Design and analysis of a peer-to-peer based distributed clock synchronisation protocol for wireless sensor networks

Clock synchronisation is an important requirement for various applications in wireless sensor networks (WSNs). Most of the existing clock synchronisation protocols for WSNs use some hierarchical structure that introduces an extra overhead due to the dynamic nature of WSNs. Besides, it is difficult to integrate these clock synchronisation protocols with sleep scheduling scheme, which is a major technique to conserve energy. In this paper, we propose a fully distributed peer-to-peer based clock synchronisation protocol, named Distributed Clock Synchronisation Protocol (DCSP), using a novel technique of pullback for complete sensor networks. The pullback technique ensures that synchronisation phases of any pair of clocks always overlap. We have derived an exact expression for a bound on maximum synchronisation error in the DCSP protocol, and simulation study verifies that it is indeed less than the computed upper bound. Experimental study using a few TelosB motes also verifies that the pullback occurs as predicted.

A Space-Vector-Based Hysteresis Current Controller for a General n-Level Inverter-Fed Drive With Nearly Constant Switching Frequency Control

A current-error space-vector-based hysteresis current controller for a general n-level voltage-source inverter (VSI)-fed three-phase induction motor (IM) drive is proposed here, with control of the switching frequency variation for the full linear modulation range. The proposed current controller monitors the space-vector-based current error of an n-level VSI-fed IM to keep the current error within a parabolic boundary, using the information of the current triangular sector in which the tip of the reference vector lies. Information of the reference voltage vector is estimated using the measured current-error space vectors, along the alpha- and beta-axes. Appropriate dimension and orientation of this parabolic boundary ensure a switching frequency spectrum similar to that of a constant-switching-frequency voltage-controlled space vector pulsewidth modulation (PWM) (SVPWM)-based IM drive. Like SVPWM for multilevel inverters, the proposed controller selects inverter switching vectors, forming a triangular sector in which the tip of the reference vector stays, for the hysteresis PWM control. The sector in the n-level inverter space vector diagram, in which the tip of the fundamental stator voltage stays, is precisely detected, using the sampled reference space vector estimated from the instantaneous current-error space vectors. The proposed controller retains all the advantages of a conventional hysteresis controller such as fast current control, with smooth transition to the overmodulation region. The proposed controller is implemented on a five-level VSI-fed 7.5-kW IM drive.

Performance of a class of multi-robot deploy and search strategies based on centroidal voronoi configurations

This article considers a class of deploy and search strategies for multi-robot systems and evaluates their performance. The application framework used is deployment of a system of autonomous mobile robots equipped with required sensors in a search space to gather information. The lack of information about the search space is modelled as an uncertainty density distribution. The agents are deployed to maximise single-step search effectiveness. The centroidal Voronoi configuration, which achieves a locally optimal deployment, forms the basis for sequential deploy and search (SDS) and combined deploy and search (CDS) strategies. Completeness results are provided for both search strategies. The deployment strategy is analysed in the presence of constraints on robot speed and limit on sensor range for the convergence of trajectories with corresponding control laws responsible for the motion of robots. SDS and CDS strategies are compared with standard greedy and random search strategies on the basis of time taken to achieve reduction in the uncertainty density below a desired level. The simulation experiments reveal several important issues related to the dependence of the relative performances of the search strategies on parameters such as the number of robots, speed of robots and their sensor range limits.

An adaptive reliable transport protocol based on automatic reSend reQuest(ASQ) technique for wireless sensor networks

There are many wireless sensor network(WSN) applications which require reliable data transfer between the nodes. Several techniques including link level retransmission, error correction methods and hybrid Automatic Repeat re- Quest(ARQ) were introduced into the wireless sensor networks for ensuring reliability. In this paper, we use Automatic reSend request(ASQ) technique with regular acknowledgement to design reliable end-to-end communication protocol, called Adaptive Reliable Transport(ARTP) protocol, for WSNs. Besides ensuring reliability, objective of ARTP protocol is to ensure message stream FIFO at the receiver side instead of the byte stream FIFO used in TCP/IP protocol suite. To realize this objective, a new protocol stack has been used in the ARTP protocol. The ARTP protocol saves energy without affecting the throughput by sending three different types of acknowledgements, viz. ACK, NACK and FNACK with semantics different from that existing in the literature currently and adapting to the network conditions. Additionally, the protocol controls flow based on the receiver's feedback and congestion by holding ACK messages. To the best of our knowledge, there has been little or no attempt to build a receiver controlled regularly acknowledged reliable communication protocol. We have carried out extensive simulation studies of our protocol using Castalia simulator, and the study shows that our protocol performs better than related protocols in wireless/wire line networks, in terms of throughput and energy efficiency.

