Search results for: control protocol.

Authors: Amir Badkoubeh, Guchuan Zhu

Abstract:

This paper addresses the problem of asymptotic tracking control of a linear parabolic partial differential equation with indomain point actuation. As the considered model is a non-standard partial differential equation, we firstly developed a map that allows transforming this problem into a standard boundary control problem to which existing infinite-dimensional system control methods can be applied. Then, a combination of energy multiplier and differential flatness methods is used to design an asymptotic tracking controller. This control scheme consists of stabilizing state-feedback derived from the energy multiplier method and feed-forward control based on the flatness property of the system. This approach represents a systematic procedure to design tracking control laws for a class of partial differential equations with in-domain point actuation. The applicability and system performance are assessed by simulation studies.

Keywords: Tracking Control, In-domain point actuation, PartialDifferential Equations.

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Authors: A. N. K. Nasir, R. M. T. Raja Ismail, M. A. Ahmad

Abstract:

The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum-s angle and cart-s position. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Two controllers are presented such as Sliding Mode Control (SMC) and Proportional- Integral-Derivatives (PID) controllers for controlling the highly nonlinear system of inverted pendulum model. Simulation study has been done in Matlab Mfile and simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that Sliding Mode Control (SMC) produced better response compared to PID control strategies and the responses are presented in time domain with the details analysis.

Keywords: SMC, PID, Inverted Pendulum System.

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Authors: S. Sukparungsee

Abstract:

In reality, the process observations are away from the assumption that are normal distributed. The observations could be skew distributions which should use an asymmetric chart rather than symmetric chart. Consequently, this research aim to study the robustness of the asymmetric Tukey’s control chart for skew and non-skew distributions as Lognormal and Laplace distributions. Furthermore, the performances in detecting of a change in parameter of asymmetric and symmetric Tukey’s control charts are compared by Average ARL (AARL). The results found that the asymmetric performs better than symmetric Tukey’s control chart for both cases of skew and non-skew process observation.

Keywords: Asymmetric control limit, average of average run length, Tukey’s control chart and skew distributions.

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Authors: A. Bellar, M.K. Fellah, A.M. Si Mohammed, M. Bensaada, L. Boukhris

Abstract:

This paper presents the use of the predictive fuzzy logic controller (PFLC) applied to attitude control system for agile micro-satellite. In order to reduce the effect of unpredictable time delays and large uncertainties, the algorithm employs predictive control to predict the attitude of the satellite. Comparison of the PFLC and conventional fuzzy logic controller (FLC) is presented to evaluate the performance of the control system during attitude maneuver. The two proposed models have been analyzed with the same level of noise and external disturbances. Simulation results demonstrated the feasibility and advantages of the PFLC on the attitude determination and control system (ADCS) of agile satellite.

Keywords: Agile micro-satellite, Attitude control, fuzzy logic, predictive control

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Authors: Pingping Zhang, Yanpeng Cai, Jianlong Wang

Abstract:

Stormwater storage tank (SST) is a popular low impact development technology for reducing stormwater runoff in the construction of sponge city. At present, it is difficult to perform the automatic control of SST for reducing peak flow. In this paper, fuzzy control was introduced into the peak control of SST to improve the efficiency of reducing stormwater runoff. Firstly, the design of SST was investigated. A catchment area and a return period were assumed, a SST model was manufactured, and then the storage capacity of the SST was verified. Secondly, the control parameters of the SST based on reducing stormwater runoff were analyzed, and a schematic diagram of real-time control (RTC) system based on peak control SST was established. Finally, fuzzy control system of a double input (flow and water level) and double output (inlet and outlet valve) was designed. The results showed that 1) under the different return periods (one year, three years, five years), the SST had the effect of delayed peak control and storage by increasing the detention time, 2) rainfall, pipeline flow, the influent time and the water level in the SST could be used as RTC parameters, and 3) the response curves of flow velocity and water level fluctuated very little and reached equilibrium in a short time. The combination of online monitoring and fuzzy control was feasible to control the SST automatically. This paper provides a theoretical reference for reducing stormwater runoff and improving the operation efficiency of SST.

