Skip to main content
SpringerLink
Log in

Formal verification and validation of a movement control actor relocation algorithm for safety–critical applications

  • Published:
Wireless Networks Aims and scope Submit manuscript

Abstract

Wireless sensor and actor networks (WSAN) are captivating significant attention because of their suitability for safety–critical applications. Efficient actor placement in such applications is extremely desirable to perform effective and timely action across the deployment region. Nonetheless, harsh application environment inherently favors random placement of actors that leads to high concentration deployment and strangles coverage. Moreover, most of the published schemes lack rigorous validation and entirely rely on informal techniques (e.g., simulation) for evaluating nonfunctional properties of algorithms. This paper presents a localized movement control actor relocation (MCAR) algorithm that strives to improve connected coverage while minimizing movement overhead. MCAR pursues post-deployment actor repositioning in such a way that actors repel each other for better coverage while staying connected. We employ complementary formal and informal techniques for MCAR verification and validation. We model WSAN as a dynamic graph and transform MCAR to corresponding formal specification using Z notation. The resulting specification is analyzed and validated using Z eves tool. We simulate the specification to quantitatively demonstrate the efficiency of MCAR. Simulation results confirm the efficiency of MCAR in terms of movement overhead and connected coverage compared to contemporary schemes. The results show that MCAR can reduce distance movement up to 32 % while improving coverage up to 29 % compared to published schemes.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  1. Akyildiz, I. F., & Kasimoglu, I. H. (2004). Wireless sensor and actor networks: Research challenges. Journal Ad Hoc Networks, 2(4), 351–367.

    Article  Google Scholar 

  2. Zeng, Y., Li, D., & Vasilakos, A. V. (2013). Real-time data report and task execution in wireless sensor and actuator networks using self-aware mobile actuators. Computer Communications, 36(9), 988–997.

    Article  Google Scholar 

  3. Yao,Y., Cao, Q., & Vasilakos, A. V. (2013). EDAL: An energy-efficient, delay-aware, and lifetime-balancing data collection protocol for wireless sensor networks. In 10th IEEE international conference on mobile ad-hoc and sensor systems (MASS) (pp. 182–190), Hangzhou, China.

  4. Batalin, M. A., & Sukhatme, G. S. (2005). The analysis of an efficient algorithm for robot coverage and exploration based on sensor network deployment. In Presented at the proceedings of the 2005 IEEE international conference on robotics and automation (ICRA 2005), Barcelona, Spain.

  5. Akkaya, K., & Younis, M. (2007). C2AP: Coverage-aware and connectivity-constrained actor positioning in wireless sensor and actor networks. In Presented at the IEEE international performance computing, and communications conference (IPCCC′ 07), 2007, New Orleans, LA.

  6. Akkaya, K., & Janapala, S. (2008). Maximizing connected coverage via controlled actor relocation in wireless sensor and actor networks. Journal Computer Networks, 52(14), 2779–2796.

    Article  MATH  Google Scholar 

  7. Imran, M., Younis, M., Md Said, A., & Hasbullah, H. (2010). Volunteer-instigated connectivity restoration algorithm for wireless sensor and actor networks. In The proceedings of the 2010 IEEE international conference on wireless communications, networking and information security (WCNIS) (pp. 679–683), Beijing, China.

  8. Tamboli, N., & Younis, M. (2010). Coverage-aware connectivity restoration in mobile sensor networks. Journal of Network and Computer Applications, 33(4), 363–374.

    Article  Google Scholar 

  9. Imran, M., Younis, M., Haider, N., & Alnuem, M. A. (2012). Resource efficient connectivity restoration algorithm for mobile sensor/actor networks. EURASIP Journal on Wireless Communications and Networking, 2012, 347.

    Article  Google Scholar 

  10. Younis, M., Senturk, I. F., Akkaya, K., Lee, S., & Senel, F. (2014). Topology management techniques for tolerating node failures in wireless sensor networks: A survey. Computer Networks, 58(1), 254–283.

