1,855 research outputs found
Adaptive Synchronization of Robotic Sensor Networks
The main focus of recent time synchronization research is developing
power-efficient synchronization methods that meet pre-defined accuracy
requirements. However, an aspect that has been often overlooked is the high
dynamics of the network topology due to the mobility of the nodes. Employing
existing flooding-based and peer-to-peer synchronization methods, are networked
robots still be able to adapt themselves and self-adjust their logical clocks
under mobile network dynamics? In this paper, we present the application and
the evaluation of the existing synchronization methods on robotic sensor
networks. We show through simulations that Adaptive Value Tracking
synchronization is robust and efficient under mobility. Hence, deducing the
time synchronization problem in robotic sensor networks into a dynamic value
searching problem is preferable to existing synchronization methods in the
literature.Comment: First International Workshop on Robotic Sensor Networks part of
Cyber-Physical Systems Week, Berlin, Germany, 14 April 201
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
Design of Wireless Sensor Nodes for Structural Health Monitoring applications
Enabling low-cost distributed monitoring, wireless sensor networks represents an interesting solution for the implementation of
structural health monitoring systems. This work deals with the design of wireless sensor networks for health monitoring of civil
structures, specifically focusing on node design in relation to the requirements of different structural monitoring application classes.
Design problems are analysed with specific reference to a large-scale experimental setup (the long-term structural monitoring of
the Basilica S. Maria di Collemaggio, L’Aquila, Italy). Main limitations emerged are highlighted, and adopted solution strategies
are outlined, both in the case of commercial sensing platform and of full custom solutions
Time synchronization in wireless sensor networks
Time synchronization is basic requirements for various applications in wireless sensor network, e.g., event detection, speed estimating, environment monitoring, data aggregation, target tracking, scheduling and sensor nodes cooperation. Time synchronization is also helpful to save energy in WSN because it provides the possibility to set nodes into the sleeping mode. In wireless sensor networks all of above applications need that all sensor nodes have a common time reference. However, most existing time synchronization protocols are likely to deteriorate or even be destroyed when the WSNs attack by malicious intruders. The recently developed maximum and minimum consensus based time synchronization protocol (MMTS) is a promising alternative as it does not depend on any reference node or network topology. But MMTS is vulnerable to message manipulation attacks. In this thesis, we focus on how to defend the MMTS protocol in wireless sensor networks under message manipulation attacks. We investigate the impact of message manipulation attacks over MMTS. Then, a Secured Maximum and Minimum Consensus based Time Synchronization (SMMTS) protocol is proposed to detect and invalidate message manipulation attacks
Belief Consensus Algorithms for Fast Distributed Target Tracking in Wireless Sensor Networks
In distributed target tracking for wireless sensor networks, agreement on the
target state can be achieved by the construction and maintenance of a
communication path, in order to exchange information regarding local likelihood
functions. Such an approach lacks robustness to failures and is not easily
applicable to ad-hoc networks. To address this, several methods have been
proposed that allow agreement on the global likelihood through fully
distributed belief consensus (BC) algorithms, operating on local likelihoods in
distributed particle filtering (DPF). However, a unified comparison of the
convergence speed and communication cost has not been performed. In this paper,
we provide such a comparison and propose a novel BC algorithm based on belief
propagation (BP). According to our study, DPF based on metropolis belief
consensus (MBC) is the fastest in loopy graphs, while DPF based on BP consensus
is the fastest in tree graphs. Moreover, we found that BC-based DPF methods
have lower communication overhead than data flooding when the network is
sufficiently sparse
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