CS-213
Advanced Topics in DISTRIBUTED EMBEDDED SYSTEMS

http://www.cens.ucla.edu/CS213


Winter Quarter 2004
Time: Tuesdays and Thursdays, 10-11:50 am
Place: Moore Hall room 1003

OfcHours:Thursday 8-10AM and by appointment (send email)

Instructor:DeborahEstrin
http://cens.ucla.edu/Estrin
destrin@CS.UCLA.EDU
310-206-3923
3531H Boelter Hall


An important class of distributed networks are those that support monitoringandmanipulation of physical spaces through wireless sensor networks. Thiscoursewill study the distributed protocols needed to realize these systems.Topicsinclude: a) design implications of energy, and otherwiseresource-constrainednodes; b) network self-configuration and adaptation; c)services such asrouting,  localizationand timesynchronization; d) collaborative processing and distributed featureextraction, e) tasking and programming sensor networks.

Prerequisites: CS 118, CS 111,graduatestanding or consent of instructor

Reminder: The FINAL is March 9th, in the Boelter HallPenthouse.  Take the elevator inthe corner near the CENS office (3531) to the top floor.

Links:

·         Slides: http://www.cens.ucla.edu/CS213/CS213-04-Slides/)

·         Homeworks: http://cvs.cens.ucla.edu/213

SCHEDULE:

Jan 8: Motivating applications, Overviewoftechnical challenges, Class organization

(Jan 12 11:59 pm, HW0 prepare 2 reviews and1homework problem+solution based on 3 of the intro and platform papers—at least onefrom each set)
Jan 13: Emstar : development environment for microserver/linux-based nodes(LewGirod, Jeremy  Jan 15: TinyOS:OSand programming of motes (Deepak Ganesan, Eric Osterweil)

 (Jan 19 11:59 pm,HW1 (Emstar) due)
Jan 20: Matt Welsh (See reading at the end of programming/quering) (HW1 due)

(Jan 21 11:59pm, DUE? Brief writeup with 3possible project topics and teammembers. Identify Emstar/TOS platform)
Jan 22: Wireless connectivity field trip (Cerpa), Read measurement papers

(Jan 26 11:59pm, HW2 (TOS) due)
Jan 27: MAC layer (Wei Ye)

Jan 29: TopologyControl/clustering/routing,Disconnected ad hoc routing ( Alberto Cerpa)[Detailed Project writeup due inclass]

(Feb 2 11:59pm, HW3 (Emstar) due)
Feb 3: Directed diffusion/Querying/Tasking (Estrin/Osterweil).
Feb 5: Reliable transport, Custody transfer (Thanos Stathopoulos)

(Feb 9 11:59pm, HW4 (TOS) due)
Feb 10: Midterm--In class. Based on readings.
Feb 12: Time Synchronization (Jeremy Elson)

(Feb 16 11:59pm, HW5 prepare 2 reviews and1 homework problem+solution based onthe localization and signal processing papers papers—at least one from eachset)
Feb 17: Localization (Girod)
Feb 19: Collaborative signal/informationprocessing (Hanbiao Wang)

(Feb 23 11:59 pm, HW6 prepare 2 reviews and1homework problem+solution based on the security/integrity or distributedrobotics papers—include at least one from each section)
Feb 24: 2-4 pm: Security/Integrity/Integirty/Calibration (Saurabh Ganeriwal,TomSchoellhammer)
Feb 26: Distributed robotics/actuation (Mohammad Rahimi)

(Mar 1 11:59 pm, HW7 prepare 2 reviews and1homework problem+solution based on the authoring and storage papers—atleastone from each set)
Mar 2: Authoring system example (Eitan Mendelowitz);Programming Sensor Networks, NESTmaterials (Ben Greenstein)
Mar 4: Storage (Deepak Ganesan)

Mar 9: Final exam in class

Mar 11: Project presentations

March 16: Project presentations

 March 23: Final project powerpointslides, writeup, url for code due 12 noon. NO LATE PROJECTS ACCEPTED

COURSE STRUCTURE

Class attendance and participationaremandatory (those given by the instructor as well as those given byotherstudents). Lecture notes in the form of Powerpoint slides will beavailable formost lectures. The course web page ishttp://cens.ucla.edu/CS213.html


30% Homework: There will be two types of homework assignments; each is due at 11:59pmthe night before class. The systems homework will involveprogrammingassignments under Emstar and TOS. The second type of homeworkassignment iscomprised of two paper reviews (see review format below) and anoriginal  **quantitative**homework/exam questionand solution associated with one or more of the papersfrom the sets indicated.

30% In class exams: There will be twoinclass exams covering material from homeworks, readings and lectures

40% Final project: Each student will contribute to a projectinvolvingexperimental design, implementation and a writeup. ProjectsWILL bedone in small groups (3-4 people).

No late projects or homeworks. If youarenot done you should turn in whatever you have. I might acceptsomeupdates/refinements, but only if you turn in a version of it on time.