    Article  Google Scholar 

  11. Spivey, J. M. (1989). The Z notation: A reference manual. Englewood: Prentice-Hall Inc.

    MATH  Google Scholar 

  12. Wang, X., Xing, G., Zhang, Y., Lu, C., Pless, R., & Gill, C. (2003). Integrated coverage and connectivity configuration in wireless sensor networks. In Presented at the proceedings of the 1st international conference on embedded networked sensor systems, Los Angeles, California, USA, 2003.

  13. Ghosh, A., & Das, S. K. (2008). Coverage and connectivity issues in wireless sensor networks: A survey. Journal of Pervasive and Mobile Computing, 4, 303–334.

    Article  Google Scholar 

  14. Zhu, C., Zheng, C., Shu, L., & Han, G. (2012). A survey on coverage and connectivity issues in wireless sensor networks. Journal of Network and Computer Applications, 35, 619–632.

    Article  Google Scholar 

  15. Younis, M., & Akkaya, K. (2008). Strategies and techniques for node placement in wireless sensor networks: A survey. Journal Ad Hoc Networks, 6(4), 621–655.

    Article  Google Scholar 

  16. Batalin, M. A., & Sukhatme, G. S. (2002). Spreading out: A local approach to multi-robot coverage. In presented at the international symposium on distributed autonomous robotic systems, Fukuoka, Japan, 2002.

  17. Heo, N., & Varshney, P. K. (2003). A distributed self spreading algorithm for mobile wireless sensor networks. In Presented at the IEEE wireless communications and networking (WCNC’ 03), 2003, New Orleans, LA, USA.

  18. Wang, G., Cao, G., & Porta, T. L. (2004). Movement-assisted sensor deployment. In Presented at the 23rd international annual joint conference of the IEEE computer and communications societies (INFOCOM’04), Hong Kong.

  19. Wang, G., Cao, G., Porta, T. L., & Zhang, W. (2005). Sensor relocation in mobile sensor networks. In Proceedings of the IEEE 24th annual joint conference of the IEEE computer and communications societies (INFOCOM 2005) (pp. 2302–2312), Miami, FL, USA 2005.

  20. Li, M., Li, Z., & Vasilakos, A. V. (2013). A Survey on topology control in wireless sensor networks: Taxonomy, comparative study, and open issues. Proceedings of the IEEE, 101(12), 2538–2557.

    Article  Google Scholar 

  21. Akkaya, K., & Younis, M. (2006). COLA: A coverage and latency aware actor placement for wireless sensor and actor networks. In Presented at the IEEE 64th vehicular technology conference (VTC-2006), 2006, Montreal, Canada.

  22. Imran, M., Said, A. M., Younis, M., & Hasbullah, H. (2013). Application-centric recovery algorithm for wireless sensor and actor networks. International Journal of Communication Networks and Distributed Systems, 10(4), 379–401.

    Article  Google Scholar 

  23. Imran, M., Haider, N., & Alnuem, M. A. (2012). Efficient movement control actor relocation for honing connected coverage in wireless sensor and actor networks. In The proceedings of the 37th IEEE annual international conference on local computer networks ( pp. 710–717), Florida, USA.

  24. Alnuem, M., Zafar, N. A., Imran, M., Fayed, M., & Ullah, S. (2014). Formal specification and validation of a localized algorithm for segregation of critical/noncritical nodes in MAHSNs. International Journal of Distributed Sensor Networks, 2014, 14. doi:10.1155/2014/140973.

    Article  Google Scholar 

  25. Viana, A. C., Maag, S., & Zaidi, F. (2011). One step forward: Linking wireless self-organizing network validation techniques with formal testing approaches. ACM Computing Surveys, 43(2), 1–36.

    Article  Google Scholar 

  26. Kurkowski, S., Camp, T., & Colagrosso, M. (2005). MANET simulation studies: the incredibles. SIGMOBILE Mobile Computing and Communications Review, 9, 50–61.

