Self-Organization in Sensor and Actor Networks WILEY SERIES IN COMMUNICATIONS NETWORKING & DISTRIBUTED SYSTEMS Series Editor: David Hutchison, LancasterUniversity,UK Series Advisers: Serge Fdida, Universite´ PierreandMarieCurie,Paris,France Joe Sventek, UniversityofGlasgow,Glasgow,UK The ‘Wiley Series in Communications Networking & Distributed Systems’ is a series of expert-level, technically detailed books covering cutting-edge research, and brand new developments as well as tutorial-style treatments in networking, middleware and software technologies for communications and distributed systems. The books will provide timely and reliable information about the state-of-the-art to researchers, advanced students and development engineers in the Telecommunications and the Computing sectors. Other titles in the series: Wright: VoiceoverPacketNetworks 0-471-49516-6 (February 2001) Jepsen: JavaforTelecommunications 0-471-49826-2 (July 2001) Sutton: SecureCommunications 0-471-49904-8 (December 2001) Stajano: SecurityforUbiquitousComputing 0-470-84493-0 (February 2002) Martin-Flatin: Web-Based Management of IP Networks and Systems, 0-471-48702-3 (September 2002) Berman, Fox, Hey: Grid Computing. Making the Global Infrastructure a Reality, 0-470- 85319-0 (March 2003) Turner,Magill,Marples:ServiceProvision.TechnologiesforNextGenerationCommunica- tions 0-470-85066-3 (April 2004) Welzl:NetworkCongestionControl:ManagingInternetTraffic 0-470-02528-X(July2005) Raz, Juhola, Serrat-Fernandez, Galis : Fast and Efficient Context-Aware Services 0-470- 01668-X (April 2006) Heckmann: TheCompetitiveInternetServiceProvider 0-470-01293-5 (April 2006) Self-Organization in Sensor and Actor Networks Falko Dressler University of Erlangen, Germany Copyright(cid:211)2007JohnWiley&SonsLtd,TheAtrium,SouthernGate,Chichester, WestSussexPO198SQ,England Telephone(+44)1243779777 Email(forordersandcustomerserviceenquiries):[email protected] VisitourHomePageonwww.wileyeurope.comorwww.wiley.com AllRightsReserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystemortransmitted inanyformorbyanymeans,electronic,mechanical,photocopying,recording,scanningorotherwise,except underthetermsoftheCopyright,DesignsandPatentsAct1988orunderthetermsofalicenceissuedbythe CopyrightLicensingAgencyLtd,90TottenhamCourtRoad,LondonW1T4LP,UK,withoutthepermissionin writingofthePublisher.RequeststothePublishershouldbeaddressedtothePermissionsDepartment,John Wiley&SonsLtd,TheAtrium,SouthernGate,Chichester,WestSussexPO198SQ,England,oremailedto [email protected],orfaxedto(+44)1243770620. 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ToBettina Contents Foreword xiii Preface xv About the Author xix List of Abbreviations xxi I Self-Organization 1 1 Introduction to Self-Organization 3 1.1 Understanding self-organization . . . . . . . . . . . . . . . . . . . . . . 4 1.2 Application scenarios for self-organization . . . . . . . . . . . . . . . . . 5 2 System Management and Control – A Historical Overview 7 2.1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.2 Management and control . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.2.1 Centralized control . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.2.2 Distributed systems . . . . . . . . . . . . . . . . . . . . . . . . 11 2.2.3 Self-organizing systems . . . . . . . . . . . . . . . . . . . . . . 14 3 Self-Organization – Context and Capabilities 17 3.1 Complex systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2 Self-organization and emergence . . . . . . . . . . . . . . . . . . . . . . 19 3.3 Systems lacking self-organization . . . . . . . . . . . . . . . . . . . . . 22 3.3.1 External control . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.3.2 Blueprints and templates . . . . . . . . . . . . . . . . . . . . . . 22 3.4 Self-X capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.5 Consequences of emergent properties . . . . . . . . . . . . . . . . . . . 24 3.6 Operating self-organizing systems . . . . . . . . . . . . . . . . . . . . . 26 3.6.1 Asimov’s Laws of Robotics . . . . . . . . . . . . . . . . . . . . 26 3.6.2 Attractors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3.7 Limitations of self-organization . . . . . . . . . . . . . . . . . . . . . . 30 viii CONTENTS 4 Natural Self-Organization 33 4.1 Development of understandings . . . . . . . . . . . . . . . . . . . . . . 33 4.2 Examples in natural sciences . . . . . . . . . . . . . . . . . . . . . . . . 34 4.2.1 Biology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.2.2 Chemistry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.3 Differentiation self-organization and bio-inspired . . . . . . . . . . . . . 37 4.3.1 Exploring bio-inspired . . . . . . . . . . . . . . . . . . . . . . . 37 4.3.2 Bio-inspired techniques . . . . . . . . . . . . . . . . . . . . . . 38 4.3.3 Self-organization vs bio-inspired . . . . . . . . . . . . . . . . . . 40 5 Self-Organization in Technical Systems 41 5.1 General applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1.1 Autonomous systems . . . . . . . . . . . . . . . . . . . . . . . . 41 5.1.2 Multi-robot systems . . . . . . . . . . . . . . . . . . . . . . . . 42 5.1.3 Autonomic networking . . . . . . . . . . . . . . . . . . . . . . . 43 5.1.4 Mobile Ad Hoc Networks . . . . . . . . . . . . . . . . . . . . . 44 5.1.5 Sensor and Actor Networks . . . . . . . . . . . . . . . . . . . . 45 5.2 Operating Sensor and Actor Networks . . . . . . . . . . . . . . . . . . . 46 6 Methods and Techniques 49 6.1 Basic methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 6.1.1 Positive and negative feedback . . . . . . . . . . . . . . . . . . 50 6.1.2 Interactions among individuals and with the environment . . . . . 52 6.1.3 Probabilistic techniques . . . . . . . . . . . . . . . . . . . . . . 53 6.2 Design paradigms for self-organization . . . . . . . . . . . . . . . . . . 54 6.2.1 Design process . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 6.2.2 Discussion of the design paradigms . . . . . . . . . . . . . . . . 55 6.3 Developing nature-inspired self-organizing systems . . . . . . . . . . . . 57 6.4 Modeling self-organizing systems . . . . . . . . . . . . . . . . . . . . . 58 6.4.1 Overview of modeling techniques . . . . . . . . . . . . . . . . . 58 6.4.2 Differential equation models . . . . . . . . . . . . . . . . . . . . 59 6.4.3 Monte Carlo simulations . . . . . . . . . . . . . . . . . . . . . . 60 6.4.4 Choosing the right modeling technique . . . . . . . . . . . . . . 60 Appendix I Self-Organization – Further Reading 61 II Networking Aspects: Ad Hoc and Sensor Networks 65 7 Mobile Ad Hoc and Sensor Networks 67 7.1 Ad hoc networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 7.1.1 Basic properties of ad hoc networks . . . . . . . . . . . . . . . . 68 7.1.2 Mobile Ad Hoc Networks . . . . . . . . . . . . . . . . . . . . . 70 7.2 Wireless Sensor Networks . . . . . . . . . . . . . . . . . . . . . . . . . 73 7.2.1 Basic properties of sensor networks . . . . . . . . . . . . . . . . 73 7.2.2 Composition of single-sensor nodes . . . . . . . . . . . . . . . . 76 7.2.3 Communication in sensor networks . . . . . . . . . . . . . . . . 79
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