CS294-1 Deeply Embedded Network Systems

University of California
Dept. of Electrical Engineering and Computer Sciences
Tu, Th 11-12:30, 310 Soda Hall
David E. Culler

Fall 2003
Announcements | Description | Organization | Projects | Schedule | Handouts | Related | Links

Announcements

Project Poster/Demo Presentations will be 12/5 2:00 - 5:00.

Final reports due 12/15 - put them on your project page.

Project Links

Embedded network systems, including sensor networks, distributed control applications, and ubiquitous computing environments, are becoming an important new computing class with wide ranging and novel applications.  They present a range of computer systems challenges because they are closely coupled to the physical world with all its unpredictable variation, noise, and asynchrony; they involve many energy-constrained, resource-limited devices operating in concert; they must be largely self-organizing and self-maintaining; and they must be robust despite significant noise, loss, and failure.  This area has reached a stage where solid initial platforms have been developed, a number of 'leading applications' have been fielded, and a rich body of literature has emerged.  This course will be reading/project/discussion focused, with a goal of covering the area is substantial depth.  Topics include application-driven network architectures, emerging platforms and technology, resource constrained real-time OSs, media access control, distributed algorithms (broadcast, anycast, multicast, convergecast) in lossy wireless networks, ad hoc multihop routing, pseudo-geographic routing, in-network aggregation and processing, multi-resolution storage, compression and source-coding, time synchronization, coverage and density, ranging and localization, resilient aggregators, tracking, capacity, distributed feature extraction, tracking, and collaborative signal processing.  We will also look at emerging standards, such as ZIGBEE.  It will require substantial reading and class participation, a sequence of group mini-studies, and a research project.  It is anticipated that participants will be varied, with some well along on dissertation work in the area, others just starting into it or complementing work in a more traditional area, and still others from outside the department.

We currently have guest lectures arranged with Deborah Estrin (9/16) and Jim Demmel (tbd)
 

Course Grading

30% Class Participation, including discussion questions, presentations
30% Miniprojects
40% Research Project

Instructor
 Professor David E. Culler
  627 Soda Hall, 643-7572, culler@cs.berkeley.edu
 Office Hours: Mon 2-3, Tu 1:30-2:30 or by appt. 
contact Willa Walker, 643-2568, 
willa@EECS.Berkeley.EDU, 626 Soda, for appt.

Location

Lecture: TuTh 11:00 - 12:30 310 Soda Hall

Communication

The class newsgroup is ucb.class.cs294-1

Course Schedule and Readings

Foundations

Important Directions

Important Directions (subset of the following)

  • Compression and source coding
  • Macroprogramming
  • Data dissemination
  • Pseudo-geographic routing
  • Distributed TDMA and network scheduling
  • Coverage and Density
  • Self-Calibration
  • Localization (really)
  • Reliability and Management
  • Principles of Self-Organization
  • Scaling limits and Capacity
  • Resilient Aggregation
  • Data-centric Storage
  • Data analysis in the presence of loss, sample skew, and limited precision (Demmel)
  • Distributed Feature Detection
  • Collaborative Signal Processing
  • Tracking
  • Distributed Control
  • Lifetime and Utility
  • Security and Privacy
  • Novel radio designs
  • Power Harvesting
  • Distributed Service Layering
  • Emerging Standards (Bluetooth, Zigbee, 1451)

Project Presentations

Course Projects

This is an on-going list of ideas.  It will get firmed up in the coming weeks.
  • Capture redwoods in SensorML, GML: these are emerging standards proposed for representing sensor nets and the data that comes from them.  Take a real deployment and try to describe it fully in these standards.
  • Multihop network programming: large multihop networks will need to be reprogrammed in situ.  There are a family of technical challenges in doing so, including the dissemination protocols, the data structures used for representing the completeness of the executible image, the code generation of that image, the hardware constrants and support, and the activeness of what is communicated. 
  • Multilevel network architecture for high sample rate application:
  • Supermote system & programming environment (tinyos on stargate/ipaq)
  • Spatial data collection and analysis (timesynch)
  • Implement distributed source coding for a real application
  • Navigation via localization
  • Macroprogramming prototype
  • Adversarial Simulation
  • Resilient Aggregator
  • Front tracking
  • Untethered health monitoring with opportunistic transfer
  • Wireless distributed beam motion damping
  • Flocking
  • Design of a tamper-resistant node.
  • Demonstrated triggering of high caliber sensor based on more primitive feature detection
  • In-depth analysis of timer design and synthesis of a WSN timer subsystem
  • Demostration of 1 us multihop timesynch
  • Collection / Dissemination / Aggregation as network services
  • Fabric of data loggers
  • Multihop routing for rapidly changing networks
  • In-depth comparison of alternative MACs (tos-mac, s-mac, t-mac)
  • Signal processing analysis of actual deployment
  • Robust watchdog architecture
  • In-depth comparison of cluster formation algorithms and their utility in various traffic patterns


