ITC/USA 2011 Conference Proceedings / The Forty-Seventh Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2011 / Bally's Las Vegas, Las Vegas, Nevada / The scope of this document is the description of design and implementation of the wireless sensor network realized as a part of our Senior Design Capstone Project. The various components and sub-systems that comprise the final product are discussed, followed by the implementation procedures and results.

Since wireless sensor networks are energy constrained, introducing a method that facilitates the efficient use of the available energy in each node is a fundamental design issue. In this work, a mechanism to monitor the residual energy of sensor networks is proposed. The information about the residual energy of each sensor node in the network is saved in a special node called monitoring node. This information can be used as input to other applications to prolong the network lifetime. Each sensor node in the network uses the proposed prediction-based model to forecast its energy consumption rate. The model's performance is measured based on the number of energy packets sent to the monitoring node for various thresholds (prediction errors). The simulation results showed that reducing the threshold will produce more accurate projection of the residual energy of each node in the monitoring node. However, as the threshold is further decreased the number of energy packets sent to the monitoring node grows significantly. This incurs higher energy map construction cost on the network in terms of energy and bandwidth. The simulation results also showed the tradeoff between increasing the accuracy of the prediction model and reducing the cost of energy map construction.

Wireless sensor networks consist of many small sensor nodes with sensing, computation, and wireless communications capabilities. Recently, there have been numerous research results in the power consumption for routing protocol. Routing protocols in WSNs might difference depending on the application and network architecture. This paper focuses on reducing the power consumption for routing protocol of wireless sensor networks too. We present a routing protocol called ACRP. sensor nodes will organize many clusters voluntarily. Cluster heads will distribute time slot to the sensor nodes in the same cluster and sensor nodes will transmit data to cluster head in it¡¦s time slot. After the data had been aggregated by cluster heads, they will send the aggregated data to base station through the routing path that had been established. In addition, in order to lengthen the living time of wireless sensor network, the base station will periodically adjust the amount of sensor nodes in all clusters according to the cluster information.

Wireless Sensor Networks (WSNs) consist of Sensor Nodes (SNs) spatially removed from one another, that can monitor a variety of environmental conditions. SNs then collaboratively communicate the collected information to a central location, by passing along the data in a multi-hop fashion. SN energy resources are limited and energy monitoring and preservation in WSNs are therefore very important. Since multi-hop communication takes place, the routing protocol used may have a significant effect on the balanced use and preservation of energy in the WSN. A significant amount of research has been performed on energy efficient routing in WSNs, but the majority of these studies were only implemented in simulation. The simulation engines used to perform these studies do not take into account all of the relevant environmental factors affecting energy efficiency. In order to comment on the feasibility of a routing protocol meant to improve the energy efficiency of a WSN, it is important to test the routing scheme in a realistic environment. In this study, a SN specifically designed to be used in an energy consumption ascertaining WSN testbed was developed. This SN has a unique set of features which makes it ideal for this application. Each SN is capable of recording its own power consumption. The design also features a lithium battery charging circuit which improves the reusability of the SN. Each node has a detachable sensor module and transceiver module which enables the researcher to conduct experiments using various transceivers and sensors. Twenty of these SNs were then used to form an energy consumption ascertaining WSN testbed. This testbed was used to compare the energy consumption of a Minimum Total Transmission Power Routing (MTTPR) scheme to a shortest hop path routing scheme. The results show that each SN’s transmission power setting dependant efficiency has a significant effect on the overall performance of the MTTPR scheme. The MTTPR scheme might in some cases use more energy than a shortest hop path routing scheme because the transmission power setting dependant efficiency of the transceiver is not taken into account. The MTTPR scheme as well as other similar routing schemes can be improved by taking the transceiver efficiency at different transmission power settings into account. Simulation environments used to evaluate these routing schemes can also be improved by considering the transceiver efficiency at different transmission power settings. / MIng (Computer and Electronic Engineering), North-West University, Potchefstroom Campus, 2014

Wireless Sensor Networks (WSNs) consist of Sensor Nodes (SNs) spatially removed from one another, that can monitor a variety of environmental conditions. SNs then collaboratively communicate the collected information to a central location, by passing along the data in a multi-hop fashion. SN energy resources are limited and energy monitoring and preservation in WSNs are therefore very important. Since multi-hop communication takes place, the routing protocol used may have a significant effect on the balanced use and preservation of energy in the WSN. A significant amount of research has been performed on energy efficient routing in WSNs, but the majority of these studies were only implemented in simulation. The simulation engines used to perform these studies do not take into account all of the relevant environmental factors affecting energy efficiency. In order to comment on the feasibility of a routing protocol meant to improve the energy efficiency of a WSN, it is important to test the routing scheme in a realistic environment. In this study, a SN specifically designed to be used in an energy consumption ascertaining WSN testbed was developed. This SN has a unique set of features which makes it ideal for this application. Each SN is capable of recording its own power consumption. The design also features a lithium battery charging circuit which improves the reusability of the SN. Each node has a detachable sensor module and transceiver module which enables the researcher to conduct experiments using various transceivers and sensors. Twenty of these SNs were then used to form an energy consumption ascertaining WSN testbed. This testbed was used to compare the energy consumption of a Minimum Total Transmission Power Routing (MTTPR) scheme to a shortest hop path routing scheme. The results show that each SN’s transmission power setting dependant efficiency has a significant effect on the overall performance of the MTTPR scheme. The MTTPR scheme might in some cases use more energy than a shortest hop path routing scheme because the transmission power setting dependant efficiency of the transceiver is not taken into account. The MTTPR scheme as well as other similar routing schemes can be improved by taking the transceiver efficiency at different transmission power settings into account. Simulation environments used to evaluate these routing schemes can also be improved by considering the transceiver efficiency at different transmission power settings. / MIng (Computer and Electronic Engineering), North-West University, Potchefstroom Campus, 2014

