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Syncob
1. Syncob
Collaborative Time Synchronization
in Wireless Sensor Networks
Albert Krohn1, Michael Beigl2, Christian Decker3, Till Riedel3
Particle GmbH, Germany
1
2
DUS/Universität Braunschweig, Germany
3
TecO/Universität Karlsruhe, Germany
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Motivation: Collaborative Sensing
Wireless Sensor Networks
Collaborative monitoring
Duty cycle
− 100ms every 2sec
− Short time to communicate
Important: synchronization
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Motivation: Ultrasound location
∆t
Distance: time of flight
Nodes only measure time
Approx. 10µs per 3mm
Accurate synchronization
Global timestamps for
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Sync times at different layers
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Physical Layer Synchronization
On PHY: Only radio propagation delays
Very deterministic
Accurate synchronization
Simple for single source of synchronization
More complicated for distributed operation
− All nodes re-synchronize their neighbors
− Need for coordination
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Conflicting sync
Random access
Especially
problematic in
dense scenarios
Can be resolved via CSMA
Hidden or Exposed Terminal Problems
Can make synchronization unstable
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Conflict-free sync
Multiple access
Good for
static topologies
Can use CDMA,FDMA for beacons
Difficult to choose non-overlapping
codes/freq
Inefficient for mobile scenarios
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SynCob: Collaborative Sync
Collaborative time synchronization
Send simultaneously
on same frequency band
Use principles of cooperate transmission
Receiver can still decode the synchronization
Support for ad-hoc, mobile scenarios
Implementation for low-cost hardware
Collaborative
synchronization
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Related Work
Link Layer: e.g. LTS, mini-sync
Physical layer: RBS, BITMac
BitMAC
− Collision-free
synchronization
− Proposes “or” on PHY
“Identical transmissions by two senders with small synchronization errors. The
receiver will see slightly stretched “1”bits and slightly compressed “0”bits ”
Source: Ringwald,M. ,Römer K.: BitMac A Deterministic, Collision-Free and Robust
MAC Protocol for Sensor Nodes. EWSN 2005
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Sync symbol sequence
10101010101011001
S1S0S1S0S1S0S1S0S1S0S1S0S1S1S0S0S1
No channel or source coding!
Superimpose two sync symbols
Special case of cooperative transmission:
− Narrow band radio
− Can be used with FSK,ASK or OOK
− Here: Narrow band binary OOK/ASK
S = active S = inactive
1 0
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Excursion:superimposed radio
10101010101011001
OR 10101010101011001
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Superimposing sync sequences
10101010101011001
OR 10101010101011001
10101010100011001
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Superimposing sync sequences
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Destructive interference
We do not have
an “OR”
behavior on the
channel !!
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Using signatures to handle
interference
Spread spectrum
Add noise to
carrier
Simulation of
2 signals with
power 1
Alternative: ML energy-detector
See also:Albert Krohn, et. al.:The implementation of non-
coherent cooperativetransmission for WSNs. INSS 06.
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Distributed Synchronization
No predefined roles
Each node is
responsible for:
− Establishing sync
− Keeping up the sync
− Rate control
No additional communication channel necessary
No cooperate in ad-hoc manner
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Time shifts
∆t
not trivial for detector to make binary decision
Signal boarders get fuzzy
See again:Albert Krohn, et. al.:The implementation of non-
coherent cooperativetransmission for WSNs. INSS 06.
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Resynchronization
Maximum initial offset t∆init after sync
Maximum tolerable offset ttol
Quartz accuracy k
Oscillating Period T0
1 1
Oscillating difference ∆ T = T 0( − )
2k
2
1−k 1+ k
1−k
ttol=t∆init+tresync
2k
für k2<<1: ttol=tresync2k+t∆init = t∆ init + tresync
ttol (
1 − k2
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Implementation:
Particle AwareCon Protocol
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Implementation:
Particle AwareCon Protocol
Particle Computer Sensor Nodes
−TR1001 Transceiver OOK/ASK
− 8bit 5MHz PIC18F6720 MCU (t∆init=0.2µs)
− 10 ppm Quarz (k=10 *10-6)
S1 and S0 24µs, data rate 125kbit/s (ttol=4µs)
tresync=(ttol-t∆init)/2k=190ms
Framesize 13ms =>4% every 14 frames
(Current Syncob/Awarecon synchronizes every slot and
changes status to unsynchronized after 7 for stability)
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Implementation:
Sync propagation time
Sync to network Sync to single partner
1
cumulated probability functions
0 20 Delay [ms] 100
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Issues/ Future work
Over-sized loops
− Synchronization returns over multiple hops
− Limit maximum time-shift
− Assumptions about physical
and topological layout necessary
Concurrent island
− Two synchronized networks join
− Collision Detection/Resolution
− Single channel approach
− Preference based election
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Conclusion
High Accuracy < 10µs
Syncob suited for WSN fusion and coordination
Can be used for sound based location
No additional coordination necessary
Ideal for mobile ad-hoc scenarios
− Averages sync collaboratively
− Locally adapts to network density
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Question?