Miniprojects

Packet level simulator with MAC and contention
Clusterhead Selection
Reliable broadcast

Resources and Related Pages

  • Platform Architecture
    • G. J. Pottie and W. J. Kaiser, Wireless Integrated Network Sensors , Communications of ACM, 43(5), May 2000.
    • Wireless Integrated Network Sensors: Low Power Systems on a Chip. G. Asada, M. Dong, T.S. Lin, F. Newberg, G. Pottie, W.J. Kaiser, and H.O. Marcy. Proceedings of the 1998 European Solid State Circuits Conference.
    • J. Hill, R. Szewczyk, A. Woo, S. Hollar, D. Culler, K. Pister, System architecture directions for networked sensors, ASPLOS 2000 http://citeseer.nj.nec.com/382595.html
    • Mica: A Wireless Platform for Deeply Embedded Networks, Jason Hill and David Culler, IEEE Micro., vol 22(6), Nov/Dec 2002, pp 12-24.
    • Anantha Chandrakasan, Rajeevan Amirtharajah, SeongHwan Cho, James Goodman, Gangadhar Konduri, Joanna Kulik, Wendi Rabiner, Alice Wang , "Design considerations for distributed microsensor systems."  Proc. IEEE 1999 Custom Integrated Circuits Conference (CICC '99) (May 1999), pp. 279-286. http://citeseer.nj.nec.com/chandrakasan99design.html
    • L. Doherty, B.A. Warneke, B.E. Boser, K.S.J. Pister, "Energy and Performance Considerations for Smart Dust," International Journal of Parallel Distributed Systems and Networks, Volume 4, Number 3, 2001, pp. 121-133. http://webs.cs.berkeley.edu/tos/media.html
    • Energy-aware wireless microsensor networks," Vijay Raghunathan, Curt Schurgers, Sung Park, Mani B. Srivastava. IEEE Signal Processing Magazine, Volume: 19 Issue: 2, Mar 2002; Page(s): 40 -50.
    • Jaap C. Haartsen, "The Bluetooth radio system", IEEE Personal Communications Magazine, Feb, 2000, pp. 28-36.
    • Bluetooth and Sensor Networks: A Reality Check, Martin Leopold, Mads Bondo Dydensborg, and Philippe Bonnet (University of Copenhagen), SENSYS 03
    • Frazer Bennett, David Clarke, Joseph B. Evans, Andy Hopper, Alan Jones, and David Leask, "Piconet: Embedded Mobile Networking", IEEE Personal Communications Magazine, Vol. 4, no. 5, pp.8-15 Oct., 1997 ftp://ftp.orl.co.uk/pub/docs/ORL/tr.97.9.ps.
    • Chenyang Lu, Brian M. Blum, Tarek F. Abdelzaher, John A. Stankovic, and Tian He, RAP: A Real-Time Communication Architecture for Large-Scale Wireless Sensor Networks , IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2002), San Jose, CA, September 2002.
    • "PicoRadio Supports Ad Hoc Ultra-Low Power Wireless Networking" , Jan Rabaey, Josie Ammer, Julio da Silva Jr., Danny Patel, Shad Roundy, IEEE Computer, July 2000.
    • The PicoRadio Testbed, Fred Burghardt, Susan Mellers, and Jan Rabaey, Dec 2002. http://bwrc.eecs.berkeley.edu/Research/Pico_Radio/Test_Bed/PRTBWhitePaper.pdf
    • A Support Infrastructure for the Smart Kindergarten.
      A. Chen, R.R. Muntz, S. Yuen, N. Locher, S.I. Sung, and M.B. Srivastava.
      IEEE Pervasive Computing, vol.1, no.2, April-June 2002, pp.49-57.
    • Zuberi, K. M., Pillai, P., and Shin, K. G., "EMERALDS: a small-memory real-time microkernel ", 17th ACM Symposium on Operating System Principles (SOSP99), 1999. http://citeseer.nj.nec.com/article/zuberi99emeralds.html


