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Thus, a localization system is required in order to provide the position information to the nodes The importance of the localization information arise from several factors, many of them related only to the WSNs Some of these factors include: r Gathered Data Identi cation: This consists in mapping the data/events to their location of gather/occurrence One of the main goals of a WSN is to monitor an area of interest However, once the data are collected, it becomes important to identify the region to which these data belong r Gathered Data Correlation: This allows the intermediate nodes to correlate and perform information fusion of the data gathered on the same region while these data are forwarded through the network [17 19] r Nodes Addressing: This refers to the possibility of using the physical location of the nodes that have their unique identi cation in the network [20, 21]..

XScale, ARM11 and all future cores have branch prediction hardware and do not suffer from the above looping problem. Their hardware predicts branch instructions that will be taken based on past history of the code and heuristic rules. If a branch is correctly predicted the CPU will continue execution without a penalty, unpredicted branches will incur a pipeline ush penalty. ARM11 goes one step further with branch folding. Predicted branch instructions are removed from the pipeline and the branch target instruction is executed immediately thus saving one more cycle. Sometimes, of course, you can t avoid writing code that does this sort of thing, and in these cases you may decide to unroll the loop by performing more than a single operation in each iteration. You must weigh the increased code size produced by unrolling the loop against the improved execution time it gives. For example, take this memory checksum function:

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r Network Management: This allows the management and query of nodes localized in a determined region [22], evaluation of the nodes coverage [23], and energy maps generation [24]. r Geographic Algorithms: These are algorithms that use the localization information of the nodes to optimize the use of the network resources. Some of these algorithms include routing [22, 25 27], density control [23], and object tracking [28] algorithms.

62 62 25 58 63 59 58

TInt trivial_checksum(TInt8* aBlock, TInt aLen) { TInt i=0; TInt8* j; for (j=aBlock; j<aBlock+aLen; j++) i+=*j; return i; }

11.1.3 Requirements of a Localization System Due to its limitations and applications, the WSNs impose a number of prerequisites that must be taken into consideration by a localization system. Some of these prerequisites include: r Auto-organization, Which is independent of any infrastructure. r Scalability, Where the algorithms can be applicable to large-scale and/or dense sensor networks. r Robustness, which consists of tolerance to communication problems and also to inaccurate distance and position information. r Ef ciency on using the network resources, because even being indispensable to the most WSNs, the localization system is not the main goal of these networks.

FIGURE 15.4 Z-DNA binding motifs. Shown are Z-DNA binding motifs from variola, vaccinia, and monkeypox E3L proteins, and for the cellular proteins ADAR1 (Za and Zb domains), DLM, and the Carassius auratus PKR. Caret (^), indicates conserved hydrophobic residues in the core of ADAR1 Za, and asterisk (*) indicates conserved residues that contact Z-DNA. ^

11.1.4 The Components of the Localization Systems The localization systems can be divided into three distinct components: 1. Distance/Angle Estimation: This component is responsible for estimating information of distances and/or angles between two nodes. Such information will be used by the other components of the localization system. 2. Position Computation: This component is responsible for computing a node s position based on the available information of distances/angles and positions of the reference nodes. 3. Localization Algorithm: This is the main component of a localization system. It determines how the available information will be manipulated in order to allow most or all the nodes of the WSN to estimate their positions. Figure 11.2 depicts this component division. Besides being a didactic viewpoint, the importance of such a division into components comes, as we will see, from the need to recognize that the nal performance of the localization systems depends directly on each one of these components. Also, each component has its own goal and methods of solution. They can be seen as subareas of the localization problem that need to be separately analyzed and studied.

Compare this to an unrolled version:

clustered network architectures where multiple base stations operate independently. Section 9.4 highlights the challenges of coordinated repositioning of multiple nodes and describe few attempts to tackle these challenges. Finally, Section 9.5 concludes the chapter.

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