1968title 6/18/04 12:34 PM Page 1 Handbook of Sensor Networks: Compact Wireless and Wired Sensing Systems CRC PRESS Boca Raton London New York Washington, D.C. Edited by M OHAMMAD I LYAS AND I MAD M AHGOUB 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. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microÞlming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. All rights reserved. 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Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identiÞcation and explanation, without intent to infringe. Visit the CRC Press Web site at www.crcpress.com © 2005 by CRC Press LLC No claim to original U.S. Government works International Standard Book Number 0-8493-1968-4 Library of Congress Card Number 2004043852 Printed in the United States of America 1 2 3 4 5 6 7 8 9 0 Printed on acid-free paper Library of Congress Cataloging-in-Publication Data Handbook of sensor networks : compact wireless and wired sensing systems / edited by Mohammad Ilyas and Imad Mahgoub. p. cm. Includes bibliographical references and index. ISBN 0-8493-1968-4 (alk. paper) 1. Sensor networks. 2. Wireless LANs. I. Ilyas, Mohammad, 1953- II. Mahgoub, Imad. TK7872.D48.H36 2004 004.6 ′ 8—dc22 2004043852 1968_C00.fm Page iv Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC Preface As the field of communications networks continues to evolve, a very interesting and challenging area — wireless sensor networks — is rapidly coming of age. A wireless sensor network consists of a large number of sensor nodes that may be randomly and densely deployed. Sensor nodes are small electronic compo- nents 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 vibra- tions; 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. Very small in size, the sensor nodes are capable of gathering, processing, and communicating information to other nodes and to the outside world. Based on the information handling capabilities and compact size of the sensor nodes, sensor networks are often referred to as “smart dust.” Sensor networks have numerous applications, including health; agriculture; geology; retail; military; home; and emergency management. Sensor network research and development derive many concepts and protocols from distributed computer networks such as the Internet; however, several technical challenges in sensor networks need to be addressed due to the specialized nature of the sensors and the fact that many sensor network applications may involve remote mobile sensors with limited power sources that must dynamically adapt to their environment. This handbook proposes to capture the current state of sensor networks and to serve as a source of comprehensive reference material on them. The handbook has a total of 40 chapters written by experts from around the world and is divided into the following nine sections: 1. Introduction 2. Applications 3. Architecture 4. Protocols 5. Tracking technologies 6. Data gathering and processing 7. Energy management 8. Security, reliability, and fault tolerance 9. Performance and design aspects The targeted audience for this handbook include s 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. This handbook provides technical information about various aspects of sensor networks, networks comprising multiple compact, intercommunicating electronic sensors. The areas covered range from 1968_C00.fm Page v Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC basic concepts to research-grade material, including future directions. This handbook should serve as a complete reference material for sensor networks. The Handbook of Sensor Networks has the following specific salient features: •It serves as a single comprehensive source of information and as reference material on wireless sensor networks. •It deals with an important and timely topic of emerging communication technology of tomorrow. •It presents accurate, up-to-date information on a broad range of topics related to wireless sensor networks. •It presents material authored by experts in the field. •It presents the information in an organized and well-structured manner. •Although it is not precisely a textbook, it can certainly be used as one 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 handbook in their unique ways. The first and the foremost group that deserves immense gratitude is the highly talented and skilled researchers who have contributed 40 chapters to this handbook. All of them have been extremely cooperative and professional. It has also been a pleasure to work with Nora Konopka and Helena Redshaw of CRC Press; we are extremely grateful for their support and professionalism. We also thank Sophie Kirkwood and Gail Renard in the CRC production department. Our families have extended their unconditional love and strong support throughout this project and they all deserve very special thanks. Mohammad Ilyas and Imad Mahgoub Boca Raton, Florida 1968_C00.fm Page vi Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC Editors 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 con- gestion 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 organi- zations; a senior member of IEEE, he is an active participant in several IEEE