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[32] use triangles formed by three beacon nodes, and a node decides if it is inside or outside these triangles by comparing its signal strength measurements with the measurements of its neighbors The position of the node is computed by nding the centroid of the intersection of the beacon triangles that the node is inside Other works concentrate all information of distances among the nodes into a central node and uses mathematical optimization techniques to compute the positions of the nodes As examples, we have (a) the work of Doherty et al [5], which formulated the localization problem as a convex optimization problem based only in connectivity-induced constraints and used semide nite program (SDP) to solve the problem, and (b) the work of Shang et al [7, 45] that used multidimensional scale (MDS) The choice of what method to use can also impact the nal performance of the localization system.

[ Team LiB ]

Note: 427 plans reporting in 1999; 422 plans reporting in 2001; 486 plans reporting in 2003; 448 plans reporting in 2005; percents do not total 100% due to rounding. Source: Hewitt Associates LLC, Surveys Findings: Trends and Experiences in 401(k) Plans 2005 (Illlinois: Hewitt Associates LLC, 2005), 37.

In the next section, some localization algorithms will be studied Depending on the used localization algorithm, this error in the position computation can harm in greater or minor degree the localization system as a whole In some algorithms, for example, the newly computed positions are used to assist the other unknown nodes to compute their positions In this case, a small error in the position computation can result in a localization system with high errors..

TABLE 11.3. Comparison of the Methods Used to Compute Positionsa Method Trilateration Multilateration Triangulation Probabilistic Bounding Box Central Position # Refs 3 n 3 3 n 3 n 2 n 1 Dist Angle Yes Yes No Yes Yes No No No Yes No No No Comp. O(1) O(n3 ) O(1) O(3d 2 ) (d=grid) O(n) O(n) Challenges Susceptible to inaccurate distances Computational complexity Require extra hardware Computational and space complexity Final Position Error Final position error

[ Team LiB ]

a Again, there is no ideal solution that works in all scenarios. The choice of what method to use will depend

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The Eclipse workspace provides resources stored in the file system A workspace consists of projects containing folders containing files, as shown in Figure 327

The information of positions and distances gathered by a node and the available processor resources also restrict the choice of what method to used. Table 11.3 summarizes and compares the main characteristics of the position computation methods explained in this section.

11.4 LOCALIZATION ALGORITHM The localization algorithm is the main component of a localization system. This component determines how the information of distances and positions will be manipulated in order to allow most or all the nodes of the WSN to estimate their positions. The localization algorithms can be classi ed into some categories: r Distributed or Centralized Position Computation. The positions of the nodes can be computed in a distributed way by the network nodes (selfpositioning) [8, 9, 34] or by a single central node (e.g., a more powerful node, the sink node remote positioning) [5, 46]. r With or Without an Infrastructure. If there is no need for infrastructure [8, 9] or if there is the need to redesign the previous infrastructure in order to allow the functioning of the localization algorithm (e.g., manual placement of the beacon nodes) [34, 36, 47], r Relative or Absolute Positioning. The computed positions can be related to global coordinates (e.g., latitude, longitude) [9, 34] or related to a node or point of the network [48, 49]. r Indoor or Outdoor Scenarios. If the system is more appropriated for indoors [36, 47] or outdoors [34] scenarios. r One Hop or Multi Hop. If all unknown nodes have direct communication with the beacon nodes [34, 47] or if a multihop communication is needed [8, 9].

You access the Singleton workspace instance from the static accessor ResourcesPlugingetWorkspace() An IWorkspaceRoot represents the top of the resource hierarchy in a workspace The workspace is a hierarchical structure and it therefore matches the intent of the Composite pattern well: "Compose object into tree structures to represent part/whole hierarchies Composite lets clients treat individual objects and compositions of objects uniformly"Figure 328 shows how the implementation of a workspace maps to Composite: