Time, Synchronization, and Wireless Sensor Networks
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1 Time, Synchrnizatin, and Wireless Sensr Netwrks Part II Ted Herman University f Iwa Ted Herman/March
2 Presentatin: Part II metrics and techniques single-hp beacns reginal time znes ruting-structure and leader clck unifrm cnvergence cnclusin Ted Herman/March
3 Multihp Synchrnizatin wireless sensr netwrks are multihp (smetimes ad hc) netwrks measures f quality f synchrnizatin: δ-difference between neighbring clcks -difference between basestatin and any clck δ-difference alng any path in ruting tree basestatin δ δ δ? δ Ted Herman/March
4 Synchrnizatin Techniques 1. use GPS r radi beacn requires special hardware, extra cst = δ 2. use nly reginal time znes cmplicated time zne cnversin gateways 3. use ruting structure and leader clck = (distance) x δ building, maintaining ruting structure fault tlerance issues 4. use unifrm cnvergence t maximal clcks similar metrics t ruting structure, but different fault tlerance prperties 5. ther: bilgically-inspired methds, phase waves, time-flw algrithms (nt yet practical) Ted Herman/March
5 Hw t Evaluate in Practice? can use GPS fr independent evaluatin useful t evaluate skew, nt s useful fr fast evaluatin f ffset synchrnizatin self-sampling: ndes calculate difference between clck and time in a timesync message large difference lack f synchrny prbes: single-hp bradcast, timestamped by all wh receive, then transmit recrded timestamps and bserve differences in the timestamps 1st: prbe bradcast 2nd: send timestamp messages 3rd: cmpare timestamps t infer difference in lcal clcks Ted Herman/March
6 Presentatin: Part II metrics and techniques single-hp beacns reginal time znes ruting-structure and leader clck unifrm cnvergence cnclusin Ted Herman/March
7 Single-Hp Beacn excellent perfrmance single pint f failure cncerns f pwer, legality, stealth, assurance practical fr pen area, limited scale special hardware: tall antenna, strng signal basically using standard sensr hardware Ted Herman/March
8 Presentatin: Part II metrics and techniques single-hp beacns reginal time znes ruting-structure and leader clck unifrm cnvergence cnclusin Ted Herman/March
9 Reginal Time Znes prpsed fr RBS (Reference Bradcast Synchrnizatin [Elsn, 2003]) use nly reginal time znes cnversin adds cmplexity --- but useful if timesync nt needed everywhere 1 A 2 5 B C D Ted Herman/March
10 RBS Statistics multiple reference beacns, receiver-receiver synchrnizatin frms distributin f nise Ted Herman/March
11 Nise Filtering eliminatin f nise by knwledge f distributin & errr-minimizing hyptheses Ted Herman/March
12 RBS Statistical Technique linear regressin used t btain best ffset utlier remval wuld imprve results linear regressin als useful t crrect skew Ted Herman/March
13 Multihp RBS results sme results after cnversin ver multiple regins 7 6 Errr (usec) Std Dev Errr Hp 2 Hp 3 Hp 4 Hp better than wrst case sme errrs psitive, sme errrs negative, s sme errrs cancel Ted Herman/March
14 Presentatin: Part II metrics and techniques single-hp beacns reginal time znes ruting-structure and leader clck unifrm cnvergence cnclusin Ted Herman/March
15 Rted Spanning Tree ppular ruting structure basestatin at rt selectin f links in tree based n Quality metrics ther ruting types: fat tree, mesh, gegraphic Ted Herman/March
16 Leader Clck at Rt everyne fllw parent in tree peridic timesync message t neighbrs cllect many samples frm parent (ignre thers) use linear regressin t fllw parent ffset & skew Ted Herman/March
17 Leader Failure leader desn t need t be basestatin if leader fails, recvery phase elects new leader leader electin: leader is sensr nde having smallest Id, parent is clsest nde t leader what happens when a nde r link fails? much like ruting table recvery, lk fr new path t leader, eventually reach threshld timeut and then elect a new leader n leader Ted Herman/March