Keywords: Stormwater runoff, stormwater storage tank, real-time control, fuzzy control.

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Authors: Ahmed Abbas, M.R. M Rizk, Mohamed El-Sayed

Abstract:

This paper presents a new adaptive DMC controller that improves the controller performance in case of plant-model mismatch. The new controller monitors the plant measured output, compares it with the model output and calculates weights applied to the controller move. Simulations show that the new controller can help improve control performance and avoid instability in case of severe model mismatches.

Keywords: Adaptive control, dynamic matrix control, DMC, model predictive control

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Authors: Ebrahim Farahmand, Ali Mahani

Abstract:

Wireless sensor networks (WSNs) can facilitate continuous monitoring of patients and increase early detection of emergency conditions and diseases. High density WSNs helps us to accurately monitor a remote environment by intelligently combining the data from the individual nodes. Due to energy capacity limitation of sensors, enhancing the lifetime and the reliability of WSNs are important factors in designing of these networks. The clustering strategies are verified as effective and practical algorithms for reducing energy consumption in WSNs and can tackle WSNs limitations. In this paper, an Energy-efficient weight-based Clustering Protocol (EWCP) is presented. Artificial retina is selected as a case study of WSNs applied in body sensors. Cluster heads’ (CHs) selection is equipped with energy efficient parameters. Moreover, cluster members are selected based on their distance to the selected CHs. Comparing with the other benchmark protocols, the lifetime of EWCP is improved significantly.

Keywords: Clustering of WSNs, healthcare monitoring, weight-based clustering, wireless sensor networks.

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Authors: Amirhossein Asadabadi, Amir Anvar

Abstract:

Small satellites have become increasingly popular recently as a means of providing educational institutes with the chance to design, construct, and test their spacecraft from beginning to the possible launch due to the low launching cost. This approach is remarkably cost saving because of the weight and size reduction of such satellites. Weight reduction could be realised by utilising electromagnetic coils solely, instead of different types of actuators. This paper describes the restrictions of using only “Electromagnetic" actuation for 3D stabilisation and how to make the magnetorquer based attitude control feasible using Fuzzy Logic Control (FLC). The design is developed to stabilize the spacecraft against gravity gradient disturbances with a three-axis stabilizing capability.

Keywords: Fuzzy, Attitude Control, Small Satellite, Fuzzy Logic Control, Electromagnetic, Magnetic Control.

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Authors: Ian A. Grout

Abstract:

In this paper, the design and development of a system to provide hand motion and gesture control of laboratory test equipment is considered and discussed. The Leap Motion controller is used to provide an input to control a laboratory power supply as part of an electronic circuit experiment. By suitable hand motions and gestures, control of the power supply is provided remotely and without the need to physically touch the equipment used. As such, it provides an alternative manner in which to control electronic equipment via a PC and is considered here within the field of human computer interaction (HCI).

Keywords: Control, hand gesture, human computer interaction, test equipment.

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Authors: Asmir Gogic, Aljo Mujcic, Sandra Ibric, Nermin Suljanovic

Abstract:

Ubiquity of natural disasters during last few decades have risen serious questions towards the prediction of such events and human safety. Every disaster regardless its proportion has a precursor which is manifested as a disruption of some environmental parameter such as temperature, humidity, pressure, vibrations and etc. In order to anticipate and monitor those changes, in this paper we propose an overall system for disaster prediction and monitoring, based on wireless sensor network (WSN). Furthermore, we introduce a modified and simplified WSN routing protocol built on the top of the trickle routing algorithm. Routing algorithm was deployed using the bluetooth low energy protocol in order to achieve low power consumption. Performance of the WSN network was analyzed using a real life system implementation. Estimates of the WSN parameters such as battery life time, network size and packet delay are determined. Based on the performance of the WSN network, proposed system can be utilized for disaster monitoring and prediction due to its low power profile and mesh routing feature.

Keywords: Bluetooth low energy, disaster prediction, mesh routing protocols, wireless sensor networks.