technical committees and activities. Imad Mahgoub , Ph.D., received his B.Sc. degree in electrical engineering from the University of Khar- toum, 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 Uni- versity, 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; inter- connection networks; performance evaluation of computer systems; and advanced computer architecture. He has published over 70 research articles and supervised three Ph.D. dissertations and 18 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 is currently the vice chair of the 2004 International Sympo- sium on Performance Evaluation of Computer and Telecommunication Systems. Dr. Mahgoub is a senior member of IEEE and a member of ACM. 1968_C00.fm Page vii Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC Contributors T. Abdelzaher University of Virginia Charlottesville, Virginia Özgür B. Akan Georgia Institute of Technology Atlanta, Georgia Jamal N. Al-Karaki Iowa State University Ames, Iowa Petr Benes Brno University of Technology Brno, Czech Republic Jan Beutel Swiss Federal Institute of Technology Zurich, Switzerland B. Blum University of Virginia Charlottesville, Virginia Cristian Borcea Rutgers University Piscataway, New Jersey Jacir L. Bordim ATR — Adaptive Communications Research Laboratories Kyoto, Japan Athanassios Boulis University of California at Los Angeles Los Angeles, California Richard R. Brooks The Pennsylvania State University State College, Pennsylvania Mihaela Cardei Florida Atlantic University Boca Raton, Florida Erdal Cayirci Istanbul Technical University Istanbul, Turkey Krishnendu Chakrabarty Duke University Durham, North Carolina Anantha Chandrakasan Engim, Inc. Acton, Massachusetts Duminda Dewasurendra Virginia Polytechnic Institute and State University Blacksburg, Virginia Jessica Feng University of California at Los Angeles Los Angeles, California Kurt Fristrup Cornell Laboratory of Ornithology Ithaca, New York Vincente González–Millán University of Valencia Valencia, Spain Joel I. Goodman MIT Lincoln Laboratory Lexington, Massachusetts Zygmunt J. Haas Cornell University Ithaca, New York Martin Haenggi University of Notre Dame Notre Dame, Indiana Hossam Hassanein Queen’s University Kingston, Ontario, Canada T. He University of Virginia Charlottesville, Virginia Chi-Fu Huang National Chiao-Tung University Hsin-Chu, Taiwan Liviu Iftode Rutgers University Piscataway, New Jersey 1968_C00.fm Page ix Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC S. Sitharama Iyengar Louisiana State University Baton Rouge, Louisiana Chaiporn Jaikaeo University of Delaware Newark, Delaware Ram Kalidindi Louisiana State University Baton Rouge, Louisiana Ahmed E. Kamal Iowa State University Ames, Iowa Porlin Kang Rutgers University Piscataway, New Jersey Rajgopal Kannan Louisiana State University Baton Rouge, Louisiana Zdravko Karakehayov Technical University of Sofia Sofia, Bulgaria Farinaz Koushanfar University of California at Berkeley Berkeley, California Sheng-Po Kuo National Chiao-Tung University Hsin-Chu, Taiwan Baohua Li Sichuan University Chengdu, Sichuan, China Xiang-Yang Li Illinois Institute of Technology Chicago, Illinois Alvin S. Lim Auburn University Auburn, Alabama Malin Lindquist Örebro University Örebro, Sweden Antonio A.F. Loureiro Federal University of Minas Gerais Belo Horizonte, Brazil Amy Loutfi Örebro University Örebro, Sweden Chenyang Lu University of Washington at St. Louis St. Louis, Missouri David R. Martinez MIT Lincoln Laboratory Lexington, Massachusetts Amitabh Mishra Virginia Polytechnic Institute and State University Blacksburg, Virginia Koji Nakano Hiroshima University Higashi-Hiroshima, Japan Eric Nettleton The University of Sydney New South Wales, Australia José Marcos Nogueira Federal University of Minas Gerais Belo Horizonte, Brazil Lee Ling (Sharon) Ong The University of Sydney New South Wales, Australia Symeon Papavassiliou New Jersey Institute of Technology Newark, New Jersey Dragan Petrovic University of California at Berkeley Berkeley, California Miodrag Potkonjak University of California at Los Angeles Los Angeles, California Alejandro Purgue Cornell Laboratory of Ornithology Ithaca, New York Gang Qu University of Maryland College Park, Maryland Jan M. Rabaey University of California at Berkeley Berkeley, California Nageswara S.V. Rao Oak Ridge National Laboratory Oak Ridge, Tennessee Lydia Ray Louisiana State University Baton Rouge, Louisiana Albert I. Reuther MIT Lincoln Laboratory Lexington, Massachusetts 1968_C00.fm Page x Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC Matthew Ridley The University of Sydney New South Wales, Australia Linnyer Beatrys Ruiz Pontifical Catholic University of Paraná Curitiba, Brazil and Federal University of Minas Gerais Belo Horizonte, Brazil Ayad Salhieh Wayne State University Detroit, Michigan Enrique Sanchis-Peris University of Valencia Valencia, Spain Alberto Sangiovanni- Vincentelli University of California at Berkeley Berkeley, California Loren Schwiebert Wayne State University Detroit, Michigan Rahul C. Shah University of California at Berkeley Berkeley, California Chien-Chung Shen University of Delaware Newark, Delaware Amit Sinha Engim, Inc. Acton, Massachusetts