MANTIS: System Support For MultimodAl NeTworks of Insitu Sensors

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MANTIS System Support For MultimodAl NeTworks of
In-situ Sensors

• Hector Abrach, Shah Bhatti, Jim Carlson, Hui Dai,
  Jeff Rose, Anmol Sheth, Brian Shucker, Jing Deng,
  Richard Han
• University of Colorado at Boulder

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Project MANTIS Goals

• Offer a general-purpose software/hardware
  platform that
• Simplifies sensor networking for newcomers
• Preserves flexibility for advanced research
• Adapts to resource constraints
• Targets for streamlining
• Software API and OS
• Hardware Accessibility

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C Threads the MANTIS Sensor OS
void adc_send() uint8_t value while(1)
value adc_read_8bit(ADC_CH_2)
mos_send_to(NODE2, PORT1, value, 1,
FLOODING)

• Simple C API
• Easy to program
• For advanced users
• Reuse code
• Cross-platform Portability
• Simple multithreading
• Familiar UNIX-like semantics
• For advanced users
• flexible time-sliced scheduling for complex apps

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Multithreaded MANTIS OS (MOS)

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Lightweight MOS Kernel

• Multi-threaded
• Priority/round-robin scheduling
• Fast context switching
• Counting and binary semaphores
• 144 byte static RAM footprint
• 10-byte thread table entries
• Thread context saved on stack
• Stack space allocated dynamically

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Cross-Platform MANTIS OS
Sensor Node

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Cross-Platform User-level Network Stack

• Non-strict layered design
• Easy to modify/experiment
• Chained headers
• eliminate inter-layer
• copies
• Zero-copy on send, forward
• Zero- or single-copy on delivery to application

Application
Network
MAC
Physical
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Integrating Applications Into the Sensor Network
Is Easy

• Application, e.g.
• Visualization app
• Bridging Gateway

T3
T4
T5
MANTIS System API
X Windows GUI
Socket API
Database API
POSIX Shim Layer
UNIX
X86 Hardware
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Multimodal Virtual/Physical Sensor Network
Virtual Sensor Network Of XMOS Nodes
Wireless Sensor Network Of AMOS Nodes
USB/ Serial
Bridging XMOS Gateway
Visualization Application

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Dynamic Reprogramming

• Reprogram entire node while deployed
• MOS boot loader can re-flash entire OS
• Load stored code image from EEPROM
• Source-independent reprogramming
• Standard API to store code image to EEPROM
• Reprogramming possible over arbitrary connection
  (multi-hop), or from application
• Simple, flexible network management

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Dynamic Reprogramming
PC
Nymph
Flash
Flash
Network
EEPROM
MOS
MOS
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Remote Shell/Command Server

• Remote login to nodes
• Debugging functions
• Peek/poke
• Kernel status info
• Configuration
• Spawn threads
• Call functions
• Reprogram node

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Hardware Overview

• Same core as MICA 2
• CC1000 multi-channel radio
• ATMEGA 128 microcontroller
• Possible to install MOS on MICA 2 (minor port)
• Single board design
• Standard 3-wire sensor interface on-board
• On-board serial doubles as programming interface
• 20-pin expansion connector
• GPS port
• Multiple power options

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Power Consumption
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Sample Applications

• Rapid prototyping of user interface devices
• Conductors baton
• GPS enabled time-synchronization
• Use GPS clock to evaluate network
  time-synchronization protocols
• Demonstrated improvement using multi-channel
  protocol
• Robotic networks
• Nymph-controlled RC car

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Conclusion

• MANTIS system provides some new capability
• Lightweight, multithreaded, cross-platform OS and
  network
• Flexible single-board hardware platform
• Easily integrates sensor networks with other
  applications
• MANTIS is also user-friendly
• Familiar API and language
• Powerful management tools

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Conclusion (2)

• Other MANTIS Publications
• Systems
• J. Carlson, R. Han, S. Lao, C. Narayan, S.
  Sanghani," Rapid Prototyping Of Mobile Input
  Devices Using Wireless Sensor Nodes," 5th IEEE
  Workshop On Mobile Computing Systems and
  Applications (WMCSA), 2003 (to appear).
• H. Dai, R. Han, " A Node-Centric Load Balancing
  Algorithm For Wireless Sensor Networks, " IEEE
  GLOBECOM - Wireless Communications 2003. (to
  appear)
• Security
• J. Deng, R. Han, S. Mishra, "Security Support for
  In-Network Processing in Wireless Sensor
  Networks", First ACM Workshop on the Security of
  Ad Hoc and Sensor Networks (SASN) 2003, (to
  appear)
• M. Gruteser, G. Schelle, A. Jain, R. Han, D.
  Grunwald, "Privacy-Aware Location Sensor
  Networks," USENIX 9th Workshop on Hot Topics in
  Operating Systems (HOTOS IX) 2003.
• J. Deng, R. Han, S. Mishra, "A Performance
  Evaluation of Intrusion-Tolerant Routing in
  Wireless Sensor Networks," IEEE 2nd International
  Workshop on Information Processing in Sensor
  Networks (IPSN 2003).
• See http//mantis.cs.colorado.edu for more
  information and downloads