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Authors: M. Gooroochurn, M. Ovinis, D. Kerr, K. Bouazza-Marouf, M. Vloeberghs

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A registration framework for image-guided robotic surgery is proposed for three emergency neurosurgical procedures, namely Intracranial Pressure (ICP) Monitoring, External Ventricular Drainage (EVD) and evacuation of a Chronic Subdural Haematoma (CSDH). The registration paradigm uses CT and white light as modalities. This paper presents two simulation studies for a preliminary evaluation of the registration protocol: (1) The loci of the Target Registration Error (TRE) in the patient-s axial, coronal and sagittal views were simulated based on a Fiducial Localisation Error (FLE) of 5 mm and (2) Simulation of the actual framework using projected views from a surface rendered CT model to represent white light images of the patient. Craniofacial features were employed as the registration basis to map the CT space onto the simulated intraoperative space. Photogrammetry experiments on an artificial skull were also performed to benchmark the results obtained from the second simulation. The results of both simulations show that the proposed protocol can provide a 5mm accuracy for these neurosurgical procedures.

Keywords: Image-guided Surgery, Multimodality Registration, Photogrammetry, Preoperative to Intraoperative Registration.

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Authors: Sharil Tumin, Sylvia Encheva

Abstract:

Centrally controlled authentication and authorization services can provide enterprise with an increase in security, more flexible access control solutions and an increased users' trust. By using redirections, users of all Web-based applications within an organization are authenticated at a single well known and secure Web site and using secure communication protocol. Users are first authenticated at the central server using their domain wide credentials before being redirected to a particular Web-based application. The central authentication server will then provide others with pertinence authorization related particulars and credentials of the authenticated user to the specific application. The trust between the clients and the server hosts is established by secure session keys exchange. Case- studies are provided to demonstrate the usefulness and flexibility of the proposed solution.

Keywords: Authentication, Authorization, Security, Protected Web-based Applications

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Authors: Ashok Kumar, Narottam Chand, Vinod Kumar

Abstract:

Due to the limited energy resources, energy efficient operation of sensor node is a key issue in wireless sensor networks. Clustering is an effective method to prolong the lifetime of energy constrained wireless sensor network. However, clustering in wireless sensor network faces several challenges such as selection of an optimal group of sensor nodes as cluster, optimum selection of cluster head, energy balanced optimal strategy for rotating the role of cluster head in a cluster, maintaining intra and inter cluster connectivity and optimal data routing in the network. In this paper, we propose a protocol supporting an energy efficient clustering, cluster head selection/rotation and data routing method to prolong the lifetime of sensor network. Simulation results demonstrate that the proposed protocol prolongs network lifetime due to the use of efficient clustering, cluster head selection/rotation and data routing.

Keywords: Wireless sensor networks, clustering, energy efficient, localization.

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Authors: Krishna S. Raghuwaiya, Shonal Singh, Jito Vanualailai

Abstract:

In this paper, we study the formation control problem for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations

Keywords: Control, Formation, Lyapunov, Nonholonomic

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Authors: Abdi T. Abdalla, Justinian Anatory

Abstract:

This paper investigates the possibility of improving throughputs of some Media Access Controls protocols such as ALOHA, slotted ALOHA and Carrier Sense Multiple Access with Collision Avoidance with the aim of increasing the performance of Powerline access networks. In this investigation, the real Powerline network topology in Tanzania located in Dar es Salaam City, Kariakoo area was used as a case study. During this investigation, Wireshark Network Protocol Analyzer was used to analyze data traffic of similar existing network for projection purpose and then the data were simulated using MATLAB. This paper proposed and analyzed three improvement techniques based on collision domain, packet length and combination of the two. From the results, it was found that the throughput of Carrier Sense Multiple Access with Collision Avoidance protocol improved noticeably while ALOHA and slotted ALOHA showed insignificant changes especially when the hybrid techniques were employed.

Keywords: Access Network, ALOHA, Broadband Powerline Communication, Slotted ALOHA, CSMA/CA and MAC Protocols.