READING LIST

This is a tentative reading list. Papersmaybe dropped and added. I will NOT expect everyone to read all 100 papers!Foreach class there will be some required and some optional reading.

I have borrowed liberally from severalothercourse webpages, including:
http://www.cs.berkeley.edu/~culler/cs294-f03

http://www2.parc.com/spl/members/zhao/stanford-cs428/
http://www-robotics.usc.edu/~gaurav/CS599-IES/
http://www.cs.rutgers.edu/~mini/sensornetworks.html

Introduction,Motivation,Applications (1/8)

    1. Communications of the ACM: Embedding the Internet (Special Issue). http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/CACM
    2. Embedded Everywhere: A research agenda for networked systems of embedded computers. Computer science and telecommunications board (CSTB) Report. http://www.cstb.org/web/pub_embedded
    3. The Computer for the Twenty-First Century, Scientific American,  pg 94-100, September 1991
    4. Connecting the physical world with Pervasive Networks, D. Estrin, D. Culler, K. Pister, G. Sukhatme, IEEE Pervasive Computing, pp 59-69, January-March 2002.
    5. CACM Special Issue on Embedding the Internet, May 2000
    6. Habitat monitoring: Application driver for wireless communications technology, Alberto Cerpa, Jeremy Elson, Deborah Estrin, Lewis Girod, Michael Hamilton and Jerry Zhao
      2001 ACM SIGCOMM Workshop on Data Communications in Latin America and the Caribbean, Costa Rica, April 2001. http://lecs.cs.ucla.edu/estrin/papers/CostaRica-oct01-final.ps
    7. Wireless sensor networks for habitat monitoring, Alan Mainwaring, Intel Research Laboratory; Joseph Polastre, Robert Szewczyk and David Culler, University of California, Berkeley

Platforms—hw/sw (1/13, 1/15)

    1. Energy and Performance Considerations for Smart Dust, L. Doherty, B. A. Warneke, B. Boser, K. S. J. Pister, International Journal of Parallel and Distributed Sensor Networks, Dec 2001.http://webs.cs.berkeley.edu/tos/media.html
    2. System architecture directions for network sensors, Jason Hill, Robert Szewczyk, Alec Woo, Seth Hollar, David Culler, Kristofer Pister . ASPLOS 2000. (pdf) http://webs.cs.berkeley.edu/tos/media.html
    3. Active Message Communication for Tiny Network Sensors, Jason Hill, Philip Bounadonna, David Culler, (pdf). http://webs.cs.berkeley.edu/tos/media.html
    4. The nesC Language: A Holistic Approach to Networked Embedded Systems, D. Gay, P. Levis, R. von Behren, M. Welsh, E. Brewer, D. Culler, Proceedings of Programming Language Design and Implementaiton (PLDI) 2003, June 2003.
    5. TOSSIM: Accurateand scalable simulation of entire TinyOS Applications, P. Levis, Lee, M. Welsh, D. Culler, ACM Sensys
    6. To be added: HOOD paper from NEST/UCB group
    7. Wireless Integrated Network Sensors: Low Power Systems on  a Chip. G. Asada, M. Dong, T.S. Lin, F. Newberg, G. Pottie, W. Kaiser, H. Marcy, Proceedings of the 1998 European Solid State Circuits Conference.
    8. Em*: A Software Environment for Developing and Deploying Wireless Sensor Netwroks, L. Girod, J. Elson, A. Cerpa, T. Stathopoulos, N. Ramanathan, D. Estrin, CENS Technical report #34.
    9. Open Standard Development Platforms for Distributed Sensor Networks, W. Merrill et al.. Sensoria Corporation. http://www.sensoria.com/downloads/AeroSense2002_Sensoria.pdf
    10. Energy Efficient Computing for Wildlife Tracking: Design Tradeoffs and Early Experiences with Zebranet. P. Juong et al., http://www.ee.princeton.edu/~mrm/zebranet.html (to be updated with more recent publication)

WirelessCharacterization/Measurement(1/22)

    1. The Mistaken axioms of wireless-network research, D. Kotz, C. Newport, C. Elliott, Dartmouth College Computer Science Technical Report, TR2003-67
    2. Complex Behavior at Scale: An Experimental Study of Low-Power Wireless Sensor Networks
      Deepak Ganesan, Bhaskar Krishnamachari, Alec Woo, David Culler, Deborah Estrin and Stephen Wicker. UCLA Computer Science Technical Report UCLA/CSD-TR 02-0013. An older version of the report can be found here
    3. Understanding Packet Delivery Performance In Dense Wireless Sensor Networks. Jerry Zhao and Ramesh Govindan. The First ACM Conference on Embedded Networked Sensor Systems, Los Angeles, CA, USA. November, 2003
    4. SCALE: A tool for Simple Connectivity Assessment in Lossy Environments (also available as PS) Alberto Cerpa, Naim Busek, and Deborah Estrin CENS Technical Report 0021, September 5, 2003.
    5. Taming the Underlying Challenges of Reliable Multihop Routing in Sensor Networks, A. Woo, T. Tong, D. Culler, ACM Sensys 2003, Los Angeles, November 2003
    6. To be added: paper on link characterization from Vanderbilt

