Preface |
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xvii | |
Acknowledgments |
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xxiii | |
Disclaimer |
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xxv | |
Authors |
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xxvii | |
PART I BASICS |
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3 | (24) |
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3 | (6) |
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9 | (1) |
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10 | (1) |
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1.4 Other Communication Issues |
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10 | (2) |
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12 | (1) |
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1.6 Clock Synchronization |
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13 | (1) |
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13 | (1) |
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14 | (4) |
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1.8.1 Wireless Multimedia Sensor Networks |
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14 | (2) |
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1.8.2 Underwater Acoustic Sensor Networks |
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16 | (2) |
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18 | (4) |
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22 | (5) |
PART II ENGINEERING DESIGN |
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2 HardwareSensor Mote Architecture and Design |
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27 | (40) |
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2.1 Components of a Sensor Mote |
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27 | (17) |
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28 | (2) |
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30 | (5) |
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35 | (1) |
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36 | (5) |
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41 | (2) |
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43 | (1) |
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2.2 Put Everything Together |
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44 | (4) |
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2.2.1 Typical Sensor Mote Architecture |
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44 | (8) |
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2.2.1.1 Wireless Communication Requirements |
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44 | (1) |
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45 | (1) |
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2.2.1.3 Traditional Wireless Design |
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46 | (1) |
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2.2.1.4 Mote Example: Reno |
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47 | (1) |
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48 | (2) |
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50 | (2) |
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52 | (2) |
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2.5.1 Design Advice: Failures and Successes |
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53 | (1) |
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54 | (3) |
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57 | (5) |
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62 | (5) |
PART III NETWORK PROTOCOL STACK |
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3 Medium Access Control in Wireless Sensor Networks |
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67 | (42) |
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67 | (5) |
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3.1.1 Medium Access Control in Wireless Networks |
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68 | (1) |
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3.1.2 MAC Design Is Challenging in WSNs |
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68 | (4) |
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3.1.2.1 Resource Constraints |
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68 | (1) |
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3.1.2.2 Signal Loss in Wireless Channel |
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69 | (1) |
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3.1.2.3 Collisions Occurring at the Receiver's End |
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70 | (1) |
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3.1.2.4 Hidden Terminal and Exposed Terminal Problems |
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70 | (2) |
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3.2 Overview of Project IEEE 802.11 |
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72 | (5) |
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3.2.1 Point Coordination Function |
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73 | (1) |
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3.2.2 Distributed Coordination Function |
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74 | (3) |
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3.3 Classification of MAC Protocols |
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77 | (30) |
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3.3.1 Contention-Based MAC Protocols |
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77 | (11) |
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3.3.1.1 Sensor Medium Access Control |
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78 | (5) |
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83 | (5) |
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3.3.2 Schedule-Based MAC Protocols |
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88 | (6) |
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3.3.2.1 Traffic Adaptive Medium Access Protocol |
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89 | (5) |
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3.3.3 Hybrid and Event-Based MAC Protocols |
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94 | (15) |
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3.3.3.1 Sift Medium Access Control |
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94 | (6) |
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3.3.3.2 Berkeley Medium Access Control |
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100 | (2) |
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3.3.3.3 Zebra Medium Access Control |
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102 | (5) |
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107 | (1) |
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107 | (2) |
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4 Routing in Wireless Sensor Networks |
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109 | (42) |
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109 | (3) |
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4.1.1 Limited Resources in WSNs |
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110 | (1) |
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110 | (1) |
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4.1.3 Data Reporting and Aggregation |
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111 | (1) |
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111 | (1) |
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4.1.5 Scalability and Coverage |
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111 | (1) |
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4.1.6 Network Dynamics and Heterogeneity |
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112 | (1) |
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4.2 Layout for the Chapter |
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112 | (1) |
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4.3 Classification of Routing Protocols in WSNs |
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113 | (1) |
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4.3.1 Proactive and Reactive Routing |
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113 | (1) |
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4.3.2 Flat and Hierarchical Routing |
