Synchronization protocols and implementation issues in wireless sensor networks: A review

Time synchronization in wireless sensor networks (WSNs) is a topic that has been attracting the research community in the last decade. Most performance evaluations of the proposed solutions have been limited to theoretical analysis and simulation. They consequently ignored several practical aspects, e.g., packet handling jitters, clock drifting, packet loss, and mote limitations, which affect real implementation on sensor motes. Authors of some pragmatic solutions followed empirical approaches for the evaluation, where the proposed solutions have been implemented on real motes and evaluated in testbed experiments. This paper gives an insight on issues related to the implementation of synchronization protocols in WSN. The challenges related to WSN environment are presented; the importance of real implementation and testbed evaluation are motivated by some experiments we conducted. The most relevant implementations of the literature are then reviewed, discussed, and qualitatively compared. While there are several survey papers that present and compare the protocols from the conception perspectives, as well as others that deal with mathematical and signal processing issues of the estimators, a survey on practical aspects related to the implementation is missing. To our knowledge, this paper is the first one that takes into account the practical aspect of existing solutions

Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. So far, however, feedback control over wireless multi-hop networks has only been shown for update intervals on the order of seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. Using experiments on a cyber-physical testbed with 20 wireless nodes and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination over wireless multi-hop networks for update intervals of 20 to 50 milliseconds.Comment: Accepted final version to appear in: 10th ACM/IEEE International Conference on Cyber-Physical Systems (with CPS-IoT Week 2019) (ICCPS '19), April 16--18, 2019, Montreal, QC, Canad

Fast distributed multi-hop relative time synchronization protocol and estimators for wireless sensor networks

The challenging problem of time synchronization in wireless sensor networks is considered in this paper, where a new distributed protocol is proposed for both local and multi-hop synchronization. The receiver-to-receiver paradigm is used, which has the advantage of reducing the time-critical-path and thus improving the accuracy compared to common sender-to-receiver protocols. The protocol is fully distributed and does not rely on any fixed reference. The role of the reference is divided amongst all nodes, while timestamp exchange is integrated with synchronization signals (beacons). This enables fast acquisition of timestamps that are used as samples to estimate relative synchronization parameters. An appropriate model is used to derive maximum likelihood estimators (MLE) and the Cramer-Rao lower bounds (CRLB) for both the offset-only, and the joint offset/skew estimation. The model permits to directly estimating relative parameters without using or referring to a reference' clock. The proposed protocol is extended to multi-hop environment, where local synchronization is performed proactively and the resulted estimates are transferred to the intermediate/end-point nodes on-demand, i.e. as soon as a multi-hop communication that needs synchronization is initiated. On-demand synchronization is targeted for multi-hop synchronization instead of the always-on global synchronization model, which avoids periodic and continuous propagation of synchronization signals beyond a single-hop. Extension of local MLE estimators is proposed to derive relative multi-hop estimators. The protocol is compared by simulation to some state-of-the-art protocols, and results show much faster convergence of the proposed protocol. The difference has been on the order of more than twice compared to CS-MNS, more than ten times compared to RBS, and more than twenty times compared to TPSN. Results also show scalability of the proposed protocol concerning the multi-hop synchronization. The error does not exceed few microseconds for as much as 10 hops in R4Syn, while in CS-MNS, and TPSN, it reaches few tens of microseconds. Implementation and tests of the protocol on real sensor motes confirm microsecond level precision even in multi-hop scenarios, and high stability (long lifetime) of the skew/offset model

Randomized and efficient time synchronization in dynamic wireless sensor networks: a gossip-consensus-based approach

This paper proposes novel randomized gossip-consensus-based sync (RGCS) algorithms to realize efficient time correction in dynamic wireless sensor networks (WSNs). First, the unreliable links are described by stochastic connections, reflecting the characteristic of changing connectivity gleaned from dynamicWSNs. Secondly, based on the mutual drift estimation, each pair of activated nodes fully adjusts clock rate and offset to achieve network-wide time synchronization by drawing upon the gossip consensus approach. The converge-to-max criterion is introduced to achieve a much faster convergence speed. The theoretical results on the probabilistic synchronization performance of the RGCS are presented. Thirdly, a Revised-RGCS is developed to counteract the negative impact of bounded delays, because the uncertain delays are always present in practice and would lead to a large deterioration of algorithm performances. Finally, extensive simulations are performed on the MATLAB and OMNeT++ platform for performance evaluation. Simulation results demonstrate that the proposed algorithms are not only efficient for synchronization issues required for dynamic topology changes but also give a better performance in term of converging speed, collision rate, and the robustness of resisting delay, and outperform other existing protocols