MAC protocols

    1. 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
    2. Jaap C. Haartsen, "The Bluetooth radio system", IEEE Personal Communications Magazine, Feb, 2000, pp. 28-36.
    3. 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.
    4. 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
    5. Alec Woo and David Culler, "A Transmission Control Scheme for Media Access in Sensor Networks",Proceedings of the ACM/IEEE International Conference on Mobile Computing and Networking, Mobicom 2001, Rome, Italy. http://tinyos.millennium.berkeley.edu/papers/mobicom.pdf
    6. Wei Ye, John Heidemann and Deborah Estrin, "An energy-efficient MAC protocol for wireless sensor networks", IEEE Infocom New York, NY, USA, June, 2002
    7. Transmission Scheduling in Ad Hoc Networks with Directional Antennas Lichun Bao, J.J. Garcia-Luna-Aceves. Mobicom 02
    8. A Power Control MAC Protocol for Ad Hoc Networks, Eun-Sun Jung, Texas A&M University, USA, Nitin Vaidya, Mobicom 02
    9. Medium Access Control in Ad Hoc Networks Using Directional Antennas, Romit Roychoudhury, Xue Yang, University of Illinois at Urbana-Champaign, USA, Ram Ramanathan, BBN, USA, Nitin Vaidya, Mobicom 02
    10. An Energy Efficient MAC Protocol for Wireless LANs Eun-Sun Jung (Texas A&M University), Nitin Vaidya (University of Illinois) http://www.ieee-infocom.org/2002/papers/837.pdf
    11. Bluetooth and sensor networks: A Reality Check, M. Leopold, M. Dydensborg, P. Bonnet, ACM Sensys 2003
    12. An Adaptive Energy-Efficient MAC Protocol for Wireless Sensor Networks, T. van Dam, K. Langendoen, ACM Sensys 2003
    13. Practical Lazy Scheduling in Sensor Networks, R. Kompella, A. Snoeren, ACM Sensys 2003
    14. Zigbee??

Topology ControlandData Routing

    1. Span: an Energy-Efficient Coordination Algorithm for Topology Maintenance in Ad Hoc Wireless Networks. Benjie Chen, Kyle Jamieson, Hari Balakrishnan, and Robert Morris.To appear in ACM Wireless Networks Journal, Volume 8, Number 5, September, 2002.http://www.pdos.lcs.mit.edu/span/
    2. Topology Control Protocols to Conserve Energy in Wireless Ad Hoc Networks. Ya Xu, Solomon Bien, Yutaka Mori, John Heidemann, Deborah Estrin and Alberto Cerpa, CENS Technical Report 0006, January 2003.
    3. ASCENT: 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.
    4. PEAS: A Robust Energy Conserving Protocol for Long-lived Sensor Networks, Fan Ye, Gary Zhong, Songwu Lu, Lixia Zhang, IEEE ICDCS 2003.
    5. 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. cs219/Papers/raghunathan02.pdf, Corresponding author Mani Srivastava (mbs@ee.ucla.edu)
    6. Seapahn Meguerdichian, Farinaz Koushanfar, Gang Qu, Miodrag Potkonjak, "Exposure In Wireless Ad Hoc Sensor Networks." MobiCom 2001, pp. 139-150, July 2001. http://www.cs.ucla.edu/~seapahn/papers/mobicom01_124.pdf
    7. Topology: 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
    8. Topology: Wake on Wireless: An Event Driven Power Saving Strategy for Battery Operated Devices, Eugene Shih, Massachusetts Institute of Technology, USA,
    9. Integrated Coverage and Connectivity Configuration in Wireless Sensor Networks, X. Wang, G. Xing, Y. Zhang, C. Lu, R. Pless, C. Gill, ACM Sensys 2003.
    10. Critical Density Thresholds in Distributed Wireless Networks, B. Krishnamachari, S. Wicker, R. Bejar, M. Pearlman, In Advances in coding and information theory, eds. H. Bhargava, H. Poor, V. Taroakh, Kluwer publishers.
    11. Capacity of wireless networks, P. Gupta and P.R. Kumar, 1999
    12. On Scalability and Source/Channel Coding Decoupling in Large Scale Sensor Networks -- by Ameesh Pandya and Greg Pottie, 07/08/2003, under submission, http://cens.ucla.edu/TechReports/17_Scalability-Decoupling.pdf
    13. Mobility increases the capacity of ad hoc wireless networks, M. Grossglauser and D. Tse, IEEE Infocom 2001
    14. Distributed EM algorithms for density estimation and clustering in sensor networks, R. Nowak, IEEE Transactions on Signal Processing, special issue on signal  processing in networking, 2003.
    15. Differentiated Surveillance for Sensor Networks, T. Yan, T. He, J. Stankovic, ACM Sensys 2003
    16. A Coverage-Preserving Node Scheduling Scheme for Large Wireless Sensor Networks, Di Tian and Nicolas D. Georganas, University of Ottawa.
    17. Bhaskar Krishnamachari, Stephen Wicker, Ramon Bejar, and Marc Pearlman, "Critical Density Thresholds in Distributed Wireless Networks," to appear in a book on Advances in Coding and Information Theory, eds. H. Bhargava, H.V. Poor and V. Tarokh, Kluwer Publishers.

