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

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Welcome to the WeBS Retreat

David CullerEric Brewer, David WagnerShankar 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 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

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NEST in a nutshell

• 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

HW platform

SW platform

coordination

services

synthesis

services

composition services

Challenge Application

sensors actuators processing storage communication

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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!

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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 @ 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)

.

Wiring for traditional structural instrumentation+ truckload of equipment

Mote infrastructure15

13

14

6 

5` 

15

118 

Mote Layou

t 129 

Comparison of Results

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Tokachi Port, Hokkaido - Liquifaction

post-blast

Rapid, cheap, installation of vertical array

Virtual data logger

High Confidence in Passive state

Dense Distributed Data Analysis

Reclamation

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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

2xAA form factor

Atmega103 Microcontroller

TR 1000 Radio Transceiver4Mbit External Flash

51-Pin I/O Expansion Connector

Power Regulation MAX1678 (3V)

DS2401 Unique ID

8 Analog I/O8 Programming

Lines

SP

I Bus

CoprocessorTransmission Power Control

Hardware Accelerators

Digital I/O

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NEST Rich Sensor board

PHOTO

TEMP

MAGNETOMETER ACCELEROMETER

MICROPHONE

SOUNDER

Mica PINS

ADC Signals (ADC1-ADC6)I2C BusOn/Off ControlInterrupt

X AxisY Axis Gain Adjustment

Mic Signal

ToneIntr

2.25 in

1.25 in

Microphone

AccelerometerLightSensor

TemperatureSensor

SounderMagnetometer

Environment

Ranging

Detection

Movement

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TinyOS Application Graph

RFM

Radio byte

Radio Packet

UART

Serial Packet

ADC

Temp photo

Active Messages

clocks

bit

by

tep

ac

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t

Route map router sensor appln

ap

pli

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HW

SWExample: ad hoc, multi-hop routing of photo sensor readings

3450 B code 226 B data

Graph of cooperatingstate 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

Localization Communication

Synchronization

Tracking

WorldSensor Interface

Scheduler

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Control Signalsto pursuer

GPS vision

Tactical Planner

& Regulation

Vehicle-level sensor

fusion

Strategy Planner

Map Builder

Pursuers’ communication infrastructure

Nest Sensorweb

Physical Platform

Sensorial Information

Single vehicle estimation and control layer

Vehicle coordination layer

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Some of the demo applns

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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

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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

Acadia National ParkMt. Desert Island, ME

Great Duck IslandNature Conservancy

Alan Mainwaring @ Intel Research

Packaging

Sensor Suite

Longevity

Power Management

Predictability

Long-term Data Analysis

Remote Management

delay-tolerant network

energy-based exp. design

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Smart Fire Helmet

• CO sensor interfaced to MICA

• Intended to provide chemical sensing in helmet

Dick White

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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

network

system

architecture

technology

mg

mt

/ dia

g /

deb

ug

alg

ori

thm

/ th

eory

pro

g /

dat

a m

od

el

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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

• ...

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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

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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• 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

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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