A weighted average based external clock synchronization protocol for wireless sensor networks

Clock synchronization is an extremely important requirement of wireless sensor networks(WSNs). There are many application scenarios such as weather monitoring and forecasting etc. where external clock synchronization may be required because WSN itself may consists of components which are not connected to each other. A usual approach for external clock synchronization in WSNs is to synchronize the clock of a reference node with an external source such as UTC, and the remaining nodes synchronize with the reference node using an internal clock synchronization protocol. In order to provide highly accurate time, both the offset and the drift rate of each clock with respect to reference node are estimated from time to time, and these are used for getting correct time from local clock reading. A problem with this approach is that it is difficult to estimate the offset of a clock with respect to the reference node when drift rate of clocks varies over a period of time. In this paper, we first propose a novel internal clock synchronization protocol based on weighted averaging technique, which synchronizes all the clocks of a WSN to a reference node periodically. We call this protocol weighted average based internal clock synchronization(WICS) protocol. Based on this protocol, we then propose our weighted average based external clock synchronization(WECS) protocol. We have analyzed the proposed protocols for maximum synchronization error and shown that it is always upper bounded. Extensive simulation studies of the proposed protocols have been carried out using Castalia simulator. Simulation results validate our theoretical claim that the maximum synchronization error is always upper bounded and also show that the proposed protocols perform better in comparison to other protocols in terms of synchronization accuracy. A prototype implementation of the proposed internal clock synchronization protocol using a few TelosB motes also validates our claim.

Position control of DC motors with experience mapping based prediction controller

The paper presents a new controller inspired by the human experience based, voluntary body action control (dubbed motor control) learning mechanism. The controller is called Experience Mapping based Prediction Controller (EMPC). EMPC is designed with auto-learning features without the need for the plant model. The core of the controller is formed around the motor action prediction-control mechanism of humans based on past experiential learning with the ability to adapt to environmental changes intelligently. EMPC is utilized for high precision position control of DC motors. The simulation results are presented to show that accurate position control is achieved using EMPC for step and dynamic demands. The performance of EMPC is compared with conventional PD controller and MRAC based position controller under different system conditions. Position Control using EMPC is practically implemented and the results are presented.

Nanocomposite based flexible ultrasensitive resistive gas sensor for chemical reactions studies

Room temperature operation, low detection limit and fast response time are highly desirable for a wide range of gas sensing applications. However, the available gas sensors suffer mainly from high temperature operation or external stimulation for response/recovery. Here, we report an ultrasensitive-flexible-silver-nanoparticle based nanocomposite resistive sensor for ammonia detection and established the sensing mechanism. We show that the nanocomposite can detect ammonia as low as 500 parts-per-trillion at room temperature in a minute time. Furthermore, the evolution of ammonia from different chemical reactions has been demonstrated using the nanocomposite sensor as an example. Our results demonstrate the proof-of-concept for the new detector to be used in several applications including homeland security, environmental pollution and leak detection in research laboratories and many others.

Optical read-out scheme based on Grated Waveguide Cantilever cavity resonance for interrogation of cantilever sensor arrays

The design and analysis of an optical read-out scheme based on a grated waveguide (GWG) resonator for interrogating microcantilever sensor arrays is presented. The optical system consisting of a micro cantilever monolithically integrated in proximity to a grated waveguide (GWG), is realized in silicon optical bench platform. The mathematical analysis of the optical system is performed using a Fabry-Perot interferometer model with a lossy cavity formed between the cantilever and the GWG and an analytical expression is derived for the optical power transmission as a function of the cantilever deflection which corresponds to cavity width variation. The intensity transmission of the optical system for different cantilever deflections estimated using the analytical expression captures the essential features exhibited by a FDTD numerical model.

Smartconnect: a system for the design and deployment of wireless sensor networks

We have developed SmartConnect, a tool that addresses the growing need for the design and deployment of multihop wireless relay networks for connecting sensors to a control center. Given the locations of the sensors, the traffic that each sensor generates, the quality of service (QoS) requirements, and the potential locations at which relays can be placed, SmartConnect helps design and deploy a low-cost wireless multihop relay network. SmartConnect adopts a field interactive, iterative approach, with model based network design, field evaluation and relay augmentation performed iteratively until the desired QoS is met. The design process is based on approximate combinatorial optimization algorithms. In the paper, we provide the design choices made in SmartConnect and describe the experimental work that led to these choices. Finally, we provide results from some experimental deployments.

Transmit Power Control Policies for Energy Harvesting Sensors With Retransmissions

This paper addresses the problem of finding outage-optimal power control policies for wireless energy harvesting sensor (EHS) nodes with automatic repeat request (ARQ)-based packet transmissions. The power control policy of the EHS specifies the transmission power for each packet transmission attempt, based on all the information available at the EHS. In particular, the acknowledgement (ACK) or negative acknowledgement (NACK) messages received provide the EHS with partial information about the channel state. We solve the problem of finding an optimal power control policy by casting it as a partially observable Markov decision process (POMDP). We study the structure of the optimal power policy in two ways. First, for the special case of binary power levels at the EHS, we show that the optimal policy for the underlying Markov decision process (MDP) when the channel state is observable is a threshold policy in the battery state. Second, we benchmark the performance of the EHS by rigorously analyzing the outage probability of a general fixed-power transmission scheme, where the EHS uses a predetermined power level at each slot within the frame. Monte Carlo simulation results illustrate the performance of the POMDP approach and verify the accuracy of the analysis. They also show that the POMDP solutions can significantly outperform conventional ad hoc approaches.

