CN102427593A - Data transmission adjustment method in wireless sensor and actor networks (WSANs) - Google Patents

Data transmission adjustment method in wireless sensor and actor networks (WSANs) Download PDF

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CN102427593A
CN102427593A CN2012100072833A CN201210007283A CN102427593A CN 102427593 A CN102427593 A CN 102427593A CN 2012100072833 A CN2012100072833 A CN 2012100072833A CN 201210007283 A CN201210007283 A CN 201210007283A CN 102427593 A CN102427593 A CN 102427593A
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sensor node
actuator
reliability
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张向利
熊金凤
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Abstract

The invention provides a data transmission adjustment method in a wireless sensor and actor networks (WSANs). In the method, when the initial state for data transmission from certain sensor node in the networks to an actor is the state of high reliability (HR) and no congestion (NC), the early stage of time limit deltae2a is not reached, at that time the transmission state of the sensor node is as follows: Ti is not more than deltae2a, DRi is more than DR*, CN=0 and f is not more than fmax, the actor adjusts the node to meet the condition: fi+1=min(fiTi/deltae2a, fiDR*/DRi); in the case of the state of congestion and HR, the early stage of time limit deltae2a is not reached, at that time the transmission state of the sensor node is as follows: Ti is less than deltae2a, DRi is more than DR*, CN=1 and f is more than fmax, and the actor adjusts the node; in the case of the state of NC and low reliability (LR), at that time the transmission state of the sensor node is as follows: Ti is more than deltae2a, DRi is less than DR*, CN=0 and f is less than fmax, the actor adjusts the node to meet the condition: fi+1=fiDR*/DRi; in the case of the state of congestion and LR, at that time the transmission state of the sensor node is as follows: Ti is more than deltae2a, DRi is less than DR*, CN=1 and f is more than fmax, k which is not less than 1 is introduced, and the actor adjusts the node; and in the case of the state of the reliability meeting the requirement and NC, at that time the transmission state of the sensor node is as follows: f is less than fmax and CN=0, and the actor keeps the node to meet the condition: fi+1=fi. By adopting the data transmission adjustment method, the real-time property and the reliability of the WSANs are improved, and energy waste is avoided.

Description

The control method of transfer of data in wireless senser and the actor network
(1) technical field
The present invention relates to wireless senser and actor network technology, be specially the control method of transfer of data in wireless senser and the actor network.
(2) background technology
Wireless senser and actor network (WSAN, Wireless Sensor and Actor Networks) are made up of the small node that is integrated with transducer, actuator of the random distribution mode through self-organizing.By means of the heat in the built-in various informative sensor measurement place surrounding enviroment in the node, infrared, sonar, radar and seismic signal; Detection comprises event in the physical worlds such as size, speed and direction of temperature, humidity, noise, luminous intensity, pressure, soil constituent, mobile object, and actuator then makes a policy based on institute's event and accomplishes corresponding task.Development along with wireless communication technology, embedded computing technique, sensor technology, micro-electromechanical technology; Wireless senser and actor network have good application prospects in fields such as military affairs, automotive electronics, Industry Control, environmental monitoring, health care, Smart Homes, have especially shown very big advantage in event monitoring under unattended operation or adverse circumstances and the target following.
Wireless senser and actor network can be divided into N bunch, contain an actuator and n transducer in each bunch, each other all wireless connections.Each sensor node is collected the local message around self, is sent to the actuator node at place bunch after it is handled, and the local data that the actuator node gathers all the sensors node collection in the place bunch obtains the Global Information of area-of-interest.For guaranteeing the timely and accurate of Global Information, at first to judge the real-time and the reliability of area-of-interest network data transmission.For example, in the monitoring of the fire condition of a fire, need the generation of discovery fire promptly and accurately and the specified place that fire takes place.Therefore, the real-time of transducer and actor network and reliability are significant.
The present wireless senser and the control method of actor network mainly are to saving energy; If real-time and reliability can not improve; Increase the time delay of transfer of data between transducer and the actuator or increased the error rate of transmitting, can cause the waste of transducer and actor network energy equally.
Therefore need the control method of transfer of data in a kind of wireless senser that can effectively improve reliability of data transmission and real-time and the actor network.