Sasha Slijepcevic University of California at Los Angeles Los Angeles, California Tara Small Cornell University Ithaca, New York S. Son University of Virginia Charlottesville, Virginia Chavalit Srisathapornphat University of Delaware Newark, Delaware John Stankovic University of Virginia Charlottesville, Virginia Weilian Su Georgia Institute of Technology Atlanta, Georgia Saleh Sukkarieh The University of Sydney New South Wales, Australia Miroslav Sveda Brno University of Technology Brno, Czech Republic Vishnu Swaminathan Duke University Durham, North Carolina Yu-Chee Tseng National Chiao-Tung University Hsin-Chu, Taiwan Radimir Vrba Brno University of Technology Czech Republic Quanhong Wang Queen’s University Kingston, Ontario, Canada Yu Wang Illinois Institute of Technology Chicago, Illinois Brett Warneke Dust Networks Berkeley, California Peter Wide Örebro University Örebro, Sweden Jennifer L. Wong University of California at Los Angeles Los Angeles, California Anthony D. Wood University of Virginia Charlottesville, Virginia Jie Wu Florida Atlantic University Boca Raton, Florida Qishi Wu Oak Ridge National Laboratory Oak Ridge, Tennessee Kenan Xu Queen’s University Kingston, Ontario, Canada 1968_C00.fm Page xi Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC Mark Yarvis Intel Corporation Hillsboro, Oregon Wei Ye University of Southern California Los Angeles, California Lin Yuan University of Maryland College Park, Maryland Frantisek Zezulka Brno University of Technology Brno, Czech Republic Jin Zhu New Jersey Institute of Technology Newark, New Jersey Mengxia Zhu Louisiana State University Baton Rouge, Louisiana Yunmin Zhu Sichuan University Chengdu, Sichuan, China Yi Zou Duke University Durham, North Carolina 1968_C00.fm Page xii Monday, June 14, 2004 11:23 AM Copyright © 2005 by CRC Press LLC [...]... DSAP Analysis Summary Architecture and Modeling of Dynamic Wireless Sensor Networks 15.1 15.2 15.3 15.4 15.5 Symeon Papavassiliou, Jin Zhu Introduction Characteristics of Wireless Sensor Networks Architecture of Sensor Networks Modeling of Dynamic Sensor Networks Concluding Remarks SECTION IV 16 Protocols Overview of Communication Protocols for Sensor Networks Weilian Su, 16.1 16.2 16.3 16.4 16.5 16.6... 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. .. the world with networks of sensors requires a fundamental understanding of techniques for connecting and managing sensor nodes with a communication network in scalable and resource-efficient ways Clearly, sensor networks belong to the class of ad hoc networks, but they have specific characteristics that are not present in general ad hoc networks Ad hoc and sensor networks share a number of challenges... Power Management in Sensor Networks Amit Sinha, 27.1 27.2 27.3 27.4 27.5 28 Introduction Unique Characteristics of Wireless Sensor Networks MAC Protocols for Wireless ad hoc Networks Design Challenges for Wireless Sensor Networks Medium Access Protocols for Wireless Sensor Networks Open Issues Conclusions Techniques to Reduce Communication and Computation Energy in Wireless Sensor Networks Vishnu Swaminathan,... (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... Sanchis-Peris Sensor Networks: Organization and Processing Architectures for Sensor Integration Example of Architecture Evaluation in High-Energy Physics Computational and Networking Problems in Distributed Sensor Networks 25.1 25.2 25.3 25.4 25.5 26 Jacir L Bordim, Koji Nakano Introduction Model Definition Gathering Information in Wireless Sensor Networks Identifying Faulty Nodes in Wireless Sensor Networks. .. routing On the other hand, general ad hoc networks most likely induce traffic patterns different from sensor networks, have other lifetime requirements, and are often considered to consist of mobile nodes [2–4] In WSNs, most nodes are static; however, the network of basic sensor nodes may be overlaid by more powerful mobile sensors (robots) that, guided by the basic sensors, can move to interesting areas... Wireless Sensor Networks Mihaela Cardei, Jie Wu 19.1 19.2 19.3 19.4 19.5 20 Introduction Area Coverage Point Coverage Barrier Coverage Conclusion Location Management in Wireless Sensor Networks Jan Beutel 20.1 20.2 20.3 20.4 21 Tracking Technologies Introduction Location in Wireless Communication Systems Location in Wireless Sensor Networks Summary Positioning and Location Tracking in Wireless Sensor Networks. .. 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),... Enable Sensor Networks Joel I Goodman, 2.1 2.2 2.3 2.4 2.5 2.6 3 Introduction Antonio A F Loureiro Introduction Management Challenges Management Dimensions MANNA as an Integrating Architecture Putting It All Together Conclusion Models for Programmability in Sensor Networks Athanassios Boulis 4.1 4.2 4.3 4.4 4.5 Introduction Differences between Sensor Networks and Traditional Data Networks Aspects of Efficient . handling capabilities and compact size of the sensor nodes, sensor networks are often referred to as “smart dust.” Sensor networks have numerous applications,. including future directions. This handbook should serve as a complete reference material for sensor networks. The Handbook of Sensor Networks has the following