robust mulilayer design of wireless networks for distributed systems andrea goldsmith stanford...
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Robust Mulilayer Design of Wireless Networks for Distributed Systems
Andrea GoldsmithStanford University
wsl.stanford.edu
IPAM WorkshopMay 16, 2002
Massively Distributed Systems
Challenges
Design and capacity of large wireless adhoc networks are open problems
Hard energy and delay constraints change fundamental design principles
Many applications fail miserably with a “generic” network approach
Example: String Stability
Applied to vehicle platoons with linear controllersString stable if spacing error decreases along platoon
Communication system: token passing WLAN
Controllers unstable for any delay in lead vehicle information
Lead vehicle broadcasts or controller redesign stabilizes the system under bounded delay
Multilayer Design Hardware
Power or hard energy constraints Size constraints
Link Design Time-varying low capacity channel
Multiple Access Resource allocation (power, rate, BW) Interference management
Networking. Routing, prioritization, and congestion control
Application Real time media and QOS support Hard delay/quality constraints
Multilayer Design
Design Issues
Some applications require tight coupling across layers, while others can be more flexible
Diversity and adaptability are essential for robustness
What information should be exchanged across layers and how it should be used
Outline
Fundamental capacity limits Adaptive modulation and resource
allocation Medium access control Ad hoc network design Energy constrained networks Joint control and communication design Multilayer network design
Wireless Channel Capacity
Fundamental Limit on Data Rates
Main drivers of channel capacityBandwidth and powerStatistics of the channelChannel knowledge at transmitter/receiverNumber of antennasMinimum rate and delay constraints
Capacity: The set of simultaneously achievable rates {R1,…,Rn}
R1R2
R3
Broadcast: One Transmitter to Many Receivers.
Multiple Access: Many Transmitters to One Receiver.
Min-Rate Capacity Region:
Severe Rician Fading
Independent Rician fading with K=1 for both users(severe fading, but not as bad as Rayleigh).
P = 10 mW, B = 100 KHz
Adaptive Modulation and Coding in Flat
Fading
Adapt transmission to channelParameters: power,rate,code,BER, etc.Capacity-achieving strategy
Recent WorkAdaptive modulation for voice and data (to meet QOS)Adaptive turbo coded modulation (<1 db from capacity)Multiple degrees of freedom (only need exploit 1-2)Adaptive power, rate, and compression with hard deadlines
(t)
UncodedData Bits Buffer
M()-QAM ModulatorPower: S()
To Channel(t)
PointSelector
log2 M() Bits One of theM() Points
BSPK 4-QAM 16-QAM
Adaptation under Hard
Delay Constraints
30ms constraint
90ms constraint
Optimal Power Control and Joint Source/Channel Coding
Data Rate (bps)
Pow
er (
mW
)
Ad-Hoc Network Capacity
Each node generates independent data. Source-destination pairs are chosen at random. Routing can be multihop. Topology is dynamic Generally a fully connected network with different link
SNRs Can allocate resources dynamically (rate, power, BW,
routes,…)
Capacity RegionAll achievable rate vectors between
nodesAn n(n-1) dimensional convex
polyhedronEach dimension defines (net) rate from one
node to each of the others
AchievabilityTime divisionAWGN or flat fadingCentralized control
Converse
3
1
2
4
5
Rate Matrix
1 2
3 4
Data from 1, rate 10
Data from 2, rate 20
0000
0000
202000
001010
R
Transmission Scheme Rate Matrix
Transmission scheme at time t for n users (snapshot)Rows represent original data sourceNegative entries represent bits to send or forwardPositive entries represent bits received (data rate)Link rates dictated by link capacity given SIR
(variable rate)Multihop routing and power control increase set of
matrices
Time Division
Time division of two schemes is a linear combination of their rate matrices.
Example: 50% of time under scheme A and 50% of time under scheme B has rate matrix:
5500
0000
1010200
0055
101000
0000
040400
0000
5.0
0000
0000
202000
001010
5.0
Scheme A Scheme B 50/50 Time Division
User 1 sends 5 bps/Hz to User 2User 2 sends 10 bps/Hz to User 3 and 10 bps/Hz to User 4User 4 sends 5 bps/Hz to User 3
Capacity Region
A matrix R belongs to the capacity region if there are rate matrices R1, R2, R3 ,…, Rn such that
Linear programming problem: Need clever techniques to reduce complexityPower control, fading, etc., easily incorporatedRegion boundary achieved with optimal routing
0 , 1 ,1 1
i
n
ii i
n
iia a R a R
Achievable ratevectors achieved by time division
Capacity region is convex hull ofall rate matrices
Example: Six Node Network
Capacity region is 30-dimensional
Capacity Regions(a): Single hop, no simultaneous transmissions.(b): Multihop, no simultaneous transmissions. (c): Multihop, simultaneous transmissions.(d): Adding power control (e): Successive interference cancellation, no power control.
jiijRij ,34,12 ,0
Multiplehops
Spatial reuse
SIC
Extensions: - Capacity vs. network size - Energy constraints - Fading and mobility - Multihop cellular
Fading increases capacity
(a): No routing, no simultaneous transmissions.(b): Routing, no simultaneous transmissions.(c): Routing, simultaneous transmissions.(d): Adding power control.(e): Successive interference cancellation, no power control.