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Authors: Sungju Lee, Jangsoo Lee , Hongjoong Sin, Seunghwan Yoo, Sanghyuck Lee, Jaesik Lee, Yongjun Lee, Sungchun Kim

Abstract:

The wireless sensor networks have been extensively deployed and researched. One of the major issues in wireless sensor networks is a developing energy-efficient clustering protocol. Clustering algorithm provides an effective way to prolong the lifetime of a wireless sensor networks. In the paper, we compare several clustering protocols which significantly affect a balancing of energy consumption. And we propose an Energy-Efficient Distributed Unequal Clustering (EEDUC) algorithm which provides a new way of creating distributed clusters. In EEDUC, each sensor node sets the waiting time. This waiting time is considered as a function of residual energy, number of neighborhood nodes. EEDUC uses waiting time to distribute cluster heads. We also propose an unequal clustering mechanism to solve the hot-spot problem. Simulation results show that EEDUC distributes the cluster heads, balances the energy consumption well among the cluster heads and increases the network lifetime.

Keywords: Wireless Sensor Network, Distributed UnequalClustering, Multi-hop, Lifetime.

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Authors: N. Affi, A. El Fadl, M. El Otmani, M.C. Benismail, L.M. Idrissi

Abstract:

The object of the present research was to assess the effects of partial rootzone drying (PRD) on tomato growth, productivity, biomass allocation and water use efficiency (WUE). Plants were grown under greenhouse, on a sand substrate. Three treatments were applied: a control that was fully and conventionally irrigated, PRD-70 and PRD-50 in which, respectively, 70% and 50% of water requirements were supplied using PRD. Alternation of irrigation between the two root halves took place each three days. The Control produces the highest total yield (252tons/ha). In terms of fruit number, PRD-50 showed 23% and 16% less fruits than PRD-70 and control, respectively. Fruit size was affected by treatment with PRD-50 treatment producing 66% and 53% more class 3 fruits than, control and PRD-70, respectively. For plant growth, the difference was not significant when comparing control to PRD-70 but was significant when comparing PRD-70 and control to PRD-50. No effect was on total biomass but root biomass was higher for stressed plants compared to control. WUE was 66% and 27% higher for PRD-50 and PRD-70 respectively compared to control.

Keywords: Biomass, growth, partial rootzone drying, water use efficiency yield.

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Authors: M. Ouassaid, A. Nejmi, M. Cherkaoui, M. Maaroufi

Abstract:

The very nonlinear nature of the generator and system behaviour following a severe disturbance precludes the use of classical linear control technique. In this paper, a new approach of nonlinear control is proposed for transient and steady state stability analysis of a synchronous generator. The control law of the generator excitation is derived from the basis of Lyapunov stability criterion. The overall stability of the system is shown using Lyapunov technique. The application of the proposed controller to simulated generator excitation control under a large sudden fault and wide range of operating conditions demonstrates that the new control strategy is superior to conventional automatic voltage regulator (AVR), and show very promising results.

Keywords: Excitation control, Lyapunov technique, non linearcontrol, synchronous generator, transient stability, voltage regulation.

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Authors: Pankaj Swarnkar, Shailendra Jain, R.K Nema

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Adaptive control involves modifying the control law used by the controller to cope with the fact that the parameters of the system being controlled change drastically due to change in environmental conditions or in system itself. This technique is based on the fundamental characteristic of adaptation of living organism. The adaptive control process is one that continuously and automatically measures the dynamic behavior of plant, compares it with the desired output and uses the difference to vary adjustable system parameters or to generate an actuating signal in such a way so that optimal performance can be maintained regardless of system changes. This paper deals with application of model reference adaptive control scheme in first order system. The rule which is used for this application is MIT rule. This paper also shows the effect of adaptation gain on the system performance. Simulation is done in MATLAB and results are discussed in detail.

Keywords: Adaptive control system, Adaptation gain, MIT rule, Model reference adaptive control.

