Real-time Communication Protocols for Multi-hop Ad-hoc Networks (eBook)

Preface 7
Acknowledgements 9
Contents 10
About the Author 16
Abbreviations 17
1 Introduction 21
1.1 Context and Scope 21
1.2 Wireless Networked Control Systems 22
1.3 Technological Challenges 25
1.4 State-of-the-Practice 26
1.5 Survey of the Book 28
Literature 31
Chair for Networked Systems 31
Further References 33
2 Tick and Time Synchronization 35
2.1 Foundations 35
2.1.1 Context 35
2.1.2 Concepts and Requirements 36
2.1.3 Areas of Operation 37
2.2 Black Burst Synchronization (BBS) 39
2.2.1 Overview of BBS 39
2.2.2 Encoding of Bit Sequences with Black Bursts 40
2.2.3 Master-Based BBS (BBSm) 42
2.2.3.1 Digest of BBSm 42
2.2.3.2 Scenario of BBSm 43
2.2.3.3 Algorithm of BBSm 46
2.2.3.4 Format of Master-Tick Frames 47
2.2.3.5 Abstract Analysis of BBSm 48
2.2.4 Decentralized BBS (BBSd) 51
2.2.4.1 Digest of BBSd 51
2.2.4.2 Timing Aspects of BBSd 51
2.2.4.3 Abstract Analysis of BBSd 53
2.2.5 Hybrid BBS (BBSh) 55
2.2.6 Time Sync BBS (BBSt) 56
2.2.7 Network Stabilization 58
2.2.8 Redundancy 59
2.2.9 Analytical and Experimental Results 60
2.2.9.1 Hardware Platform 60
2.2.9.2 Concrete Analytical Results 61
2.2.9.3 Experimental Results 65
2.2.10 Optimizations 68
2.3 Related Work 73
2.3.1 Remote Clock Reading Method 73
2.3.2 Timing-Sync Protocol for Sensor Networks 74
2.3.3 Reference Broadcast Synchronization 76
2.3.4 Syncob 77
2.3.5 BitMAC 78
2.3.6 Comparison 80
2.4 Conclusions 81
Literature 82
Chair for Networked Systems 82
Further References 83
3 Global Time Slotting 85
3.1 Foundations 85
3.1.1 Context 85
3.1.2 Concepts and Requirements 86
3.1.3 Areas of Operation 87
3.2 Global Time Slotting in ProNet 4.0 89
3.2.1 Physical Time Slotting 89
3.2.2 Virtual Time Slotting 90
3.2.3 Flexibility 91
3.3 Related Work 92
3.3.1 IEEE 802.15.4 92
3.3.2 WirelessHART 94
3.4 Conclusions 96
Literature 96
Chair for Networked Systems 96
Further References 97
4 Automatic Topology Detection 98
4.1 Foundations 98
4.1.1 Context 98
4.1.2 Concepts and Requirements 99
4.1.3 Areas of Operation 101
4.2 Automatic Topology Discovery Protocol (ATDP) 102
4.2.1 Overview of ATDP 103
4.2.2 Virtual Time Slotting of the Topology Detection Phase 103
4.2.3 Link Types 104
4.2.4 Link-State Graph 105
4.2.5 Dissemination of Topology Information 108
4.2.6 Termination 108
4.2.7 Experimental Results 109
4.3 Related Work 112
4.3.1 Routing Protocols 113
4.3.2 Clustering Protocols 114
4.3.3 Detection of Interference Topologies 115
4.4 Conclusions 116
Literature 116
Chair for Networked Systems 116
Further References 117
5 Medium Access Schemes 118
5.1 Foundations 118
5.1.1 Context 118
5.1.2 Concepts and Measures 119
5.1.3 Areas of Operation 120
5.2 Medium Access Schemes in ProNet 4.0 121
5.2.1 Exclusive Medium Access—ProRes 122
5.2.2 Shared Medium Access—ProCont 122
5.2.3 Mode Medium Access—ProMod 124
5.2.3.1 Motivation 124
5.2.3.2 Mode-Triggered Scheduling 128
5.2.3.3 Mode Medium Access with Fast Mode Signaling 133
5.2.3.4 Implementation of Mode Medium Access 134
5.2.3.5 Experimental Results 136
5.3 Related Work 137
5.3.1 IEEE 802.11—Wi-Fi 137
5.3.2 ZigBee—IEEE 802.15.4 138
5.3.3 WirelessHART 139
5.3.4 TTP/C 140
5.4 Conclusions 141
Literature 142
Chair for Networked Systems 142
Further References 142
6 Deterministic Arbitration 144
6.1 Foundations 144
6.1.1 Context 144
6.1.2 Concepts and Measures 145
6.1.3 Areas of Operation 146
6.1.3.1 Leader Election 146
6.1.3.2 Consensus 147
6.1.3.3 Quality of Service Routing 147
6.2 Arbitrating and Cooperative Transfer Protocol (ACTP) 148
6.2.1 Encoding of Bit Sequences with Black Bursts 148
6.2.2 Time Structure of ACTP 148
6.2.3 Arbitration and Cooperative Transfer in Single-hop Networks 149
6.2.4 Generalization to Multi-hop Range 151
6.2.5 Abstract Analysis of ACTP 154
6.2.6 Concrete Analysis of ACTP 156
6.2.7 Experimental Assessment of ACTP 157
6.3 Related Work 159
6.3.1 Black Burst Contention (BBC) 159
6.3.2 SYN-MAC 162
6.3.3 Dominance Protocol for Wireless Medium Access (WiDom) 164
6.4 Conclusions 165
Literature 166
Chair for Networked Systems 166
Further References 166
7 Duty Cycling 168
7.1 Foundations 168
7.1.1 Context 168
7.1.2 Concepts, Measures, and Requirements 169
7.1.3 Areas of Operation 172