Routing and Data Transport

    1. A Performance Comparison of Multi-hop Wireless Ad Hoc Network Routing Protocols, J. Broch, D. Maltz, D. Johnson, Y-C. Hu, J. Jetcheva, ACM Mobicom 2998, Dallas Texas, October 1998
    2. Routing Young-Bae Ko and Nitin H. Vaidya, Location-Aided Routing(LAR) in Mobile Ad Hoc Networks , In Proceedings of the Fourth Annual ACM/IEEE International Conference on Mobile Computing and Networking (MobiCom 1998), ACM, Dallas, TX, October 1998.
    3. Brad Karp and H. T. Kung, "GPSR: greedy perimeter stateless routing for wireless networks," in International Conference on Mobile Computing and Networking (MobiCom), pp. 243-254, 2000.
    4. Geographical and Energy Aware Routing: A Recursive Data Dissemination Protocol for Wireless Sensor Networks. Yan Yu, Ramesh Govindan and Deborah Estrin. UCLA Computer Science Department Technical Report UCLA/CSD-TR-01-0023, May 2001. http://lecs.cs.ucla.edu/estrin/#paper
    5. * 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
    6. High-Throughput Path Metric for Multi-Hop Wireless Routing, D. De Couto, D. Aguayo, J. Bicket, R. Morris, http://www.pdos.lcs.mit.edu/papers/grid:mobicom03/
    7. Topology: On the Interdependence of Routing and Data Compression in Multi-Hop Sensor Networks, Anna Scaglione, Sergio Servetto. Mobicom 02
    8. Modeling Data-Centric Routing in Wireless Sensor Networks. Bhaskar Krishanamachari, Deborah Estrin and Stephen Wicker. ICDCS Workshop DEBS'02. July 2001. Vienna, Austria
    9. Directed Diffusion: A Scalable and Robust Communication Paradigm for Sensor Networks", Chalermek Intanagonwiwat, Ramesh Govindan and Deborah Estrin In Proceedings of the Sixth Annual International Conference on Mobile Computing and Networks (MobiCOM 2000), August 2000, Boston, Massachusetts. http://netweb.usc.edu/estrin/papers/diffusion.ps
    10. Building Efficient Wireless Sensor Networks with Low-Level Naming", John Heidemann, Fabio Silva, Chalermek Intanagonwiwat, Ramesh Govindan, Deborah Estrin, and Deepak Ganesan. In Proceedings of the Symposium on Operating Systems Principles, p. to appear. Lake Louise, Banff, Canada, ACM. October, 2001.http://www.isi.edu/~johnh/PAPERS/Heidemann01c.pdf
    11. Matching data dissemination algorithms to application requirements, J. Heidemann, F. Silva, D. Estrin, ACM Sensys 2003
    12. Smart-Tag Based Data Dissemination. Allan Beaufour, Martin Leopold and Philippe Bonnet, University of Copenhagen.
    13. A Two-tier Data Dissemination Model for Large-scale Wireless Sensor Networks, Fan Ye, Haiyun Luo, Jerry Cheng, Lixia Zhang, Songwu Lu, Mobicom 02
    14. GEM: Graph Embedding for routing and data centric storage in sensor networks without geographic information, J. Newsome, D. Song, ACM Sensys 2003.
    15. ***Data mule paper—Mani?
    16. ESRT: Event to sink reliable transport in sensor networks, Y Sankarasubramaniam, O. Akan, I. Akyildiz. http://www.sigmobile.org/mobihoc/2003/papers/p177-sankarasubramaniam.pdf
    17. Trickle: A Self-Regulating Algorithm for Code Propagation and Maintenance in Wireless Sensor Networks, P. Levis, N. Patel, S. Shenker, D. Culler. First USENIX/ACM Symposium on Networked Systems Design and Implementation (NSDI 2004)
    18. A Remote Code Update Mechanism for Wireless Sensor Networks, Thanos Stathopoulos, John Heidemann, Deborah Estrin(thanos@cs.ucla.edu), 11/26/2003
    19. CODA: Congestion Detection and Avoidance in Sensor Networks, C-Y. Wan, S. Eisenman, A. Campbell, ACM Sensys 2003
    20. Efficient code distribution in wireless sensor networks, Niels Reijers  Delft University of Technology, The Netherlands Koen Langendoen  Delft University of Technology, The Netherlands http://portal.acm.org/ft_gateway.cfm?id=941359&type=pdf&coll=GUIDE&dl=GUIDE&CFID=15358541&CFTOKEN=83096300
    21. C.Y. Wan and A.T. Campbell. PSFQ: A Reliable Transport Protocol For Wireless Sensor Networks. WSNA 2002. http://comet.ctr.columbia.edu/~wan/Publications/PSFQ-wsna2002-workshop.pdf
    22. Fred Stann and John Heidemann. RMST: Reliable Data Transport in Sensor Networks. In Proceedings of the First International Workshop on Sensor Net Protocols and Applications, pp. 102-112. Anchorage, Alaska, USA, IEEE. April,2003. http://www.isi.edu/~johnh/PAPERS/Stann03a.pdf
    23. K. Fall, W. Hong, S. Madden, "Custody Transfer for Reliable Delivery in Delay Tolerant Networks", IRB-TR-03-030, July 2003. http://www.dtnrg.org/papers/custody-xfer-tr.pdf

