Sensor Network Protocols IMAD MAHGOUB Florida Atlantic University Boca Raton, Florida, U.S.A MOHAMMAD ILYAS Florida Atlantic University Boca Raton, Florida, U.S.A © 2006 by Taylor & Francis Group, LLC 7036_Discl.fm Page Wednesday, December 14, 2005 9:42 AM The material was previously published in Handbook of Sensor Networks: Compact Wireless and Wired Sensing Systems © CRC Press LLC 2005 Published in 2006 by CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2006 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group No claim to original U.S Government works Printed in the United States of America on acid-free paper 10 International Standard Book Number-10: 0-8493-7036-1 (Hardcover) International Standard Book Number-13: 978-0-8493-7036-6 (Hardcover) Library of Congress Card Number 2005053837 This book contains information obtained from authentic and highly regarded sources Reprinted material is quoted with permission, and sources are indicated A wide variety of references are listed Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers For permission to photocopy or use material electronically from this work, please access www.copyright.com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc (CCC) 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400 CCC is a not-for-profit organization that provides licenses and registration for a variety of users For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe Library of Congress Cataloging-in-Publication Data Sensor network protocols / [edited by] Imad Mahgoub, Mohammad Ilyas p cm Includes bibliographical references and index ISBN 0-8493-7036-1 (alk paper) Sensor networks Computer network protocols I Mahgoub, Imad II Ilyas, Mohammad, 1953- TK7872.D48S44 2005 681'.2 dc22 2005053837 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com Taylor & Francis Group is the Academic Division of Informa plc © 2006 by Taylor & Francis Group, LLC and the CRC Press Web site at http://www.crcpress.com 7036_C00.fm Page v Wednesday, December 14, 2005 5:56 AM Preface Advances in wireless communications and microelectronic mechanical systems technologies have enabled the development of networks of a large number of small inexpensive, low-power multifunctional sensors These wireless sensor networks present a very interesting and challenging area and have tremendous potential applications Communication protocols are the heart and soul of any communication network and the same is true for the sensor networks This book deals with wireless sensor network protocols Wireless sensor networks consist of a large number of sensor nodes that may be randomly and densely deployed Sensor nodes are small electronic components capable of sensing many types of information from the environment including temperature, light, humidity, radiation, the presence or nature of biological organisms, geological features, seismic vibrations, specific types of computer data, and more Recent advancements have made it possible to make these components small, powerful, and energy efficient and they can now be manufactured cost-effectively in quantity for specialized telecommunications applications The sensor nodes are very small in size and are capable of gathering, processing, and communicating information to other nodes and to the outside world This book is expected to capture the current state of protocols for sensor networks The book has a total of eleven articles written by experts from around the world These articles were previously published in the Handbook of Sensor Networks: Compact Wireless and Wired Sensing Systems by CRC Press, 2005 The targeted audience for the book includes professionals who are designers and/or planners for emerging telecommunication networks, researchers (faculty members and graduate students), and those who would like to learn about this field Although the book is not precisely a textbook, it can certainly be used as a textbook for graduate courses and research-oriented courses that deal with wireless sensor networks Any comments from the readers will be highly appreciated Many people have contributed to this book in their unique ways The first and the foremost group that deserves immense gratitude is the group of highly talented and skilled researchers who have contributed eleven articles to this book All of them have been extremely cooperative and professional It has also been a pleasure to work with Ms Nora Konopka, Ms Helena Redshaw, and Ms Allison Taub of Taylor & Francis/CRC Press and we are extremely