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A cross-layer approach to energy balancing in wireless sensor networks

A cross-layer approach to energy balancing in wireless senso...

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Workshop on Networked Embedded Sensing and control

作者： Puccinelli, Daniele Sifakis, Emmanuel Haenggi, Martin Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA

ISBN: (纸本)3540327940

We consider a many-to-one real-time sensor network where sensing nodes are to deliver their measurements to a base station under a time constraint and with the overall target of minimizing the energy consumption at the sensing nodes. In wireless sensor networks, the unreliability of the links and the limitations of all resources bring considerable complications to routing. Even in the presence of static nodes, the channel conditions vary because of multipath fading effects due to the motion of people or objects in the environment, which modify the patterns of radio wave reflections. Also, sensing nodes are typically battery-powered, and ongoing maintenance may not be possible: the progressive reduction of the available energy needs to be factored in. The quality of the links and the remaining energy in the nodes are the primary factors that shape the network graph;link quality may be measured directly by most radios, whereas residual energy is related to the node battery voltage, which may be measured and fed into the microcontroller. These quantities may be used to form a cost function for the selection of the most efficient route. Moreover, the presence of a time constraint requires the network to favor routes over a short number of hops (a.k.a. the long-hop approach, in the sense that a small number of long hops is used) in order to minimize delay. Hop number information may be incorporated into the cost function to bias route selection toward minimum-delay routes. Thus, a crosslayer cost function is obtained, which includes raw hardware information (remaining energy), physical layer data (channel quality), and a routing layer metric (number of hops). A route selection scheme based on these principles intrinsically performs node energy control for the extension of the lifetime of the individual nodes and for the achievement of energy balancing in the network;intuitively, the long-hop approach permits the time-sharing of the critical area among more nodes. A novel

关键词： Cost functions

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Belief consensus and distributed hypothesis testing in sensor networks

Belief consensus and distributed hypothesis testing in senso...

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Workshop on Networked Embedded Sensing and control

作者： Olfati-Saber, Reza Franco, Elisa Frazzoli, Emilio Shamma, Jeff S. Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA Univ Trieste Dept Elect Elect & Comp Engn I-34127 Trieste Italy Univ Calif Los Angeles Dept Mech & Aerosp Engn Los Angeles CA 90095 USA

ISBN: (纸本)3540327940

In this paper, we address distributed hypothesis testing (DHT) in sensor networks and Bayesian networks using the average-consensus algorithm of Olfati-Saber & Murray. As a byproduct, we obtain a novel belief propagation algorithm called Belief Consensus. This algorithm works for connected networks with loops and arbitrary degree sequence. Belief consensus allows distributed computation of products of n beliefs (or conditional probabilities) that belong to n different nodes of a network. This capability enables distributed hypothesis testing for a broad variety of applications. We show that this belief propagation admits a Lyapunov function that quantifies the collective disbelief in the network. Belief consensus benefits from scalability, robustness to link failures, convergence under variable topology, asynchronous features of average-consensus algorithm. Some connections between small-word networks and speed of convergence of belief consensus axe discussed. A detailed example is provided for distributed detection of multi-target formations in a sensor network. The entire network is capable of reaching a common set of beliefs associated with correctness of different hypotheses. We demonstrate that our DHT algorithm successfully identifies a test formation in a network of sensors with self-constructed statistical models.

关键词： Sensor networks

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Distributed evidence filtering in networked embedded systems

Distributed evidence filtering in networked embedded systems

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Workshop on Networked Embedded Sensing and control

作者： Dewasurendra, Duminda Bauer, Peter Premaratne, Kamal Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA Univ Miami Dept Elect & Comp Engn Miami FL 33152 USA

ISBN: (纸本)3540327940

Networked embedded sensor systems use the evidence gathered by spatially distributed heterogeneous sensor nodes possessing partial and different scopes of expertise, to make inferences on the scenario under observation. For such system to make an accurate collective decision, the partial and incomplete evidence provided by nodes must be processed in a simple and straightforward manner during the information exchange and fusion process. To achieve these objectives, we present a novel, unified approach named "non-recursive evidence filtering" based on the Dempster-Shafer (DS) formalism for evidence representation. It is capable of selectively fusing partial evidence in such a network to directly infer on events of interest such as threats occurring with a certain temporal distribution, while accommodating the varying reliability and accuracy of information sources. Certain restrictions on the coefficients impose several challenges in the design of such evidence filters. We show that the gain of these evidence filters at frequency zero is always equal to one and all coefficients must be non-negative. This suggests that arbitrary frequency shaping is not possible and a pure bandpass evidence filter is not realizable. A method to design a simple FIR evidence filter to detect periodic events of interest is presented. Multi-dimensional spatio-temporal evidence filters are discussed as a direct extension to the above, along with a low signature threat detection example that clearly illustrates the effectiveness of the evidence filtering concept in distributed networked embedded systems.

