Location-Based Mobile Service (LBMS) is one of the most popular smartphone services. LBMS enables people to more easily connect with each other and analyze the aspects of their lives. However, sharing location data can leak people's privacy. We present PDVLoc, a controlled location data-sharing framework based on selectively sharing data through a Personal Data Vault (PDV). A PDV is a privacy architecture in which individuals retain ownership of their data. Data are routinely filtered before being shared with content-service providers, and users or data custodian services can participate in making controlled data-sharing decisions. Introducing PDVLoc gives users flexible and granular access control over their location data. We have implemented a prototype of PDVLoc and evaluated it using real location-sharing social networking applications, Google Latitude and Foursquare. Our user study of 19 participants over 20 days shows that most users find that PDVLoc is useful to manage and control their location data, and are willing to continue using PDVLoc.

The increasing ubiquity of the mobile phone is creating many opportunities for personal context sensing, and will result in massive databases of individuals' sensitive information incorporating locations, movements, images, text annotations, and even health data. In existing system architectures, users upload their raw (unprocessed or filtered) data streams directly to content-service providers and have little control over their data once they "opt-in".

The rapid adoption of mobile devices that are able to capture and transmit a wide variety of sensing modalities (media and location) has enabled a new data collection paradigm - participatory sensing. Participatory sensing initiatives organize individuals to gather sensed information using mobile devices through cooperative data collection. A major factor in the success of these data collection projects is sustained, high quality participation. However, since data capture requires a time and energy commitment from individuals, incentives are often introduced to motivate participants. In this work, we investigate the use of micro-payments as an incentive model. We define a set of metrics that can be used to evaluate the effectiveness of incentives and report on findings from a pilot study using various micro-payment schemes in a university campus sustainability initiative.

Imaging sensors, or “imagers,” embedded in the natural environment enable remote collection of large quantities of data, thus easing the design and deployment of sensing systems in a variety of application domains. Yet, the data collected from such imagers are difficult to interpret due to a variety of “nuisance factors” in the data formation process, such as illumination, vantage point, partial occlusions, etc. These are especially severe in natural environments, where the objects of interest (e.g., plants, animals) have evolved to blend with their habitat, exhibit complex variability in shape and appearance, and perform rapid motions against dynamic backgrounds with rapid illumination changes. We describe three applications that exemplify these problems and the solutions we developed. First, we show how temporal oversampling can simplify the analysis of a slow process such as the avian nesting cycle. Then, we show how to overcome temporal undersampling in order to detect birds at a feeder station. Finally, we show how to exploit temporal consistency to reliably detect pollinators as they visit flowers in the field.

As mobile phones advance in functionality and capability, they are being used for more than just communication. Increasingly, these devices are being employed as instruments for introspection into habits and situations of individuals and communities. Many of the applications enabled by this new use of mobile phones rely on contextual information. The focus of this work is on one dimension of context, the transportation mode of an individual when outside. We create a convenient (no specific position and orientation setting) classification system that uses a mobile phone with a built-in GPS receiver and an accelerometer. The transportation modes identified include whether an individual is stationary, walking, running, biking, or in motorized transport. The overall classification system consists of a decision tree followed by a first-order discrete Hidden Markov Model and achieves an accuracy level of 93.6% when tested on a dataset obtained from sixteen individuals.

Cellular and Wi-Fi networks now form a global substrate that provides billions of mobile phone users with consistent, location-aware communication and multimedia data access. On this substrate is emerging a new class of mobile phone applications that use the phones location, image and acoustic sensors, and enable people to choose what to sense and when to share data about themselves and their surroundings. Peoples' natural movement through and among living, work, and ldquothirdrdquo spaces, provides spatial and temporal coverage for these modalities, the character of which is impossible to achieve through embedded instrumentation alone. This paper proposes a network service architecture for participatory sensing, describing challenges in (1) network coordination services enabling applications to efficiently select, incentivize and task mobile users based on measures of coverage, capabilities and interests; (2) attestation mechanisms to enable data consumers to assign trust to the data they access; and (3) participatory privacy regulation mechanisms used by data contributors to control what data they share.