gratified for their support and professionalism Our families have extended their unconditional love and strong support throughout this project and they all deserve a very special thanks Imad Mahgoub and Mohammad Ilyas Boca Raton, Florida © 2006 by Taylor & Francis Group, LLC v 7036_C00.fm Page vii Wednesday, December 14, 2005 5:56 AM Editors Imad Mahgoub, Ph.D., received his B.Sc degree in electrical engineering from the University of Khartoum, Khartoum, Sudan, in 1978 From 1978 to 1981, he worked for the Sudan Shipping Line Company, Port Sudan, Sudan, as an electrical and electronics engineer He received his M.S in applied mathematics in 1983 and his M.S in electrical and computer engineering in 1986, both from North Carolina State University In 1989, he received his Ph.D in computer engineering from The Pennsylvania State University Since August 1989, Dr Mahgoub has been with the College of Engineering at Florida Atlantic University, Boca Raton, Florida, where he is currently professor of computer science and engineering He is the director of the Computer Science and Engineering Department Mobile Computing Laboratory at Florida Atlantic University Dr Mahgoub has conducted successful research in various areas, including mobile computing; interconnection networks; performance evaluation of computer systems; and advanced computer architecture He has published over 80 research articles and supervised three Ph.D dissertations and 22 M.S theses to completion He has served as a consultant to industry Dr Mahgoub served as a member of the executive committee/program committee of the 1998, 1999, and 2000 IEEE International Performance, Computing and Communications Conferences He has served on the program committees of several international conferences and symposia He was the vice chair of the 2003, 2004, and 2005 International Symposium on Performance Evaluation of Computer and Telecommunication Systems Dr Mahgoub is a senior member of IEEE and a member of ACM Mohammad Ilyas, Ph.D., received his B.Sc degree in electrical engineering from the University of Engineering and Technology, Lahore, Pakistan, in 1976 From March 1977 to September 1978, he worked for the Water and Power Development Authority in Pakistan In 1978, he was awarded a scholarship for his graduate studies and he completed his M.S degree in electrical and electronic engineering in June 1980 at Shiraz University, Shiraz, Iran In September 1980, he joined the doctoral program at Queen’s University in Kingston, Ontario, Canada; he completed his Ph.D degree in 1983 Dr Ilyas’ doctoral research was about switching and flow control techniques in computer communication networks Since September 1983, he has been with the College of Engineering at Florida Atlantic University, Boca Raton, Florida, where he is currently associate dean for graduate studies and research From 1994 to 2000, he was chair of the department During the 1993–1994 academic year, he was on his sabbatical leave with the Department of Computer Engineering, King Saud University, Riyadh, Saudi Arabia Dr Ilyas has conducted successful research in various areas, including traffic management and congestion control in broadband/high-speed communication networks; traffic characterization; wireless communication networks; performance modeling; and simulation He has published one book, three handbooks, and over 140 research articles He has supervised 10 Ph.D dissertations and more than 35 M.S theses to completion Dr Ilyas has been a consultant to several national and international organizations; a senior member of IEEE, he is an active participant in several IEEE technical committees and activities © 2006 by Taylor & Francis Group, LLC vii 7036_C00.fm Page ix Wednesday, December 14, 2005 5:56 AM Contributors Özgür B Akan Martin Haenggi Koji Nakano Georgia Institute of Technology Atlanta, Georgia University of Notre Dame Notre Dame, Indiana Hiroshima University Higashi-Hiroshima, Japan Hossam Hassanein Jamal N Al-Karaki Queen’s University Kingston, Ontario, Canada Dragan Petrovic Iowa State University Ames, Iowa Jacir L Bordim ATR — Adaptive Communications Research Laboratories Kyoto, Japan Erdal Cayirci Istanbul Technical University Istanbul, Turkey Krishnendu Chakrabarty Duke University Durham, North Carolina Duminda Dewasurendra S Sitharama Iyengar Louisiana State University Baton Rouge, Louisiana Ram Kalidindi Louisiana State University Baton Rouge, Louisiana Ahmed E Kamal Iowa State University Ames, Iowa Rajgopal Kannan University of