Synchronization,Localization

    1. 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
    2. David L. Mills, "Internet Time Synchronization: The Network Time Protocol". http://www.ietf.org/rfc/rfc2219.ps
    3. 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
    4. Wireless Sensor Networks: A New Regime for Time Synchronization (also available as PDF) Jeremy Elson and Kay Romer,
      Proceedings of the First Workshop on Hot Topics In Networks (HotNets-I), Princeton, New Jersey.       October 28-29 2002.
    5. 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.
    6. Timing-sync Protocol for Sensor Networks, Saurabh Ganeriwal, Ram Kumar, Sachin Adlakha and Mani Srivastava, ACM Sensys 2003
    7. ??FTSP paper (Vanderbilt)
    8. Jeffrey Hightower and Gaatano Boriello, IEEE Computer Magazine, Vol. 34, No. 8, pp. 57-66 . August 2001. http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/hightower-survey.pdf
    9. Special Issue on Global Positioning System, P.Enge and P. Misra (guest editors), Proceedings of the IEEE. Vol 87. No.1. January 1999.
      http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/GPS-SpecialIssue/index.html
    10. Roy Want, Andy Hopper, Veronica Falcao and Jonathan Gibbons, "The Active Badge Location System," ACM Transactions on Information Systems, vol. 10, no. 1, pp. 91-102, January 1992.
    11. A New Location Technique for the Active Office, Andy Ward, Alan Jones, Andy Hopper, IEEE Personal Communications, Vol. 4, No.5, October 1997, pp. 42-47.http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/active-bat.pdf
    12. RADAR: An In-Building RF-based User Location and Tracking System", Paramvir Bahl and Venkata N. Padmanabhan, In Proceedings of IEEE Infocom 2000, Tel-Aviv, Israel, April 2000. http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/radar.pdf
    13. Nissanka Priyantha, Anit Chakraborty and Hari Balakrishnan, "The Cricket Location Support System," in International Conference on Mobile Computing and Networking (MobiCom), Boston, MA, August 2000
    14. Robust range estimation using acoustic and multimodal sensing", Lewis Girod and Deborah Estrin, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Maui, Hawaii, October 2001. http://lecs.cs.ucla.edu/estrin/papers/IROS-2001.ps
    15. Convex Position Estimation in Wireless Sensor Networks", Lance Doherty, Kristofer S.J. Pister and Laurent El-Ghaoui, In Proceedings of IEEE Infocom 2001, Anchorage, Alaska, April 2001. http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/doherty-infocom.pdf
    16. D. Fox, W. Burgard, H. Kruppa, and S. Thrun, "A Probabilistic Approach to Collaborative Multi-Robot Localization", Autonomous Robots, 8(3), 2000. http://www.cs.washington.edu/homes/fox/postscripts/multi-mcl-journal-00.ps.gz
    17. The Bits and Flops of the n-hop Multilateration Primitive for Node Localization Problems, Andreas Savvides, Heemin Park and Mani Srivastava, University of California, Los Angeles
    18. Self-configuring Localization Systems: Design and Experimental Evaluation. Nirupama Bulusu, John Heidemann, Deborah Estrin and Tommy Tran. Submitted for review to ACM Transactions on Embedded Computing Systems (ACM TECS), August 2002. http://lecs.cs.ucla.edu/estrin/#paper
    19. Range-Free Localization Schemes for Large Scale Sensor Networks" Tian He, Chengdu Huang, Brian M. Blum, John A. Stankovic, Tarek Abdelzaher Proc. MobiCom 2003, pp. 81-95.
    20. Distributed Algorithms for Guiding Navigation across a Sensor Network" Qun Li, Michael De Rosa, and Daniela Rus Proc. MobiCom 2003, pp. 313-325
    21. Scalable Control of Decentralised Sensor Platforms" Ben Grocholsky, Alexei Makarenko, Tobias Kaupp, and Hugh F. Durrant-Whyte Proc. IPSN'03
    22. Cleaning and Querying Noisy Sensors, Eiman Elnahrawy, Badri Nath. Proc. WSNA 2003, pp.78-87
    23. Information-Directed Routing in Ad Hoc Sensor Networks" Juan Liu, Feng Zhao, Dragan Petrovic. Proc. WSNA'03, pp. 88-97
    24. Spatio-temporal Data Reduction with Deterministic Error Bounds" Hu Cao, Ouri Wolfson, Goce Trajcevski. Proc. DIALM-POMC'03, pp. 33-42
    25. “Distributed localization in wireless sensor networks: a quantitative comparison”, Koen Langendoen, Niels Reijers, Computer Networks: The International Journal of Computer and Telecommunications Networking, vol 43, no 4, nov 2003.

