Network-wide Time Synchronization Research Articles

Asynchronous Deterministic Network Based on the DiffServ Architecture

In this study, we propose a scalable framework that guarantees both latency and jitter bounds in large networks, including the Internet. The framework is composed of two parts: a latency-guaranteeing network and a jitter-guaranteeing end system. For latency bounds, we suggest regulators per class per input–output port pair of the DiffServ-type relay nodes. For jitter bounds, based on the guaranteed latency bounds, we suggest time-stamping and buffers at the network egress edge. The framework does not require network-wide time synchronization, frequency synchronization, flow state maintenance, or flow-level queuing/scheduling. Therefore, the complexity does not increase as the number of flows or network size increases. Moreover, the framework is based on the DiffServ architecture; therefore, it requires minimal modification to the current Internet. We demonstrate that the proposed regulators can achieve latency bounds comparable to the IEEE asynchronous traffic shaping technique. We prove that the jitter is bounded even with realistic limitations such as buffers without cut-through capability. We also prove that in the presence of clock drift, the jitter can still be upper bounded with a suggested compensation algorithm. We demonstrate through experiments on simple programmable microcontrollers that the jitter upper bound can be within a few tens of microseconds, even in a realistic situation with store-and-forward buffers, clock drift, and random network delays.

A Novel Loop Based Fine Grained Network-wide Time Synchronization over Constrained Delay Paths in Wireless Sensor Networks

Sensor Networks play a vital role in today’s ever-growing automation process. Time synchronization between the nodes impacts the performance of the network and applications. Most of the existing time synchronization algorithms either run a tree algorithm or cluster-based algorithm and then perform time synchronization. Both the algorithms suffer from communication and computation efficiency. When a node fails due to an energy shortage, these algorithms need to rerun the setup, thereby the remaining nodes consume energy. Hence, we propose a novel loop-based fine-grained network-wide time synchronization over constrained delay paths for the sensor networks. When a packet is transmitted, the neighborhood node on receiving this packet will add a time offset information and broadcast. The process continues until the loop is formed and then uses the information set and helps to synchronize its clock information. The simulations and results validate the performance of the proposed algorithm.

A time synchronization protocol for large-scale distributed embedded systems with low-precision clocks and neighbor-to-neighbor communications

In this paper, we propose the Modular Robot Time Protocol (MRTP), a network-wide time synchronization protocol for modular robots (a class of distributed embedded systems) with neighbor-to-neighbor communications and potentially low-precision clocks. Our protocol achieves its performance by combining several mechanisms: central time master election, fast and recursive propagation of synchronization waves along the edges of a breadth-first spanning-tree, low-level timestamping and per-hop compensation for communication delays using the most-appropriate method, and clock skew compensation using linear regression. We evaluate our protocol on the Blinky Blocks system both on hardware and through simulations. Experimental results show that MRTP can potentially manage real systems composed of up to 27, 775 Blinky Blocks. We observe that the synchronization precision depends on the hop distance to the time master, the synchronization periods and the number of synchronization points used for the linear regressions. Furthermore, we show that our protocol is able to keep a Blinky Blocks system synchronized to a few milliseconds, using few network resources at runtime, even-though the Blinky Blocks hardware clocks exhibit very poor accuracy and resolution. We compare MRTP to existing synchronization protocols ported to fit our system model. Simulation results show that MRTP can achieve better synchronization precision than the most precise compared protocols while sending more than half less messages in compact systems.

Time synchronization and ranging under unknown positions and velocities

The process to achieve time synchronization and ranging for a network of mobile nodes is raising a concern among researchers, and hence a variety of joint time synchronization and ranging algorithms have been proposed in recent years. However, few of them handle the case of all-node motion under unknown positions and velocities. This study addresses the problem of determining ranging and time synchronization for a group of nodes moving within a local area. First, we examined several models of clock discrepancy and synchronous two-way ranging. Based upon these models, we present a solution for time synchronization with known positions and velocities. Next, we propose a functional model that jointly estimates the clock skew, clock offset, and time of flight in the absence of a priori knowledge for a pair of mobile nodes. Then, we extend this model to a network-wide time synchronization scheme by way of a global least square estimator. We also discuss the advantages and disadvantages of our model compared to the existing algorithms, and we provide some applicable scenarios as well. Finally, we show that the simulation results verify the validity of our analysis.