Polyvinylidene fluoride film based nasal sensor to monitor human respiration pattern: An initial clinical study

Design and development of a piezoelectric polyvinylidene fluoride (PVDF) thin film based nasal sensor to monitor human respiration pattern (RP) from each nostril simultaneously is presented in this paper. Thin film based PVDF nasal sensor is designed in a cantilever beam configuration. Two cantilevers are mounted on a spectacle frame in such a way that the air flow from each nostril impinges on this sensor causing bending of the cantilever beams. Voltage signal produced due to air flow induced dynamic piezoelectric effect produce a respective RP. A group of 23 healthy awake human subjects are studied. The RP in terms of respiratory rate (RR) and Respiratory air-flow changes/alterations obtained from the developed PVDF nasal sensor are compared with RP obtained from respiratory inductance plethysmograph (RIP) device. The mean RR of the developed nasal sensor (19.65 +/- A 4.1) and the RIP (19.57 +/- A 4.1) are found to be almost same (difference not significant, p > 0.05) with the correlation coefficient 0.96, p < 0.0001. It was observed that any change/alterations in the pattern of RIP is followed by same amount of change/alterations in the pattern of PVDF nasal sensor with k = 0.815 indicating strong agreement between the PVDF nasal sensor and RIP respiratory air-flow pattern. The developed sensor is simple in design, non-invasive, patient friendly and hence shows promising routine clinical usage. The preliminary result shows that this new method can have various applications in respiratory monitoring and diagnosis.

Transmit power Control with ARQ in energy harvesting sensors: a decision-theoretic approach

This paper addresses the problem of finding optimal power control policies for wireless energy harvesting sensor (EHS) nodes with automatic repeat request (ARQ)-based packet transmissions. The EHS harvests energy from the environment according to a Bernoulli process; and it is required to operate within the constraint of energy neutrality. The EHS obtains partial channel state information (CSI) at the transmitter through the link-layer ARQ protocol, via the ACK/NACK feedback messages, and uses it to adapt the transmission power for the packet (re)transmission attempts. The underlying wireless fading channel is modeled as a finite state Markov chain with known transition probabilities. Thus, the goal of the power management policy is to determine the best power setting for the current packet transmission attempt, so as to maximize a long-run expected reward such as the expected outage probability. The problem is addressed in a decision-theoretic framework by casting it as a partially observable Markov decision process (POMDP). Due to the large size of the state-space, the exact solution to the POMDP is computationally expensive. Hence, two popular approximate solutions are considered, which yield good power management policies for the transmission attempts. Monte Carlo simulation results illustrate the efficacy of the approach and show that the approximate solutions significantly outperform conventional approaches.

Graphene based E. coli sensor on flexible acetate sheet

A low cost, reagent free, Escherichia coli sensor is demonstrated with graphene, on transparent flexible acetate substrate. Graphene is grown on 100 mu m thick Cu foil, using CVD process and subsequently transferred on to a flexible acetate substrate. Gold electrodes are deposited on graphene to form a two terminal, interdigitated capacitor structure. Impedance spectroscopy (10 Hz to 100 kHz) is performed to characterize the change in impedance, as a function of E. coli concentration on graphene surface. The residual methyl groups on graphene, resulting from the transfer process, act as binding sites for E. coli. It has been observed that the resistance of graphene decreases with increasing E. coli concentration. This is due to the increased hole doping induced by negatively charged E. coli. A sensitivity of 60% is achieved for an E. coli concentration of 4.5 x 10(7) cfu/ml. An equivalent RC model is proposed to explain the sensing mechanism. (C) 2013 Elsevier B.V. All rights reserved.

Three dimensional PN based impact angle control for higher speed nonmaneuvering targets

Terminal impact angle control is crucial for enhancement of warhead effectiveness. In the literature, this problem has been addressed in the context of targets with lower speeds than the interceptor. However, in the current defence scenario, targets of much higher speed than the interceptor is a reality. This paper presents a generic proportional navigation (PN) based guidance law, that uses the standard PN and novel Retro-PN guidance laws based on the initial engagement geometry and terminal engagement requirements, for three dimensional engagement scenario against higher speed nonmaneuvering targets to control terminal impact angle. Results are obtained on the set of achievable impact angles and conditions on the navigation constant to achieve them. Simulation results are given to support the theoretical findings.

Sliding mode control based guidance law with impact time constraints

In this paper, the sliding mode control based guidance laws to intercept stationary targets at a desired impact time are proposed. Then, it is extended to constant velocity targets using the notion of predicted interception. The desired impact time is achieved by selecting the interceptor's lateral acceleration to enforce a sliding mode on a switching surface designed using non-linear engagement dynamics. Numerical simulation results are presented to validate the proposed guidance law for different initial engagement geometries, impact times and salvo attack scenarios