In factory automation, heterogeneous manufacturing processes need to be coordinated over wireless networks to achieve safety and efficiency. These wireless networks, however, are inherently unreliable due to shadow fading induced by the physical motion of the machinery. To assure both safety and efficiency, this paper proposes a state-dependent channel model that captures the interaction between the physical and communication systems. By adopting this channel model, sufficient conditions on the maximum allowable transmission interval are then derived to ensure stochastic safety for a nonlinear physical system controlled over a state-dependent wireless fading channel. Under these sufficient conditions, the safety and efficiency co-design problem is formulated as a constrained cooperative game, whose equilibria represent optimal control and transmission power policies that minimize a discounted joint-cost in an infinite horizon. This paper shows that the equilibria of the constrained game are solutions to a non-convex generalized geometric program, which are approximated by solving two convex programs. The optimality gap is quantified as a function of the size of the approximation region in convex programs, and asymptotically converges to zero by adopting a branch-bound algorithm. Simulation results of a networked robotic arm and a forklift truck are presented to verify the proposed co-design method.
To design a routing protocol for applications over low-power and lossy networks (LLNs), the IETF ROLL Working Group standardized the IPv6 Routing Protocol for LLNs (RPL), which organizes nodes in a LLN into a tree-like topology called Destination Oriented Directed Acyclic Graph (DODAG). RPL shows good scalability and fast network setup. However, it may suffer from severe unreliability due to the selection of suboptimal routes with low quality links. To optimize the reliability of RPL routes, this paper proposes a stability metric based routing protocol named sRPL for reliable routing and data collection in LLNs. We introduce a new routing metric for RPL called stability index (SI), which exploits stability characteristics of RPL nodes to select more stable routes. In addition, we present a passive and lightweight network layer technique to measure the bi-directional expected transmission count (ETX) for wireless links in LLNs. As a use case of SI, we combine SI metric with ETX metric to make routing decisions. Simulation results show that sRPL can improve packet delivery rate of RPL routing protocol by 20%.
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