19,407 research outputs found
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
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
Supporting Cyber-Physical Systems with Wireless Sensor Networks: An Outlook of Software and Services
Sensing, communication, computation and control technologies are the essential building blocks of a cyber-physical system (CPS). Wireless sensor networks (WSNs) are a way to support CPS as they provide fine-grained spatial-temporal sensing, communication and computation at a low premium of cost and power. In this article, we explore the fundamental concepts guiding the design and implementation of WSNs. We report the latest developments in WSN software and services for meeting existing requirements and newer demands; particularly in the areas of: operating system, simulator and emulator, programming abstraction, virtualization, IP-based communication and security, time and location, and network monitoring and management. We also reflect on the ongoing
efforts in providing dependable assurances for WSN-driven CPS. Finally, we report on its applicability with a case-study on smart buildings
RIOT OS Paves the Way for Implementation of High-Performance MAC Protocols
Implementing new, high-performance MAC protocols requires real-time features,
to be able to synchronize correctly between different unrelated devices. Such
features are highly desirable for operating wireless sensor networks (WSN) that
are designed to be part of the Internet of Things (IoT). Unfortunately, the
operating systems commonly used in this domain cannot provide such features. On
the other hand, "bare-metal" development sacrifices portability, as well as the
mul-titasking abilities needed to develop the rich applications that are useful
in the domain of the Internet of Things. We describe in this paper how we
helped solving these issues by contributing to the development of a port of
RIOT OS on the MSP430 microcontroller, an architecture widely used in
IoT-enabled motes. RIOT OS offers rich and advanced real-time features,
especially the simultaneous use of as many hardware timers as the underlying
platform (microcontroller) can offer. We then demonstrate the effectiveness of
these features by presenting a new implementation, on RIOT OS, of S-CoSenS, an
efficient MAC protocol that uses very low processing power and energy.Comment: SCITEPRESS. SENSORNETS 2015, Feb 2015, Angers, France.
http://www.scitepress.or
Improving the Energy Efficiency of the MANTIS Kernel
Event-driven operating systems such as TinyOS are the preferred choice for wireless sensor networks. Alternative designs following a classical multi-threaded approach are also available. A popular implementation of such a multi-threaded sensor network operating system is MANTIS. The event-based TinyOS is more energy efficient than the multi-threaded MANTIS system. However, MANTIS is more capable than TinyOS of supporting time critical tasks as task preemption is supported. Thus, timeliness can be traded for energy efficiency by choosing the appropriate operating system. In this paper we present a MANTIS kernel modification that enables MANTIS to be as power efficient as TinyOS. Results from an experimental analysis demonstrate that the modified MANTIS can be used to fit both sensor network design goals of energy efficiency and timeliness
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
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