中文摘要：

无线传感器／执行器网络（WSANs）主要应用于自动控制领域，实时性问题是其面临的首要挑战．根据实际环境中的节点部署情况，建立了系统模型；研究了分簇策略与功率控制技术对于自组织网络实时性的影响，提出了一种可适用于WSANs的能量有效的实时分簇路由协议——RECRP协议．该协议采用二级成簇策略使网络中的各类节点稳定分簇．分簇后的各类节点具有不同发射功率，利用执行器节点的强大通信能力有效降低网络延时,采用能量有效性算法使网络中的传感器节点轮换担任簇首，从而使网络能量均匀消耗，延长网络的生存时间．实验结果证明，在WSANs中RECRP协议可使网络稳定分簇，并且在网络的实时性与能量有效性方面与现有典型路由协议相比具有更优越的性能。

英文摘要：

Wireless sensor and actor networks （WSANs） are composed of sensors and actors to perform distributed sensing and acting tasks. Depending on the application of automation there may be a need to rapidly respond to sensor input. The issue of real-time communication is one of the most important challenges in wireless sensor and actor networks. Besides, the energy efficiency of network is also crucial. Although WSAN is derived from wireless sensor networks （WSNs）, since the application requirements impose stricter constraints, many protocols and algorithms which have been proposed for WSNs may not be well-suited for the unique features and requirements of WSANs. A system model according to a real network situation is proposed. In this paper, the performance of clustering algorithms and a power control scheme in minimizing the network latency are studied, and a real-time energy-aware cluster-based routing protocol （RECRP） for WSANs is proposed and evaluated. A novel two-level clustering scheme based on power control technique is proposed in the algorithm to reduce the network latency, and cluster-heads are elected by an energy-efficient algorithm to increase the network lifetime. The experimental results demonstrate that the cluster could be formed stably by RECRP in WSANs, and it provides shorter latency and longer lifetime than the current typical routing protocols.