Wireless Vision Sensor Networks (WVSNs) is an emerging field which has attracted a number of potential applications because of smaller per node cost, ease of deployment, scalability and low power stand alone solutions. WVSNs consist of a number of wireless Vision Sensor Nodes (VSNs). VSN has limited resources such as embedded processing platform, power supply, wireless radio and memory.  In the presence of these limited resources, a VSN is expected to perform complex vision tasks for a long duration of time without battery replacement/recharging. Currently, reduction of processing and communication energy consumptions have been major challenges for battery operated VSNs. Another challenge is to propose generic solutions for a VSN so as to make these solutions suitable for a number of applications. To meet these challenges, this thesis focuses on energy efficient and programmable VSN architecture for machine vision systems which can classify objects based on binary data. In order to facilitate generic solutions, a taxonomy has been developed together with a complexity model which can be used for systems’ classification and comparison without the need for actual implementation. The proposed VSN architecture is based on tasks partitioning between a VSN and a server as well as tasks partitioning locally on the node between software and hardware platforms. In relation to tasks partitioning, the effect on processing, communication energy consumptions, design complexity and lifetime has been investigated. The investigation shows that the strategy, in which front end tasks up to segmentation, accompanied by a bi-level coding, are implemented on Field Programmable Platform (FPGA) with small sleep power, offers a generalized low complexity and energy efficient VSN architecture. The implementation of data intensive front end tasks on hardware reconfigurable platform reduces processing energy. However, there is a scope for reducing communication energy, related to output data. This thesis also explores data reduction techniques including image coding, region of interest coding and change coding which reduces output data significantly. For proof of concept, VSN architecture together with tasks partitioning, bi-level video coding, duty cycling and low complexity background subtraction technique has been implemented on real hardware and functionality has been verified for four applications including particle detection system, remote meter reading, bird detection and people counting. The results based on measured energy values shows that, depending on the application, the energy consumption can be reduced by a factor of approximately 1.5 up to 376 as compared to currently published VSNs. The lifetime based on measured energy values showed that for a sample period of 5 minutes, VSN can achieve 3.2 years lifetime with a battery of 37.44 kJ energy. In addition to this, proposed VSN offers generic architecture with smaller design complexity on hardware reconfigurable platform and offers easy adaptation for a number of applications as compared to published systems.

Large-scale wireless sensor networks consist of thousands of tiny and low cost nodes with very limited energy, computing power and communication capabilities. They have a myriad of possible applications. They can be used in hazardous and hostile environments to sense for deadly gases and high temperatures, in personal area networks to monitor vital signs, in military and civilian environments for intrusion detection and tracking, emergency operations, etc. In large scale wireless sensor networks the protocols need to be scalable and energy-efficient. Further, new strategies are needed to address the well-known energy depletion problem that nodes close to the sink node face. In this thesis the Scalable Energy-efficient Location-Aided Routing (SELAR) protocol for wireless sensor networks is proposed to solve the above mentioned problems. In SELAR, nodes use location and energy information of the neighboring nodes to perform the routing function. Further, the sink node is moved during the network operation to increase the network lifetime. By means of simulations, the SELAR protocol is evaluated and compared with two very well-known protocols - LEACH (Low-Energy Adaptive-Clustering Hierarchy) and MTE (Minimum Transmission Energy). The results indicate that in realistic senarios,SELAR delivers up to 12 times more and up to 1.4 times more data packets to the base station than LEACH and MTE respectively. It was also seen from the results that for realistic scenarios, SELAR with moving base station has up to 5 times and up to 27 times more lifetime duration compared to MTE and LEACH respectively.

