthermore,
Also, Contiki is an event-driven operating system at the kernel level. LiteOS supports dynamic memory allocation through system calls
This helps Contiki to have great features by loading and unloading using malloc and free API libraries. It requires a minimum of 4KB
a code at run time [22]. Contiki is primarily built for static allocation for RAM[20]. In addition, it implements round-robin and
and includes a few memory management libraries such as memb. priority-based scheduling, once a task is scheduled it runs until
Also, it makes use of third-party dynamic allocation modules, which completion. This may result in missed deadlines of high priority
may result in a stack overflow and increase disk space requirements. tasks. Hence, it doesn’t support real-time applications. Also, it
The Contiki kernel itself does not include an explicit power-saving executes tasks according to their priority in the ready queue. LiteOS
mechanism; instead, it uses a default method, known as the is written using LiteC++ and C programming languages. Like Unix
ContikiMAC protocol, which makes the devices operate in a low- file system, LiteOS supports hierarchal file system which is
power mode. A virtual file system called Coffee File System (CFS) represented by LiteFS. Furthermore, LiteOS provides security
is used by Contiki, which provides an interface to many file systems. features such as DTLS encrypted transmission and two-way
Real-time applications may be delayed if they demand more than the authentication [30].
reserved storage space on CFS, which requires an advance
reservation of the file size [21]. Contiki has ContikiSec as a link E. FreeRTOS:
layer security solution to ensure integrity, authentication, and FreeRTOS is an open-source operating system considered a
confidentiality [22]. market leader in real-time system. It is designed to be able to run
above the microcontroller [31]. FreeRTOSS provides dynamic
B. TinyOS: memory allocation utilizing two heaps. One of them used the
TinyOS is an open-source operating system that was designed application data storage in external RAM, while the other used
specifically for low-power wireless devices such as those used in internal RAM for the task stack. It provides ticklees as an optional
Wireless Sensor Networks (WSNs). TinyOS offers greater means of reducing power consumption [7]. Regrading the
flexibility when it comes to supporting several types of sensor scheduling algorithm, preemptive scheduling is used as the first
applications [24]. In terms of IoT-OS size, it requires a minimum of mode. Also, it used cooperative scheduling mode to avoid any
1 KB for RAM and 4 KB for ROM[20]. Furthermore, it uses a problems while using preemptive scheduling [31]. FreeRTOS is
monolithic component-based architecture that does not have a written in the C programming language. It supports the FAT file
userspace. In term of memory management, static memory system and enables security features such as WOSSL [15]. Also, it
allocation was the only option in the early versions of TinyOS occupies a minimum of 10 KB for RAM and 14 KB for Rom [20].
because of the small amount of available space. However, dynamic
memory capabilities in TinyOS are achievable using the TinyAlloc F. Mbed:
component. In addition, TinyOS makes use of software thread Mbed OS is an open-source operating system developed by
integration (STI) to save power by using idle and busy time for Silicon Labs and ARM to present the Mbed power management
API. Mbed provides dynamic and static memory allocation.
Dynamic allocation is utilized during runtime while static memory

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 is utilized at compile time. It provides a special API which is
optional for sleep mode OS to help with power energy saving.
Regarding the scheduling algorithm, it uses a preemptive scheduling
model [14]. Mbed was written using C and C++ programming
languages [12]. In terms of file systems, Mbed OS supports FAT
and embedded file systems. Moreover, the embedded file system can
be considered as an independent system that has both hardware and
software embedded, and it can be part of a huge system. Usually, an
embedded system utilizes software embed in one memory, which is
Read Only Memory (ROM) and it does not require another extra
memory [32]. For security features, MbedOS used TLS and SSL as
security standard protocols [7].

dĂďůĞϮ͗/ŽdKƉĞƌĂƚŝŶŐ^LJƐƚĞŵŽŵƉĂƌŝƐŽŶ͘

Schedu Program
Memory min Power
IoT OS Architect Manage min RO Manageme ling ming File System Security Feature
ure RAM Algorit Languag Management
ment M nt
hm e
Preempt
Static / ContikiMA
ive
Monolithi Dynamic 30K C protocol Coffee File
Contiki c modular Allocatio 2KB B (low-power multi- C System (CFS) ContikiSec
threadin
n mode)
g

Dynamic
Monolithi
c Allocatio STI Multi- log-structured
TinyOS n 1 KB 4KB (lower- algorith NesC TinySec library
compone flash (ELF)
(TinyAllo power mode m
nt based
c)
V. CONCLUSION:
Static /
Ideal thread
RIOT
MicroKer
nal
Dynamic
Allocatio
1.5K
B
5KB (deep sleep
mood)
Preempt
ive
C & C++ FAT DTLS IoT has influenced our lives in many aspects such as education,
n

Dynamic Not well- LiteC++

healthcare, and transportation. Additionally, IoT devices differ from
Preempt
Lite OS Modular Allocatio
n
4KB - defined(slee
p mode)
ive
&C LiteFS DTLS
normal computer equipment in several ways. As a result, the
operating system must be customized for IoT devices. The special
Preempt
ive &
Dynamic
Free MikroKer 12K Cooper
RTOS nel RTOS Allocatio
n
10KB B Ticklees ative
scheduli
C FAT WolfSSL
requirements regarding resources such as memory and power must
ng
be carefully considered when designing OSs for IoT devices. In this
Static /
Mbed MikroKer
nel RTOS
Dynamic
Allocatio
- - Sleep mode Preempt
ive
C & C++ FAT SSL & TLS work, a variety of resource management features were analyzed for
n
the selected IoT-OS. Various operating systems were examined and
compared with regard to their resource management. Furthermore,
it has been concluded that RIOT is the best OS for the Internet of
Things (IoT) because many of its strengths fulfill the requirements
for an OS to be utilized in the IoT. Finally, an IoT-OS security model
has been proposed to be used by many application areas. The
suggested model can help system developers build a secure IoT
environment to ensure confidentiality, integrity, and availability
IV. SECURE MODEL FOR IOT-OS: since the optimal secure IoT-OS has not yet been born. For future
work, a complete implementation of the secure OS model can be
In this section, we suggest a secure model for IoT-OS that ensures applied on various IoT platforms.
confidentiality, integrity, and availability. According to the ISO/IEC
27001 information security standard, the CIA triad is the main goal
of information security. The acronym CIA stands for Confidentiality
(only authorized users can access data), Integrity (prevent VI. REFERENCE:
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