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113 | (1) |
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4.4 Data-Centric Routing Protocols in WSNs |
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114 | (14) |
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4.4.1 Flooding and Gossiping |
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115 | (2) |
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4.4.1.1 Ideal Dissemination |
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117 | (1) |
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4.4.2 Sensor Protocols for Information via Negotiation |
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117 | (5) |
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118 | (1) |
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4.4.2.2 Different Types of SPIN |
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119 | (1) |
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4.4.2.3 Evaluating SPIN Protocols |
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120 | (2) |
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122 | (6) |
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123 | (1) |
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4.4.3.2 Interest Propagation and Gradient Establishment |
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123 | (2) |
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125 | (1) |
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126 | (1) |
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4.4.3.5 Evaluating Directed Diffusion |
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127 | (1) |
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4.5 Hierarchical Routing Protocols in WSNs |
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128 | (10) |
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4.5.1 Low-Energy Adaptive Clustering Hierarchy Protocol |
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129 | (5) |
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130 | (1) |
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4.5.1.2 Setup Phase: Cluster Formation and Cluster-Head Selection |
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130 | (1) |
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4.5.1.3 Steady State Phase |
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131 | (2) |
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4.5.1.4 LEACH-Centralized |
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133 | (1) |
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4.5.1.5 Evaluating LEACH Protocol |
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133 | (1) |
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4.5.2 Threshold-Sensitive Energy-Efficient Sensor Network Protocol |
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134 | (4) |
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4.5.2.1 Sensor Network Model in TEEN |
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134 | (1) |
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4.5.2.2 Operation of TEEN Protocol |
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134 | (2) |
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4.5.2.3 Evaluating TEEN Protocol |
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136 | (1) |
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4.5.2.4 Adaptive Periodic Threshold-Sensitive Energy-Efficient Network Protocol |
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137 | (1) |
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4.6 Location-Based Routing Protocols in WSNs |
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138 | (7) |
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4.6.1 Geographical and Energy-Aware Routing Protocol |
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139 | (6) |
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139 | (1) |
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4.6.1.2 Energy-Aware Neighbor Computation |
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140 | (3) |
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4.6.1.3 Recursive Geographic Forwarding |
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143 | (1) |
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4.6.1.4 Evaluating GEAR Protocol |
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144 | (1) |
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4.7 Multipath and QoS-Based Routing |
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145 | (3) |
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145 | (2) |
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4.7.2 QoS-Based Routing Protocols in WSNs |
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147 | (1) |
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148 | (1) |
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148 | (3) |
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5 Transport Layer in Wireless Sensor Networks |
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151 | (50) |
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152 | (1) |
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5.2 Pump Slowly, Fetch Quickly |
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152 | (11) |
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5.2.1 Why Does TCP Not Work Well in WSNs? |
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152 | (2) |
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154 | (4) |
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5.2.3 Protocol Description |
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158 | (5) |
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159 | (1) |
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160 | (2) |
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162 | (1) |
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5.3 Another WSN Transport ProtocolESRT |
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163 | (8) |
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5.3.1 Reliable Transport Problem |
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163 | (1) |
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5.3.2 Relationship between Normalized Event Reliability and Report Frequency |
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164 | (6) |
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5.3.3 Congestion Detection |
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170 | (1) |
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5.4 E2SRT: Enhanced 'ESRT Performance |
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171 | (7) |
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5.4.1 The Proposed SchemeE2SRT |
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173 | (5) |
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5.5 CODA: Congestion Detection and Avoidance in Sensor Networks |
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178 | (7) |
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5.5.1 Open-Loop, Hop-to-Hop Backpressure |
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182 | (1) |
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5.5.2 Congestion Detection |
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183 | (1) |
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5.5.3 Listening to Channel Based on Sampling |
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183 | (2) |
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5.6 STCP: A Generic Transport Layer Protocol for WSNs |
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185 | (4) |
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5.6.1 Data Transmission Sequence in STCP |
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185 | (1) |
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5.6.2 STCP Packet Formats |
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185 | (2) |
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187 | (1) |
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188 | (1) |
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188 | (1) |
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5.6.6 Congestion Detection and Avoidance |
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188 | (1) |
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5.6.7 Data-Centric Applications |
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189 | (1) |