关键词： Sensor nodes

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neclab:: The network embedded control lab

<i>neclab</i>:: The network embedded control lab

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Workshop on Networked Embedded Sensing and control

作者： Kottenstette, Nicholas Antsaklis, Panos J. Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA

ISBN: (纸本)3540327940

The network embedded control lab, neclab, is a software environment designed to allow easy deployment of networked embedded control systems, in particular wireless networked embedded control systems (wnecs). A wnecs is a collection of interconnected plant sensors, digital controllers, and plant actuators which communicate with each other over wireless channels. In this paper neclab is introduced and explained using a simple ball and beam control application. We focus on wnecs which use the MICA2 Motes.

关键词： Networked control systems

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Simulation of large-scale networked control systems using GTSNetS

Simulation of large-scale networked control systems using <i...

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Workshop on Networked Embedded Sensing and control

作者： Ould-Ahmed-Vall, ElMoustapha Heck, Bonnie S. Riley, George F. Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30322 USA

ISBN: (纸本)3540327940

This paper presents a simulation framework for distributed control using wireless sensor networks. The proposed framework is an extension of the Georgia Tech Sensor Network Simulator (GTSNetS). The new features include models for different elements of a control loop: an actuator class, a plant class and a user defined controller application class. These models are integrated with the existing models for various components of a sensor network, different network protocols, energy models and collaboration strategies. We present different architectures for sensor networks in distributed control, depending on whether the sensing, the controller or the actuator elements of the control loop are distributed or centralized. Our tool allows the simultaneous study of the effects of control and network strategies in a distributed control system. The simulation tool is demonstrated on a fault tolerance scheme. An existing distributed fault tolerance method that is applicable to sensor networks is expanded to allow nodes to learn about their failure probability and those of their neighboring nodes. Such an approach can be used to give different weights to the information supplied by different nodes depending on their confidence level. The resulting fault tolerance scheme is implemented in a hierarchical networked control system and evaluated using the new simulation tool. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Fault tolerance

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Performance evaluation for Model-Based Networked control Systems

Performance evaluation for Model-Based Networked Control Sys...

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Workshop on Networked Embedded Sensing and control

作者： Montestruque, Luis A. Antsaklis, Panos J. EmNet LLC Granger IN USA Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA

ISBN: (纸本)3540327940

The performance of a class of Model-Based Networked control System (MB-NCS) is considered in this paper. A MB-NCS uses an explicit model of the plant to reduce the network bandwidth requirements. In particular, an Output Feedback MB-NCS is studied. After reviewing the stability results for this system and some lifting techniques basics, two performance measures related to the traditional H2 performance measure for LTI systems are computed. The first H2 like performance measurement is called the Extended H2 norm of the system and is based on the norm of the impulse response of the MB-NCS at time zero. The second performance measure is called the Generalized H2 norm and it basically replaces the traditional trace norm by the Hilbert-Schmidt norm that is more appropriate for infinite dimensional operators. The Generalized H2 norm also represents the average norm of the impulse response of the MB-NCS for impulse inputs applied at different times. Examples show how both norms converge to the traditional H2 norm for continuous H2 systems. Finally, with the help of an alternate way of representing lifted parameters, the relationship between the optimal sampler and hold of a sampled data system and the structure of the Output Feedback MB-NCS is shown.

关键词： Impulse response

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Homogeneous semantics preserving deployments of heterogeneous networks of embedded systems

Homogeneous semantics preserving deployments of heterogeneou...