In wireless positioning system, in addition to channel error, the geometric re- lationship between sensor nodes and the target may also affect the positioning accuracy. The effect is called geometric dilution of precision (GDOP). GDOP is determined as ratio factor between location error and measurement error. A higher GDOP value indicates a larger location error in location estimation. Accordingly, the location performance will be poor. The GDOP can therefore be used as an in- dex of the positioning performance. In this thesis, approaches of tracking a moving target with extended Kalman filter (EKF) in a time-difference-of-arrival (TDOA) wireless positioning system are discussed. While the target changes its position with time, the geometric layout between sensor nodes and the target will become differ- ent. To maintain the good layout, the positioning system with mobile sensor nodes is considered. Therefore, the geometric layout can be possibly improved and GDOP effect can be reduced by the mobility of mobile sensor nodes. In order to find the positions that mobile sensor nodes should move to, a time-varying function based on the GDOP distribution is defined for finding the best solutions. Since the simu- lated annealing is capable of escaping local minima and finding the global minimum in an objective function, the simulated annealing algorithm is used in finding the best solutions in the defined function. Thus the best solutions can be determined as the destinations of mobile sensor nodes. When relocating mobile sensor nodes from their current positions to the destinations, they may pass through or stay in high GDOP regions before arriving at the destinations. To avoid the problem, we establish an objective function for path planning of mobile sensor nodes in order to minimize the overall positioning accuracy. Simulation results show that the mobile sensor nodes will accordingly change their positions while the target is moving. All the sensor nodes will maintain a surrounding region to localize the target and the GDOP effect can be effectively reduced.

Wireless sensor networks (WSNs) have been used in many applications by deploying tiny and stationary sensors. In recent years, a lot of studies proposed to introduce mobility capability to sensor nodes in order to exploit the advantages of mobility, particularly to restore connectivity in disjoint WSNs. While the studies demonstrated various capabilities of the proposed connectivity algorithms via simulation, real node and testbed implementations were mostly lacking due to unavailability of proper mobile nodes. Since this may hinder the direct applicability of the algorithms in realistic settings, testbeds which can be constructed with low-cost and commercial-off-the-shelf (COTS) hardware are required for realistic evaluations of the connectivity restoration algorithms. In this thesis, we design a low-cost mobile sensor node called iRobotSense, by integrating iRobot Create platform with IRIS sensor. Then, a mobile sensor network (MSN) testbed of iRobotSense nodes is used to implement and evaluate a widely used connectivity restoration algorithms, namely PADRA. Furthermore, all of the previous works exploiting mobility of the nodes to achieve recovery in a partitioned network have assumed reachability of the nodes to the selected destinations via a direct path movement. However, in real-world applications, such assumption makes the schemes impractical in case of encountering obstacles or intolerable terrains. Besides, even if direct path movement is successful, optimal energy efficiency cannot be attained by neglecting the elevation or friction of the terrain. Thus, in the recovery efforts, terrain type, elevation as well as the obstacles should be taken into account. In this thesis, we re-design an existing connectivity restoration approach in disjoint MSNs to fit these requirements and evaluate the performance issues when realistic terrains are assumed. Rather than following a direct path, movement trajectory is determined based on a path planning algorithm which considers the risk and elevation of terrain sections to be visited while avoiding obstacles and highly elevated terrain sections.

The aim of the project is to explore 3D localisation of a sensor “pill”, contained in an enclosed vessel, using multiple acoustic transducers mounted on the pill‟s surface. The thesis suggests strategies for placement, excitation and synchronisation of the transmitters on the pill and receivers on the vessel wall to deliver 3D localisation. Motivation for the project has emerged from the desire to develop wireless sensor networks to monitor the internals of industrial processes. A major challenge relates to the ability to accurately determine the location of the pill within the vessel, in the presence of multipath reflections. The main challenges relate to the determination of suitable transmission methodologies and synchronisation strategies to allow accurate localisation. The pill has to be a finite size in order to contain the required sensor hardware and transducers must be mounted on the surface of the pill such that signals are able to propagate directly to receivers on the vessel wall. This presents challenges in optimising the transmitter and receiver layout to maximise signal strength and also to determine how the separation of multiple transmitters on the pill impacts localisation accuracy. Time-Difference-of-Arrival (TDOA) has been investigated as a localisation technique, with simulations revealing that the separation of transmitters on the pill influences the accuracy. By modifying the standard TDOA equations with offset knowledge it has been demonstrated, in simulation, that this error can be reduced and by uniquely coding transmitters it is possible to resolve rotation of the pill in the vessel allowing further reduction in localisation error. Simulations have investigated how the location of receivers on the vessel wall influences the localisation error when the TDOA values are compromised by noise. It has been demonstrated that by mounting receivers at the extremities of the vessel the localisation error of the pill can be reduced. Work has also been undertaken to characterise both the vessel reflection properties and also the transmitter beam profile to allow a suitable transmitter layout on the pill to be determined. Simulations, supported by experimental results, have shown that a curved vessel surface can focus the reflected signals and therefore compromise peak detection signal methodologies. As a result amplitude thresholding is suggested for detecting received signals. The research is substantiated with a simple demonstrator that suggests, for both Time-of-Flight (TOF) and Time-Difference-of-Arrival techniques, that the location of the pill can be determined with an accuracy of ± 5 cm throughout a 250 litre vessel. This is the first time that underwater localisation in a confined space using multiple transmitters on the surface of a sensor “pill” has been reported.