Gain matrix alternates between N fading states
In a similar way, mobility also increases capacity
Shannon Capacity of Ad-Hoc Networks
For n nodes, p(x(1),…,x(n)) s.t. (Cover/Thomas)
},...,1{),|;( )()()(
,
nSXYXIRcc
c
SSS
SjXiij
Rate flow across cutsets bounded by conditional MI
S ScXi
Yj
Yk
Xk
Relay transmissions
Nodes can transmit directly and/or use other nodes as relays
Relay Channel Results Direct plus one relay (Cover,El Gamal’79)
Parallel relays (Schein,Gallager’00)
Source Destination
N1+
+
N2
SourceDestination
N1+
+
N2
+
N3
Capacity Strategy:- Broadcast coding-Cooperative MAC coding- Source coding-Random, list, block Markov codes
Capacity Upper Bounds1) Data processing thm2) Cover/El Gamal result
Achievability1) Staggered block coding2) Transponder schemeBounds not tight: hard problem
Capacity Ideas for Ad Hoc Networks
Multiple Antenna (MIMO) ChannelsCan obtain large capacity increases with multiple
antennas In sensor networks, sensor clusters can utilize
these gains
Interference “Dirty paper” coding removes the effect of known
interference without increasing required transmit power
Shannon capacity ignores data arrival statistics
Does MAC capacity change for bursty data?Can only decrease
Need better transmission strategies for Aloha
Need better methods of collision resolution
Random Access
Medium Access Control
Nodes need a protocol for channel accessMinimize packet collisions and insure channel not
wastedCollisions entail significant delay
First protocols designed for fully-connected networksSuffer from hidden and exposed terminal problems
802.11 uses four-way handshakeCreates inefficiencies, especially in multihop setting
HiddenTerminal
ExposedTerminal
1 2 3 4 5
Multiple mini-slots
Multiple mini-slots increase efficiency of collision resolution
Different minislot protocols investigated Distributed p-Persistent Algorithm (DPA) Distributed Splitting Algorithm (DSA) Distributed Token Bus (DTB)
Propagation delay factored in guard times Non FIFO queueing also improves efficiency
Time
mini-slot pairsdata slot
Throughput versus Delay
(a): Theoretical bound
(b): IEEE802.11 upper bound
(c): IEEE802.11
(d): DPA
(d’): non-FIFO DPA
(e): DSA
(e’): non-FIFO DSA
(f): DPA
(f’): non-FIFO DPA
(a)
(b)
(d)
(c)
(e’)
(d’)
(f’)
(f)
(e)
Numerical results obtained via discrete event simulation
DTB Capacity Region
(a): Theoretical bound
(b): IEEE802.11 upper bound
(c): IEEE802.11
(d): DPA
(e): DSA
(f): DPA(d)
(b)
(c)
(a)
(e)
(f)
MAC with Data Prioritization
Each user transmits whenever he has data to send
Coding strategy: Combine broadcast and MACEach user sends a multiresolution signalWithout collisions all data gets throughWith collisions some data gets through
Lost bits may be retransmitted
2=p2L/T
1=p1L/T
Results High priority data always gets through
This coding strategy achieves capacity If (1,2)C, these rates will be achievedBurstiness does not decrease capacity!
Superposition coding only needed when users have very different SNRsOtherwise code for constant collisions or no collisions,
depending on pi.
Show that queues in system are stable for any rate pair (1,2) inside MAC capacity region.
Networks with Energy-Constrained Nodes
Capacity per unit energy (Gallager’87, Verdu’90)Number of bits per unit energy such that error
probability decreases to zero with increasing energy
Not possible to send a finite number of bits with finite energy and Pe arbitrarily small
Energy per bit minimized by sending bits over many dimensions (symbols,time,BW)New communication system paradigm
Network designs must now consider node lifetime (among other things) in MAC and routing protocols
Energy Constrained Networks
Channel capacity is the maximum possible rate with arbitrarily small Pe (reliable transmission) Input often has an average or peak power constraint
Capacity per unit cost (Gallager’87, Verdu’90)Number of bits that can be transmitted per unit cost
for sending these bits (cost is typically energy)
Not possible to send a finite number of bits with finite energy and Pe arbitrarily small
Capacity per unit energy achieved with on-off signalling
We investigate dynamic rate, power, and routing strategies for networks with finite-energy nodes
Bits per Unit Energy General channels with a “0” (Verdu’90)
Gaussian channels with energy E and M messages
Minimum energy per bit:
Codes arbitrarily long for small Pe, and E
Exx
ppDC
n
i
XYxXYx
1
20|| ,2
)||(sup~
2/1log
2
log~
0
2
nN
E
E
n
E
MC
2ln)5./1log(5.
