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Wireless sensor networks (WSN) are designed for data gathering and processing, with particular requirements: low hardware complexity, low energy consumption, special traffic pattern support, scalability, and in some cases, real-time operation. In this paper we present the virtual TDMA for sensors (VTS) MAC protocol, which intends to support the previous features, focusing particularly on real-time operation. VTS adaptively creates a TDMA arrangement with a number of timeslots equal to the actual number of nodes in range. Thus, VTS achieves an optimal throughput performance compared to TDMA protocols with fixed size of frame. The frame is set up and maintained by a distributed procedure, which allows sensors to asynchronously join and leave the frame. In addition, duty cycle is increased or decreased in order to keep latency constant below a given deadline. Therefore, a major advantage of VTS …