PEIR, the Personal Environmental Impact Report, is a participatory sensing application that uses location data sampled from everyday mobile phones to calculate personalized estimates of environmental impact and exposure. It is an example of an important class of emerging mobile systems that combine the distributed processing capacity of the web with the personal reach of mobile technology. This paper documents and evaluates the running PEIR system, which includes mobile handset based GPS location data collection, and server-side processing stages such as HMM-based activity classification (to determine transportation mode); automatic location data segmentation into "trips''; lookup of traffic, weather, and other context data needed by the models; and environmental impact and exposure calculation using efficient implementations of established models. Additionally, we describe the user interface components of PEIR and present usage statistics from a two month snapshot of system use. The paper also outlines new algorithmic components developed based on experience with the system and undergoing testing for integration into PEIR, including: new map-matching and GSM-augmented activity classification techniques, and a selective hiding mechanism that generates believable proxy traces for times a user does not want their real location revealed.

This tutorial presents a detailed study of sensor faults that occur in deployed sensor networks and a systematic approach to model these faults. We begin by reviewing the fault detection literature for sensor networks. We draw from current literature, our own experience, and data collected from scientific deployments to develop a set of commonly used features useful in detecting and diagnosing sensor faults. We use this feature set to systematically define commonly observed faults, and provide examples of each of these faults from sensor data collected at recent deployments.

Sensor networks have been widely used to collect data about the environment. When analyzing data from these systems, people tend to ask exploratory questions---they want to find subsets of data, namely signal, reflecting some characteristics of the environment. In this paper, we study the problem of searching for drops in sensor data. Specifically, the search is to find periods in history when a certain amount of drop over a threshold occurs in data within a time span. We propose a framework, SegDiff, for extracting features, compressing them, and transforming the search into standard database queries. Approximate results are returned from the framework with the guarantee that no true events are missed and false positives are within a user specified tolerance. The framework efficiently utilizes space and provides fast response to users' search. Experimental results with real world data demonstrate the efficiency of our framework with respect to feature size and search time.

Distributed, high-density spatiotemporal observations are proposed for answering many river related questions, including those pertaining to hydraulics and multi-dimensional river modeling, geomorphology, sediment transport and riparian habitat restoration. In spite of the recent advancements in technology, currently available systems have many constraints that preclude long term, remote, autonomous, high resolution monitoring in the real environment. We present here a case study of an autonomous, high resolution robotic spatial mapping of cross-sectional velocity and salt concentration in a river basin. The scientific objective of this investigation was to characterize the transport and mixing phenomena at the confluence of two distinctly different river streams - San Joaquin River and its tributary Merced River. Several experiments for analyzing the spatial and temporal trends at multiple cross-sections of the San Joaquin River were performed during the campaign from August 21-25, 2006. These include deterministic dense raster scans and in-field adapted experimental design. Preliminary analysis from these experiments illustrating the range of investigations is presented with the focus on adaptive experiments that enable sparse sampling to provide larger spatial coverage without discounting the dynamics in the phenomena. Lessons learned during the campaign are discussed to provide useful insights for similar robotic investigations in aquatic environments.

The rapid adoption of mobile phones by society over the last decade and the increasing ability to capture, classifying, and transmit a wide variety of data (image, audio, and location) have enabled a new sensing paradigm - where humans carrying mobile phones can act as sensor systems. Human-in-the-loop sensor systems raise many new challenges in areas of sensor data quality assessment, mobility and sampling coordination, and user interaction procedures.

Wireless sensor networks (WSNs) are a relatively new and rapidly developing technology; they have a wide range of applications including environmental monitoring, agriculture, and public health. Shared technology is a common usage model for technology adoption in developing countries. WSNs have great potential to be utilized as a shared resource due to their on-board processing and ad-hoc networking capabilities, however their deployment as a shared resource requires that the technical community first address several challenges. The main challenges include enabling sensor portability: (1) the frequent movement of sensors within and between deployments, and rapidly deployable systems; (2) systems that are quick and simple to deploy. We first discuss the feasibility of using sensor networks as a shared resource, and then describe our research in addressing the various technical challenges that arise in enabling such sensor portability and rapid deployment. We also outline our experiences in developing and deploying water quality monitoring wireless sensor networks in Bangladesh and California

Networked infomechanical systems (NIMS) introduces a new actuation capability for embedded networked sensing. By exploiting a constrained actuation method based on rapidly deployable infrastructure, NIMS suspends a network of wireless mobile and fixed sensor nodes in three-dimensional space. This permits run-time adaptation with variable sensing location, perspective, and even sensor type. Discoveries in NIMS environmental investigations have raised requirements for 1) new embedded platforms integrating many diverse sensors with actuators, and 2) advances for in-network sensor data processing. This is addressed with a new and generally applicable processor-preprocessor architecture described in this paper. Also this paper describes the successful integration of R, a powerful statistical computing environment, into the embedded NIMS node platform.