In networkprocessing

    1. Source localization and beamforming, Joe C. Chen, Kung Yao, and Ralph E. Hudson, IEEE Signal Processing Magazine, Mar. 2002. http://www.ee.ucla.edu/~jcchen/pub/chen_ieee.pdf
    2. Tracking a moving object with a binary sensor network, J. Aslam, Z. Butler, F. Constantin, V. Crespi, G. Cybenko, D. Rus, ACM Sensys 2003
    3. Target Classification and Localization in Habitat Monitoring. Hanbiao Wang, Jeremy Elson, Lewis Girod, Deborah Estrin, and Kung Yao, Proceedings of ICASSP 2003, Hong Kong, China. April 2003,
    4. Coherent Acoustic Array Processing and Localization on Wireless Sensor Network"J.C. Chen, L. Yip, J. Elson, H. Wang, D. Maniezzo, R.E. Hudson, K. Yao, and D. Estrin, Proceedings of the IEEE, Vol. 91, No. 8, August 2003
    5. Acoustic source localization and beamforming: theory and practice, Joe C. Chen, Kung Yao, and Ralph E. Hudson, EURASIP Advanced Signal Processing journal. http://www.ee.ucla.edu/~jcchen/pub/chen_asp02.pdf
    6. Detection, Classification and Tracking of Targets in Distributed Sensor Networks", Dan Li, Kerry Wong, Yu Hen Hu, Akbar Sayeed cs219/Papers/Sayeed-SP-data.doc Corresponding author Akbar Sayeed (akbar@dune.ece.wisc.edu), ", IEEE Signal Processing Magazine, Volume: 19 Issue: 2, Mar 2002
    7. 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. Corresponding author Kung Yao (yao@ee.ucla.edu)
    8. Collaborative In-Network Processing for Target Tracking"EURASIP JASP 2004, No. 4, pp. 378-391. Juan Liu, James Reich, and Feng Zhao
    9. Scalable Information-Driven Sensor Querying and Routing for ad hoc Heterogeneous Sensor Networks, M. Chu, H. Haussecker, F. Zhao,  Int'l J. of High Performance Computing Applications, 2002.
    10. Distributed Compression in a Dense Sensor Network", S. Sandeep Pradhan, Julius Kusuma, Kannan Ramchandran http://www.mit.edu/people/kusuma/Papers/spmag_final.pdf. Corresponding author Kannan Ramchadran (kannanr@EECS.Berkeley.EDU)
    11. S. Nath, P. Gibbons, Synopsis Diffusion for Robust Aggregation in Sensor Networks,  Technical report IRP-TR-03-08, August 2003. http://www.intel-research.net/Publications/Pittsburgh/100720030821_163.pdf
    12. Boundary Estimation in Sensor Networks: Theory and Practice, R. Nowak, U. Mitra, IPSN 2003, http://128.104.180.14/~nowak/IPSN.pdf
    13. Leonidas Guibas. "Sensing, Tracking and Reasoning with Relations", IEEE Signal Processing Magazine, Volume: 19 Issue: 2, Mar 2002. http://www.parc.xerox.com/spl/projects/cosense/pub/ieee_spm_guibas.pdf
    14. Preprocessing in a Tiered Sensor Network for Habitat Monitoring. Hanbiao Wang, Deborah Estrin, Lewis Girod
      EURASIP JASP special issue of sensor networks, September 2002. http://lecs.cs.ucla.edu/estrin#paper
    15. 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.
    16. Deepak Ganesan, Ben Greenstein, Denis Perelyubskiy, Deborah Estrin and John Heidemann, An Evaluation of Multi-resolution Storage for Sensor Networks In Proceedings of the First ACM Conference on Embedded Networked Sensor Systems (SenSys 2003).
    17. http://lecs.cs.ucla.edu/~deepak/PAPERS/storage.pdf
    18. Localized Edge Detection in Sensor Fields by Krishna Kant Chintalapudi, Ramesh Govindan
      ftp://ftp.usc.edu/pub/csinfo/tech-reports/papers/02-773.pdf
    19.  Dfuse: A Framework for distributed data fusion, R. Kumar, M. Wolenetz, B. Agarwalla, J. Shin, P. Hutto, A. Paul, U. Ramachandran, ACM Sensys 2003
    20. Application-Specific Compression for Time Delay Estimation in Sensor Networks, L. Vasudevan, A. Ortega, U. Mitra, ACM Sensys 2003
    21. Computation Hierarchy for In-network processing -- by Ram Kumar, Vlasios Tsiatsis and Mani B Srivastava, CENS Technical report 23, 09/06/2003 http://cens.ucla.edu/TechReports/23_wsna_print.pdf
    22. ??Sniper system paper??