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5.7 GARUDA: Achieving Effective Reliability for Downstream Communication |
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189 | (7) |
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5.7.1 Challenges to the Downstream Reliability of WSNs |
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190 | (1) |
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5.7.1.1 Environment Constraints |
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190 | (1) |
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5.7.1.2 Acknowledgment (ACK)/NACK Paradox |
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190 | (1) |
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5.7.1.3 Reliability Semantics |
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190 | (1) |
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5.7.2 GARUDA Design Basics |
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191 | (2) |
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5.7.2.1 Loss Recovery Servers: Core |
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191 | (1) |
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5.7.2.2 Loss Recovery Process |
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192 | (1) |
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193 | (8) |
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5.7.3.1 Core Construction Procedure |
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194 | (1) |
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5.7.3.2 Two-Phase Loss Recovery |
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195 | (1) |
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196 | (5) |
PART IV COMPUTER SCIENCE PRINCIPLES |
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6 Operating System in Sensors |
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201 | (24) |
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201 | (8) |
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202 | (1) |
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203 | (3) |
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6.1.3 Execution Model and Concurrency |
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206 | (2) |
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208 | (1) |
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6.1.5 Implementation Status |
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208 | (1) |
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208 | (1) |
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6.1.7 Low-Power Optimizations |
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209 | (1) |
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6.2 LA-TinyOSA Locality-Aware Operating System for WSNs |
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209 | (6) |
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6.2.1 Change Timer to Respond to Temporal and Spatial Locality |
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211 | (2) |
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6.2.2 Multiple-Level Scheduler |
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213 | (1) |
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6.2.3 LA-TinyOS Code Structure |
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214 | (1) |
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215 | (4) |
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216 | (3) |
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216 | (1) |
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6.3.1.2 Module Interaction |
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217 | (1) |
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6.3.1.3 Module Insertion and Removal |
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217 | (2) |
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219 | (1) |
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219 | (4) |
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6.4.1 Application Code Checking |
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219 | (2) |
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6.4.2 Multithreading System |
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221 | (1) |
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6.4.3 Loadable Kernel Module |
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222 | (1) |
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223 | (2) |
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7 Middleware Design in Wireless Sensor Networks |
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225 | (12) |
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225 | (2) |
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7.2 Reference Model of WSN Middleware |
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227 | (1) |
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227 | (1) |
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7.3 Middleware Example: Agilla |
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228 | (3) |
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7.4 Middleware for Data Acquisition: Mires |
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231 | (2) |
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233 | (1) |
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7.6 WSN Runtime Support Example: Mate |
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234 | (1) |
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7.7 QoS Support Example: MiLAN |
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235 | (1) |
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236 | (1) |
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8 Sensor Data Management. |
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237 | (24) |
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237 | (6) |
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237 | (2) |
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239 | (2) |
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8.1.3 Reducing the Uncertainty |
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241 | (2) |
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8.2 TinyDB: An Acquisitional Query-Processing System for Sensor Networks |
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243 | (6) |
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245 | (1) |
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8.2.2 Basic Language Features |
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245 | (1) |
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8.2.3 Event-Based Queries |
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246 | (1) |
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8.2.4 Other Queries Defined in TinyDB |
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246 | (1) |
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8.2.5 Power-Based Query Optimization |
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247 | (2) |
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8.2.6 Summary of TinyDB Strategies |
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249 | (1) |
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8.3 Data Aggregation: AIDA |
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249 | (4) |
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8.4 Sensor Data Storage: Tiered Storage ARchitecture (TSAR) |
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253 | (3) |
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8.5 Multi-Resolution Data Processing |
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256 | (1) |
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257 | (4) |
PART V ADVANCED TOPICS |
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261 | (46) |
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261 | (1) |
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9.2 Elements of Localization |
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262 | (6) |
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9.2.1 Received Signal Strength Indication |
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262 | (2) |
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264 | (1) |
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9.2.3 Time Difference of Arrival |
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264 | (2) |
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266 | (1) |