Clock Synchronization and Distributed Estimation in Highly Dynamic Networks: An Information Theoretic Approach

International audienceWe consider the External Clock Synchronization problem in dynamic sensor networks. Initially, sensors obtain inaccurate estimations of an external time reference and subsequently collaborate in order to synchronize their internal clocks with the external time. For simplicity, we adopt the drift-free assumption, where internal clocks are assumed to tick at the same pace. Hence, the problem is reduced to an estimation problem, in which the sensors need to estimate the initial external time. This work is further relevant to the problem of collective approximation of environmental values by biological groups. Unlike most works on clock synchronization that assume static networks, this paper focuses on an extreme case of highly dynamic networks. Specifically, we assume a non-adaptive scheduler adversary that dictates in advance an arbitrary, yet independent, meeting pattern. Such meeting patterns fit, for example, with short-time scenarios in highly dynamic settings, where each sensor interacts with only few other arbitrary sensors. We propose an extremely simple clock synchronization algorithm that is based on weighted averages, and prove that its performance on any given independent meeting pattern is highly competitive with that of the best possible algorithm, which operates without any resource or computational restrictions, and knows the meeting pattern in advance. In particular, when all distributions involved are Gaussian, the performances of our scheme coincide with the optimal performances. Our proofs rely on an extensive use of the concept of Fisher information. We use the Cramér-Rao bound and our definition of a Fisher Channel Capacity to quantify information flows and to obtain lower bounds on collective performance. This opens the door for further rigorous quantifications of information flows within collaborative sensors

Clock Synchronization in Wireless Sensor Networks: An Overview

The development of tiny, low-cost, low-power and multifunctional sensor nodes equipped with sensing, data processing, and communicating components, have been made possible by the recent advances in micro-electro-mechanical systems (MEMS) technology. Wireless sensor networks (WSNs) assume a collection of such tiny sensing devices connected wirelessly and which are used to observe and monitor a variety of phenomena in the real physical world. Many applications based on these WSNs assume local clocks at each sensor node that need to be synchronized to a common notion of time. This paper reviews the existing clock synchronization protocols for WSNs and the methods of estimating clock offset and clock skew in the most representative clock synchronization protocols for WSNs

Modeling and Monitoring of the Dynamic Response of Railroad Bridges using Wireless Smart Sensors

Railroad bridges form an integral part of railway infrastructure in the USA, carrying approximately 40 % of the ton-miles of freight. The US Department of Transportation (DOT) forecasts current rail tonnage to increase up to 88 % by 2035. Within the railway network, a bridge occurs every 1.4 miles of track, on average, making them critical elements. In an effort to accommodate safely the need for increased load carrying capacity, the Federal Railroad Association (FRA) announced a regulation in 2010 that the bridge owners must conduct and report annual inspection of all the bridges. The objective of this research is to develop appropriate modeling and monitoring techniques for railroad bridges toward understanding the dynamic responses under a moving train. To achieve the research objective, the following issues are considered specifically. For modeling, a simple, yet effective, model is developed to capture salient features of the bridge responses under a moving train. A new hybrid model is then proposed, which is a flexible and efficient tool for estimating bridge responses for arbitrary train configurations and speeds. For monitoring, measured field data is used to validate the performance of the numerical model. Further, interpretation of the proposed models showed that those models are efficient tools for predicting response of the bridge, such as fatigue and resonance. Finally, fundamental software, hardware, and algorithm components are developed for providing synchronized sensing for geographically distributed networks, as can be found in railroad bridges. The results of this research successfully demonstrate the potentials of using wirelessly measured data to perform model development and calibration that will lead to better understanding the dynamic responses of railroad bridges and to provide an effective tool for prediction of bridge response for arbitrary train configurations and speeds.National Science Foundation Grant No. CMS-0600433National Science Foundation Grant No. CMMI-0928886National Science Foundation Grant No. OISE-1107526National Science Foundation Grant No. CMMI- 0724172 (NEESR-SD)Federal Railroad Administration BAA 2010-1 projectOpe