Monitoring environmental phenomena by distributed sensor sampling confronts the challenge of unpredictable variability in the spatial distribution of phenomena often coupled with demands for a high spatial sampling rate. The introduction of actuation-enabled robotics sensors permits a system to optimize the sampling distribution through runtime adaptation. However, such systems must efficiently dispense sampling points or otherwise suffer from poor temporal response. In this paper, we propose and characterize an active modeling system. In our approach, as the robotic sensor acquires measurement samples of the environment, it builds a model of the phenomenon. Our algorithm is based on an incremental optimization process where the robot supports a continuous, iterative process of 1) collecting samples with maximal coverage in the design space; 2) building the environmental model; 3) predicting sampling point locations that contribute the greatest certainty regarding the phenomenon; and 4) sampling the environment based on a combined measure of information gain and navigation and sampling cost. This can provide significant reductions in the magnitude of field estimation error with a modest navigational trajectory time. We evaluate our algorithm through a simulation, using a combination of static and mobile sensors sampling light illumination field.

Time synchronization is critical to sensor networks at many layers of its design and enables better duty-cycling of the radio, accurate localization, beamforming and other collaborative signal processing. While there has been significant work in sensor network synchronization, measurement based studies have been restricted to very short-term (few minutes) datasets and have focused on obtaining accurate instantaneous synchronization. Long-term synchronization has typically been handled by periodic re-synchronization schemes with beacon intervals of a few minutes based on the assumption that long-term drift is too hard to model and predict. Thus, none of this work exploits the temporally correlated behavior of the clock drift. Yet, there are incredible energy gains to be achieved from better modeling and prediction of long-term drift that can provide bounds on long-term synchronization error across a sensor network. Better synchronization can lead to significantly lower duty-cycles of the radio, simplify signal processing and can enable an order of magnitude greater lifetime than current techniques.We measure, evaluate and analyze in-depth the long-term behavior of synchronization skew and drift on typical Mica sensor nodes and develop an efficient long-term time synchronization protocol. We use four real time data sets gathered over periods of 12-30 hours in different environmental conditions to study the interplay between three key parameters that influence long-term synchronization - synchronization rate, history of past synchronization beacons and the estimation scheme. We use this measurement-based study to design an online adaptive time-synchronization algorithm that can adapt to changing clock drift and environmental conditions while achieving application-specified precision with very high probability. We find that our algorithm achieves between one and two orders of magnitude improvement in energy efficiency over currently available time-synchronization approaches.

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena, coupled with demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m2 over transects exceeding 1000 m2. Clearly, adequate sampling coverage of such a transect requires an impractically large number of sensing nodes. This paper describes a new approach where the deployment of a combination of autonomous-articulated and static sensor nodes enables sufficient spatiotemporal sampling densityo ver large transects to meet a general set of environmental mapping demands.To achieve this we have developed an embedded networked sensor architecture that merges sensing and articulation with adaptive algorithms that are responsive to both variabilityin environmental phenomena discovered bythe mobile sensors and to discrete events discovered byst atic sensors. We begin byde scribing the class of important driving applications, the statistical foundations for this new approach, and task allocation. We then describe our experimental implementation of adaptive, event aware, exploration algorithms, which exploit our wireless, articulated sensors operating with deterministic motion over large areas. Results of experimental measurements and the relationship among sampling methods, event arrival rate, and sampling performance are presented.

The integration of disparate heterogeneous spatial databases for extending queries is a challenging task. The authors present a novel framework, based on a k-nearest neighbor (kNN) algorithm, for integrating remote sensing imagery with Forest Inventory Analysis (FIA) sample point/plot data managed in a relational database system. We then demonstrate how queries to this system may be extended over any arbitrary region of interest in a Web based geographical information system. To build the integrated database, spectral signatures are collected at FIA plot locations from the Landsat TM image. A plot-id image is produced by assigning each pixel to the closest FIA plot in multi-dimensional spectral space. The resulting image provides an interface to the Forest Inventory Analysis Data-Base (FIADB) and allows generalizations of the estimates for any user defined query window or region of interest (ROI). This methodology, along with geostatistical analysis, is integrated into a client/server Web based geographical information system, which provides Internet users with an easy to use query interface for the FIADB and spatial databases.