Event-triggered control (ETC) holds the potential to significantly improve the efficiency of wireless networked control systems. Unfortunately, its real-world impact has hitherto been hampered by the lack of a network stack able to transfer its benefits from theory to practice specifically by supporting the latency and reliability requirements of the aperiodic communication ETC induces. This is precisely the contribution of this article.Our Wireless Control Bus (WCB) exploits carefully orchestrated network-wide floods of concurrent transmissions to minimize overhead during quiescent, steady-state periods, and ensures timely and reliable collection of sensor readings and dissemination of actuation commands when an ETC triggering condition is violated. Using a cyber-physical testbed emulating a water distribution system controlled over a real-world multi-hop wireless network, we show that ETC over WCB achieves the same quality of periodic control at a fraction of the energy costs, therefore unleashing and concretely demonstrating its full potential for the first time.

Many research and industrial communities are betting on LoRa to provide reliable, long-range communication for the Internet of Things. This new radio technology, however, provides widely heterogeneous coverage; a LoRa link may span hundreds of meters or tens of kilometers, depending on the surrounding environment. This high variability is not captured by popular channel models for LoRa, and on-site measurementsÐa common alternativeÐare impractical due to the large geographical areas involved. We propose a novel, automated approach to estimate the coverage of LoRa gateways prior to deployment and without on-site measurements. We achieve this goal by combining free, readily-available multispectral images from remote sensing with the right channel model. Our processing toolchain automatically classifies the type of environment (e.g., buildings, trees, or open fields) traversed by a link, with high accuracy (>90%) and spatial resolution (10×10m²). We use this information to explain the attenuation observed in experiments. As signal attenuation is not well captured by popular channel models, we focus on the Okumura-Hata empirical model, hitherto largely unexplored for LoRa, and show that i) it yields estimates very close to our observations, and ii) we can use our toolchain to automatically select and configure its parameters. A validation on 8,000+ samples from a real dataset shows that our automated approach predicts the expected signal power within a ∼10dBm error, against the 20ś40dBm of popular channel models.