Emulab is a testbed for networked and distributed systems experimentation. Two guiding principles of its design are realism and control of experimentation. There is an inherent tension between these goals, however, and in some aspects of the testbed's design, Emulab's implementers favored realism over control. Thus, Emulab provides wide-ranging control over an experiment's environment and initial conditions, but relatively little control over its execution--in particular, the ability to suspend, preempt, or replay the experiment.

Abstract — Simulation has been the dominant research methodology in wireless and sensor networking. When mobility is added, real-world experimentation is especially rare. However, it is becoming clear that simulation models do not sufficiently capture radio and sensor irregularity in a complex, real-world environment, especially indoors. Unfortunately, the high labor and equipment costs of truly mobile experimental infrastructure present high barriers to such experimentation. We describe our experience in creating a testbed to lower those barriers. We have extended the Emulab network testbed software to provide the first remotely-accessible mobile wireless and sensor testbed. Robots carry motes and single board computers through a fixed indoor field of sensor-equipped motes, all running the user’s selected software. In real-time, interactively or driven by a script, remote users can position the robots, control all the computers and network interfaces, run arbitrary programs, and log data. Our mobile testbed provides simple path planning, a vision-based tracking system accurate to 1 cm, live maps, and webcams. Precise positioning and automation allow quick and painless evaluation of location and mobility effects on wireless protocols, location algorithms, and sensor-driven applications. The system is robust enough that it is deployed for public use. We present the design and implementation of our mobile testbed, evaluate key aspects of its performance, and describe a few experiments demonstrating its generality and power. I.

No abstract available.

No abstract available.

Many real-world distributed, real-time, embedded (ORE) systems, such as multiagent military applications, are built using commercially available operating systems, middleware, and collections of pre-existing software. The complexity of these systems makes it difficult to ensure that they maintain high quality of service (QOS). At design time, the challenge is to introduce coordinated QOS controls into multiple software elements in a non-invasive manner. At run time, the system must adapt dynamically to maintain high QOS in the face of both expected events, such as application mode changes, and unexpected events, such as resource demands from other applications. We describe the design and implementation of a CPU broker for these types of ORE systems. The CPU broker mediates between multiple real-time tasks and the facilities of a real-time operating system: using feedback and other inputs, it adjusts allocations over tune to ensure that high application-level QOS is maintained. The broker connects to its monitored tasks in a non-invasive manner, is based on and integrated with industry-standard middleware, and implements an open architecture for new CPU management policies. Moreover, these features allow the broker to be easily combined with other QOS mechanisms and policies, as part of an overall end-to-end QOS management system. We describe our experience in applying the CPU Broker to a simulated DUE military system. Our results show that the broker connects to the system transparently and allows it to function in the face of run-time CPU resource contention.

We have developed a new way to look at real-time and embedded software: as a collection of execution environments created by a hierarchy of schedulers. Common schedulers include those than run interrupts, bottom-half handlers, threads, and events. We have created algorithms for deriving response times, scheduling overheads, and blocking terms for tasks in systems containing multiple execution environments. We have also created task scheduler logic, a formalism that permits checking systems for race conditions and other errors. Concurrency analysis of low-level software is challenging because there are typically several kinds of locks, such as thread mutexes and disabling interrupts, and groups of cooperating tasks may need to acquire some, all or none of the available types of locks to create correct software. Our high-level goal is to create systems that are evolvable: they are easier to modify in response to changing requirements than are systems created using traditional techniques. We have applied our approach to two case studies in evolving software for networked sensor nodes.

In this paper, we present STP, a system in which communicating end hosts use untrusted mobile code to remotely upgrade each other with the transport protocols that they use to communicate. New transport protocols are written in a type-safe version of C, distributed out-of-band, and run in-kernel. Communicating peers select a transport protocol to use as part of a TCP-like connection setup handshake that is backwards-compatible with TCP and incurs minimum connection setup latency. New transports can be invoked by unmodified applications. By providing a late binding of protocols to hosts, STP removes many of the delays and constraints that are otherwise commonplace when upgrading the transport protocols deployed on the Internet. STP is simultaneously able to provide a high level of security and performance. It allows each host to protect itself from untrusted transport code and to ensure that this code does not harm other network users by sending significantly faster than a compliant TCP. It runs untrusted code with low enough overhead that new transport protocols can sustain near gigabit rates on commodity hardware. We believe that these properties, plus compatibility with existing applications and transports, complete the features that are needed to make STP useful in practice.