California at Berkeley Berkeley, California Miodrag Potkonjak University of California at Los Angeles Los Angeles, California Jan M Rabaey University of California at Berkeley Berkeley, California Lydia Ray Louisiana State University Baton Rouge, Louisiana Louisiana State University Baton Rouge, Louisiana Farinaz Koushanfar Albert I Reuther University of California at Berkeley Berkeley, California MIT Lincoln Laboratory Lexington, Massachusetts Jessica Feng David R Martinez University of California at Los Angeles Los Angeles, California MIT Lincoln Laboratory Lexington, Massachusetts University of California at Berkeley Berkeley, California Virginia Polytechnic Institute and State University Blacksburg, Virginia Joel I Goodman MIT Lincoln Laboratory Lexington, Massachusetts © 2006 by Taylor & Francis Group, LLC Rahul C Shah Amitabh Mishra Virginia Polytechnic Institute and State University Blacksburg, Virginia Weilian Su Georgia Institute of Technology Atlanta, Georgia ix 7036_C00.fm Page x Wednesday, December 14, 2005 5:56 AM Vishnu Swaminathan Quanhong Wang Yi Zou Duke University Durham, North Carolina Queen’s University Kingston, Ontario, Canada Duke University Durham, North Carolina x © 2006 by Taylor & Francis Group, LLC 7036_C00.fm Page xi Wednesday, December 14, 2005 5:56 AM Contents Opportunities and Challenges in Wireless Sensor Networks 1-1 Martin Haenggi Next-Generation Technologies to Enable Sensor Networks 2-1 Joel I Goodman, Albert I Reuther and David R Martinez A Taxonomy of Routing Techniques in Wireless Sensor Networks 3-1 Jamal N Al-Karaki and Ahmed E Kamal Overview of Communication Protocols for Sensor Networks 4-1 Weilian Su, Erdal Cayirci and Özgür B Akan A Comparative Study of Energy-Efficient (E2) Protocols for Wireless Sensor Networks 5-1 Quanhong Wang and Hossam Hassanein Fundamental Protocols to Gather Information in Wireless Sensor Networks 6-1 Jacir L Bordim and Koji Nakano Design Challenges in Energy-Efficient Medium Access Control for Wireless Sensor Networks 7-1 Duminda Dewasurendra and Amitabh Mishra Techniques to Reduce Communication and Computation Energy in Wireless Sensor Networks 8-1 Vishnu Swaminathan, Yi Zou and Krishnendu Chakrabarty Energy-Aware Routing and Data Funneling in Sensor Networks 9-1 Rahul C Shah, Dragan Petrovic and Jan M Rabaey © 2006 by Taylor & Francis Group, LLC xi 7036_C00.fm Page xii Wednesday, December 14, 2005 5:56 AM 10 Reliabile Energy-Constrained Routing in Sensor Networks 10-1 Rajgopal Kannan, Lydia Ray, S Sitharama Iyengar and Ram Kalidindi 11 Localized Algorithms for Sensor Networks 11-1 Jessica Feng, Farinaz Koushanfar and Miodrag Potkonjak xii © 2006 by Taylor & Francis Group, LLC 7036_C01.fm Page Wednesday, December 14, 2005 5:58 AM Opportunities and Challenges in Wireless Sensor Networks 1.1 1.2 Introduction 1-1 Opportunities 1-2 1.3 Technical Challenges 1-4 Growing Research and Commercial Interest • Applications Performance Metrics • Power Supply • Design of EnergyEfficient Protocols • Capacity/Throughput • Routing • Channel Access and Scheduling • Modeling • Connectivity • Quality of Service • Security • Implementation • Other Issues Martin Haenggi University of Notre Dame 1.4 Concluding Remarks 1-11 1.1 Introduction Due to advances in wireless communications and electronics over the last few years, the development of networks of low-cost, low-power, multifunctional sensors has received increasing attention These sensors are small in size and able to sense, process data, and communicate with each other, typically over an RF (radio frequency) channel A sensor network is designed to detect events or phenomena, collect and process data, and transmit sensed information to interested users Basic features of sensor networks are: • • • • • Self-organizing capabilities Short-range broadcast communication and multihop routing Dense deployment and cooperative effort of sensor nodes Frequently changing topology due to fading and node failures Limitations in energy, transmit power, memory, and computing power These characteristics, particularly the last three, make sensor networks different from other wireless ad hoc or mesh networks Clearly, the idea of mesh networking is not new; it has been suggested for some time for wireless Internet access or voice communication Similarly, small computers and sensors are not innovative per se However, combining small sensors, low-power computers, and radios makes for a new technological platform that has numerous important uses and applications, as