Welcome to the WeBS Retreat

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Welcome to the WeBS Retreat

• David Culler
• Eric Brewer, David Wagner
• Shankar Sastry, Kris Pister

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Outline

• Introductions
• Background on the Project
• What Retreats are About
• Overview of the Retreat

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DARPA NEST program

• Goal novel approaches to design and
  implementation of SW for networked embedded
  information systems
• enable fine-grain fusion of physical and
  information processes.
• Dependable, RT, distributed, embedded applns on
  100-10,000 simple computing nodes, dynamically
  reconfigured to changing environment
• Closed loop interaction between physical and
  information system components
• eg. MEMS-based control health mgmt of
  platforms, smart structures, coordination of
  large groups of objects
• appln independent adaptable middleware for
  real-time coordination and synthesis

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NEST Topic Areas

• Application Independent Coordination Services
• customizable, verified algorithmscode to support
  time-bounded coordination across NEST applns
• Time-Bounded Synthesis
• theory and technology for time-bounded synthesis
  services
• gt control sequences, schedules, configs,
  resource maps,...
• Service Composition and Adaptation
• automated composition of coord service packages
• Open Experimental Platforms
• physical system and software components
• related challenge problems and integration
  experiments
• used for affordable evaluation and demonstration
  of NEST technologies

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NEST in a nutshell
Challenge Application
SW platform
HW platform
sensors actuators processing storage
communication

• Two Open Experimental Platforms
• Boeing tight, highly engineered, smart
  structures
• UCB flexible, low power, wireless, free space,
  ...
• OEP must include challenge application
• Not enough to build it, must drive the middleware

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UCB redefined the program

• Smart Dust WeC Mote gt TinyOS gt Rene Platform
• Concurrency framework
• Messaging Networking stacks (RF and Serial)
• Basic Multihop routing
• Crossbow manufacturing
• 29 Palms Sensit Demonstration
• We proposed to deliver a platform to the program
  6 months after start of project!

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Statement of Work

• Develop sequence of open experimental platforms
• basic services (time synch, trigger)
• Develop Challenge Application for NEST
• FSM high-concurrency programming environment
• Infrastructure support
• Adversarial simulation
• Macroprogramming unstructured aggregates
• Do challenge appln and integration experiments
• env. monitor, distributed mapping, pursuer-evader

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NEST is one component of Activity

• Completion of Smart Dust Project
• Ongoing Sensor Webs Project
• primarily focused on theoretical aspects
• Creation of Intel Research _at_ Berkeley
• Extreme Networked Systems Lab
• CITRIS - Center for Information Technology
  Research in the Interests of Society

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Structural performance due to multi-directional
ground motions (Glaser CalTech)
Mote infrastructure

• .

Mote Layout
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Comparison of Results
Wiring for traditional structural
instrumentation truckload of equipment
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Tokachi Port, Hokkaido - Liquifaction
Virtual data logger High Confidence in Passive
state Dense Distributed Data Analysis Reclamation
Rapid, cheap, installation of vertical array
post-blast
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DARPA NEST Open Experimental Platform

• 1,000 Micas Delivered to NEST Feb 02
• 500 to UCB (Nest, Millennium), 250 to Intel
• Crossbow continues to manufacture
• new radio
• new microcontroller
• 14 Demos in July

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NEST MICA architecture

• Atmel ATMEGA103
• 4 Mhz 8-bit CPU
• 128KB Instruction Memory
• 4KB RAM
• 4 Mbit flash (AT45DB041B)
• SPI interface
• 1-4 uj/bit r/w
• RFM TR1000 radio
• 50 kb/s ASK
• Focused hardware acceleration
• Network programming
• Rich Expansion connector
• i2c, SPI, GIO, 1-wire
• Analog compare interrupts
• TinyOS tool chain
• sub microsecond RF synchronization primitive
• 10 mW active, 40 uW passive

51-Pin I/O Expansion Connector
8 Analog I/O
8 Programming Lines
Digital I/O
Atmega103 Microcontroller
DS2401 Unique ID
Coprocessor
Transmission Power Control
Hardware Accelerators
SPI Bus
TR 1000 Radio Transceiver
4Mbit External Flash
Power Regulation MAX1678 (3V)
2xAA form factor
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NEST Rich Sensor board
Environment Ranging Detection Movement
Microphone
Sounder
Magnetometer
1.25 in
Temperature Sensor
Light Sensor
2.25 in
Accelerometer
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TinyOS Application Graph
Route map
router
sensor appln
application
Active Messages
Radio Packet
Serial Packet
packet
Temp
photo
SW
Example ad hoc, multi-hop routing of photo
sensor readings
HW
UART
Radio byte
ADC
byte
3450 B code 226 B data
clocks
RFM
bit
Graph of cooperating state machines on shared
stack
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NEST Challenge Appln

