Implementation and characterization of a multi-hop 6TiSCH network for experimental feedback control of an inverted pendulum

Schindler, Craig B.; Watteyne, Thomas; Vilajosana, Xavier; Pister, Kristofer S. J.

doi:10.23919/wiopt.2017.7959925

Cited by 12 publications

(9 citation statements)

References 16 publications

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“…Indeed, this jitter is several orders of magnitude smaller than the jitter of conventional approaches based on routing and per-link scheduling. For example, Schindler et al report that the communication jitter alone (i.e., neglecting time-varying processing delays, which would contribute to the end-to-end jitter) is at least ±23 ms in a single-hop 6TiSCH network, which is an advancement of WirelessHART [58]. Unlike our approach, such jitter cannot be neglected as it is on par with the dynamics of the physical systems, complicating control design and stability analysis.…”

Section: Multi-hop Stabilizationmentioning

confidence: 92%

“…One of the challenges, as detailed in Section 3, is that even slight variations in the quality of a wireless link can trigger drastic changes in the routing topology [15]and this can happen several times per minute [26]. Hence, to establish trust in mission-critical feedback control over wireless, a real-world validation against these dynamics on a realistic CPS testbed is absolutely essential [42], as opposed to considering setups with a statically configured routing topology and only a few nodes on a desk (as, e.g., in [58]). Fig.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees

Baumann

Mager

Jacob

et al. 2019

ACM Trans. Cyber-Phys. Syst.

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Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. Thus far, however, feedback control over multi-hop low-power wireless networks has only been demonstrated for update intervals on the order of seconds. To fill this gap, this paper presents a wireless embedded system that supports dynamic mode changes and tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear timeinvariant dynamics in the presence of mode changes. Using experiments on a cyber-physical testbed with 20 wireless devices and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination with mode changes over multi-hop networks for update intervals of 20 to 50 milliseconds.

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Section: Multi-hop Stabilizationmentioning

confidence: 92%

Section: Related Workmentioning

confidence: 99%

Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees

Baumann

Mager

Jacob

et al. 2019

ACM Trans. Cyber-Phys. Syst.

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“…A largely unanswered question which is actively investigated is whether latency can be predicted in TSCH networks, which is essential for using TSCH networks in control applications. Early demonstrations showed a 6TiSCH network used to control an inverted pendulum [54].…”

Section: A Time Synchronized Channel Hoppingmentioning

confidence: 99%

Constructive Interference in 802.15.4: A Tutorial

Chang

Watteyne

Vilajosana

et al. 2019

IEEE Commun. Surv. Tutorials

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Constructive Interference (CI) can happen when multiple wireless devices send the same frame at the same time. If the time offset between the transmissions is less than 500 ns, a receiver will successfully decode the frame with high probability. CI can be useful for achieving low-latency communication or lowoverhead flooding in a multi-hop low-power wireless network. The contribution of this article is three-fold. First, we present the current state-of-the-art CI-based protocols. Second, we provide a detailed hands-on tutorial on how to implement CI-based protocols on TelosB motes, with well documented open-source code. Third, we discuss the issues and challenges of CI-based protocols, and list open issues and research directions. This article is targeted at the level of practicing engineers and advanced researchers and can serve both as a primer on CI technology and a reference to its implementation.

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“…One of the challenges, as detailed in Section 3, is that even slight variations in the quality of a wireless link can trigger drastic changes in the routing topology [13]-and this can happen several times per minute [23]. Hence, to establish trust in feedback control over wireless, a real-world validation against these dynamics on a realistic CPS testbed is absolutely essential [36], as opposed to considering setups with a statically configured routing topology and only a few nodes on a desk as, for example, in [49]. Figure 1 classifies prior control-over-wireless solutions that have been validated using experiments on physical platforms and against the dynamics of real wireless networks along two dimensions: the diameter of the network (single-hop or multi-hop) and the dynamics of the physical system (slow or fast).…”

Section: Related Workmentioning

confidence: 99%

Feedback control goes wireless

Mager

Baumann²,

Jacob

et al. 2019

Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems

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Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Lowpower wireless technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. So far, however, feedback control over wireless multi-hop networks has only been shown for update intervals on the order of seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. Using experiments on a cyber-physical testbed with 20 wireless nodes and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination over wireless multi-hop networks for update intervals of 20 to 50 milliseconds. CCS CONCEPTS• Computer systems organization → Sensors and actuators; Embedded systems; Real-time system architecture; Dependable and fault-tolerant systems and networks; • Networks → Cyber-physical networks; Network protocol design.

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Implementation and characterization of a multi-hop 6TiSCH network for experimental feedback control of an inverted pendulum

Cited by 12 publications

References 16 publications

Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees

Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees

Constructive Interference in 802.15.4: A Tutorial

Feedback control goes wireless

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