18 Evaluatin f Leader Tree generally excellent synchrnizatin hwever, strange cases can lead t δ lw verhead, simple implementatin rapid set-up fr n-demand synchrnizatin (if we use basestatin as rt) suited t sensr netwrks where links are stable & failures are infrequent des nt handle sensr mbility Ted Herman/March
19 Presentatin: Part II metrics and techniques single-hp beacns reginal time znes ruting-structure and leader clck unifrm cnvergence unifrm cnvergence cnclusin Ted Herman/March
20 Unifrm Cnvergence basic idea: instead f a leader nde, have all ndes fllw a leader value leader clck culd be ne with largest value leader clck culd be ne with smallest value leader value culd be mean, median, etc lcal cnvergence glbal cnvergence send peridic timesync messages, use easy algrithm t adjust ffset if (received_time > lcal_clck) lcal_clck = received_time Ted Herman/March
21 Unifrm Cnvergence Advantages fault tlerance is autmatic each nde takes input frm all neighbrs mbility f sensr ndes is n prblem extremely simple implementatin self-stabilizing frm all pssible states and system cnfiguratins, partitins & rejins was useful in practice fr Line in the Sand demnstratin Ted Herman/March
22 Unifrm Cnvergence Challenges even ne failure can cntaminate entire netwrk (when failure intrduces new, larger clck value) mre difficult t crrect skew than fr tree hw t integrate GPS r ther timesurce? we can use a hierarchy f clcks fr applicatin what des largest clck mean when clck reaches maximum value and rlls ver? rare ccurrence, but happens smeday transient failures culd cause rllver sner Ted Herman/March
23 Preventing Cntaminatin algrithm: build picture f neighbrhd nde p cllects timesync messages frm all neighbrs are they all reasnably clse? yes adjust lcal clck t maximum value n cases t cnsider: mre than ne utlier n cnsensus, adjust t maximum value nly ne utlier frm cnsensus clck range if p is utlier, then p rebts its clck if ther neighbr is utlier, ignre that neighbr handles single-fault cases nly Ted Herman/March
24 Special Case: restarting nde algrithm: again, build picture f neighbrhd nde p jining netwrk r rebting clck lk fr nrmal neighbrs t trust nrmal neighbrs cpy maximum f nrmal neighbrs n nrmal neighbrs adjust lcal clck t maximum value frm any neighbr (including restarting nes) after adjusting t maximum, nde becmes nrmal Ted Herman/March
25 Clck Rllver p s clck advances frm back t zer q (neighbr f p) has clck value questin: what shuld q think f p s clck? prpsal: use (<,max) cyclic rdering arund dmain f values [0,2 32-1] < a < h b < c < d < e < f < g < Ted Herman/March
26 Bad Case fr Cyclic Ordering netwrk is in ring tplgy values (w,x,y,z) are abut ¼ f 2 32 apart in dmain f clck values in rdering cycle maybe, each nde fllws larger value f neighbr in parallel never synchrnizing! y a slutin t this prblem x z reset t zer when neighbr clcks are t far apart, use special rule after reset w Ted Herman/March
27 Presentatin: Part II metrics and techniques single-hp beacns reginal time znes ruting-structure and leader clck unifrm cnvergence cnclusin Ted Herman/March
28 Cnclusin Part I we saw hw time sync has different needs & pprtunities in wireless sensr netwrks than fr traditinal LAN/WAN/Internet prpagatin delay ften insignificant special techniques t deal with radi/mac/system delays Ted Herman/March
29 Cnclusin Part II sme quite varied alternatives fr hw t synchrnize in multihp netwrks single-hp beacn (like GPS) gd fr sme situatins time sync strategies can be similar t ruting prtcl structures (trees, znes) time sync is a lcal prperty, s ntins like unifrm cnvergence may be useful Ted Herman/March
30 Cnclusin Sme Open Prblems hw t chse a timesync algrithm based n applicatin requirements? hw t cnserve energy in timesync? are there special needs fr crdinated actuatin, lng-term sleeping, sentries, and lw duty cycles? what kind f tls are helpful t use cmplicated timesync ideas, but make applicatin design simple? Ted Herman/March
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