• level field (400-2500 m2) with 5-15 tree-like
  obstacles
• Pursuers team
• 400-1000 nodes
• 3-5 ground pursuers,
• 1-2 aerial pursuers
• Evaders team
• 1-3 ground evaders
• Self organization of motes
• Localization of evaders
• Evaders position and velocity estimation by
  sensor network
• Communication of sensors estimates to ground
  pursuers
• Design of a pursuit strategy
• Minimize capture time and energy
• accuracy of localization synch
• stability of network and dist. alg

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Strategy Planner
Map Builder
Vehicle coordination layer
Pursuers communication infrastructure
Tactical Planner Regulation
Vehicle-level sensor fusion
Control Signals to pursuer
Single vehicle estimation and control layer
Nest Sensorweb
vision
GPS
Sensorial Information
Physical Platform
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Some of the demo applns
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Energy/Env Monitoring/Mgmt
Interactive Streaming Data Access Ubicomp /
HCI Networking Management Privacy / Security

• Cory Hall last summer
• Center for Built Env.
• Intel Smart Lab
• Cory Environment and asset tracking
• Etch. Smart-Alarm
• LBL Energy Mgmt

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Meeting Social Network
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Intel Demonstrating the Technology

• Intel Research Impact
• 800 multihop network at IDF (Aug 2001)
• Intel Sales and Marketing (Jan 2002)
• Intel Developers Forum (Feb 2002)
• 100 nodes in audience of 2000
• Network Discovery
• Power-aware routing
• In-Network aggregation
• Silly voting demo

Network in Marconi Center
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in situ habitat monitoring
Packaging Sensor Suite Longevity Power
Management Predictability Long-term Data
Analysis Remote Management delay-tolerant
network energy-based exp. design
Alan Mainwaring _at_ Intel Research
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Smart Fire Helmet
Dick White

• CO sensor interfaced to MICA
• Intended to provide chemical sensing in helmet

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Controlled Test Bench

• Well-defined position
• Parallel access to nodes
• Integrated with MatLab

in situ programming Localization (RF,
TOF) Distributed Algorithms Distributed
Control Auto Calibration !!!!
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Wealth of Research Challenges

• Many highly constrained (energy capability),
  connected devices
• able to be casually deployed in infrastructure
  (existing or in design)
• imperfect operation and reliability
• operating in aggregate
• New family of issues across all the layers

application
service
prog / data model
network
mgmt / diag / debug
algorithm / theory
system
architecture
technology
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Little History of Invention

• Often driven by the need to overcome hurdles,
  rather than opportunity for perfection
• Airbags gt MEMS accelerometer
• RF pressure gauge?
• Clusters
• US locomotive industry
• Balloon Frame House construction
• ...

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Some of the things were seeing

• Concurrency poor I/O hierarchy
• event-driven fine-grain threading
• Simple radio SW sampling
• accelerators, low-power listen, wake-up,
  sampling, RSSI, time-stamp
• No routing, high error rate
• application specific multihop, routing,
  aggregation
• spatial redundancy
• Inaccessibility, limited radio
• network programming, tiny Virtual machine
• Inconsistent sounders, tone detectors
• auto-calibration
• Toy robots network in the loop
• closed loop control using sensor field
• control in the face of errors, delay, loss

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What did we say we would do?
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NEST SOW FY01

• A. FY01 Production and Distribution of Testbed
  kits
• Assemble ten (10) OEP1 Testbed kits each
  consisting of approximately 100 wireless
  networked sensor nodes, plus base-stations, lab
  programming harness, and software tools.
• Distribute kits to project groups
• PCB board manufacture and assembly will be
  out-sourced.
• B. FY01 Challenge Problem Development
• Collateral work, in coordination with DARPA,
  developing Challenge Applications involving
  distributed control and large-scale for the OEP1.
• Developing integration experiments related to
  Challenge Applications.
• C. FY01 NEST Emerging Platform Research
  Milestones and Work Items

