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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

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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


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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

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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

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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.

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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

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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

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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

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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
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Copyright © 2005 by CRC Press LLC
Contents
SECTION I Introduction

1
Opportunities and Challenges in Wireless Sensor Networks
Martin Haenggi
1.1 Introduction
1.2 Opportunities
1.3 Technical Challenges
1.4 Concluding Remarks
2
Next-Generation Technologies to Enable Sensor Networks
Joel I. Goodman,
Albert I. Reuther, David R. Martinez
2.1 Introduction
2.2 Goals for Real-Time Distributed Network Computing for Sensor Data Fusion
2.3 The Convergence of Networking and Real-Time Computing
2.4 Middleware
2.5 Network Resource Management
2.6 Experimental Results
3
Sensor Network Management
Linnyer Beatrys Ruiz, José Marcos Nogueira,
Antonio A. F. Loureiro
3.1 Introduction
3.2 Management Challenges
3.3 Management Dimensions
3.4 MANNA as an Integrating Architecture
3.5 Putting It All Together
3.6 Conclusion
4
Models for Programmability in Sensor Networks
Athanassios Boulis

4.1 Introduction
4.2 Differences between Sensor Networks and Traditional Data Networks
4.3 Aspects of Efficient Sensor Network Applications
4.4 Need for Sensor Network Programmability
4.5 Major Models for System-Level Programmability
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4.6 Frameworks for System-Level Programmability
4.7 Conclusions
5
Miniaturizing Sensor Networks with MEMS
Brett Warneke
5.1 Introduction
5.2 MEMS Basics
5.3 Sensors
5.4 Communication
5.5 Micropower Sources
5.6 Packaging
5.7 Systems
5.8 Conclusion
6
A Taxonomy of Routing Techniques in Wireless Sensor Networks
Jamal N. Al-Karaki, Ahmed E. Kamal
6.1 Introduction
6.2 Routing Protocols in WSNs
6.3 Routing in WSNs: Future Directions
6.4 Conclusions
7
Artificial Perceptual Systems
Amy Loutfi, Malin Lindquist, Peter Wide

7.1 Introduction
7.2 Background
7.3 Modeling of Perceptual Systems
7.4 Perceptual Systems in Practice
7.5 Research Issues and Summary
SECTION II Applications
8
Sensor Network Architecture and Applications
Chien-Chung Shen, Chaiporn Jaikaeo,
Chavalit Srisathapornphat
8.1 Introduction
8.2 Sensor Network Applications
8.3 Functional Architecture for Sensor Networks
8.4 Sample Implementation Architectures
8.5 Summary
9
A Practical Perspective on Wireless Sensor Networks
Quanhong Wang,
Hossam Hassanein, Kenan Xu
9.1 Introduction
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9.2 WSN Applications
9.3 Classification of WSNs
9.4 Characteristics, Technical Challenges, and Design Directions
9.5 Technical Approaches
9.6 Conclusions and Considerations for Future Research
10
Introduction to Industrial Sensor Networking
Miroslav Sveda, Petr Benes,

Radimir Vrba, Frantisek Zezulka
10.1 Introduction
10.2 Industrial Sensor Fitting Communication Protocols
10.3 IEEE 1451 Family of Smart Transducer Interface Standards
10.4 Internet-Based Sensor Networking
10.5 Industrial Network Interconnections
10.6 Wireless Sensor Networks in Industry
10.7 Conclusions
11
A Sensor Network for Biological Data Acquisition
Tara Small, Zygmunt J. Haas,
Alejandro Purgue, Kurt Fristrup
11.1 Introduction
11.2 Tagging Whales
11.3 The Tag Sensors
11.4 The SWIM Networks
11.5 The Information Propagation Model
11.6 Simulating the Delay
11.7 Calculating Storage Requirements
11.8 Conclusions
SECTION III Architecture
12
Sensor Network Architecture
Jessica Feng, Farinaz Koushanfar, Miodrag Potkonjak
12.1 Overview
12.2 Motivation and Objectives
12.3 SNs — Global View and Requirements
12.4 Individual Components of SN Nodes
12.5 Sensor Network Node
12.6 Wireless SNs as Embedded Systems

