Preface ..................................................... xvii
Acknowledgments ............................................ xxiii
Disclaimer ................................................... xxv
Authors .................................................... xxvii
PART I BASICS
1 Introduction ................................................ 3
1.1 Basics ................................................. 3
1.2 MAC Layer .............................................. 9
1.3 Routing ............................................... 10
1.4 Other Communication Issues ............................ 10
1.5 Sensor Localization ................................... 12
1.6 Clock Synchronization ................................. 13
1.7 Power Management ...................................... 13
1.8 Special WSNs .......................................... 14
1.9 WSN Applications ...................................... 18
Problems and Exercises ..................................... 22
PART II ENGINEERING DESIGN
2 Hardware-Sensor Mote Architecture and Design ............... 27
2.1 Components of a Sensor Mote ........................... 27
2.2 Put Everything Together ............................... 44
2.3 Mica Mote Design ...................................... 48
2.4 Customized Mote-Spec .................................. 50
2.5 COTS Dust Systems ..................................... 52
2.6 Telos Mote ............................................ 54
2.7 Cargo Net ............................................. 57
Problems and Exercises ..................................... 62
PART III NETWORK PROTOCOL STACK
3 Medium Access Control in Wireless Sensor Networks .......... 67
3.1 Introduction .......................................... 67
3.2 Overview of Project IEEE 802.11 ....................... 72
3.3 Classification of MAC Protocols ....................... 77
3.4 Conclusion ........................................... 107
Problems and Exercises .................................... 107
4 Routing in Wireless Sensor Networks ....................... 109
4.1 Introduction ......................................... 109
4.2 Layout for the Chapter ............................... 112
4.3 Classification of Routing Protocols in WSNs .......... 113
4.4 Data-Centric Routing Protocols in WSNs ............... 114
4.5 Hierarchical Routing Protocols in WSNs ............... 128
4.6 Location-Based Routing Protocols in WSNs ............. 138
4.7 Multipath and QoS-Based Routing ...................... 145
4.8 Conclusion ........................................... 148
Problems and Exercises .................................... 148
5 Transport Layer in Wireless Sensor Networks ............... 151
5.1 Introduction ......................................... 152
5.2 Pump Slowly, Fetch Quickly ........................... 152
5.3 Another WSN Transport Protocol—ESRT .................. 163
5.4 E2SRT: Enhanced ESRT Performance ..................... 171
5.5 CODA: Congestion Detection and Avoidance in Sensor
Networks ............................................. 178
5.6 STCP: A Generic Transport Layer Protocol for WSNs .... 185
5.7 GARUDA: Achieving Effective Reliability
for Downstream Communication ......................... 189
Problems and Exercises .................................... 196
PART IV COMPUTER SCIENCE PRINCIPLES
6 Operating System in Sensors ............................... 201
6.1 TinyOS ............................................... 201
6.2 LA-TinyOS-A Locality-Aware Operating System for
WSNs ................................................. 209
6.3 SOS .................................................. 215
6.4 RETOS ................................................ 219
Problems and Exercises .................................... 223
7 Middleware Design in Wireless Sensor Networks ............. 225
7.1 Introduction ......................................... 225
7.2 Reference Model of WSN Middleware .................... 227
7.3 Middleware Example: Agilla ........................... 228
7.4 Middleware for Data Acquisition: Mires ............... 231
7.5 Data Storage: DSWare ................................. 233
7.6 WSN Runtime Support Example: Mate .................... 234
7.7 QoS Support Example: MiLAN ........................... 235
Problems and Exercises .................................... 236
8 Sensor Data Management .................................... 237
8.1 Sensor Data Cleaning ................................. 237
8.2 TinyDB: An Acquisitional Query-Processing System
for Sensor Networks .................................. 243
8.3 Data Aggregation: AIDA ............................... 249
8.4 Sensor Data Storage: Tiered Storage ARchitecture
(TSAR) ............................................... 253
8.5 Multi-Resolution Data Processing ..................... 256
Problems and Exercises .................................... 257
PART V ADVANCED TOPICS