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266 | (1) |
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266 | (1) |
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267 | (1) |
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9.3 Using Mobile Robots for Sensor Localization |
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268 | (6) |
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9.3.1 Delay-Tolerant Sensor Networks |
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268 | (6) |
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9.3.1.1 System Dynamic Model |
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269 | (2) |
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9.3.1.2 RSSI Measurement Model |
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271 | (3) |
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9.4 Sensor Localization with Multidimensional Scaling |
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274 | (6) |
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9.4.1 Classical Multidimensional Scaling |
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274 | (1) |
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9.4.2 Iterative Multidimensional Scaling |
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275 | (5) |
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9.4.2.1 Hop Distance and Ranging Estimation |
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276 | (1) |
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9.4.2.2 Aligning Relative Location to Physical Location |
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276 | (2) |
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9.4.2.3 Distributed Physical Location Estimation |
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278 | (2) |
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9.5 Localization in Wireless Sensor Networks |
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280 | (5) |
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9.5.1 The Monte Carlo Method |
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280 | (1) |
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281 | (3) |
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284 | (1) |
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9.6 GPS-Free Node Localization in Mobile WSN |
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285 | (5) |
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9.7 A High-Accuracy, Low-Cost Localization System for WSN |
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290 | (5) |
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9.8 LOCALE: Collaborative Localization Estimation for Sparse Mobile Sensor Networks |
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295 | (8) |
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9.8.1 Collaborative Location Estimation |
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296 | (1) |
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297 | (1) |
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297 | (2) |
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299 | (2) |
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301 | (2) |
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9.9 On the Security of WSN Localization |
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303 | (2) |
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303 | (1) |
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304 | (1) |
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9.9.3 Attack-Resistant Location Estimation |
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304 | (1) |
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9.9.4 Robust Statistical Methods |
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305 | (1) |
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305 | (2) |
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10 Time Synchronization in Wireless Sensor Networks |
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307 | (20) |
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307 | (4) |
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10.2 Synchronization in General Networks (Non-WSN) |
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311 | (3) |
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10.2.1 Remote Clock Reading |
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311 | (1) |
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10.2.2 Offset Delay Estimation Method |
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311 | (3) |
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10.3 Clock Synchronization in WSNs |
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314 | (3) |
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10.4 Evaluation of Synchronization Performance |
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317 | (2) |
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317 | (1) |
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318 | (1) |
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318 | (1) |
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318 | (1) |
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318 | (1) |
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318 | (1) |
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10.5 Examples of WSN Synchronization Protocols |
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319 | (6) |
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10.5.1 Reference Broadcast Synchronization |
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319 | (2) |
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10.5.2 Time-Diffusion Synchronization Protocol |
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321 | (3) |
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10.5.3 Probabilistic Clock Synchronization |
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324 | (1) |
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325 | (2) |
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11 Security and Privacy in Wireless Sensor Networks |
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327 | (36) |
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327 | (9) |
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11.1.1 General Attack Taxonomy |
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327 | (1) |
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11.1.2 Attacks on Physical Sensor Motes |
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328 | (2) |
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11.1.3 Attacks on WSN Communication Stack |
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330 | (6) |
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330 | (1) |
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330 | (1) |
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331 | (4) |
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335 | (1) |
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11.1.3.5 Traffic Analysis Attacks |
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335 | (1) |
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11.2 Attack and Countermeasure Example: Wormhole Attack |
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336 | (8) |
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11.2.1 Wormhole Defense Schema-LITEWORP |
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336 | (11) |
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11.2.1.1 Building Neighbor Lists |
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340 | (4) |
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11.3 WSN Security Example: Blom-Based Approach |
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344 | (3) |
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11.4 Broadcast Authentication: μTESLA |
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347 | (5) |
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11.4.1 μTESLA's Detailed Description |
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350 | (2) |
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11.5 Practical Security Schemes for "Motes" |
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352 | (2) |
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352 | (1) |
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11.5.2 MiniSec: A Secure Sensor Network Communication Architecture |
