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Welcome to the WeBS Retreat

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Welcome to the WeBS Retreat

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  1. Welcome to the WeBS Retreat David Culler Eric Brewer, David Wagner Shankar Sastry, Kris Pister

  2. Outline • Introductions • Background on the Project • What Retreats are About • Overview of the Retreat WEBS Retreat

  3. 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 WEBS Retreat

  4. NEST Topic Areas • Application Independent Coordination Services • customizable, verified algorithms+code to support time-bounded coordination across NEST applns • Time-Bounded Synthesis • theory and technology for time-bounded synthesis services => 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 WEBS Retreat

  5. composition services coordination services synthesis services NEST in a nutshell Challenge Application • 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 SW platform HW platform sensors actuators processing storage communication WEBS Retreat

  6. UCB redefined the program • Smart Dust WeC Mote => TinyOS => 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! WEBS Retreat

  7. 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 WEBS Retreat

  8. NEST is one component of Activity • Completion of Smart Dust Project • Ongoing Sensor Webs Project • primarily focused on theoretical aspects • Creation of Intel Research @ Berkeley • Extreme Networked Systems Lab • CITRIS - Center for Information Technology Research in the Interests of Society WEBS Retreat

  9. Structural performance due to multi-directional ground motions (Glaser & CalTech) Mote infrastructure . Mote Layout 14 5 ` 15 15 13 6 12 9 11 8 Comparison of Results Wiring for traditional structural instrumentation + truckload of equipment WEBS Retreat

  10. Tokachi Port, Hokkaido - Liquifaction Virtual data logger High Confidence in Passive state Dense Distributed Data Analysis Reclamation Rapid, cheap, installation of vertical array WEBS Retreat post-blast

  11. 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 WEBS Retreat

  12. 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 Digital I/O 8 Analog I/O 8 Programming Lines Atmega103 Microcontroller DS2401 Unique ID Coprocessor Transmission Power Control Hardware Accelerators SPI Bus TR 1000 Radio Transceiver 4Mbit External Flash Power Regulation MAX1678 (3V) WEBS Retreat 2xAA form factor

  13. Mica PINS Tone Intr PHOTO SOUNDER Mic Signal MICROPHONE TEMP Y Axis Gain Adjustment X Axis MAGNETOMETER ACCELEROMETER ADC Signals (ADC1-ADC6) On/Off Control I2C Bus Interrupt NEST Rich Sensor board Environment Ranging Detection Movement Microphone Sounder Magnetometer 1.25 in Temperature Sensor Light Sensor 2.25 in WEBS Retreat Accelerometer

  14. TinyOS Application Graph Route map router sensor appln application Active Messages Serial Packet Radio 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 WEBS Retreat

  15. Scheduler Localization Communication Synchronization World Sensor Interface Tracking 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 WEBS Retreat

  16. 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 WEBS Retreat

  17. Some of the demo applns WEBS Retreat

  18. Energy/Env Monitoring/Mgmt • Cory Hall last summer • Center for Built Env. • Intel “Smart Lab” • Cory Environment and asset tracking • Etch. Smart-Alarm • LBL Energy Mgmt Interactive Streaming Data Access Ubicomp / HCI Networking Management Privacy / Security WEBS Retreat

  19. Meeting Social Network WEBS Retreat

  20. 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 WEBS Retreat

  21. Acadia National Park Mt. Desert Island, ME Great Duck Island Nature Conservancy 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 @ Intel Research WEBS Retreat

  22. Smart Fire Helmet Dick White • CO sensor interfaced to MICA • Intended to provide chemical sensing in helmet WEBS Retreat

  23. 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 !!!! WEBS Retreat

  24. 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 WEBS Retreat

  25. Little History of Invention • Often driven by the need to overcome hurdles, rather than opportunity for perfection • Airbags => MEMS accelerometer • RF pressure gauge? • Clusters • US locomotive industry • Balloon Frame House construction • ... WEBS Retreat

  26. Some of the things we’re 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 WEBS Retreat

  27. What did we say we would do? WEBS Retreat

  28. 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 NEST SOW FY01 WEBS Retreat

  29. 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 FY01 Platform Research WEBS Retreat

  30. 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 WEBS Retreat

  31. 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. WEBS Retreat

  32. 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. WEBS Retreat

  33. 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 WEBS Retreat

  34. 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 WEBS Retreat

  35. Tuesday • 8:30 - 10:00 Programming • Phil L. - Mate' Tiny Network Virtual Machine • David G. - NesC: programming support for TinyOS events • Eric B. - Macroprogramming • 10:30 - 12:00 Breakout - Setting/Changing Direction • Network Service Definition, Platform evaluation • Distributed Mapping, Towards PEG Spec • 12:00 - 1:00 Lunch • 1:00 - 4:00 Recreation • 4:00 - 6:00 New Directions • Jason H. - Putting TinyOS in Silicon • Chris K., Ying, Joe - Robust Routing with Demo/Vis • David W. - Security directions • 7:30 - 9:00 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 WEBS Retreat

  36. Wednesday • 7:30 - 8:30 Breakfast • 8:30 - 9:30 Open Mic • 9:30 - 10:30 Breakout Reports • 10:30 - 11:00 Break and Checkout • 11:00 - 12:00 Visitor Feedback • 12:00 - 1:00 Lunch WEBS Retreat