摘要：A sensor, actuator, and device network (SADN) is composed of three types of nodes, which are sensor, actuator, and actuation device nodes. Sensor nodes and actuator nodes are interconnected in wireless networks as discussed in wireless sensor and actuator networks (WSANs). Actuator nodes and device nodes are interconnected in types of networks, i.e. wireless and wired network. Sensor nodes sense an physical event and send sensed values of the event to actuator nodes. An actuator node makes a decision on proper actions on receipt of sensed values and then issue the action requests to the device nodes. A device node really acts to the physical world. For example, moves a robot arms by performing the action on receipt of the action request. Messages may be lost and nodes may be faulty. Especially, messages are lost due to noise and collision in a wireless network. We propose a fully redundant model for an SADN where each of sensor, actuator, and device functions is replicated in multiple nodes and each of sensor-actuator and actuator-device communication is realized in many-to-many type of communication protocols. Even if some number of nodes are faulty, the other nodes can perform requested tasks. Here, each sensor node sends sensed values to multiple actuator nodes and each actuator node receives sensed values from multiple sensor nodes. While multiple actuator nodes communicate with multiple replica nodes of a device. Even if messages are lost and some number of nodes are faulty, device nodes can surely receive action requests required for sensed values and the actions are performed. In this paper, we discuss a type of semi-passive coordination (SPC) protocol of multiple actuator nodes for multiple sensor nodes. We discuss a type of active coordination protocol for multiple actuator nodes and multiple actuation device nodes. We evaluate the SPC protocol for the sensor-actuator coordination in terms of the number of messages exchanged among actuators.