(3) summary of the invention
The objective of the invention is to design the control method of transfer of data in a kind of wireless senser and the actor network; This method improves real time of data transmission, reliability between wireless senser and the actuator through regulating sensor node to actuator node report data frequency.
The control method of transfer of data in the wireless senser of the present invention's design and the actor network; Said wireless senser and actor network contain N bunch; Contain an actuator and n transducer in each bunch; Between each sensor node and each the actuator node, be wireless connections between each sensor node and between each actuator node, N and n are the integer greater than 1.This method is regulated each sensor node sends data to the actuator node at place bunch report frequency; Make between wireless senser and the actuator transfer of data keep no congested; The state that reliability meets the demands is perhaps to no congested; The state exchange that reliability meets the demands, real-time, the reliability of realization network.
This method definition f be in wireless senser and the actor network certain sensor node in time interval τ to the report frequency of the actuator transmission data at its place bunch; The constant value of time interval τ for setting; 0.5 second≤τ≤10 second; Be divided between a plurality of equal determining area by time interval τ, in the i, sensor node is f to the report frequency that place bunch actuator sends data between any determining area i, f I+1Then be this sensor node between i+1 determining area in, send the report frequency of data to place bunch actuator.f MaxFor certain sensor node in the maximum report frequency of in time interval τ, sending data under the no congestion situation to the actuator at its place bunch.When f greater than f MaxThe time, transducer congestion situation promptly occurs to actuator transmission data in the network.
Dependability parameter DR iBe certain actuator node in the network, between i determining area in the quantity of data packets that arrives of actual reception, this value is obtained by actual measurement, is the detected value of the reliability that delay constraint is arranged to incident.DR *Be the desired value of the reliability that delay constraint is arranged of incident, this value is the given data target in the concrete network environment.Reliability index η in actuator calculates between i determining area i=DR i/ DR *, in time interval τ in the network certain actuator node actual reception to quantity of data packets be DR, reliability index η=DR/DR *
The real-time parameter comprises three delay parameters: event transmission time-delay Γ Tran, event handling time-delay Γ Proc, incident is carried out time-delay Γ Cct, Δ E2aBe the network limit value of three's sum, Γ Tran, Γ Proc, Γ CctValue actual measurement gained in network respectively.Δ e2a≥Γ tran+Γ proc+Γ cct
In the i, incident reaches the reliability DR with delay constraint between a determining area *, the time that needs is T i, T i≤τ.
This method is set between i+1 determining area inner sensor to the report frequency f of actuator report data I+1And inner sensor is to the report frequency f of actuator report data between i determining area iAnd the real-time parameter between this i determining area, dependability parameter has functional relation, i.e. f I+1=F (f i, dependability parameter, real-time parameter).
This method definition best operating point 1-ε＜η i＜1+ ε, ε are this tolerance, according to the demand of network, set 0≤ε≤0.05, and target is η iBe tending towards 1, promptly ε is tending towards 0.
Sensor node has congestion notification (CN) bit stream mark to the head of the event packet of actuator node transmission, between a last determining area, congestion situation occurred, CN=1; No congestion situation between a last determining area, CN=0.The actuator node is learnt the congestion situation of real-time state in the map network by the CN of the event packet that receives, and has in the network that time-delay increases when congested, real-time is poor, no congested real-time parameter, the requirement of real time of then not influencing.