      • Ember Networks Platform Read these pap1, pap2, white paper

      Crossbow Platform (Berkeley Motes)pap1, pap2

      Open Standard Development Platforms for Distributed Sensor Networks, W. Merrill et al.. Sensoria Corporation. http://www.sensoria.com/downloads/AeroSense2002_Sensoria.pdf

  • Tools
  • Programming Models and Languages
  • Low-power MAC
    • V. Bharghavan and A. Demers and S. Shenker and L. Zhang, "MACAW: Media Access Protocol for Wireless LANs", Proceedings of the ACM SIGCOMM Conference, 1994. http://citeseer.nj.nec.com/bharghavan94macaw.html
    • Multi-Access protocol with Signalling for Ad Hoc Networks", ACM Computer Communication Review, Vol 28, No 3, Jul, pp.5-26, 1998.

      • http://www.acm.org/sigcomm/ccr/archive/1998/jul98/ccr-9807-singh.ps
    • Jaap C. Haartsen, "The Bluetooth radio system", IEEE Personal Communications Magazine, Feb, 2000, pp. 28-36.
    • Alec Woo and David E. Culler,A transmission control scheme for media access in sensor networks
      • The seventh annual international conference on Mobile computing and networking 2001
      July 16 - 21, 2001, Rome Italy. Pages 221-235
      http://www.acm.org/pubs/citations/proceedings/comm/381677/p221-woo/

      Wei Ye and John Heidemann and Deborah Estrin,An Energy-Efficient Mac protocol for Wireless Sensor Networks http://citeseer.nj.nec.com/461814.html

      Transmission Scheduling in Ad Hoc Networks with Directional Antennas Lichun Bao, J.J. Garcia-Luna-Aceves. Mobicom 02

    • Understanding Packet Delivery Performance In Dense Wireless Sensor Networks, Jerry Zhao, and Ramesh Govindan (USC), SENSYS 03
  • Broadcast
  • Data dissemination
    • Smart-Tag Based Data Dissemination. Allan Beaufour, Martin Leopold and Philippe Bonnet, University of Copenhagen.
    • A Two-tier Data Dissemination Model for Large-scale Wireless Sensor Networks, Fan Ye, Haiyun Luo, Jerry Cheng, Lixia Zhang, Songwu Lu, Mobicom 02
  • Cluster Formation
  • Topology Formation / Discovery
    • Benjie Chen, Kyle Jamieson, Hari Balakrishnan, and Robert Morris.  "Span: an energy-efficient coordination algorithm for
      • topology maintenance in ad hoc wireless networks."  Proc. 7th ACM International Conference on Mobile Computing and Networking (MobiCom '01), Rome, Italy, July 2001, pages 85-96.
    • Jeremy Elson, Deborah Estrin, An Address-Free Architecture for Dynamic Sensor Networks
      • http://citeseer.nj.nec.com/elson00addressfree.html
    • Topology Control Protocols to Conserve Energy in Wireless Ad Hoc Networks, Y. Xu, S. Bien, Y. Mori, J. Heidemann, D. Estrin, In Submission. http://lecs.cs.ucla.edu/~sbien/papers/gaf-cec-journal.pdf.
    • Adaptive Self-Configuring Sensor Networks Topologies, Alberto Cerpa and Deborah Estrin. In Proceedings of the Twenty First International Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM 2002), New York, NY, USA, June 23-27 2002. http://lecs.cs.ucla.edu/~cerpa/ASCENT-final-infocom-pdf13.pdf
    • Katayoun Sohrabi and Gregory J. Pottie, "Performance of a novel self-organization protocol for wireless ad hoc sensor networks", Proceedings of the IEEE 50th Vehicular Technology Conference, 1999, pp.1222-1226
    • M. Chu, H. Haussecker, F. Zhao, ``Scalable Information-Driven Sensor Querying and Routing for ad hoc Heterogeneous Sensor Networks.'' Int'l J. of High Performance Computing Applications, 2002.
    • On Local Algorithms for Topology Control and Routing in Ad Hoc Networks, Lujun Jia, Rajmohan Rajaraman, and Christian Scheideler, SPAA 03
    • Analysis of Link Reversal Routing Algorithms for Mobile Ad Hoc Networks,  Costas Busch, Srikanth Surapaneni, and Srikanta Tirthapura
  • Data Collection
  • Ad Hoc Multihop Routing
    • E. M. Royer and C-K. Toh. "A review of current routing protocols for ad-hoc mobile wireless networks."  IEEE Personal