Message Passing Based Time Synchronization in Wireless Sensor Networks: A Survey

Various protocols have been proposed in the area of wireless sensor networks in order to achieve network-wide time synchronization. A large number of proposed protocols in the literature employ a message passing mechanism to make sensor node clocks tick in unison. In this paper, we first classify Message Passing based Time Synchronization (MPTS) protocols and then analyze them based on different metrics. The classification is based on the following three criteria: structure formation of the network affected by the synchronization protocol, frequency of synchronization process (synchronization interval), and synchronization message overhead. Proposed protocols are analyzed and evaluated from different perspectives based on available data. A comparison table of the reviewed protocols is presented according to the evaluation metrics. Finally, some potential methods will be proposed to improve the synchronization process.

A low-latency communication protocol for target tracking in wireless sensor networks

Target tracking applications in wireless sensor networks need to achieve energy efficiency, tracking accuracy, and certain real-time constraints in response to fast-moving targets. From a layer view, an energy-efficient cross-layer communication protocol that consists of a medium access control layer and network routing layer is necessary for joint optimization. Due to the interference and contention over the wireless medium, the limited resources of battery-operated sensor nodes, and the dynamic topology of large-scale networks, this cross-layer design becomes a challenging task. In this research, we exploit a cluster routing algorithm over large-scale networks and propose a low-duty-cycle medium access control (MAC) algorithm to reduce collision, idle-listening, and overhearing. In addition, our work focuses on the joint optimization of routing and a MAC strategy for achieving a good trade-off between low delay, energy efficiency, and tracking accuracy. To deploy this protocol in a real tracking application, we also propose a clustering synchronization procedure that does not require distributing the global timing information over the complete network to achieve network-wide time synchronization. An analytical model and extensive simulations are proposed to evaluate and compare the performance of our work with existing protocols. Simulation and analysis results show that our approach achieves better communication delay and thus better tracking error while maintaining reasonable energy consumption compared to other cases.

Energy-balanced Time Synchronization Algorithm Based on Flooding for Multi-hop Wireless Sensor Networks

To achieve network-wide time synchronization in multi-hop wireless sensor networks (WSN), this paper proposes an accurate and energy-balanced time synchronization algorithm based on flooding. Flooding Time-Synchronization Protocol (FTSP) has advanced features, such as implicitly dynamic topology and high time accuracy, which can't be affected by some node's losing. FTSP propagates its time information of the reference node without concern about the network topology. However, in large-scale WSN applications, the efficiency of FTSP will be reduced drastically because of serious network storm. Meanwhile, the energy consumption of the network breaks the energy balance. In this paper, our aim is to solve the problems of synchronization error accumulation and unbalanced energy consumption. Our theoretical findings and experimental results show that forbidding possibly invalid forwarding among the sensor nodes drastically improves the synchronization accuracy and performance of energy-balanced.

A multi-channel cooperative MIMO MAC protocol for clustered wireless sensor networks

Recently, several multi-channel MAC protocols have been proposed for wireless sensor networks (WSNs) to improve network capacity and boost energy efficiency. In addition, cooperative multiple-input multiple-output (MIMO) technique has been shown to be able to significantly enhance the energy efficiency of WSNs if properly configured. However, these two promising techniques have not been jointly considered in clustered WSNs. In this paper, we explore such a joint design by proposing a novel MAC protocol for clustered WSNs that takes advantage of both multiple channels and cooperative MIMO to further boost network performance. Specifically, sensor nodes in a WSN are organized into clusters and each cluster head selects some cooperative nodes to help forward traffic to or receive from other clusters by utilizing a cooperative MIMO technique. For intra-cluster communications, different channels are assigned to adjacent clusters to reduce collisions, while for inter-cluster communications, cooperative MIMO links are scheduled to improve energy efficiency and concurrent transmissions are enabled by assigning different channels to them. We also provide a network-wide time synchronization approach to facilitating the functionality of this protocol. We carry out extensive simulations and the results demonstrate that the proposed protocol can significantly increase throughput and improve energy efficiency compared to other schemes. For example, for a WSN with 150 sensors in a 250×250m2 field, with five available channels, the protocol can achieve three times saturated throughput while saving 14% energy per bit for inter-cluster communications.