QueryingandProgramming abstractions

    1. Database querying (to be updated) Querying the Physical World, Philippe Bonnet, J. E. Gehrke, and Praveen Seshadri, IEEE Personal Communications, Vol. 7, No. 5, October 2000, pages 10-15. Special Issue on Smart Spaces and Environments
      http://lecs.cs.ucla.edu/Courses/CS213-Win02/Readings/PCM/Querying.pdf
    2. GADT: A Probability Space ADT for Representing and Querying the Physical World, Anton Faradjian, J. E. Gehrke, and Philippe Bonnet, In Proceedings of the 18th International Conference on Data Engineering (ICDE 2002), San Jose, California, February 2002. cs219/Papers/Anton_Faradjian. GADT-AProbabilitySpaceADTForRepresentingAndQueryingThePhysicalWorld.pdf
    3. Joseph M. Hellerstein and Ron Avnur. Eddies: Continuously Adaptive Query Processing. In SIGMOD 2000. http://db.cs.berkeley.edu/papers/sigmod00-eddy.pdf
    4. TAG: Tiny AGgregate Queries in Ad-Hoc Sensor Networks", Sam Madden, Michael J. Franklin, Joseph Hellerstein, and Wei Hong. OSDI, December 2002.
    5. Query and programming Data centric storage Sylvia Ratnasamy, Deborah Estrin, Ramesh Govindan, Brad Karp, Scott Shenker, Li Yin, Fang Yu, Data-centric storage in Sensornets , First Workshop on Sensor Networks and Applications (WSNA), October 2002, Atlanta, GA.,
    6. Data-centric storage in Sensornets," Sylvia Ratnasamy, Deborah Estrin, Ramesh Govindan, Brad Karp, Scott Shenker, Li Yin, Fang Yu. Submitted for review. February 1st, 2002. http://lecs.cs.ucla.edu/estrin/papers/dht.pdf
    7. P. Levis and D. Culler, Maté: a Virtual Machine for Tiny Networked Sensors , ASPLOS, Dec 2002.
    8. 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.
    9. TinyGALS: A Programming Model for Event-Driven Embedded Systems, ACM Symposium on Applied Computing
      http://www2.parc.com/spl/projects/cosense/pub/sac03.pdf
    10. Stat-Centric Programming for Sensor-Actuator Network Systems, J. Liu, M. Chu, J. Scalable Human-Robo Interactions in Active Sensor Networks, A. Makarenko, T. Kaupp, H. Durrant-Whyte, , IEEE Pervasive, Oct-Dec 2003.
    11. Beyond Average: Toward Sophisticated  Sensing with Queries, J. Hellerstein, W. Hong, S. Madden, K. Stanek, 2nd International Workshop on Information Processing in Sensor Networks (IPSN '03), March 2003, Palo Alto, CA http://www.cs.berkeley.edu/~madden/beyond_average_ipsn.pdf
    12. ***GME/GRATIS papers from nest program. http://www.isis.vanderbilt.edu/projects/nest/gratis/GratisIITechOver.html
    13. Exposing resource tradeoffs in region-based communication abstractions for sensor networks, M. Welsh, ACM Hotnets 2003 http://www.eecs.harvard.edu/~mdw/papers/regions-hotnets03.pdf

 Coordinated Acutation

    1. Networked Infomechanical Systems (NIMS) for Ambient Intelligence, William J. Kaiser1, Gregory J. Pottie1, Mani Srivastava1, Gaurav S. Sukhatme2, John Villasenor1, and Deborah Estrin3 http://cens.ucla.edu/TechReports/31_NIMS_for_Ambient_Intelligence.pdf
    2. Adaptive Sampling for Environmental Robotics -- by Mohammad Rahimi, Richard Pon, Deborah Estrin,William J. Kaiser, Mani Srivastava and Gaurav S. Sukhatme, CENS Technical report 31, December 2003
    3. Event-Based Motiion Control for Mobile-Sensor Networks, Z Butler, D. Rus, IEEE Pervasive October-December
    4. V. Lumelsky, K. Harinarayan, ``Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model". Autonomous Robots Journal No.4, 1997, 121-135. http://robios8.me.wisc.edu/~lumelsky/papers/autom-robot-jour95-hari.ps
    5. P. Stone and M. Veloso, "Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork," Artificial Intelligence, 1999. http://www.ri.cmu.edu/pubs/pub_3173.html
    6. 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
    7. 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 , Daniel Rus and Gaurav Sukhatme papers