      • Communications, April 1999.
    • Yan Yu, Ramesh Govindan and Deborah Estrin.  "Geographical and Energy Aware Routing: A Recursive Data Dissemination Protocol for Wireless Sensor Networks."  UCLA Computer Science Department Technical Report UCLA/CSD-TR-01-0023, May 2001.
    •   Kulik, W. Rabiner, H. Balakrishnan (1999) Adaptive Protocols for Information Dissemination in Wireless Sensor Networks , Proc. 5th ACM/IEEE Mobicom Conference, Seattle, WA, August 1999
    • Constrained Random Walks on Random Graphs: Routing Algorithms for Large Scale Wireless Sensor Networks, Sergio Servetto, Cornell University. Guillermo Barrenechea, EPFL; Zurich, Switzerland.
    • Deepak Ganesan, Ramesh Govindan, Scott Shenker and Deborah Estrin, "Highly- Resilient, Energy-Efficient Multipath Routing in Wireless Sensor Networks," Mobile Computing and Communications Review (MC2R), vol. 1, no. 2, 2002.
    • ARRIVE: An Architecture for Robust Routing In Volatile Environments, Chris Karlof, Yaping Li, and Joseph Polastre, UC Berkeley Tech Report. May 2002. (pdf). http://webs.cs.berkeley.edu/tos/media.html
    • Taming the Underlying Challenges of Reliable Multihop Routing in Sensor Networks, Alec Woo, Terence Tong (U. C. Berkeley), and David Culler (U. C. Berkeley & Intel Research)
  • Classical Multihop Routing
  • Congestion Control
  • Storage
    • Multi-Dimensional Range Queries in Sensor Networks, Xin Li, Young-Jin Kim, Ramesh Govindan (USC), and Wei Hong (Intel Research Laboratory), SENSYS 03
    • An Evaluation of Multi-resolution Storage for Sensor Networks, Deepak Ganesan, Ben Greenstein, Denis Perelyubskiy, Deborah Estrin (UCLA), and John Heidemann (USC/ISI), SENSYS 03
    • Ratnasamy, S., Karp, B., Yin, L., Yu, F., Estrin, D., Govindan, R., and Shenker, S., GHT: A Geographic Hash Table for Data-Centric Storage. First ACM International Workshop on Wireless Sensor Networks and Applications (WSNA 2002), Atlanta, GA, September, 2002. [pdf]
    • Multiresolution storage and feature extraction Deepak Ganesan and Deborah Estrin, "Dimensions: Why do we need a new Data Handling architecture for Sensor Networks?," in First Workshop on Hot Topics in Networks (Hotnets-I), vol. 1, October 2002.
    • Shenker, S., Ratnasamy, S., Karp, B., Govindan, R., and Estrin, D., Data-Centric Storage in Sensornets. ACM SIGCOMM Workshop on Hot Topics in Networks (HotNets 2002), Princeton, NJ, October, 2002.
    • Greenstein, B., Estrin, D., Govindan, R., Ratnasamy, S., SHenker, S., DIFS: A Distributed Index for Features in Sensor Networks. To appear in Workshop on Sensor Network Protocols and Application (SNPA), 2003.
