D-SLATS: Distributed Simultaneous Localization and Time Synchronization

Through the last decade, we have witnessed a surge of Internet of Things (IoT) devices, and with that a greater need to choreograph their actions across both time and space. Although these two problems, namely time synchronization and localization, share many aspects in common, they are traditionally treated separately or combined on centralized approaches that results in an ineffcient use of resources, or in solutions that are not scalable in terms of the number of IoT devices. Therefore, we propose D-SLATS, a framework comprised of three different and independent algorithms to jointly solve time synchronization and localization problems in a distributed fashion. The First two algorithms are based mainly on the distributed Extended Kalman Filter (EKF) whereas the third one uses optimization techniques. No fusion center is required, and the devices only communicate with their neighbors. The proposed methods are evaluated on custom Ultra-Wideband communication Testbed and a quadrotor, representing a network of both static and mobile nodes. Our algorithms achieve up to three microseconds time synchronization accuracy and 30 cm localization error

Fundamentals of Large Sensor Networks: Connectivity, Capacity, Clocks and Computation

Sensor networks potentially feature large numbers of nodes that can sense their environment over time, communicate with each other over a wireless network, and process information. They differ from data networks in that the network as a whole may be designed for a specific application. We study the theoretical foundations of such large scale sensor networks, addressing four fundamental issues- connectivity, capacity, clocks and function computation. To begin with, a sensor network must be connected so that information can indeed be exchanged between nodes. The connectivity graph of an ad-hoc network is modeled as a random graph and the critical range for asymptotic connectivity is determined, as well as the critical number of neighbors that a node needs to connect to. Next, given connectivity, we address the issue of how much data can be transported over the sensor network. We present fundamental bounds on capacity under several models, as well as architectural implications for how wireless communication should be organized. Temporal information is important both for the applications of sensor networks as well as their operation.We present fundamental bounds on the synchronizability of clocks in networks, and also present and analyze algorithms for clock synchronization. Finally we turn to the issue of gathering relevant information, that sensor networks are designed to do. One needs to study optimal strategies for in-network aggregation of data, in order to reliably compute a composite function of sensor measurements, as well as the complexity of doing so. We address the issue of how such computation can be performed efficiently in a sensor network and the algorithms for doing so, for some classes of functions.Comment: 10 pages, 3 figures, Submitted to the Proceedings of the IEE

TS-MUWSN: Time synchronization for mobile underwater sensor networks

Time synchronization is an important, yet challenging, problem in underwater sensor networks (UWSNs). This challenge can be attributed to: 1) messaging timestamping; 2) node mobility; and 3) Doppler scale effect. To mitigate these problems, we present an acoustic-based time-synchronization algorithm for UWSN, where we compare several message time-stamping algorithms in addition to different Doppler scale estimators. A synchronization system is based on a bidirectional message exchange between a reference node and a slave one, which has to be synchronized. Therefore, we take as reference the DA-Sync-like protocol (Liu et al., 2014), which takes into account node's movement by using first-order kinematic equations, which refine Doppler scale factor estimation accuracy, and result in better synchronization performance. In our study, we propose to modify both time-stamping and Doppler scale estimation procedures. Besides simulation, we also perform real tests in controlled underwater communication in a water test tank and a shallow-water test in the Mediterranean Sea.Peer ReviewedPostprint (author's final draft

Slotted ALOHA Overlay on LoRaWAN: a Distributed Synchronization Approach

LoRaWAN is one of the most promising standards for IoT applications. Nevertheless, the high density of end-devices expected for each gateway, the absence of an effective synchronization scheme between gateway and end-devices, challenge the scalability of these networks. In this article, we propose to regulate the communication of LoRaWAN networks using a Slotted-ALOHA (S-ALOHA) instead of the classic ALOHA approach used by LoRa. The implementation is an overlay on top of the standard LoRaWAN; thus no modification in pre-existing LoRaWAN firmware and libraries is necessary. Our method is based on a novel distributed synchronization service that is suitable for low-cost IoT end-nodes. S-ALOHA supported by our synchronization service significantly improves the performance of traditional LoRaWAN networks regarding packet loss rate and network throughput.Comment: 4 pages, 8 figure

Dynamic Voltage Scaling Techniques for Energy Efficient Synchronized Sensor Network Design

Building energy-efficient systems is one of the principal challenges in wireless sensor networks. Dynamic voltage scaling (DVS), a technique to reduce energy consumption by varying the CPU frequency on the fly, has been widely used in other settings to accomplish this goal. In this paper, we show that changing the CPU frequency can affect timekeeping functionality of some sensor platforms. This phenomenon can cause an unacceptable loss of time synchronization in networks that require tight synchrony over extended periods, thus preventing all existing DVS techniques from being applied. We present a method for reducing energy consumption in sensor networks via DVS, while minimizing the impact of CPU frequency switching on time synchronization. The system is implemented and evaluated on a network of 11 Imote2 sensors mounted on a truss bridge and running a high-fidelity continuous structural health monitoring application. Experimental measurements confirm that the algorithm significantly reduces network energy consumption over the same network that does not use DVS, while requiring significantly fewer re-synchronization actions than a classic DVS algorithm.unpublishedis peer reviewe

Lightweight Synchronization Algorithm with Self-Calibration for Industrial LORA Sensor Networks

Wireless sensor and actuator networks are gaining momentum in the era of Industrial Internet of Things IIoT. The usage of the close-loop data from sensors in the manufacturing chain is extending the common monitoring scenario of the Wireless Sensors Networks WSN where data were just logged. In this paper we present an accurate timing synchronization for TDMA implemented on the state of art IoT radio, such as LoRa, that is a good solution in industrial environments for its high robustness. Experimental results show how it is possible to modulate the drift correction and keep the synchronization error within the requirements

A Geometric Approach to Slot Alignment in Wireless Sensor Networks

Traditionally, slotted communication protocols have employed guard times to delineate and align slots. These guard times may expand the slot duration significantly, especially when clocks are allowed to drift for longer time to reduce clock synchronization overhead. Recently, a new class of lightweight protocols for statistical estimation in wireless sensor networks have been proposed. This new class requires very short transmission durations (jam signals), thus the traditional approach of using guard times would impose significant overhead. We propose a new, more efficient algorithm to align slots. Based on geometrical properties of space, we prove that our approach bounds the slot duration by only a constant factor of what is needed. Furthermore, we show by simulation that this bound is loose and an even smaller slot duration is required, making our approach even more efficient.National Science Foundation (CNS Cybertrust Award 0524477, CNS ITR Award 0205294, EIA RI Award 0202067