SystemIntegrity/Calibration/Security

    1. K. Marzullo. Tolerating Failures of Continuous-Valued Sensors , ACM Transactions on Computer Systems, 8(4), November 1990, p. 284--304.
    2. Calibration as Parameter Estimation in Sensor Networks, Kamin Whitehouse and David Culler, University of California, Berkeley
    3. Colibration: A Collaborative Approach to In-Place Sensor Calibration, Vladimir Bychkovskiy, Seapahn Megerian, Deborah Estrin, and Miodrag Potkonjak
       2nd International Workshop on Information Processing in Sensor Networks (IPSN'03), December 2002. http://lecs.cs.ucla.edu/estrin#paper
    4. SPINS: Security Protocols for Sensor Networks Adrian Perrig, Robert Szewczyk, Victor Wen, David Culler, J. D. Tygar Mobicom 2001. www.ece.cmu.edu/~adrian/projects/mc2001/mc2001.pdf
    5. 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
    6. "Secure Routing in Sensor Networks: Attacks and Countermeasures", Chris Karlof and David Wagner, http://www.cs.berkeley.edu/~ckarlof/research/sensor-nets/
    7. Denial of Service in Sensor Networks, Anthony D. Wood, John A. Stankovic, http://www.computer.org/computer/co2002/rx054abs.htm?SMSESSION=NO
    8. Random Key Predistribution Schemes for Sensor Networks, A. Perrig, H. Chan, D. Song, IEEE Symposium on Security and Privacy 2003
    9. Secure Information Aggregation in Sensor Networks, B. Przydatek, D. Song, A. Perrig, ACM Sensys 2003. http://www.ece.cmu.edu/~dawnsong/papers/sia.pdf

Internet scale sensor networks, imaging

    1.  Applying Video Sensor Networks to Nearshore Environment Monitoring, R. Holman, J. Stanley, T. Ozkan-Haller, IEEE Pervasive, October-December 2003, pg 14-21.
    2. IrisNet: An Architecture for a worldwide sensor web, P. Gibbons, B. Karp, Y. Ke, S. Nath, S. Seshan, IEEE Pervasive Computing, October-December 2003, Volume 2, Number 4

 

PROJECT IDEAS

Two available platforms:(A)IPAQ/stargate linux nodes w/acoustic I/O and 802.11 commun ications, and(B)UCB Mote/TOS based octopus for low power comm and sensor I/Oandlinux/simulation based programming environment

Example Projects:--***These all need more definition and might change.

1.   Stargate/Emstar/Linux 

a.    Stargate as debugnodefor mote and/or as gw to provide web interface to a mote cloud..(Andrew?)           

b.    TOS-Emstarinteraction/integration:TosSim w/ Ceiling array—Sim/Emulation capability fortiered systems such as ESS,Emstar support for nesC code (Thanos, Jeremy)

c.    Multihopcommandexecution (Jeremy)

d.    Simple Routing inEmstar(AODV, DSR, other?)       

e.    TinydiffussionOPPalgorithm in Emstar

f.      Implementing simpledataprocessing scheme--matt welsh spatial macros on motes/emstar

g.    SCALE baseddatacollection/analysis tools

h.    Data mule appandassociated mobility model support in Emstar simulator

i.      Sensor modelsinEmstar--eg soil array (lew, nithya)

j.      Visualization--collectingneighborinfo to do system mapping        

k.    Clustering(selectleader not based on resource availability)

l.      NIMS Gamedevelopmentand associated emstar infrastructure to support it

m.  Implement triggered imager on stargate

2.   Motes/TOS/TOSsim

a.       Programmingtriggeringover diffusion          (Ben,Eric)                                      

b.       Vornoi Scopingmechanismadded to TinyDiffusion         (Henri)                                                

c.       Any to any routingovermicroserver-sinked tree on motes         (Deborah,Eric)                

d.       Multihop over theairprogramming (reliable transport) protocol—add diff mechanism, latejoiner,reporting, link stat based selection    (Thanos)                                                        

e.       SMACmeasurements/experimentswith different traffic, tuning knobs, etc perhapsusing

f.         SCALE measurementsandtool enhancements             (Alberto)                                                                                 

g.       Interfacecampbellscientific weather station into ESS    (Mohammad)   

h.       Memoryhierarchymanagement--buffer management/virtual memoryon themotes, by using EEPROM as part of the memory hierarchy(Thanos/Deepak)

i.         Authoringsystemusing/modeled on Hypermedia lab work (Eitan)                                             

j.         Timesynchronizationservice on top of ESS/Tinydiffusion (Jeremy)