will be discussed in the next section © 2006 by Taylor & Francis Group, LLC 1-1 7036_C01.fm Page Wednesday, December 14, 2005 5:58 AM 1-2 Sensor Network Protocols 1.2 Opportunities 1.2.1 Growing Research and Commercial Interest Research and commercial interest in the area of wireless sensor networks are currently growing exponentially, which is manifested in many ways: • The number of Web pages (Google: 26,000 hits for sensor networks; 8000 for wireless sensor networks in August 2003) • The increasing number of • Dedicated annual workshops, such as IPSN (information processing in sensor networks); SenSys; EWSN (European workshop on wireless sensor networks); SNPA (sensor network protocols and applications); and WSNA (wireless sensor networks and applications) • Conference sessions on sensor networks in the communications and mobile computing communities (ISIT, ICC, Globecom, INFOCOM, VTC, MobiCom, MobiHoc) • Research projects funded by NSF (apart from ongoing programs, a new specific effort now focuses on sensors and sensor networks) and DARPA through its SensIT (sensor information technology), NEST (networked embedded software technology), MSET (multisensor exploitation), UGS (unattended ground sensors), NETEX (networking in extreme environments), ISP (integrated sensing and processing), and communicator programs Special issues and sections in renowned journals are common, e.g., in the IEEE Proceedings [1] and signal processing, communications, and networking magazines Commercial interest is reflected in investments by established companies as well as start-ups that offer general and specific hardware and software solutions Compared to the use of a few expensive (but highly accurate) sensors, the strategy of deploying a large number of inexpensive sensors has significant advantages, at smaller or comparable total system cost: much higher spatial resolution; higher robustness against failures through distributed operation; uniform coverage; small obtrusiveness; ease of deployment; reduced energy consumption; and, consequently, increased system lifetime The main point is to position sensors close to the source of a potential problem phenomenon, where the acquired data are likely to have the greatest benefit or impact Pure sensing in a fine-grained manner may revolutionize the way in which complex physical systems are understood The addition of actuators, however, opens a completely new dimension by permitting management and manipulation of the environment at a scale that offers enormous opportunities for almost every scientific discipline Indeed, Business 2.0 (http://www.business2.com/) lists sensor robots as one of “six technologies that will change the world,” and Technology Review at MIT and Globalfuture identify WSNs as one of the “10 emerging technologies that will change the world” (http://www.globalfuture.com/mit-trends2003.htm) The combination of sensor network technology with MEMS and nanotechnology will greatly reduce the size of the nodes and enhance the capabilities of the network The remainder of this chapter lists and briefly describes a number of applications for wireless sensor networks, grouped into different categories However, because the number of areas of application is growing rapidly, every attempt at compiling an exhaustive list is bound to fail 1.2.2 Applications 1.2.2.1 General Engineering • Automotive telematics Cars, which comprise a network of dozens of sensors and actuators, are networked into a system of systems to improve the safety and efficiency of traffic • Fingertip accelerometer virtual keyboards These devices may replace the conventional input devices for PCs and musical instruments • Sensing and maintenance in industrial plants Complex industrial robots are equipped with up to 200 sensors that are usually connected by cables to a main computer Because cables are expensive © 2006 by Taylor & Francis Group, LLC ... Communication protocols are the heart and soul of any communication network and the same is true for the sensor networks This book deals with wireless sensor network protocols Wireless sensor networks... workshop on wireless sensor networks); SNPA (sensor network protocols and applications); and WSNA (wireless sensor networks and applications) • Conference sessions on sensor networks in the communications... Data Sensor network protocols / [edited by] Imad Mahgoub, Mohammad Ilyas p cm Includes bibliographical references and index ISBN 0-8493-7036-1 (alk paper) Sensor networks Computer network protocols