Time Synchronization Based on Slow-Flooding in Wireless Sensor Networks

The accurate and efficient operation of many applications and protocols in wireless sensor networks require synchronized notion of time. To achieve network-wide time synchronization, a common strategy is to flood current time information of a reference node into the network, which is utilized by the de facto time-synchronization protocol Flooding Time-Synchronization Protocol (FTSP). In FTSP, the propagation speed of the flood is slow because each node waits for a given period of time to propagate its time information about the reference node. It has been shown that slow-flooding decreases the synchronization accuracy and scalability of FTSP drastically. Alternatively, rapid-flooding approach is proposed in the literature, which allows nodes to propagate time information as quickly as possible. However, rapid flooding is difficult and has several drawbacks in wireless sensor networks. In this paper, our aim is to reduce the undesired effect of slow-flooding on the synchronization accuracy without changing the propagation speed of the flood. Within this context, we realize that the smaller the difference between the speeds of the clocks, the smaller the undesired effect of waiting times on the synchronization accuracy. In the light of this realization, our main contribution is to show that the synchronization accuracy and scalability of slow-flooding can drastically be improved by employing a clock speed agreement algorithm among the sensor nodes. We present an evaluation of this strategy on a testbed setup including 20 MICAz sensor nodes. Our theoretical findings and experimental results show that employing a clock speed agreement algorithm among the sensor nodes drastically improves the synchronization accuracy and scalability of slow-flooding.

Low Complexity UWB Radios for Precise Wireless Sensor Network Synchronization

Wireless sensor networks are becoming widely diffused because of the flexibility and scalability they offer. However, distributed measurements are significant only if the readout is coupled to time information. For this reason, network-wide time synchronization is the main concern. The objective of this paper is to exploit a very simple hardware implementation of an IR-UWB radio for realizing an accurate synchronization system for wireless sensors. The proposed solution relies on commercial-off-the-shelf discrete electronic components (rather than on specialized transceivers). It is designed for providing accurate timestamping of the packet time of arrival (TOA) to an adder-based tunable clock, which tracks the network time reference. The comprehensive set of experimental results based on prototypes, shows a TOA detection error with a standard deviation well below 1 ns. On the other hand, in the FPGA-based prototype, the synchronization performance reaches an overall synchronization error of few nanoseconds. Finally, in order to highlight the tradeoff between timestamping accuracy, clock stability, and synchronization performance, some additional simulations have been carried out: a synchronization error in the order of 1 ns is possible, if good local oscillator sources are available in the nodes and if the adjustable clock has a sufficient resolution.

Using integer clocks to verify clock-synchronization protocols

We use the Uppaal model checker for timed automata to verify the Timing-Sync time-synchronization protocol for sensor networks (TPSN), the clock-synchronization algorithm of Lenzen, Locher and Wattenhofer (LLW) for general distributed systems, and the clock-thread technique of the software monitoring with controllable overhead algorithm (SMCO). Clock-synchronization algorithms such as TPSN, LLW, and SMCO must be able to perform arithmetic on clock values to calculate clock drift and network propagation delays. They must also be able to read the value of a local clock and assign it to another local clock. Such operations are not directly supported by the theory of timed automata. To overcome this formal-modeling obstacle, we augment the Uppaal specification language with the integer clock-derived type. Integer clocks, which are essentially integer variables that are periodically incremented by a global pulse generator, greatly facilitate the encoding of the operations required to synchronize clocks as in the TPSN, LLW, and SMCO protocols. With these integer-clock-based models in hand, we use Uppaal to verify a number of key correctness properties, including network-wide time synchronization, bounded clock skew, bounded overhead skew, and absence of deadlock. We also use the Uppaal Tracer tool to illustrate how integer clocks can be used to capture clock drift and resynchronization during protocol execution.