12.7 Summary
13
Tiered Architectures in Sensor Networks
Mark Yarvis, Wei Ye
13.1 Introduction
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13.2 Why Build Tiered Architectures?
13.3 Spectrum of Sensor Network Hardware
13.4 Task Decomposition and Allocation
13.5 Forming Tiered Architectures
13.6 Routing and Addressing in a Tiered Architecture
13.7 Drawbacks of Tiered Architectures
13.8 Conclusions
14
Power-Efficient Topologies for Wireless Sensor Networks
Ayad Salhieh,
Loren Schwiebert
14.1 Motivation
14.2 Background
14.3 Issues for Topology Design
14.4 Assumptions
14.5 Analysis of Power Usage
14.6 Directional Source-Aware Routing Protocol (DSAP)
14.7 DSAP Analysis
14.8 Summary
15
Architecture and Modeling of Dynamic Wireless Sensor Networks
Symeon Papavassiliou, Jin Zhu
15.1 Introduction

15.2 Characteristics of Wireless Sensor Networks
15.3 Architecture of Sensor Networks
15.4 Modeling of Dynamic Sensor Networks
15.5 Concluding Remarks
SECTION IV Protocols
16
Overview of Communication Protocols for Sensor Networks
Weilian Su,
Erdal Cayirci, Özgür B. Akan
16.1 Introduction
16.2 Applications/Application Layer Protocols
16.3 Localization Protocols
16.4 Time Synchronization Protocols
16.5 Transport Layer Protocols
16.6 Network Layer Protocols
16.7 Data Link Layer Protocols
16.8 Conclusion
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17
Communication Architecture and Programming Abstractions for Real-Time
Embedded Sensor Networks
T. Abdelzaher, J. Stankovic, S. Son, B. Blum, T. He,
A. Wood, Chenyang Lu
17.1 Introduction
17.2 A Protocol Suite for Sensor Networks
17.3 A Sensor-Network Programming Model
17.4 Related Work
17.5 Conclusions
18

A Comparative Study of Energy-Efficient (E
2
) Protocols for Wireless Sensor
Networks
Quanhong Wang, Hossam Hassanein
18.1 Introduction
18.2 Motivations and Directions
18.3 Cross-Layer Communication Protocol Stack for WSNs
18.4 Energy-Efficient MAC Protocols
18.5 Energy-Efficient Network Layer Protocols
18.6 Concluding Remarks
SECTION V Tracking Technologies
19
Coverage in Wireless Sensor Networks
Mihaela Cardei, Jie Wu
19.1 Introduction
19.2 Area Coverage
19.3 Point Coverage
19.4 Barrier Coverage
19.5 Conclusion
20
Location Management in Wireless Sensor Networks
Jan Beutel
20.1 Introduction
20.2 Location in Wireless Communication Systems
20.3 Location in Wireless Sensor Networks
20.4 Summary
21
Positioning and Location Tracking in Wireless Sensor Networks
Yu-Chee Tseng,

Chi-Fu Huang, Sheng-Po Kuo
21.1 Introduction
21.2 Fundamentals
21.3 Positioning and Location Tracking Algorithms
21.4 Experimental Location Systems
21.5 Conclusions
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22
Tracking Techniques in Air Vehicle-Based Decentralized Sensor Networks
Matthew Ridley, Lee Ling (Sharon) Ong, Eric Nettleton, Salah Sukkarieh
22.1 Introduction
22.2 The ANSER System and Experiment
22.3 The Decentralized Tracking Problem
22.4 Algorithmic System Design
22.5 Sensor Design
22.6 Hardware and Software Infrastructure
22.7 Conclusion
SECTION VI Data Gathering and Processing
23
Fundamental Protocols to Gather Information in Wireless Sensor Networks
Jacir L. Bordim, Koji Nakano
23.1 Introduction
23.2 Model Definition
23.3 Gathering Information in Wireless Sensor Networks
23.4 Identifying Faulty Nodes in Wireless Sensor Networks
23.5 Conclusions
24
Comparison of Data Processing Techniques in Sensor Networks
Vicente González-Millán, Enrique Sanchis-Peris

24.1 Sensor Networks: Organization and Processing
24.2 Architectures for Sensor Integration
24.3 Example of Architecture Evaluation in High-Energy Physics
25
Computational and Networking Problems in Distributed Sensor Networks
Qishi Wu, Nageswara S.V. Rao, Richard R. Brooks, S. Sitharama Iyengar,
Mengxia Zhu
25.1 Introduction
25.2 Foundational Aspects of DSNs
25.3 Sensor Deployment
25.4 Routing Paradigms for DSNs
25.5 Conclusions and Future Work
26
Cooperative Computing in Sensor Networks
Liviu Iftode, Cristian Borcea,
Porlin Kang
26.1 Introduction
26.2 The Cooperative Computing Model
26.3 Node Architecture
26.4 Smart Messages
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