According to knowing the research and the experiment simulation checking of wireless senser and actor network at present; In this wireless senser and actor network; For certain sensor node under active state; Be the state that certain sensor node is in the incident of detecting and transmission, its measured incident is following 5 kinds to the transmission state of place bunch actuator node, and convertible between the various state.Following under the various states to the meet the demands condition of state exchange of no congested and reliability:
I does not have congested, and reliability low (No Congestion, Low Reliability) is used NC, and LR representes that this moment, the transmission state of this sensor node incident was: CN=0, f＜f Max, η＜1-ε; Under this state, as f＜f Max, η＜1-ε keeps this N state C, LR;
Under this state, as f＜f Max, 1-ε≤η≤1+ ε will convert optimum Working OOR into;
Ii does not have congested, and reliability high (No Congestion, High Reliability) is used NC, and HR representes that this moment, the transmission state of this sensor node incident was: CN=0, f≤f Max, η＞1+ ε;
Under this state, as f≤f Max, η＞1+ ε keeps this N state C, HR;
Under this state, as f＜f Max, 1-ε≤η≤1+ ε will convert optimum Working OOR into;
Iii has congested, and reliability high (Congestion, High Reliability) is used C, and HR representes that this moment, the transmission state of this sensor node incident was: CN=1, f＞f Max, η＞1;
Under this state, as f＞f Max, η＞1 keeps this state C, HR;
Under this state, as f≤f Max, η＞1+ ε will convert N state C into, HR;
Under this state, as f＞f Max, η≤1 will convert state C into, LR;
Under this state, as f＜f Max, 1-ε≤η≤1+ ε will convert state OOR into;
Iv has congested, and reliability low excessively (Congestion, Low Reliability) is used C, and LR representes that this moment, the transmission state of this sensor node incident was: CN=1, f＞f Max, η≤1;
Under this state, as f＞f Max, η≤1 keeps this state C, LR;
Under this state, as f≤f Max, η＞1-ε will convert N state C into, HR;
Under this state, as f＜f Max, η＜1-ε will convert N state C into, LR;
Under this state, as f＞f Max, η＞1 will convert state C into, HR;
Under this state, as f＜f Max, 1-ε≤η≤1+ ε will convert state OOR into;
V does not have congested, and reliability meets the demands, and promptly optimum Working district (Optimal Operating Region) representes with OOR, and this moment, the transmission state of this sensor node incident was: CN=0, f＜f Max, 1-ε≤η≤1+ ε;
Keep f＜f Max, 1-ε≤η≤1+ ε can keep this state OOR.
Switch condition and l-G simulation test according to above each state; The present invention obtains reporting through sensor node under specific circumstances the method for frequency adjustment; Reach and make between wireless senser and the actuator transfer of data keep no congested; The state that reliability meets the demands or to no congested, the purpose of the state exchange that reliability meets the demands.
In this wireless senser and actor network; Certain sensor node is set to high reliability to the initial condition of actuator transmission data in the network; No congested state; This sensor node its measured incident under active state is following 5 kinds to the transmission state of place bunch actuator node, and this method is the method that corresponding different conditions provides sensor node report frequency adjustment:
1. do not reach the time restriction Δ E2aEarly stage, no congested, reliability is high, and (transmission state of this sensor node incident is T at this moment for NC, state HR) i≤Δ E2a, DR i＞DR *, CN=0, f≤f Max, under this state, reliability is higher than the level of requirement, and consumes energy is higher, so reliability should reduce, the transmission state that makes this sensor node is saved the energy dissipation in the network as early as possible to the conversion of best effort district.Actuator is regulated the report frequency of this sensor node
f i+1＝min(f iT i/Δ e2a，f iDR */DR i)。
Initial Report frequency value f 0, can get according to following formula so
f 1＝min(f 0T 0/Δ e2a，f 0DR */DR 0)，
F wherein 0, T 0, Δ E2a, DR *Be set point, DR 0Be measured value,
Because of T 0＜Δ E2a, DR *＜DR 0So, T 0/ Δ E2a＜1, DR */ DR 0＜1,
f 1Get (f 0T 0/ Δ E2a, f 0DR */ DR 0) smaller value, f 1＜f 0
f 2＝min(f 1T 1/Δ e2a，f 1DR */DR 1)，
F wherein 1, T 1, Δ E2a, DR *, DR 1All can regard given value as,
T 1＜Δ E2a, DR *＜DR 1, T then 1/ Δ E2a＜1, DR */ DR 1＜1,
f 2Get (f 1T 1/ Δ E2a, f 1DR */ DR 1) smaller value, f 2＜f 1
So analogize f 0＞f 1＞f 2＞f 3＞..., the report frequency of sensor node progressively reduces, and its event transmission state is changed to the best effort district.
At f I+1=min (f iT i/ Δ E2a, f iDR */ DR i) parameter in the formula comprises report frequency, real-time parameter and dependability parameter, so when reducing to report frequency, also taken into account maintenance real-time, reliability simultaneously.
2. do not reach the time restriction Δ E2aEarly stage, have congestedly, reliability is high, and (this moment, the transmission state of this sensor node incident was T for C, state HR) i＜Δ E2a, DR i＞DR *, CN=1, f＞f Max, congested for removing, so need reduce to report frequency as early as possible, reliability also should reduce simultaneously, and the transmission state of this sensor node is changed to the best effort district as early as possible.