/lim~
1limmin 0
0
NnNE
nE
CE
nnb
Energy vs. Symbol per Bit
Energy/bit
Symbols/bit
N0 ln2
Minimum energy per bit achieved with many degrees of freedom
Can fading help? For most fading distributions, channel gain is
large with small probability
With finite energy, can transmit any number of bits with Pe arbitrarily smallTransmit when channel is “good”Delay can be largeCapacity per unit energy typically infinite
We consider maximizing the number of bits transmitted reliably over a block fading channelDelay constraint: can’t average over all fading values
System Model m blocks of n symbols (n large)
m represents delay constraintEach block has small but nonzero Pe
Fading gain on ith block is g[i] (i.i.d.)Transmitter and receiver know g[i] at time i
Energy on ith block:
Effective energy on ith block:
X11,…,X1n X21,…,X2n Xm1,…,Xmn
g1 g2 gm
n
k ikXiE1
2][
n
kikeff XigiEigiE
1
2][][][][
Maximizing Transmitted Bits
AWGN channel with gain g and energy E:Minimum energy per bit: N0 ln 2/gBits per unit energy: g/(N0 ln 2)Total number of bits sent: B=gE/(N0
ln 2)
For block fading, bits sent in ith frame:
m
i
EiEN
iEigiB
10
][,2ln
][][][
Goal: optimally allocate E to maximize sum of bits
Problem Formulation
Optimizing Energy Allocation
Finite horizon dynamic programmingValue iteration algorithm
m
i
m
imggmEE
EiEN
iEigEB
11 0][],...,1[][],...,1[
* ][,2ln
][][max
miigJEN
iEigigJ ii
,])]1[([,
2ln
][][max])[( 1
0
2ln
][][])[(
0N
mEmgmgJm
Threshold Policy
Energy allocated according to threshold rule
Recursion for i:
Threshold decreases with each block: ii+1
])]1[([2ln
,0
][][ 1
0
igJEE
N
else
igEiE ii
i
Use all energy in current block if fading exceeds expected future gains
1
)()(,)()( 11
i
xgpxPdxxxpP iii
Threshold LevelThreshold Level in Rayleigh Fading for m=20
Th
resh
old
i
Block Number 0 2 4 6 16 18 20 14 12 10 8
0
0.5
1
1.5
2
2.5
3
3.5
Transmit
Don’t Transmit
Capacity Evaluation
Maximum number of transmitted bits
dxxpN
xEB
m
ii
)(2ln1 0
*
Capacity in Rayleigh Fading
Block Number 0 10 20 30 80 90 100 70 60 50 40
0
5
10
15
Energy Constrained Routing
Ad hoc network with n nodesLink gains between nodes are Gij.Each node has finite energy Ei
Minimum energy to send 1 bit on link ij is N0ln2/Gij
Maximize the total number of bits sent from A0 to An-1 given the node energy constraints
A0
An-1
Minimum Energy Routing
Routing strategy for each bit:Choose a route from A0 to An-1 with the
minimum total energy per bit (minimum cost)
Shortest path problemSolved using dynamic programmingReduce node energy after each transmissionTotal number of transmitted bits depends on
node energies
ij
Tb
AAA G
NE
n
2lnminarg 0
),...,,{
*
110
Joint Control and Network Design
Robust controllers compensate for modeling errorsThere is little known about incorporating random
packet delays and losses into controller design
Network-robust controllers must compensate for asynchronous, delayed, and lossy information
Network tradeoffs impact controller performanceRate vs delay, hard deadlines, energy constraints.
Network requirements defined by controller design
Network and controller should be jointly designed
Fundamental Trade-offs
Effects of communication faults on controller
High data rates, low latency, low packet loss are competing objectives in wireless networks.
Control system
Data rates Quantization noise
Random Packet Delay Delay and asynchronicity in feedback
Packet loss Vacant sampling
General Problem Setup
LTIPlant
RemoteController
Sh Hh
WirelessLink
WirelessLink
Noise & disturbance
Measured outputs
Sampled outputs
Regulated outputs
Desired control input
Actual control input
Goal: Investigate effects of quantization noise, packet loss/delay,and link design and adaptation on the controller performance.
Performance We consider both hard and soft decoding on the link
Soft decision implies no packet errors or lossHard decision entails random packet loss
H2 norm – the covariance in the regulated output when the driven noise is N(0, I).
Hybrid system (sampled-data system) is not LTI, but it is periodic. We use a generalized H2 norm.
Sampled-data H2 optimal control solved via an associated discrete-time system, which depends on sample period h.
With packet loss, we use the covariance in the regulated output as performance measure. The regulated output is a Gaussian mixture Its statistics are time-varying.
Robustness to Packet Loss
Robustness to Imperfect Communication
Performance Comparison(average power = .01)
Multilayer Design Issues
Network VariationsVariations at take place on difference timescalesVariations should be adapted to locally and globally
Fundamental QuestionsWhat information should be exchanged across
layers?How should that information be used at each layer?Where do “separation theorems” apply? If guaranteed QoS not possible, then what?
CoordinationHow to balance the needs of all users/applications
Conclusions Multilayer design of networks an open
problem
Energy and delay constraints require new design philosophies
Some applications require joint design of hardware, link, network, and application protocols.