Design patterns are a valuable mechanism for emphasizing structure, capturing design expertise, and facilitating restructuring of software systems. Patterns are typically applied in the context of an object-oriented language and are implemented so that the pattern participants correspond to object instances that are created and connected at run-time. This paper describes a complementary realization of design patterns, in which many pattern participants correspond to statically instantiated and connected components.Our approach separates the static parts of the software design from the dynamic parts of the system behavior. This separation makes the software design more amenable to analysis, thus enabling more effective and domain-specific detection of system design errors, prediction of run-time behavior, and more effective optimization. This technique is applicable to imperative, functional, and object-oriented languages: we have extended C, Scheme, and Java with our component model. In this paper, we illustrate our approach in the context of the OSKit, a collection of operating system components written in C.

The authors argue that content distribution in the face of censorship is a compelling and feasible application of active networking. In the face of a determined and powerful adversary, every fixed protocol can become known and subsequently monitored, blocked, or its member nodes identified and attacked. Frequent and diverse protocol change is key to allowing information to continue to flow. Typically, decentralized and locally-customized protocol evolution is also an important aspect in providing censor-resistance. A programmable overlay network can provide this type of manually-initiated protocol diversification. We have prototyped such an extension to Freenet, a peer-to-peer storage and retrieval system, whose goals include censor resistance and anonymity for information publishers and consumers.

This paper describes an operating system (OS) interface for active routers. This interface allows code loaded into active routers to access the router's memory, communication, and computational resources on behalf of different packet flows. In addition to motivating and describing the interface, the paper also reports our experiences implementing the interface in three different OS environments: Scout, the OSKit, and the esokernel.

Janos is an operating system (OS) for active network nodes whose primary focus is strong resource management and control of untrusted active applications written in Java. Janos includes the three major components of a Java-based active network operating system: the low-level NodeOS, a resource-aware Java virtual machine, and an active network protocol execution environment. Each of these components is separately usable. This article lays out the Janos design and its rationale.

Large-scale, multi-point, multimedia conferencing applications designed to facilitate long-distance collaboration are enjoying growing popularity. Usually composed of real-time audio, video and shared-drawing applications, these collaborative environments help render the geographical location of collaborators irrelevant. To complement these existing collaborative applications, it would be useful to have the ability to distribute documents synchronously over the World Wide Web (WWW). One model for synchronized information dissemination within the Web is webcasting in which data are simultaneously distributed to multiple destinations. The WWW's traditional unicast client/server communication model suffers, however, when applied to webcasting; solutions which require many clients to simultaneously fetch data from the origin server using the client/server model will likely cause server and link overload.

An interface definition language (IDL) is a nontraditional language for describing interfaces between software components. IDL compilers generate "stubs" that provide separate communicating processes with the abstraction of local object invocation or procedure call. High-quality stub generation is essential for applications to benefit from component-based designs, whether the components reside on a single computer or on multiple networked hosts. Typical IDL compilers, however, do little code optimization, incorrectly assuming that interprocess communication is always the primary bottleneck. More generally, typical IDL compilers are "rigid" and limited to supporting only a single IDL, a fixed mapping onto a target language, and a narrow range of data encodings and transport mechanisms.Flick, our new IDL compiler, is based on the insight that IDLs are true languages amenable to modern compilation techniques. Flick exploits concepts from traditional programming language compilers to bring both flexibility and optimization to the domain of IDL compilation. Through the use of carefully chosen intermediate representations, Flick supports multiple IDLs, diverse data encodings, multiple transport mechanisms, and applies numerous optimizations to all of the code it generates. Our experiments show that Flick-generated stubs marshal data between 2 and 17 times faster than stubs produced by traditional IDL compilers, and on today's generic operating systems, increase end-to-end throughput by factors between 1.2 and 3.7.

Implementing new operating systems is tedious, costly, and often impractical except for large projects.The Flux OSKit addresses this problem in a novel way by providing clean, well-documented OS components designed to be reused in a wide variety of other environments, rather than defining a new OS structure.The OSKit uses unconventional techniques to maximize its usefulness, such as intentionally exposing implementation details and platform-specific facilities.Further, the OSKit demonstrates a technique that allows unmodified code from existing mature operating systems to be incorporated quickly and updated regularly, by wrapping it with a small amount of carefully designed "glue" code to isolate its dependencies and export wellrdefined interfaces.The OSKit uses this technique to incorporate over 230,000 lines of stable code including device drivers, file systems, and network protocols.Our experience demonstrates that this approach to component software structure and reuse has a surprisingly large impact in the OS implementation domain.Four real-world examples show how the OSKit is catalyzing research and development in operating systems and programming languages.

No abstract available.

No abstract available.