9 Sensor Localization ....................................... 261
9.1 Introduction ......................................... 261
9.2 Elements of Localization ............................. 262
9.3 Using Mobile Robots for Sensor Localization .......... 268
9.4 Sensor Localization with Multidimensional Scaling .... 274
9.5 Localization in Wireless Sensor Networks ............. 280
9.6 GPS-Free Node Localization in Mobile WSN ............. 285
9.7 A High-Accuracy, Low-Cost Localization System for
WSN .................................................. 290
9.8 LOCALE: Collaborative Localization Estimation for
Sparse Mobile Sensor Networks ........................ 295
9.9 On the Security of WSN Localization .................. 303
Problems and Exercises .................................... 305
10 Time Synchronization in Wireless Sensor Networks .......... 307
10.1 Introduction ......................................... 307
10.2 Synchronization in General Networks (Non-WSN) ........ 311
10.3 Clock Synchronization in WSNs ........................ 314
10.4 Evaluation of Synchronization Performance ............ 317
10.5 Examples of WSN Synchronization Protocols ............ 319
Problems and Exercises .................................... 325
11 Security and Privacy in Wireless Sensor Networks .......... 327
11.1 Introduction ......................................... 327
11.2 Attack and Countermeasure Example: Wormhole Attack ... 336
11.3 WSN Security Example: Blom-Based Approach ............ 344
11.4 Broadcast Authentication: μTESLA ..................... 347
11.5 Practical Security Schemes for "Motes" ............... 352
11.6 Special Case: Secure Time Synchronization in WSNs .... 354
Problems and Exercises .................................... 359
PART VI SPECIAL WIRELESS SENSOR NETWORKS
12 Wireless Sensor and Actor Networks ........................ 363
12.1 Introduction ......................................... 363
12.2 Sensor-Actor Coordination Problem .................... 366
12.3 Hierarchical Sensor-Actor Coordination Mechanism ..... 373
Problems and Exercises .................................... 378
13 Underwater Sensor Networks ................................ 379
13.1 Introduction ......................................... 379
13.2 USN Protocol Stack ................................... 384
13.3 MAC Design Example ................................... 387
13.4 Routing Design Example: Vector-Based Forwarding
Protocol ............................................. 390
13.5 Hardware Prototype Design ............................ 393
Problems and Exercises .................................... 398
14 Video Sensor Networks ..................................... 399
14.1 Introduction ......................................... 399
14.2 Panoptes ............................................. 401
14.3 Cyclops .............................................. 403
14.4 VSN Calibration ...................................... 405
14.5 SensEye .............................................. 408
Problems and Exercises .................................... 412
PART VII MISCELLANEOUS TOPICS
15 WSN Energy Model .......................................... 415
15.1 Basic WSN Energy Model ............................... 415
15.2 Simulation-Based Energy Modeling ..................... 418
15.3 Battery-Aware Routing ................................ 425
Problems and Exercises .................................... 429
16 Sensor Network Simulators ................................. 431
16.1 GloMoSim ............................................. 431
16.2 SensorSim ............................................ 432
16.3 TOSSIM ............................................... 434
16.4 Power TOSSIM ......................................... 437
Problems and Exercises .................................... 441
PART VIII CASE STUDIES
17 Case Study 1: Tele-Healthcare ............................. 445
17.1 Introduction ......................................... 445
17.2 MASN Hardware Design ................................. 447
17.3 Reliable MASN Communication Protocols ................ 450
17.4 MASN Software Design ................................. 455
17.5 Integration of RFID and Wearable Sensors ............. 457
Problems and Exercises .................................... 462
18 Case Study 2: Light Control ............................... 465
18.1 Introduction ......................................... 465
18.2 Illumimote's Sensors ................................. 468
18.3 System Architecture .................................. 469
18.4 Calibration .......................................... 469
18.5 System Evaluation .................................... 470
Problems and Exercises .................................... 472
References ................................................ 475
Index ........................................................ 495
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