Actuator is regulated the report frequency of this sensor node
f i + 1 = min ( f i T i / Δ e 2 a , f i ( T i / Δ e 2 a ) ) .
3. do not have congested, low reliability (NC, state LR), this moment this sensor node T i＞Δ E2a, DR i＜DR *, CN=0, f＜f Max, the value that need to improve reliability, increases the report frequency is changed the transmission state of this sensor node as early as possible to the best effort district.
Actuator is regulated the report frequency of this sensor node
f i+1＝f iDR */DR i。
4. have congested, reliability low (C, state LR), this moment this sensor node T i＞Δ E2a, DR i＜DR *, CN=1, f＞f MaxThe transmission state of this sensor node is poor; Need reduce to report frequency faster, introduce coefficient k more than or equal to 1, k be in the present networks each transducer when actuator transmission data; Each transducer is in the quantity of (comprising between current determining area) between the continuous in time determining area of same situation, k>=1 respectively.
Actuator is regulated the report frequency of this sensor node
f i + 1 = min ( f i ( DR i / DR * / k ) , f i ( Δ e 2 a / T i / k ) ) .
f I+1Get f iThe minimum value of two exponential functions is to arrive the best effort district, to improve the transmission situation as early as possible.
5. reliability meets the demands, the state of no congested (OOR), this sensor node f＜f at this moment Max, CN=0,
Actuator keeps the report frequency f of this sensor node I+1=f i,
Promptly keep f＜f Max, 1-ε≤η≤1+ ε.
The advantage of the control method of transfer of data is in wireless senser of the present invention and the actor network: the report frequency of sending data through sensor node in the regulating networks to the actuator node at place bunch; The state of each sensor node is changed to the best effort district; Improve real-time, the reliability of network, the waste of the network energy of also avoiding.
(4) description of drawings
Fig. 1 is wireless senser and the actor network structural representation of the control method embodiment of transfer of data in this wireless senser and the actor network;
Fig. 2 is the various transmission state reliability index of certain sensor node η and the graph of relation of reporting frequency f of the control method embodiment of transfer of data in this wireless senser and the actor network;
(5) embodiment
Wireless senser and actor network structure in this wireless senser and the actor network among the control method embodiment of transfer of data are as shown in Figure 1; Figure intermediate cam shape is represented the actuator node; The black round dot is represented sensor node; This routine network contains N bunch, contains an actuator and n transducer in each bunch, each other all wireless connections.
This method definition f be in wireless senser and the actor network certain sensor node in time interval τ to the report frequency of the actuator transmission data at its place bunch; This routine τ=1 second; Be divided between a plurality of equal determining area by time interval τ; In the i, sensor node is f to the report frequency that place bunch actuator sends data between any determining area i, f I+1Then be this sensor node between i+1 determining area in, send the report frequency of data to place bunch actuator.f MaxFor certain sensor node in the maximum report frequency of in time interval τ, sending data under the no congestion situation to the actuator at its place bunch.When f greater than f MaxThe time, transducer congestion situation promptly occurs to actuator transmission data in the network.
Dependability parameter DR iBe certain actuator node in the network, between i determining area in the quantity of data packets that arrives of actual reception.DR *Desired value for the reliability that delay constraint is arranged of incident.Reliability index η in actuator calculates between i determining area i=DR i/ DR *In time interval τ in the network certain actuator node actual reception to quantity of data packets be DR, reliability index η=DR/DR *
The real-time parameter comprises three delay parameters: event transmission time-delay Γ Tran, event handling time-delay Γ Proc, incident is carried out time-delay Γ Cct, Δ E2aBe the network limit value of three's sum, Γ Tran, Γ Proc, Γ CctValue actual measurement gained in network respectively.Δ e2a≥Γ tran+Γ proc+Γ cct
In the i, incident reaches the reliability DR with delay constraint between a determining area *, the time that needs is T i, T i≤τ.
This method definition best operating point 1-ε＜η i＜1+ ε, this example is set ε=0.05.
Sensor node has congestion notification (CN) bit stream mark to the head of the event packet of actuator node transmission, between a last determining area, congestion situation occurred, CN=1; No congestion situation between a last determining area, CN=0.