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353 | (1) |
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11.6 Special Case: Secure Time Synchronization in WSNs |
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354 | (5) |
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359 | (4) |
PART VI SPECIAL WIRELESS SENSOR NETWORKS |
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12 Wireless Sensor and Actor Networks. |
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363 | (16) |
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363 | (3) |
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12.2 SensorActor Coordination Problem |
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366 | (7) |
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12.2.1 Network and Energy Model |
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367 | (1) |
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367 | (3) |
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12.2.3 SensorActor Coordination: Distributed Protocol |
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370 | (1) |
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371 | (2) |
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12.3 Hierarchical SensorActor Coordination Mechanism |
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373 | (5) |
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12.3.1 Hierarchical WSAN Coordination Architecture |
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373 | (1) |
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12.3.2 "SensorSensor" Coordination LevelUse Clusters |
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374 | (2) |
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12.3.3 "SensorActor" Coordination Level |
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376 | (1) |
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12.3.4 "ActorActor" Coordination Level |
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377 | (1) |
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378 | (1) |
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13 Underwater Sensor Networks |
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379 | (20) |
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379 | (5) |
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13.1.1 Underwater WSN Applications |
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379 | (1) |
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13.1.2 Differences between USNs and Terrestrial Sensor Networks |
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380 | (1) |
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381 | (1) |
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13.1.4 Acoustic Signals Propagation |
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382 | (1) |
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13.1.5 Underwater Sensors |
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383 | (1) |
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384 | (3) |
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384 | (1) |
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385 | (1) |
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13.2.3 Network Layer (Routing Layer) |
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386 | (1) |
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386 | (1) |
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387 | (3) |
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13.4 Routing Design Example: Vector-Based Forwarding Protocol |
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390 | (3) |
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13.5 Hardware Prototype Design |
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393 | (5) |
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394 | (2) |
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396 | (1) |
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396 | (2) |
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398 | (1) |
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399 | (16) |
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399 | (2) |
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401 | (2) |
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402 | (1) |
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402 | (1) |
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402 | (1) |
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402 | (1) |
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403 | (2) |
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405 | (3) |
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14.4.1 Determining the Degree of Overlap |
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407 | (1) |
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14.4.2 Estimating k-overlap |
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407 | (1) |
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408 | (4) |
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412 | (3) |
PART VII MISCELLANEOUS TOPICS |
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415 | (16) |
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15.1 Basic WSN Energy Model |
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415 | (3) |
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15.2 Simulation-Based Energy Modeling |
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418 | (7) |
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15.3 Battery-Aware Routing |
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425 | (4) |
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429 | (2) |
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16 Sensor Network Simulators |
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431 | (14) |
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431 | (1) |
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432 | (2) |
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434 | (3) |
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437 | (4) |
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16.4.1 PowerTOSSIM Architecture |
|
|
437 | (2) |
|
16.4.2 Component Instrumentation |
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|
439 | (1) |
|
|
439 | (1) |
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|
440 | (1) |
|
|
440 | (1) |
|
|
441 | (4) |
PART VIII CASE STUDIES |
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|
17 Case Study 1: Tele-Healthcare |
|
|
445 | (20) |
|
|
445 | (2) |
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17.2 MASN Hardware Design |
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|
447 | (3) |
|
17.2.1 ECG Sensors and RF Communication Hardware |
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|
447 | (3) |
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17.3 Reliable MASN Communication Protocols |
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|
450 | (5) |
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17.3.1 Enhanced Cluster-Based MASN Data Transmission |
|
|
450 | (3) |
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17.3.2 MASN Routing Performance |
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|
453 | (2) |
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17.4 MASN Software Design |
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|
455 | (2) |
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17.4.1 ECG Sensor Mote Wireless Communication Software |
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|
455 | (2) |
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17.5 Integration of RFID and Wearable Sensors |
|
|
457 | (5) |
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|
462 | (3) |
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18 Case Study 2: Light Control |
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|
465 | (10) |
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|
465 | (3) |
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18.2 Illumimote's Sensors |
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|
468 | (1) |
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|
469 | (1) |
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|
469 | (1) |
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|
470 | (2) |
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|
472 | (3) |
References |
|
475 | (20) |
Index |
|
495 | |