EETS: AN ENERGY-EFFICIENT TIME SYNCHRONIZATION ALGORITHM FOR WIRELESS SENSOR NETWORKS

High precision and real-time communications are increasingly becoming important in Wireless Sensor Networks as such networks are required to support highly time-critical applications. The sensor nodes need to communicate data to each other at the correct time. However, the clocks of sensor nodes run at different speed and very often drift from the real time value. In this paper we are proposing EETS, an energy efficient time synchronization algorithm. Energy efficiency is achieved by synchronizing only nodes that are communicating with each other when an event occurs. EETS is performed in two phases namely the Level discovery phase and the Synchronization phase. A simulation study has been carried out and the results shows that EETS is more energy efficient than other existing algorithms. Particularly, EETS has been compared to Network Wide Time Synchronization (NWTS) which is a widely used algorithm for time synchronization in WSN. Simulation results have shown that NWTS uses about 10% more energy than EETS. NWTS synchronizes 90% of the network nodes but reduces the lifetime of the network considerably while EETS synchronizes only nodes that need to be synchronized and thus saving energy. Keywords: Time Synchronization, Energy Efficiency, Sensor Networks, Clock Drift, Network Delay

Toward In-Band Self-Organization in Energy-Efficient MAC Protocols for Sensor Networks

This paper presents a self-organizing medium access control (MAC) protocol framework for distributed sensor networks with arbitrary mesh topologies. The novelty of the proposed In-band self-organized MAC (ISOMAC) protocol lies in its in-band control mechanism for exchanging time-division multiple access (TDMA) slot information with distributed MAC scheduling. A fixed-length bitmap vector is used in each packet header for exchanging relative slot timing information across immediate and up to two-hop neighbors. It is shown that, by avoiding explicit timing information exchange, ISOMAC can work without networkwide time synchronization, which can be prohibitive for severely cost-constrained sensor nodes in very large networks. A slot-clustering effect, caused by in-band bitmap constraints, enables ISOMAC to offer better spatial channel reuse compared to traditional distributed TDMA protocols. ISOMAC employs a partial node wake-up and header-only transmission strategy to adjust energy expenditure based on the instantaneous nodal data rate. Both analytical and simulation models have been developed for characterizing the proposed protocol. Results demonstrate that, with in-band bitmap vectors of moderate length, ISOMAC converges reasonably quickly, that is, approximately within a four to eight TDMA frame duration. Also, if the bitmap header duration is restricted within 10 percent of packet duration, then the energy penalty of the in-band information is quite negligible. It is also shown that ISOMAC can be implemented in the presence of network time synchronization, although its performance without synchronization is just marginally worse than that with synchronization.

Time-diffusion synchronization protocol for wireless sensor networks

In the near future, small intelligent devices will be deployed in homes, plantations, oceans, rivers, streets, and highways to monitor the environment. These devices require time synchronization, so voice and video data from different sensor nodes can be fused and displayed in a meaningful way at the sink. Instead of time synchronization between just the sender and receiver or within a local group of sensor nodes, some applications require the sensor nodes to maintain a similar time within a certain tolerance throughout the lifetime of the network. The Time-Diffusion Synchronization Protocol (TDP) is proposed as a network-wide time synchronization protocol. It allows the sensor network to reach an equilibrium time and maintains a small time deviation tolerance from the equilibrium time. In addition, it is analytically shown that the TDP enables time in the network to converge. Also, simulations are performed to validate the effectiveness of TDP in synchronizing the time throughout the network and balancing the energy consumed by the sensor nodes.