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Authors: Hamed Rajabi, Naser Nematbakhsh, Naser Movahediniya

Abstract:

IP multicasting is a key technology for many existing and emerging applications on the Internet. Furthermore, with increasing popularity of wireless devices and mobile equipment, it is necessary to determine the best way to provide this service in a wireless environment. IETF Mobile IP, that provides mobility for hosts in IP networks, proposes two approaches for mobile multicasting, namely, remote subscription (MIP-RS) and bi-directional tunneling (MIP-BT). In MIP-RS, a mobile host re-subscribes to the multicast groups each time it moves to a new foreign network. MIP-RS suffers from serious packet losses while mobile host handoff occurs. In MIP-BT, mobile hosts send and receive multicast packets by way of their home agents (HAs), using Mobile IP tunnels. Therefore, it suffers from inefficient routing and wastage of system resources. In this paper, we propose a protocol called Mobile Multicast support using Old Foreign Agent (MMOFA) for Mobile Hosts. MMOFA is derived from MIP-RS and with the assistance of Mobile host's Old foreign agent, routes the missing datagrams due to handoff in adjacent network via tunneling. Also, we studied the performance of the proposed protocol by simulation under ns-2.27. The results demonstrate that MMOFA has optimal routing efficiency and low delivery cost, as compared to other approaches.

Keywords: Mobile Multicast, Mobile IP, MMOFA, NS-2. 27.

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Authors: Ghalem Belalem, Yahya Slimani

Abstract:

Large scale systems such as computational Grid is a distributed computing infrastructure that can provide globally available network resources. The evolution of information processing systems in Data Grid is characterized by a strong decentralization of data in several fields whose objective is to ensure the availability and the reliability of the data in the reason to provide a fault tolerance and scalability, which cannot be possible only with the use of the techniques of replication. Unfortunately the use of these techniques has a height cost, because it is necessary to maintain consistency between the distributed data. Nevertheless, to agree to live with certain imperfections can improve the performance of the system by improving competition. In this paper, we propose a multi-layer protocol combining the pessimistic and optimistic approaches conceived for the data consistency maintenance in large scale systems. Our approach is based on a hierarchical representation model with tree layers, whose objective is with double vocation, because it initially makes it possible to reduce response times compared to completely pessimistic approach and it the second time to improve the quality of service compared to an optimistic approach.

Keywords: Data Grid, replication, consistency, optimistic approach, pessimistic approach.

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Authors: Youssou Faye, Ibrahima Niang, Thomas Noel

Abstract:

Access control is a critical security service in Wire- less Sensor Networks (WSNs). To prevent malicious nodes from joining the sensor network, access control is required. On one hand, WSN must be able to authorize and grant users the right to access to the network. On the other hand, WSN must organize data collected by sensors in such a way that an unauthorized entity (the adversary) cannot make arbitrary queries. This restricts the network access only to eligible users and sensor nodes, while queries from outsiders will not be answered or forwarded by nodes. In this paper we presentee different access control schemes so as to ?nd out their objectives, provision, communication complexity, limits, etc. Using the node density parameter, we also provide a comparison of these proposed access control algorithms based on the network topology which can be flat or hierarchical.

Keywords: Access Control, Authentication, Key Management, Wireless Sensor Networks.

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Authors: Cheng-Fang Huang, Meei-Ling Hung, Teh-Lu Liao, Her-Terng Yau, Jun-Juh Yan

Abstract:

The design of chaos-based secure communication via synchronized modified Chua-s systems is investigated in this paper. A continuous control law is proposed to ensure synchronization of the master and slave modified Chua-s systems by using the variable structure control technique. Particularly, the concept of extended systems is introduced such that a continuous control input is obtained to avoid chattering phenomenon. Then, it becomes possible to ensure that the message signal embedded in the transmitter can be recovered in the receiver.

Keywords: Chaos, Secure communication, Synchronization, Variable structure control (VSC)

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Authors: Hadi Adibi-Asl, Alireza Doosthosseini, Amir Taghavipour

Abstract:

This paper studies the design of an adaptive control strategy to tune an active steering system for better drivability and maneuverability. In the first step, adaptive control strategy is applied to estimate the uncertain parameters on-line (e.g. cornering stiffness), then the estimated parameters are fed into the pole placement controller to generate corrective feedback gain to improve the steering system dynamic’s characteristics. The simulations are evaluated for three types of road conditions (dry, wet, and icy), and the performance of the adaptive pole placement control (APPC) are compared with pole placement control (PPC) and a passive system. The results show that the APPC strategy significantly improves the yaw rate and side slip angle of a bicycle plant model.

