Making effective use of the vast amounts of data gathered by largescale sensor networks will require scalable, self-organizing, and energy-efficient data dissemination algorithms. Previous work has identified data-centric routing as one such method. In an associated position paper [23], we argue that a companion method, data-centric storage (DCS), is also a useful approach. Under DCS, sensed data are stored at a node determined by the name associated with the sensed data. In this paper,

Pervasive micro-sensing and actuation may revolutionize the way in which we understand and manage complex physical systems: from airplane wings to complex ecosystems. The capabilities for detailed physical monitoring and manipulation offer enormous opportunities for almost every scientific discipline, and it will alter the feasible granularity of engineering. We identify opportunities and challenges for distributed signal processing in networks of these sensing elements and investigate some of the architectural challenges posed by systems that are massively distributed, physically-coupled, wirelessly networked, and energy limited. 1.

A key subproblem in the construction of location-aware systems is the determination of the position of a mobile device. This article describes the design, implementation and analysis of a system for determining position inside a building from measured RF signal strengths of packets on an IEEE 802.11b wireless Ethernet network. Previous approaches to location-awareness with RF signals have been severely hampered by non-Gaussian signals, noise, and complex correlations due to multi-path effects, interference and absorption. The design of our system begins with the observation that determining position from complex, noisy and non-Gaussian signals is a wellstudied problem in the field of robotics. Using only off-the-shelf hardware, we achieve robust position estimation to within a meter in our experimental context and after adequate training of our system. We can also coarsely determine our orientation and can track our position as we move. Our results show that we can localize a stationary device to within 1.5 meters over 80 % of the time and track a moving device to within 1 meter over 50 % of the time. Both localization and tracking run in real-time. By applying recent advances in probabilistic inference of position and sensor fusion from noisy signals, we show that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location.

Many applications of robotics and embedded sensor technology can benet from ne-grained localization. Fine-grained localization can simplify multi-robot collaboration, enable energy ecient multi-hop routing for low-power radio networks, and enable automatic calibration of distributed sensing systems. In this work we focus on range estimation, a critical prerequisite for ne-grained localization. While many mechanisms for range estimation exist, any individual mode of sensing can be blocked or confused by the environment. We present and analyze an acoustic ranging system that performs well in the presence of many types of interference, but can return incorrect measurements in non-line-of-sight conditions. We then suggest how evidence from an orthogonal sensory channel might be used to detect and eliminate these measurements. This work illustrates the more general research theme of combining multiple modalities to obtain robust results. 1

Making effective use of the vast amounts of data gathered by large-scale sensor networks (sensornets) will require scalable, self-organizing, and energy-efficient data dissemination algorithms. For sensornets, where the content of the data is more important than the identity of the node that gathers them, researchers have found it useful to move away from the Internet's point-to-point communication abstraction and instead adopt abstractions that are more data-centric. This approach entails naming the data and using communication abstractions that refer to those names rather than to node network addresses [1,11]. Previous work on data-centric routing has shown it to be an energy-efficient data dissemination method for sensornets [12]. Herein, we argue that a companion method, data-centric storage (DCS), is also a useful approach. Under DCS, sensed data are stored at a node determined by the name associated with the sensed data. In this paper, we first define DCS and predict analytically where it outperforms other data dissemination approaches. We then describe GHT, a Geographic Hash Table system for DCS on sensornets. GHT hashes keys into geographic coordinates, and stores a key-value pair at the sensor node geographically nearest the hash of its key. The system replicates stored data locally to ensure persistence when nodes fail. It uses an efficient consistency protocol to ensure that key-value pairs are stored at the appropriate nodes after topological changes. And it distributes load throughout the network using a geographic hierarchy. We evaluate the performance of GHT as a DCS system in simulation against two other dissemination approaches. Our results demonstrate that GHT is the preferable approach for the application workloads we analytically predict, offers ...

this paper: We propose a novel data dissemination method, DCS, and show where it outperforms other approaches

The popularity of wireless networks has increased in recent years and is becoming a common addition to LANs. In this paper we investigate a novel use for a wireless network based on the IEEE 802.11 standard: inferring the location of a wireless client from signal quality measures. Similar work has been limited to prototype systems that rely on nearest-neighbor techniques to infer location. In this paper, we describe Nibble, a Wi-Fi location service that uses Bayesian networks to infer the location of a device. We explain the general theory behind the system and how to use the system, along with describing our experiences at a university campus building and at a research lab. We also discuss how probabilistic modeling can be applied to a diverse range of applications that use sensor data.

Sensor Positioning is a fundamental and crucial issue for sensor network operation and management. In the paper, we first study some situations where most existing sensor positioning methods tend to fail to perform well, an example being when the topology of a sensor network is anisotropic. Then, we explore the idea of using dimensionality reduction techniques to estimate sensors coordinates in two (or three) dimensional space, and we propose a distributed sensor positioning method based on multidimensional scaling technique to deal with these challenging conditions. Multidimensional scaling and coordinate alignment techniques are applied to recover positions of adjacent sensors. The estimated positions of the anchors are compared with their true physical positions and corrected, The positions of other sensors are corrected accordingly. With iterative adjustment, our method can overcome adverse network and terrain conditions, and generate accurate sensor position. We also propose an on demand sensor positioning method based on the above method.

Beacon placement strongly affects the quality of spatial localization, a critical service for context-aware applications in wireless sensor networks; yet this aspect of localization has received little attention. Fixed beacon placement approaches such as uniform and very dense placement are not always viable and will be inadequate in very noisy environments in which sensor networks may be expected to operate (with high terrain and propagation uncertainties). In this paper, we motivate the need for empirically adaptive beacon placement and outline a general approach based on exploration and instrumentation of the terrain conditions by a mobile human or robot agent. We design, evaluate and analyze three novel adaptive beacon placement algorithms using this approach for localization based on RF-proximity. In our evaluation, we find that beacon density rather than noise level has a more significant impact on beacon placement algorithms. Our beacon placement algorithms are applicable to a low (beacon) density regime of operation. Noise makes moderate density regimes more improvable.

We demonstrate a system built using probabilistic techniques that allows for remarkably accurate localization across our entire office building using nothing more than the built-in signal intensity meter supplied by standard 802.11 cards. While prior systems have required significant investments of human labor to build a detailed signal map, we can train our system by spending less than one minute per office or region, walking around with a laptop and recording the observed signal intensities of our building’s unmodified base stations. We actually collected over two minutes of data per office or region, about 28 man-hours of effort. Using less than half of this data to train the localizer, we can localize a user to the precise, correct location in over 95 % of our attempts, across the entire building. Even in the most pathological cases, we almost never localize a user any more distant than to the neighboring office. A user can obtain this level of accuracy with only two or three signal intensity measurements, allowing for a high frame rate of localization results. Furthermore, with a brief calibration period, our system can be adapted to work with previously unknown user hardware. We present results demonstrating the robustness of our system against a variety of untrained time-varying phenomena, including the presence or absence of people in the building across the day. Our system is sufficiently robust to enable a variety of locationaware applications without requiring special-purpose hardware or complicated training and calibration procedures.