    Article  Google Scholar 

  27. Andel, T. R., & Yasinsac, A. (2006). On the credibility of manet simulations. Computer, 39, 48–54.

    Article  Google Scholar 

  28. Zafar, N. A. (2006). Modeling and formal specification of automated train control system using Z notation. In Multitopic conference, 2006. INMIC ‘06. IEEE (pp. 438–443).

  29. Yousaf, S., Zafar, N. A., & Khan, S. A. (2010). Formal analysis of departure procedure of air traffic control system. In 2010 2nd international conference on software technology and engineering (ICSTE), 2010 (pp. V2-301–V2-305).

  30. Fehnker, A., Fruth, M., & Mciver, A. K. (2009). Graphical modelling for simulation and formal analysis of wireless network protocols. In B. Michael, J. Cliff, R. Alexander, & T. Elena (Eds.), Methods, models and tools for fault tolerance (pp. 1–24). Berlin: Springer.

    Chapter  Google Scholar 

  31. Maag, S., Grepet, C., & Cavalli, A. (2008). A formal validation methodology for MANET routing protocols based on nodes’ self similarity. Computer Communications, 31, 827–841.

    Article  Google Scholar 

  32. Ölveczky, P. C., & Thorvaldsen, S. (2009). Formal modeling, performance estimation, and model checking of wireless sensor network algorithms in Real-Time Maude. Theoretical Computer Science, 410, 254–280.

    Article  MathSciNet  Google Scholar 

  33. Imran, M., & Zafar, N. A. (2012). Formal specification and validation of a hybrid connectivity restoration algorithm for wireless sensor and actor networks. Sensors, 12(9), 11754–11781.

    Article  Google Scholar 

  34. Efrat, S. H.-P., & Mitchell, J. S. B. (2005). Approximation algorithms for two optimal location problems in sensor networks. In 2nd international conference on broadband networks (pp. 714–723), Boston, USA.

  35. Funke, S. (2005). Topological hole detection in wireless sensor networks and its applications. In Presented at the proceedings of the 2005 joint workshop on foundations of mobile computing, Cologne, Germany.

  36. Wang, Y., Gao, J., & Mitchell, J. S. B. (2006). Boundary recognition in sensor networks by topological methods. In Presented at the proceedings of the 12th annual international conference on mobile computing and networking, Los Angeles, CA, USA.

  37. Saaltink, M. (1997). The Z/EVES system. In Presented at the proceedings of the 10th international conference of Z users on the Z formal specification notation.

  38. Jorgic, M., Stojmenovic, I., Hauspie, M., & Simplot-Ryl, D. (2004). Localized algorithms for detection of critical nodes and links for connectivity in ad hoc networks. In The proceedings of the 3rd annual ifip mediterranean ad hoc networking workshop (pp. 360–371), Bodrum, Turkey.

Download references

Acknowledgments

This work was supported by the Research Center of College of Computer and Information Sciences, King Saud University, Riyadh, Saudi Arabia, through the Research Project No. RC131026.

Author information

Authors and Affiliations

  1. College of Computer and Information Sciences, King Saud University, Riyadh, Saudi Arabia

    Muhammad Imran, Mohammed Abdullah Alnuem & Mehmet Sabih Aksoy

  2. Department of Computer Science, COMSATS Institute of Information Technology, Sahiwal, Pakistan

    Nazir Ahmad Zafar

  3. University of Western Macedonia, Kozani, Greece

    Athanasios V. Vasilakos

Authors
  1. Muhammad Imran
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nazir Ahmad Zafar
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mohammed Abdullah Alnuem
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Mehmet Sabih Aksoy
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Athanasios V. Vasilakos
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Muhammad Imran.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Imran, M., Zafar, N.A., Alnuem, M.A. et al. Formal verification and validation of a movement control actor relocation algorithm for safety–critical applications. Wireless Netw 22, 247–265 (2016). https://doi.org/10.1007/s11276-015-0962-8

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11276-015-0962-8

Keywords

Search

Navigation