7.1.3.1 Monitoring Slope Stability in Permafrost Areas 172
7.1.3.2 Monitoring Wagons of Freight Trains 172
7.2 Duty Cycling in ProNet 4.0 173
7.2.1 Virtual Time Slotting 173
7.2.2 Duty Cycling in Idle Regions 174
7.2.3 Duty Cycling in Exclusive Regions 174
7.2.4 Duty Cycling in Shared Regions 176
7.2.5 Duty Cycling in Arbitrated Regions 176
7.2.6 Analytical Assessment 177
7.2.6.1 Application Scenario 178
7.2.6.2 Exclusive Regions 179
7.2.6.3 Shared Regions 180
7.3 Related Work 180
7.3.1 Sensor-MAC (S-MAC) 180
7.3.2 Routing-Enhanced MAC (RMAC) 182
7.4 Conclusions 184
Literature 184
Chair for Networked Systems 184
Further References 185
8 Quality of Service Multicast Routing with Mobility Support 186
8.1 Foundations 186
8.1.1 Context 186
8.1.2 Concepts and Requirements 187
8.1.3 Areas of Operation 189
8.2 QoS Multicast Routing (QMR) 190
8.2.1 Context and Design Decisions for Stationary Nodes 190
8.2.2 Slot Inhibited Policies 192
8.2.3 Routing Tree Discovery for Stationary Nodes 194
8.2.4 Slot Scheduling for Stationary Nodes 196
8.2.5 Design Decisions for Partially Mobile Networks 202
8.2.6 Routing Tree Discovery in Partially Mobile Networks 203
8.2.7 Slot Scheduling in Partially Mobile Networks 205
8.2.8 Experimental Assessment 206
8.3 Related Work 208
8.3.1 Distributed Slots Reservation Protocol (DSRP) 208
8.3.2 QoS Routing in WirelessHART 210
8.4 Conclusions 212
Literature 213
Chair for Networked Systems 213
Further References 213
9 Network Clustering 215
9.1 Foundations 215
9.1.1 Context 215
9.1.2 Concepts 216
9.1.3 Areas of Operation 218
9.2 Heterogeneous Network Clustering (HNC) 219
9.2.1 Context and Design Decisions 219
9.2.2 Overview 220
9.2.3 Creation of a Dominating Set 222
9.2.4 Establishment and Optimization of Connectivity 224
9.2.5 Evaluation 226
9.3 Related Work 229
9.3.1 Linked Clustering Algorithm (LCA) 229
9.3.2 MaxMinD 231
9.4 Conclusions 232
Literature 232
Chair for Networked Systems 232
Further References 233
10 Middleware for Networked Production and Control Systems 234
10.1 Foundations 234
10.1.1 Context 234
10.1.2 Concepts 235
10.1.3 Areas of Operation 236
10.2 Production Middleware (ProMid) 237
10.2.1 Concepts and Design Decisions 237
10.2.2 Distribution and Replication of Service Registries 238
10.2.3 Establishment of Distributed Service Registries 239
10.2.4 Operation of the Service Registry 240
10.2.5 Service Publication and Subscription 241
10.2.6 Application Service Provision 243
10.3 Related Work 244
10.3.1 WirelessHART 244
10.3.2 ZigBee 245
10.4 Conclusions 246
Literature 247
Chair for Networked Systems 247
Further References 247
11 Implementation Aspects of ProNet 4.0 248
11.1 BiPS—Black Burst Integrated Protocol Stack 248
11.1.1 Conceptual Design Decisions 248
11.1.2 Overview of the BiPS Framework 249
11.1.3 Access to MAC Protocols—BiPS Multiplexer 250
11.1.4 BRTS—The BiPS Real-Time Scheduler 252
11.1.5 BAS—The BiPS Application Scheduler 254
11.1.6 Nesting of State-of-the-Practice Operating Systems 255
11.1.7 Memory Management and Fault Handling 256
11.1.8 Evaluation 257
11.1.8.1 Memory Usage 257
11.1.8.2 Timer Expiry Processing Delays 258
11.1.8.3 Detection Delays of Start of Frame Delimiters 259
11.2 Related Work 260
11.2.1 Multi-MAC Support 261
11.2.2 Runtime Engines of Operating Systems 262
11.3 Conclusions 263
Literature 264
Chair for Networked Systems 264
Further References 264
12 ProNet 4.0 Case Studies 266
12.1 Inverted Pendulum and Flow Rate System 266
12.1.1 Control Aspects 267
12.1.2 Communication Solution 268
12.2 Batch Reactor 271
12.2.1 Control Aspects 271
12.2.2 Communication Solution 272
12.3 Vertical Integration of Production Processes (VI-P) 275
12.3.1 Application Context 275
12.3.2 Communication Solution 277
12.4 Conclusions 279
Literature 279
Chair for Networked Systems 279
Further References 280
13 Conclusions and Future Research 281
13.1 Results and Conclusions 281
13.2 Future Research 284
Literature 287
Chair for Networked Systems 287
Further References 288
14 Correction to: Real-time Communication Protocols for Multi-hop Ad-hoc Networks 289
Correction to: R. Gotzhein, Real-time Communication Protocols for Multi-hop Ad-hoc Networks, Computer Communications and Networks, https://doi.org/10.1007/978-3-030-33319-5 289
Index 290