It is as shown in Figure 2 with the relation curve of report frequency f to record the various transmission state reliability index of certain sensor node η in this routine network according to experiment; Ordinate is reliability index η among Fig. 2; Abscissa is the report frequency f; Certain sensor node is following 5 kinds to the event transmission state that place bunch actuator node sends data
I does not have congested, and reliability is low, and (NC LR), sees that Fig. 2 is right, and the transmission state of this sensor node incident is: CN=0, f＜f Max, η＜1-ε;
Ii does not have congested, and reliability is high, and (NC HR), sees a left side among Fig. 2, and this moment, the transmission state of this sensor node incident was: CN=0, f≤f Max, η＞1+ ε;
Iii has congested, and reliability is high, and (C HR), sees Fig. 2 right-of-center in political views, and this moment, the transmission state of this sensor node incident was: CN=1, f＞f Max, η＞1;
Iv has congested, and reliability is low excessively, and (C LR), sees Fig. 2 bottom right, and this moment, the transmission state of this sensor node incident was: CN=1, f＞f Max, η＜1;
V does not have congested, and reliability meets the demands, and promptly optimum Working district (OOR) sees among Fig. 2, and this moment, the transmission state of this sensor node incident was: CN=0, f＜f Max, 1-ε≤η≤1+ ε.
Visible by Fig. 2, the reliability of state ii and iii is higher than the upper limit of the reliability 1+ ε that meets the demands, and the result is too much consumes energy.
This example is in above-mentioned wireless senser and actor network; Certain sensor node is set to high reliability to the initial condition of actuator transmission data in the network; No congested state, to different conditions that should transducer, this method provides the method for sensor node report frequency adjustment following:
1. do not reach the time restriction Δ E2aEarly stage, no congested, reliability is high, and (transmission state of this sensor node incident is T at this moment for NC, state HR) i≤Δ E2a, DR i＞DR *, CN=0, f≤f Max, actuator is regulated the report frequency of this sensor node
f i+1＝min(f iT i/Δ e2a，f iDR */DR i)。
2. do not reach the time restriction Δ E2aEarly stage, have congestedly, reliability is high, and (this moment, the transmission state of this sensor node incident was T for C, state HR) i＜Δ E2a, DR i＞DR *, CN=1, f＞f Max, actuator is regulated the report frequency of this sensor node
f i + 1 = min ( f i T i / Δ e 2 a , f i ( T i / Δ e 2 a ) ) .
3. do not have congestedly, (this moment, the transmission state of this sensor node incident was T to low reliability for NC, state LR) i＞Δ E2a, DR i＜DR *, CN=0, f＜f Max, actuator is regulated the report frequency of this sensor node
f i+1＝f iDR */DR i。
4. have congested, reliability low (C, state LR), this moment this sensor node incident transmission state be T i＞Δ E2a, DR i＜DR *, CN=1, f＞f MaxInlet coefficient k be in the present networks each transducer when actuator transmission data; Each transducer is in the quantity between the continuous in time determining area of same situation respectively; Quantity between this continuous determining area comprises between current determining area, k>=1, and actuator is regulated the report frequency of this sensor node
f i + 1 = min ( f i ( DR i / DR * / k ) , f i ( Δ e 2 a / T i / k ) )
5. reliability meets the demands, the state of no congested (OOR), and this moment, the transmission state of this sensor node incident was f＜f Max, CN=0, actuator keeps the report frequency f of this sensor node I+1=f i
The foregoing description is merely concrete example to the object of the invention, technical scheme and beneficial effect further explain, and the present invention is defined in this.All any modifications of within scope of disclosure of the present invention, being made, be equal to replacement, improvement etc., all be included within protection scope of the present invention.