  • In-Network Query Processing, Aggregation
  • Compression and Source Coding
    • On the Interdependence of Routing and Data Compression in Multi-Hop Sensor Networks, Anna Scaglione, Sergio Servetto. Mobicom 02
    • Distributed Compression in a Dense Sensor Network", S. Sandeep Pradhan, Julius Kusuma, Kannan Ramchandran http://www.mit.edu/people/kusuma/Papers/spmag_final.pdf.
    • Model Based Compression in Wireless Ad Hoc Networks, Milenko Drinic (Microsoft Research), Darko Kirovski (Microsoft Research), and Miodrag Potkonjak (UCLA)
    • Application-Specific Compression for Time Delay Estimation in Sensor Networks, Lavanya Vasudevan, Antonio Ortega, and Urbashi Mitra (USC)
  • Tracking
  • Impotant Standards
    • Zigbee, http://www.zigbee.org/
  • Triggering
  • Power management
  • Coverage and Density
  • Lifetime
    • John Byers and Gabriel Nasser.  "Utility-based decision making in wireless sensor networks."  Proc. of IEEE MobiHoc 2000,  Boston, MA, August 2000.
    • Investigating Upper Bounds on Network Lifetime Extension for Cell-Based Energy Conservation Techniques in Stationary Ad Hoc Networks, Douglas Blough, Georgi Institute of Technology, USA, Paolo Santi, Mobicom 02
  • Capacity
  • Time Synchronization
    • Leslie Lamport, "Time, Clocks and the Ordering of Events in Distributed Systems", Communications of the ACM, 21(7):558-65, 1978. http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/lamport-time.pdf
    • David L. Mills, "Internet Time Synchronization: The Network Time Protocol". http://www.ietf.org/rfc/rfc2219.ps
    • http://www.eecis.udel.edu/~mills/ntp.html
    • Fine-Grained Network Time Synchronization using Reference Broadcasts (also available as PDF) Jeremy Elson, Lewis Girod and Deborah Estrin. In Proceedings of the Fifth Symposium on Operating Systems Design and Implementation (OSDI 2002), Boston, MA. December 2002. . http://lecs.cs.ucla.edu/Publications/papers/broadcast.ps
    • Kay Romer (ETH-Zurich), "Time Synchronization in Ad Hoc Networks". Mobihoc 2001 http://www.inf.ethz.ch/vs/publ/papers/mobihoc01-time-sync.pdf. http://www.gpsclock.com/gps.html. Web page giving an overview of using GPS for time synchronization.
    • Timing-sync Protocol for Sensor Networks, Saurabh Ganeriwal, Ram Kumar, and Mani B. Srivastava (UCLA), SENSYS 03
    • (replace with Sensys paper) Saurabh Ganeriwal, Ram Kumar, Sachin Adlakha and Mani Srivastava, "Network-wide Time Synchronization in Sensor Networks," , April 2002