Keywords: Adaptive control, active steering, pole placement, vehicle dynamics.

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Authors: Sanda Win, Tin Shein, Khin Maung Latt

Abstract:

This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.

Keywords: Assembly Language, Direction Control, SpeedControl, PIC 16F 873A

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Authors: Fayssal Amrane, Azeddine Chaiba

Abstract:

In this paper, type-2 fuzzy logic control (T2FLC) and neuro-fuzzy control (NFC) for a doubly fed induction generator (DFIG) based on direct power control (DPC) with a fixed switching frequency is proposed for wind generation application. First, a mathematical model of the doubly-fed induction generator implemented in d-q reference frame is achieved. Then, a DPC algorithm approach for controlling active and reactive power of DFIG via fixed switching frequency is incorporated using PID. The performance of T2FLC and NFC, which is based on the DPC algorithm, are investigated and compared to those obtained from the PID controller. Finally, simulation results demonstrate that the NFC is more robust, superior dynamic performance for wind power generation system applications.

Keywords: Doubly fed induction generetor, direct power control, space vector modulation, type-2 fuzzy logic control, neuro-fuzzy control, maximum power point tracking.

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Authors: A. Boualouch, A. Essadki, T. Nasser, A. Boukhriss, A. Frigui

Abstract:

This paper presents a power control for a Doubly Fed Induction Generator (DFIG) using in Wind Energy Conversion System (WECS) connected to the grid. The proposed control strategy employs two nonlinear controllers, Backstipping (BSC) and slidingmode controller (SMC) scheme to directly calculate the required rotor control voltage so as to eliminate the instantaneous errors of active and reactive powers. In this paper the advantages of BSC and SMC are presented, the performance and robustness of this two controller’s strategy are compared between them. First, we present a model of wind turbine and DFIG machine, then a synthesis of the controllers and their application in the DFIG power control. Simulation results on a 1.5MW grid-connected DFIG system are provided by MATLAB/Simulink.

Keywords: Backstipping, DFIG, power control, sliding-mode, WESC.

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Authors: S. H. Teh, S. Malawaraarachci, W. P. Chan, A. Nassirharand

Abstract:

The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.

Keywords: Nonlinear control, describing functions, AdjustableCoulomb friction, Adjustable backlash.

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Authors: Lili Sun, Hua Wang

Abstract:

As privacy becomes a major concern for consumers and enterprises, many research have been focused on the privacy protecting technology in recent years. In this paper, we present a comprehensive approach for usage access control based on the notion purpose. In our model, purpose information associated with a given data element specifies the intended use of the subjects and objects in the usage access control model. A key feature of our model is that it allows when an access is required, the access purpose is checked against the intended purposes for the data item. We propose an approach to represent purpose information to support access control based on purpose information. Our proposed solution relies on usage access control (UAC) models as well as the components which based on the notions of the purpose information used in subjects and objects. Finally, comparisons with related works are analyzed.

Keywords: Purpose, privacy, access control, authorization

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Authors: Eunil Park, Kwangsu Cho

Abstract:

The wireless link can be unreliable in realistic wireless sensor networks (WSNs). Energy efficient and reliable data forwarding is important because each node has limited resources. Therefore, we must suggest an optimal solution that considers using the information of the node-s characteristics. Previous routing protocols were unsuited to realistic asymmetric WSNs. In this paper, we propose a Protocol that considers Both sides of Link-quality and Energy (PBLE), an optimal routing protocol that balances modified link-quality, distance and energy. Additionally, we propose a node scheduling method. PBLE achieves a longer lifetime than previous routing protocols and is more energy-efficient. PBLE uses energy, local information and both sides of PRR in a 1-hop distance. We explain how to send data packets to the destination node using the node's information. Simulation shows PBLE improves delivery rate and network lifetime compared to previous schemes. Moreover, we show the improvement in various WSN environments.

Keywords: energy-efficient, lifetime, PBLE, unreliable

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