This article presents a tool for uncovering bugs due to interactive complexity in networked sensing applications. Such bugs are not localized to one component that is faulty, but rather result from complex and unexpected interactions between multiple often individually nonfaulty components. Moreover, the manifestations of these bugs are often not repeatable, making them particularly hard to find, as the particular sequence of events that invokes the bug may not be easy to reconstruct. Because of the distributed nature of failure scenarios, our tool looks for sequences of events that may be responsible for faulty behavior, as opposed to localized bugs such as a bad pointer in a module. We identified several challenges in applying discriminative sequence mining for root cause analysis when the system fails to perform as expected and presented our solutions to those challenges. We also present two alternative schemes, namely, two-stage mining and the progressive discriminative sequence mining to address the scalability challenge. An extensible framework is developed where a front-end collects runtime data logs of the system being debugged and an offline back-end uses frequent discriminative pattern mining to uncover likely causes of failure. We provided several case studies where we applied our tool successfully to troubleshoot the cause of the problem. We uncovered a kernel-level race condition bug in the LiteOS operating system and a protocol design bug in the directed diffusion protocol. We also presented a case study of debugging a multichannel MAC protocol that was found to exhibit corner cases of poor performance (worse than single-channel MAC). The tool helped to uncover event sequences that lead to a highly degraded mode of operation. Fixing the problem significantly improved the performance of the protocol. We also evaluated the extensions presented in this article. Finally, we provided a detailed analysis of tool overhead in terms of memory requirements and impact on the running application.

Total energy minimization in data centers (including both computing and cooling energy) requires modeling the interactions between computing decisions (such as load distribution) and heat transfer in the room, since load acts as heat sources whose distribution in space affects cooling energy. This paper presents the first closed-form analytic optimal solution for load distribution in a machine rack that minimizes the sum of computing and cooling energy. We show that by considering actuation knobs on both computing and cooling sides, it is possible to reduce energy cost comparing to state of the art solutions that do not offer holistic energy optimization. The above can be achieved while meeting both throughput requirements and maximum CPU temperature constraints. Using a thorough evaluation on a real test bed of 20 machines, we demonstrate that our simple model adequately captures the thermal behavior and energy consumption of the system. We further show that our approach saves more energy compared to the state of the art in the field.

This demonstration illustrates an information aggregation and summarization service for social sensing applications. Social sensing, using mobile phones and other networked devices in the possession of individuals, has gained significant popularity in recent years. In some cases, the information collected is structured, such as numeric data from temperature sensors, accelerometers, or GPS devices. Aggregate statistical properties, such as expected values, standard deviations, and outliers, can be easily computed, and can be used to summarize the data set. In other cases, however, the collection includes unstructured data types such as text or images with textual annotations. The concepts of expected values and outliers are harder to define, yet it is still important to be able to aggregate and summarize the data. We demonstrate a system which can automatically summarize real-time textual data common to social sensing applications. Specifically, we focus on text messages that describe events in the environment. The output of our service provides a reliable summary of observations that can be used in many contexts from military intelligence to participatory sensing campaigns.

This paper addresses the challenge of truth discovery from noisy social sensing data. The work is motivated by the emergence of social sensing as a data collection paradigm of growing interest, where humans perform sensory data collection tasks. A challenge in social sensing applications lies in the noisy nature of data. Unlike the case with well-calibrated and well-tested infrastructure sensors, humans are less reliable, and the likelihood that participants' measurements are correct is often unknown a priori. Given a set of human participants of unknown reliability together with their sensory measurements, this paper poses the question of whether one can use this information alone to determine, in an analytically founded manner, the probability that a given measurement is true. The paper focuses on binary measurements. While some previous work approached the answer in a heuristic manner, we offer the first optimal solution to the above truth discovery problem. Optimality, in the sense of maximum likelihood estimation, is attained by solving an expectation maximization problem that returns the best guess regarding the correctness of each measurement. The approach is shown to outperform the state of the art fact-finding heuristics, as well as simple baselines such as majority voting.

At CPSWeek 2011, the authors presented a demonstration of Apollo, a fact-finder for participatory sensing that ranks archived human-centric and sensor data by credibility. The current demonstration significantly extends our previous work by allowing Apollo to operate on live streaming data; in this case, live Twitter feeds. As the role of humans as sensors increases in emerging sensing applications, a principled approach becomes necessary to address the problem of ascertaining the veracity of sources and observations made by them. Participatory and social sensing applications may use potentially unreliable or unverified sources, such as a phone-based sensing application that grows virally in a large un-vetted population, a disaster-response application, where conflicting damage assessment reports may come from large numbers of different volunteers, or a military application, where friendly observers at a remote location may make hard-to-verify claims about local events. Apollo analyzes noisy data that increasingly plagues human-centric sensing to determine which items of information are more likely to be true.

Troubleshooting unresponsive sensor nodes is a significant challenge in remote sensor network deployments. This paper introduces the tele-diagnostic powertracer, an in-situ troubleshooting tool that uses external power measurements to determine the internal health condition of an unresponsive host and the most likely cause of its failure. We developed our own low-cost power meter with low-bandwidth radio to report power measurements and findings, hence allowing remote (i.e., tele-) diagnosis. The tool was deployed and tested in a remote solar-powered sensing network for acoustic and visual environmental monitoring. It was shown to successfully distinguish between several categories of failures that cause unresponsive behavior including energy depletion, antenna damage, radio disconnection, system crashes, and anomalous reboots. It was also able to determine the internal health conditions of an unresponsive node, such as the presence or absence of sensing and data storage activities (for each of multiple sensors). The paper explores the feasibility of building such a remote diagnostic tool from the standpoint of economy, scale and diagnostic accuracy. To the authors' knowledge, this is the first paper that presents a remote diagnostic tool that uses power measurements to diagnose sensor system failures.

