A Comprehensive Experimental Comparison of Event Driven and Multi-Threaded Sensor Node Operating Systems

The capabilities of a sensor network are strongly influenced by the operating system used on the sensor nodes. In general, two different sensor network operating system types are currently considered: event driven and multi-threaded. It is commonly assumed that event driven operating systems are more suited to sensor networks as they use less memory and processing resources. However, if factors other than resource usage are considered important, a multi-threaded system might be preferred. This paper compares the resource needs of multi-threaded and event driven sensor network operating systems. The resources considered are memory usage and power consumption. Additionally, the event handling capabilities of event driven and multi-threaded operating systems are analyzed and compared. The results presented in this paper show that for a number of application areas a thread-based sensor network operating system is feasible and preferable

MMEDD: Multithreading Model for an Efficient Data Delivery in wireless sensor networks

Nowadays, the use of Wireless Sensor Networks (WSNs) is increasingly growing as they allow a large number of applications. In a large scale sensor network, communication among sensors is achieved by using a multihop communication. However, since the sensor is limited by its resources, sensors' operating systems are developed in order to optimize the management of these resources, especially the power consumption. Therefore, the hybrid operating system Contiki uses a low consumption layer called Rime which allows sensors to perform multihop sending with a low energy cost. This is favored by the implementation of lightweight processes called protothreads. These processes have a good efficiency/consumption ratio for monolithic tasks, but the management of several tasks remains a problem. In order to enable multitasking, Contiki provides to users a preemptive multithreading module that allows the management of multiple threads. However, it usually causes greater energy wastage. To improve multithreading in sensor networks, a Multithreading Model for an Efficient Data Delivery (MMEDD) using protothreads is proposed in this paper. Intensive experiments have been conducted on COOJA simulator that is integrated in Contiki. The results show that  MMEDD provides better ratio message reception rate/energy consumption than other architectures

Impact of ROS 2 Node Composition in Robotic Systems

The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed in the computational graph. This paper explores and benchmarks one of these new node types -- the Component node -- which allows nodes to be composed manually or dynamically into processes while retaining separation of concerns in a codebase for distributed development. Composition is shown to achieve a high degree of performance optimization, particularly valuable for resource-constrained systems and sensor processing pipelines, enabling distributed tasks that would not be otherwise possible in ROS 2. In this work, we briefly introduce the significance and design of node composition, then our contribution of benchmarking is provided to analyze its impact on robotic systems. Its compelling influence on performance is shown through several experiments on the latest Long Term Support (LTS) ROS 2 distribution, Humble Hawksbill.Comment: IEEE Robotics and Automation Letters, 202

Power Consumption Analysis of Operating Systems for Wireless Sensor Networks

In this paper four wireless sensor network operating systems are compared in terms of power consumption. The analysis takes into account the most common operating systems—TinyOS v1.0, TinyOS v2.0, Mantis and Contiki—running on Tmote Sky and MICAz devices. With the objective of ensuring a fair evaluation, a benchmark composed of four applications has been developed, covering the most typical tasks that a Wireless Sensor Network performs. The results show the instant and average current consumption of the devices during the execution of these applications. The experimental measurements provide a good insight into the power mode in which the device components are running at every moment, and they can be used to compare the performance of different operating systems executing the same tasks

Designing and Implimentation of Spatial IP Address Assignment Scheme for a Wireless Network

Wireless sensor networks are composed of large numbers up to thousands of tiny radio- equipped sensors. Every sensor has a small microprocessor with enough power to allow the sensors to autonomously form networks through which sensor information is gathered. Wireless sensor networks makes it possible to monitor places like nuclear disaster areas or volcano craters without requiring humans to be immediately present. Many wireless sensor network applications cannot be performed in isolation; the sensor network must somehow be connected to monitoring and controlling entities. This research paper investigates a novel approach for connecting sensor networks to existing networks: by using the TCP/IP protocol suite in the sensor network, the sensors can be directly connected to an outside network without the need for special proxy servers or protocol converters. Bringing TCP/IP to wireless sensor networks is a challenging task, however. First, because of their limited physical size and low cost, sensors are severely constrained in terms of memory and processing power. Traditionally, these constraints have been considered too limiting for a sensor to be able to use the TCP/IP protocols. In this research paper, I show that even tiny sensors can communicate using TCP/IP. Second, the harsh communication conditions make TCP/IP perform poorly in terms of both throughput and energy efficiency. With this research paper, I suggest a number of optimizations that are intended to increase the performance of TCP/IP for sensor networks. The results of the work presented in this research paper have a significant impact on the embedded TCP/IP networking community. The software evolves as part of the research paper has become widely known in the community. The software is mentioned in books on embedded systems and networking, is used in academic courses on embedded systems, is the focus of articles in professional magazines, is incorporated in embedded operating systems, and is used in a

Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling

Bounding the end-to-end latency of processing chains in distributed real-time systems is a well-studied problem, relevant in multiple industrial fields, such as automotive systems and robotics. Nonetheless, to date, only little attention has been given to the study of the impact that specific frameworks and implementation choices have on real-time performance. This paper proposes a scheduling model and a response-time analysis for ROS 2 (specifically, version "Crystal Clemmys" released in December 2018), a popular framework for the rapid prototyping, development, and deployment of robotics applications with thousands of professional users around the world. The purpose of this paper is threefold. Firstly, it is aimed at providing to robotic engineers a practical analysis to bound the worst-case response times of their applications. Secondly, it shines a light on current ROS 2 implementation choices from a real-time perspective. Finally, it presents a realistic real-time scheduling model, which provides an opportunity for future impact on the robotics industry

Reducing Communication Delay Variability for a Group of Robots

A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without regard for the state of the transmission medium, it allows deterministic communications, and it enables ordered communications that can be a applied in a team of robots. Simulations and experimental results are also included