      • http://theory.lcs.mit.edu/~mitras/courses/6829/project/final_report.ps
  • Localization
  • Calibration
    • K. Marzullo. Tolerating Failures of Continuous-Valued Sensors , ACM Transactions on Computer Systems, 8(4), November 1990, p. 284--304.
    • Calibration as Parameter Estimation in Sensor Networks, Kamin Whitehouse and David Culler, University of California, Berkeley
    • Colibration: A Collaborative Approach to In-Place Sensor Calibration, Vladimir Bychkovskiy, Seapahn Megerian, Deborah Estrin, and Miodrag Potkonjak

      • Submitted for review to the 2nd International Workshop on Information Processing in Sensor Networks (IPSN'03), December 2002. http://lecs.cs.ucla.edu/estrin#paper
  • In-network programming
  • Security
    • Chen,M.; Cui,W.; Wen,V., Security and Deployment Issues in Sensor Network, 2000

      • http://www.cs.berkeley.edu/~wdc/classes/cs294-I-report.pdf
    • A. Perrig, R. Szewczyk, V. Wen, D. Culler, and J. D. Tygar, SPINS: Security protocols for sensor networks, In Proceedings of MOBICOM, 2001. (.pdf )
    • Y.W. Law, S. Dulman, S. Etalle and P. Havinga. Assessing Security-Critical Energy-Efficient Sensor Networks, Department of Computer Science, University of Twente, Technical Report TR-CTIT-02-18, Jul 2002. http://wwwes.cs.utwente.nl/24cqet/adhoc.html
    • "Secure Routing in Sensor Networks: Attacks and Countermeasures", Chris Karlof and David Wagner, http://www.cs.berkeley.edu/~ckarlof/research/sensor-nets/
    • Denial of Service in Sensor Networks, Anthony D. Wood, John A. Stankovic, http://www.computer.org/computer/co2002/rx054abs.htm?SMSESSION=NO
    • Secure Information Aggregation in Sensor Networks, Bartosz Przydatek, Dawn Song, and Adrian Perrig (Carnegie-Mellon University)
    • Secure Routing in Sensor Networks: Attacks and Countermesures, C. Karlof and David Wagner
    • Random Key Predistribution Schemes for Sensor Networks PS, PDF, BIB. With Haowen Chan and Dawn Song. Appears in IEEE Symposium on Security and Privacy 2003

      •  
  • Privacy
    • Marc Rotenberg, "What Larry Doesn't Get: Fair Information Practices 
      and the Architecture of Privacy", Presented on February 7, 2000 at the 
      Stanford Law School Symposium on Cyberspace and Privacy, 
      http://stlr.stanford.edu/STLR/Symposia/Cyberspace/00_rotenberg_1/article.htm.
    • Marc Rotenberg, The Privacy Law Sourcebook: United States Law, International Law, and Recent Developments 324-52 (EPIC 2002) (“OECD Privacy Guidelines”).
    • Colin J. Bennett, "Convergence Revisited: Toward a Global Policy for 
      the Protection of Personal Data", Technology and Privacy:  The New 
      Landscape edited by Philip Agre and Marc Rotenberg, The MIT Press 
      (Cambridge, 1997).
    • Jerry Kang, Cyberspace Privacy, 50 Stanford Law Review 1193
      (1998), available at http://www1.law.ucla.edu/~kang/Scholarship/Cyberspace/cyberspace.html
    • Jerry Kang, Pervasive Computing:  Embedding the Public Sphere, working draft available at
      http://www1.law.ucla.edu/~kang/Scholarship/scholarship.htm
    • Proceedings of IBM Almaden Privacy Institute, available at http://www.almaden.ibm.com/institute/agenda.shtml
    • Howard Rheingold, Smartmobs:  The Next Revolution (2002), summary available at http://www.smartmobs.com/index.html

      •  
  • Distributed Control and coordination
    • Beckers, R., O. E. Holland and J. L. Deneubourg (1994), "From Local Actions to Global Tasks: Stigmergy and Collective Robotics", Artificial Life IV, Proc. of the Fourth International Workshop on the Synthesis and Simulation of Living Systems, R. A. Brooks and P. Maes (eds), pp. 181-189. http://fnord.usc.edu/~fod/papers/cs584/alife4.ps
    • Barry Brian Werger, "Cooperation Without Deliberation: A Minimal Behavior-based Approach to Multi-robot Teams", Artificial Intelligence 110(1999) 293-320 http://robotics.usc.edu/~barry/papers/aij.ps.gz
    • J. A. Stankovic, T. He, T. F. Abdelzaher, M. Marley, G. Tao, S. Son, and C. Lu, Feedback Control Scheduling in Distributed Systems, IEEE Real-Time Systems Symposium, London, UK, December 2001.
  • Self-Stabilization

    • M.G. Gouda and N. Multari,
      Stabilizing communication protocols,
      IEEE Transactions on Computers Vol. 40, No. 4, pp. 448-458, April 1991

  • Detecting Distributed Features
  • Collaborative Signal Processing
    • M. Chu, H. Haussecker, F. Zhao, ``Scalable Information-Driven Sensor Querying and Routing for ad hoc Heterogeneous Sensor Networks.''  Int'l J. of High Performance Computing Applications, to appear, 2002. 
    • Source Localization and Beamforming in a Distributed Sensor Network: Coherent Signal Processing for Wideband Acoustic and Seismic Signals", Joe C. Chen, Kung Yao, Ralph Hudson http://www.ee.ucla.edu/~jcchen/pub/chenSPmag02.pdf.
    • Data analysis in the face of noise, sampling error, loss (Jim Demmel)
  • Self-Organization
  • Noise as an adversary




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