Claims (5)

1. the control method of transfer of data in wireless senser and the actor network; Said wireless senser and actuator contain N bunch; Contain an actuator node and n sensor node in each bunch; Between each sensor node and each the actuator node, be wireless connections between each sensor node and between each actuator node, N and n are the integer greater than 1;
This method definition f be in wireless senser and the actor network certain sensor node in time interval τ to the report frequency of the actuator transmission data at its place bunch; 0.5 second≤τ≤10 second; Be divided between a plurality of equal determining area by time interval τ; In the i, sensor node is f to the report frequency that place bunch actuator sends data between any determining area i, f I+1Then be this sensor node between i+1 determining area in, send the report frequency of data to place bunch actuator; f MaxFor certain sensor node in the maximum report frequency of in time interval τ, sending data under the no congestion situation to the actuator at its place bunch;
Dependability parameter DR iBe certain actuator node in the network, between i determining area in the quantity of data packets that arrives of actual reception, DR *Be the desired value of the reliability that delay constraint is arranged of incident, reliability index η in actuator calculates between i determining area i=DR i/ DR *
The real-time parameter comprises three delay parameters: event transmission time-delay Γ Tran, event handling time-delay Γ Proc, incident is carried out time-delay Γ Cct, Δ E2aBe the network limit value of three's sum, Γ Tran, Γ Proc, Γ CctValue actual measurement gained in network respectively, Δ E2a>=Γ Tran+ Γ Proc+ Γ Cct
In the i, incident reaches the reliability DR with delay constraint between a determining area *, the time that needs is T i, T i≤τ;
This method definition best operating point 1-ε＜η i＜1+ ε, 0≤ε≤0.05;
Sensor node has congestion notification CN to the head of the event packet of actuator node transmission, between a last determining area, congestion situation occurred, CN=1; No congestion situation between a last determining area, CN=0;
Certain sensor node is following 5 kinds to the event transmission state that place bunch actuator node sends data,
I does not have congested, and reliability is low, and the transmission state of this sensor node incident is: CN=0, f＜f Max, η＜1-ε;
Ii does not have congested, and reliability is high, and the transmission state of this sensor node incident is: CN=0, f≤f Max, η＞1+ ε;
Iii has congested, and reliability is high, and the transmission state of this sensor node incident is: CN=1, f＞f Max, η＞1;
Iv has congested, and reliability is low, and the transmission state of this sensor node incident is: CN=1, f＞f Max, η＜1;
V does not have congested, and reliability meets the demands, i.e. optimum Working district, and the transmission state of this sensor node incident is: CN=0, f＜f Max, 1-ε≤η≤1+ ε;
This method is characterized in that:
In above-mentioned wireless senser and actor network, certain sensor node is set to high reliability to the initial condition of actuator transmission data in the network, and no congested state is not reaching the time restriction Δ E2aEarly stage, no congested, the state that reliability is high, the transmission state of this sensor node incident is T at this moment i≤Δ E2a, DR i＞DR *, CN=0, f≤f Max, actuator is regulated the report frequency of this sensor node
f i+1＝min(f iT i/Δ e2a，f iDR */DR i)。
2. the control method of transfer of data in wireless senser according to claim 1 and the actor network is characterized in that:
Do not reaching the time restriction Δ E2aEarly stage, have congested, the state that reliability is high, this moment, the transmission state of this sensor node incident was T i＜Δ E2a, DR i＞DR *, CN=1, f＞f Max, actuator is regulated the report frequency of this sensor node
f i + 1 = min ( f i T i / Δ e 2 a , f i ( T i / Δ e 2 a ) ) .
3. the control method of transfer of data in wireless senser according to claim 1 and the actor network is characterized in that:
No congested, the state of low reliability, this moment, the transmission state of this sensor node incident was T i＞Δ E2a, DR i＜DR *, CN=0, f＜f Max, actuator is regulated the report frequency of this sensor node
f i+1＝f iDR */DR i。
4. the control method of transfer of data in wireless senser according to claim 1 and the actor network is characterized in that:
Have congested, the state that reliability is low, this moment this sensor node incident transmission state be T i＞Δ E2a, DR i＜DR *, CN=1, f＞f MaxInlet coefficient k be in the present networks each transducer when actuator transmission data; Each transducer is in the quantity between the continuous in time determining area of same situation respectively; Quantity between this continuous determining area comprises between current determining area, k>=1, and actuator is regulated the report frequency of this sensor node
f i + 1 = min ( f i ( DR i / DR * / k ) , f i ( Δ e 2 a / T i / k ) ) .
5. the control method of transfer of data in wireless senser according to claim 1 and the actor network is characterized in that:
Meet the demands in reliability, no congested state, this moment, the transmission state of this sensor node incident was f＜f Max, CN=0, actuator keeps the report frequency f of this sensor node I+1=f i
CN2012100072833A 2012-01-11 2012-01-11 Data transmission adjustment method in wireless sensor and actor networks (WSANs) Pending CN102427593A (en)

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