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Workshop on Networked Embedded Sensing and control

作者： Ames, Aaron D. Sangiovanni-Vincentelli, Alberto Sastry, Shankar Univ Calif Berkeley Dept Elect Engn & Comp Sci Ctr Hybrid & Embedded Software Syst Berkeley CA 94720 USA

ISBN: (纸本)3540327940

Tagged systems provide a denotational semantics for embedded systems. A heterogeneous network of embedded systems can be modeled mathematically by a network of tagged systems. Taking the heterogeneous composition of this network results in a single, homogeneous, tagged system. The question this paper addresses is: when is semantics (behavior) preserved by composition? To answer this question, we use the framework of category theory to reason about heterogeneous system composition and derive results that are as general as possible. In particular, we define the category of tagged systems, demonstrate that a network of tagged systems corresponds to a diagram in this category and prove that taking the composition of a network of tagged systems is equivalent to taking the limit of this diagram-thus composition is endowed with a universal property. Using this universality, we are able to derive verifiable necessary and sufficient conditions on when composition preserves semantics.

关键词： Embedded systems

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Applications of connectivity graph processes in networked sensing and control

Applications of connectivity graph processes in networked se...

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Workshop on Networked Embedded Sensing and control

作者： Muhammad, Abubakr Ji, Meng Egerstedt, Magnus Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA

ISBN: (纸本)3540327940

This paper concerns the problem of controlling mobile nodes in a network in such away that the resulting graph-encoding of the inter-node information flow exhibits certain desirable properties. As a sequence of such transitions between different graphs occurs, the result is a graph process. In this paper, we not only characterize the reachability properties of these graph processes, but also put them to use in a number of applications, ranging from multi-agent formation control, to optimal collaborative beamforming in sensor networks.

关键词： Sensor networks

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Distributed Kalman filtering and sensor fusion in sensor networks

Distributed Kalman filtering and sensor fusion in sensor net...

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Workshop on Networked Embedded Sensing and control

作者： Olfati-Saber, Reza Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA

ISBN: (纸本)3540327940

The problem of distributed Kalman filtering (DKF) for sensor networks is one of the most fundamental distributed estimation problems for scalable sensor fusion. This paper addresses the DKF problem by reducing it to two separate dynamic consensus problems in terms of weighted measurements and inverse-covariance matrices. These to data fusion problems are solved is a distributed way using low-pass and band-pass consensus filters. Consensus filters are distributed algorithms that allow calculation of average-consensus of time-varying signals. The stability properties of consensus filters is discussed in a companion CDC '05 paper [OSS05b]. We show that a central Kalman filter for sensor networks can be decomposed into n micro-Kalman filters with inputs that are provided by two types of consensus filters. This network of micro-Kalman filters collectively are capable to provide an estimate of the state of the process (under observation) that is identical to the estimate obtained by a central Kalman filter given that all nodes agree on two central sums. Later, we demonstrate that our consensus filters can approximate these sums and that gives an approximate distributed Kalman filtering algorithm. A detailed account of the computational and communication architecture of the algorithm is provided. Simulation results are presented for a sensor network with 200 nodes and more than 1000 links.

关键词： Kalman filters

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Dynamic stability of a simple biped walking system with swing leg retraction

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Symposium on Fast Motions in Biomechanics and Robotics

作者： Wisse, M. Atkeson, C. G. Kloimwieder, D. K. Delft Univ Technol NL-2600 AA Delft Netherlands Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)3540361189

In human walking, the swing leg moves backward just prior to ground contact, i.e. the relative angle between the thighs is decreasing. We hypothesize that this swing leg retraction may have a positive effect on gait stability, because similar effects have been reported in passive dynamic walking models, in running models, and in robot juggling. For this study, we use a simple inverted pendulum model for the stance leg. The swing leg is assumed to accurately follow a time-based trajectory. The model walks down a shallow slope for energy input which is balanced by the impact losses at heel strike. With this model we show that a mild retraction speed indeed improves stability, while gaits without a retraction phase (the swing leg keeps moving forward) are consistently unstable. By walking with shorter steps or on a steeper slope, the range of stable retraction speeds increases, suggesting a better robustness. An optimization of the swing leg trajectory of a more realistic model also consistently comes up with a retraction phase, and indeed our prototype demonstrates a retraction phase as well. The conclusions of this paper are twofold, (1) use a mild swing leg retraction speed for better stability, and (2) walking faster is easier.

关键词： Stability

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