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FY01 Platform Research

• 8/2001 Release OEP1 preliminary design document
• 12/2001 Release OEP v1.
• Design, development and testing of OEP HW
• Specifications, diagnostics
• Open code release of Tiny OS version 1.0 prog.
  env
• 1/2002 Tutorial Workshop and Distribution
• 1/2002 OEP1 Embedded Software Component
• Evaluation of tiny stack of wireless networking
  components
• Demonstration of
• NEST application as collection of cooperating FSM
  components
• preliminary dynamic ad hoc routing components
• preliminary time synchronization beacon
• preliminary tiny authentication and encryption
  protocol
• Systematic analysis of the use of TinyOS
  commands, events, and tasks

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FY01 Platform Research

• 6/2002 Evaluation of OEP1
• Support facility for project groups using the
  platform.
• Logging and analysis of platform usage, failure
  modes, energy profile.
• Analysis of hardware design relative to evolving
  project needs
• Analysis of v1 OS and programming environment
  relative to evolving project needs
•  6/2002 Emerging Platform Design Prototype
• Design specification for robust version of TinyOS
• Demonstration of reusable OS components for
  devices and network support
• Design of low-level programming language for FSM
  components
• Preliminary Analysis of techniques for resilient
  aggregation and random sampling

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FY 02 Platform Research Activities

• 9/2002 OEP2 proposed platform feature set
  document
• 12/2002 FSM-based Environment on OEP1
• Compiler/interpreter implemented for low-level
  FSM language.
• Initial suite of resilient aggregation components
• Initial Application Specific Virtual Machine
• 12/2002 Support for Systematic Empirical Studies
• Prototype of adversarial simulation facility
• Design of logging and trace collection facility
• Evaluation of integration experiments
• 12/2002 Novel Platform Design
• Initial Implementation of TinyOS version 2.
• Initial Design of OEP2 node hardware, 
• 6/2003 Algorithm design and analysis support
• Complete FSM-based programming environment
• Implementation of logging and trace collection
  facility.
• Preliminary vis. and debugging tools for FSM
  prog. environment
• Implementation of initial gather, scatter,
  select, and scan
• Preliminary evaluation of secure aggregation.

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Challenge Application

• 1. Sensing and Updates of the Environment in
  Response to Events and Queries.
• 2. Distributed Map Building.
• Tasking of 100s-1000s of map building entities
• task based and dynamic depending on the usage of
  it
• 3. Pursuit Evasion Games
• September 02 Environmental Monitoring of floor
  sized spaces using networks of 100s of motes.
• September 03 Decentralized Map Building of
  indoor environments using both fixed and mobile
  SLAPs of the order of 250 motes. 
• September 04 Preliminary Adversarial games using
  two networks of motes outdoors using coordination
  and information gathering by UAVs and UGVs.
• August 05. Capstone Demonstration of Pursuit
  Evasion Game.

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What retreats are about

• 6 month project checkpoint
• milestones, accomplishments, shortfalls
• course correction
• Students refine communication and investigation
  skills
• interested benign audience, lots of feedback
• In depth exchange with industrial collaborators
• discussion and feedback
• close with feedback session
• Build team and cement connections

Theme Demonstrating NEST Technology
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Agenda

• NOW Demonstration of distributed control
  crossing many aspects of the project
• M 4-6 Tech. beneath the Demo
• Phil Application Architecture
• Robert - local processing
• Jason - localization, leader election, robust
  communication
• Shawn - camera control
• Luca - tracking estimation
• Sarah - COTS Bots
• Bruno - Pursuer control
• Dinner
• Demo / Talks
• Kamin - Time-of-flight Localization
• Naveen - Location authentication
• Alan, Joe - Habitat monitoring
• Sam, Wei - In-network Query Processing

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Tuesday

• 830 - 1000 Programming
• Phil L. - Mate' Tiny Network Virtual Machine
• David G. - NesC programming support for TinyOS
  events
• Eric B. - Macroprogramming
• 1030 - 1200 Breakout - Setting/Changing
  Direction
• Network Service Definition, Platform
  evaluation
• Distributed Mapping, Towards PEG
  Spec
• 1200 - 100 Lunch
• 100 - 400 Recreation
• 400 - 600 New Directions
• Jason H. - Putting TinyOS in Silicon
• Chris K., Ying, Joe - Robust Routing with
  Demo/Vis
• David W. - Security directions
• 730 - 900 Flexible Evening Session
• Judy M. - Monitoring Structural Response to
  Earthquakes using Wireless Sensor Networks
• Mike H. - New and future Crossbow motes w/ demo
• Wild, Crazy, or Future ideas under gong

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Wednesday

• 730 - 830 Breakfast
• 830 - 930 Open Mic
• 930 - 1030 Breakout Reports
• 1030 - 1100 Break and Checkout
• 1100 - 1200 Visitor Feedback
• 1200 - 100 Lunch