In this paper, we present a reliable storage service, called SolarStore, that adaptively trades-off storage reliability versus energy consumption in solar-powered sensor networks. SolarStore adopts a predominantly disconnected network model, where long-running data-collection experiments are conducted in the absence of a continuous connection to the outside world. SolarStore (i) replicates data in the network until the next upload opportunity, and (ii) adapts the degree of data replication dynamically depending on solar energy and storage availability. The goal is to maximize the amount of data that can eventually be retrieved from the network subject to energy and storage constraints. Maximization of retrievable data implies minimizing sensing blackouts due to energy depletion as well as minimizing loss due to node damage in harsh environmental conditions. We have deployed an outdoor solar-powered sensor network, on which SolarStore is implemented and tested. An indoor testbed is also set up for performance evaluation under environmental conditions not attained locally. Experiments show that SolarStore is successful in dynamically responding to variations in the environment in a manner that increases retrievable data under different node failure scenarios.

In this paper, we present AdaptSens: a reliable data collection and storage system for solar-powered sensor networks. Unlike battery-operated devices, solar-powered systems have a less predictable energy supply and their ability to harvest energy depends on past spending, thereby creating incentives for adaptive matching of energy supply and demand. Our storage system is novel in its layered architecture and its incremental layer activation mechanism. AdaptSens provides a set of functions, in separate layers, such as sensory data collection, replication (to prevent failure-induced data loss), and storage balancing (to prevent depletion-induced data loss). The mechanism utilizes surplus energy when available by activating more layers, and resorts to progressively more energy-efficient (partial hibernation) modes when energy is scarce. Best reliability is achieved when all layers are active but meaningful intermediate modes allow different degrees of energy conservation. The efficacy of AdaptSens in trading off reliability for energy is tested on both an outdoor system and an indoor testbed. Evaluation results show that AdaptSens minimizes the sum of all data losses when combining the energy, storage and node failure factors.

Despite availability of multiple orthogonal communication channels on common sensor network platforms, such as MicaZ motes, and despite multiple simulation-supported designs of multi-channel MAC protocols, most existing sensor networks use only one channel for communication, which is a source of bandwidth inefficiency. In this work, we design, implement, and experimentally evaluate a practical MAC protocol which utilizes multiple channels efficiently for WSNs. A control theory approach is used to dynamically allocate channels for each mote in a distributed manner transparently to the application and routing layers. The protocol assumes that sensor nodes are equipped with one half-duplex radio interface which is most common in current hardware platforms. The protocol does not require time synchronization among nodes and takes the channel switching cost of current hardware into account. Evaluation results on a real testbed show that it achieves a non-trivial bandwidth improvement using 802.15.4 radios in topologies which are typical in WSNs. The MAC protocol was implemented in TinyOS-2.x and packaged as a software component to enable seamless use with existing applications.

This paper presents a tool for uncovering bugs due to interactive complexity in networked sensing applications. Such bugs are not localized to one component that is faulty, but rather result from complex and unexpected interactions between multiple often individually non-faulty components. Moreover, the manifestations of these bugs are often not repeatable, making them particularly hard to find, as the particular sequence of events that invokes the bug may not be easy to reconstruct. Because of the distributed nature of failure scenarios, our tool looks for sequences of events that may be responsible for faulty behavior, as opposed to localized bugs such as a bad pointer in a module. An extensible framework is developed where a front-end collects runtime data logs of the system being debugged and an offline back-end uses frequent discriminative pattern mining to uncover likely causes of failure. We provide a case study of debugging a recent multichannel MAC protocol that was found to exhibit corner cases of poor performance (worse than single channel MAC). The tool helped uncover event sequences that lead to a highly degraded mode of operation. Fixing the problem significantly improved the performance of the protocol.We also provide a detailed analysis of tool overhead in terms of memory requirements and impact on the running application.

Most currently deployed sensor networks use the same channel to communicate information among nodes. This is a source of great inefficiency as it poorly utilizes the available wireless spectrum. This paper takes advantage of radio capabilities of MicaZ motes that can communicate on multiple frequencies as specified in the 802.15.4 standard. We consider the case of a data collection sensor network where multiple base-stations are responsible for draining data from sensor nodes. A key question becomes how to assign nodes to wireless channels such that network throughput is maximized. The problem is reduced to one of load balancing. A control theoretical approach is used to design a self-regulating load-balancing algorithm that maximizes total network throughput. It is evaluated both in simulation and on an experimental testbed. The results demonstrate a significant performance improvement. It is shown that a control theory approach is indeed needed to guarantee stability in data collection networks and prevent undue oscillation of nodes among different wireless channels upon dynamic changes in load conditions.

Sensor networks introduce a new application domain and set of challenges in distributed computing including new network-level programming languages, global system abstractions, and general-purpose communication protocols. These challenges are brought about by the tight integration of computation, communication, and distributed real-time interaction with the physical world. With the growing interest in interconnecting different sensor networks across a wide-area communication infrastructure, an overarching challenge becomes one of arriving at an agreed-upon global sensor network architecture that ensures interoperability. Unlike the Internet, where a layered communication stack (namely, the TCP/IP stack) defines the network architecture, a sensor network architecture must unify not only communication interfaces but also programming interfaces, since network communication and computation functions are tightly intertwined. In that sense, the sensor network architecture refers to a layered stack of distributed computing abstractions. This paper presents an architecture and key considerations in designing and interconnecting local and global sensor networks. Candidate protocols and middleware instantiations are described from the authors' ongoing work that meet the discussed considerations