atlas: a service-oriented sensor and actuator network platform to enable programmable pervasive ...

110 Pages·2007·2.1 MB·English

by  Jeff King

ATLAS: A SERVICE-ORIENTED SENSOR AND ACTUATOR NETWORK PLATFORM TO
ENABLE PROGRAMMABLE PERVASIVE COMPUTING SPACES

By

JEFFREY C. KING

A DISSERTATION PRESENTED TO THE GRADUATE SCHOOL
OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT
OF THE REQUIREMENTS FOR THE DEGREE OF
DOCTOR OF PHILOSOPHY

UNIVERSITY OF FLORIDA

2007
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© 2007 Jeffrey C. King

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To my parents, Sharon and Wayne King, who taught me the love of poking and prodding the
world, demanding its secret knowledge, but never becoming frustrated to find some things are
inscrutable, wondrously so
– and –
To my grandmother, Barbara Ryther―would all the promise of independent living within this
text come true, I’d still want you living with us

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ACKNOWLEDGMENTS
My enduring thanks and appreciation go to my advisor, Dr. Abdelsalam (Sumi) Helal, for
bringing me into his fold, and sharing his ability to clarify and motivate and excite students.
I, of course, thank the many friends in the Mobile and Pervasive Computing Lab that I
have spent so much time with these years: James Russo, Dr. Hisham Zabadani, Youssef
Kaddoura, Steve Vander Ploeg, Erwin Jansen, Steven Pickles, Raja Bose, Hen-I Yang, Ed
Koush, Dr. Bessam Abdulrazak, and Dr. Shinyoung Lim. James and Steve V.P. deserve special
note for the incredible early work on the then-unnamed sensor platform. The same goes for
Steven Pickles, who produced our first working sensor platform and who always showed the
saintly patience necessary when electrical engineers are asked to demystify their hardware mojo
for computer scientists. Raja Bose and Hen-I Yang deserve special note. Mr. Bose’s speed and
talent for magnificent design and implementation is stunning to behold, and the Atlas project
would be nowhere without him. Mr. Yang has provided the perfect solid, reasoned and
experienced grounding for ideas that threatened to spiral out of control, and of the work
performed in this lab, our collaborations have been the most satisfying.

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TABLE OF CONTENTS

page
ACKNOWLEDGMENTS...............................................................................................................4
LIST OF TABLES...........................................................................................................................8
LIST OF FIGURES.........................................................................................................................9
ABSTRACT...................................................................................................................................11
CHAPTER
1 INTRODUCTION..................................................................................................................12
Pervasive Computing..............................................................................................................12
Deploying Pervasive Computing Environments....................................................................12
Matilda Smart House.......................................................................................................13
Gator Tech Smart House.................................................................................................14
Failures of Integrated Pervasive Computing Spaces.......................................................15
Programmable Pervasive Spaces............................................................................................16
Sensor Network Platforms...............................................................................................17
Atlas Platform..................................................................................................................18
Organization of Dissertation...................................................................................................18
2 RELATED WORK.................................................................................................................20
Sensor Networks.....................................................................................................................20
Middleware for Sensor Networks and Pervasive Computing.................................................22
3 OVERVIEW OF THE ATLAS PLATFORM........................................................................27
Sensors and Actuators for Pervasive Spaces..........................................................................27
Middleware for Programmable Pervasive Spaces..................................................................28
Atlas Platform.........................................................................................................................29
4 ATLAS PLATFORM HARDWARE.....................................................................................33
Processing Layer.....................................................................................................................33
Communication Layer............................................................................................................35
Wired Ethernet.................................................................................................................35
WiFi.................................................................................................................................37
ZigBee.............................................................................................................................37
Universal Serial Bus........................................................................................................38
Serial Port........................................................................................................................38
Bluetooth.........................................................................................................................38
Patch Antenna..................................................................................................................38
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Device Interface Layer...........................................................................................................39
Analog Sensors................................................................................................................39
Digital Sensors.................................................................................................................39
Actuators..........................................................................................................................40
General Purpose Input/Output.........................................................................................41
Device Interfacing and IEEE 1451..................................................................................41
Wireless Interface Layer..................................................................................................41
Other Layers...........................................................................................................................42
5 ATLAS PLATFORM FIRMWARE.......................................................................................47
uIP Firmware..........................................................................................................................47
Direct Firmware......................................................................................................................47
TinyOS Firmware...................................................................................................................48
TinyOS Base....................................................................................................................49
Atlas Platform Definition................................................................................................51
Atlas Application.............................................................................................................54
6 ATLAS MIDDLEWARE.......................................................................................................62
Open Services Gateway Initiative Middleware......................................................................62
Atlas Middleware Architecture...............................................................................................64
Network Manager............................................................................................................64
Configuration Manager...................................................................................................65
Bundle Repository...........................................................................................................66
Atlas Developer Application Programming Interface.....................................................67
Application Development Using Atlas...................................................................................67
Atlas Service Authoring Tool..........................................................................................68
Communication Modules................................................................................................69
Performance Evaluation..........................................................................................................70
Experiment Setup............................................................................................................70
Atlas Middleware Scalability..........................................................................................71
Performance under Zero-Load Data Streams..................................................................73
7 ATLAS TRUST MODEL.......................................................................................................82
Security and Privacy in Sensor Networks..............................................................................82
Attack Model for the Atlas Platform......................................................................................82
Remote Attacks...............................................................................................................82
Neighboring Attacks........................................................................................................83
Internal Attacks...............................................................................................................83
Interception Attacks.........................................................................................................83
Insertion Attacks..............................................................................................................84
Denial of Service Attacks................................................................................................84
Attack Prevention...................................................................................................................84
Fundamental Security......................................................................................................85
Preventing Interception and Insertion Attacks................................................................85
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Pervasive Noise......................................................................................................................87
Overview.........................................................................................................................87
Noise Model....................................................................................................................88
Pervasive Noise Implementation.....................................................................................90
8 CASE STUDIES.....................................................................................................................93
Gator Tech Smart House........................................................................................................93
Smart Blinds....................................................................................................................93
Atlas-Based Smart Floor.................................................................................................94
Smart Front Door.............................................................................................................95
Results.............................................................................................................................96
Purdue NILE-PDT..................................................................................................................96
9 CONCLUSIONS AND FUTURE WORK...........................................................................100
Hardware Roadmap..............................................................................................................100
Middleware Roadmap...........................................................................................................101
Data Processing.............................................................................................................101
Distributed Middleware Servers....................................................................................101
Alternate Service Frameworks......................................................................................102
APPENDIX EXAMPLE NESC SOURCE CODE USED in ATLAS FIRMWARE...............103
Interface................................................................................................................................103
Interface Provider.................................................................................................................103
Interface User........................................................................................................................103
Configuration Wiring............................................................................................................103
LIST OF REFERENCES.............................................................................................................104
BIOGRAPHICAL SKETCH.......................................................................................................110

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LIST OF TABLES
Table page

2-1 Comparison of existing sensor network platforms............................................................24
5-1 NesC Interfaces defined in the Atlas firmware..................................................................56
6-1 Methods provided by the Atlas Developer Application Programming Interface..............75
6-2 Primary functionalities provided by Atlas Service Authoring Tool..................................75

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LIST OF FIGURES
Figure page

1-1 In-lab Matilda Smart House...............................................................................................19
1-2 Gator Tech Smart House....................................................................................................19
2-1 Crossbow MICA2 and MICA2DOT motes.......................................................................24
2-2 Telos mote, with serial and Universal Serial Bus support.................................................25
2-3 Phidgets 8/8/8 Interface Kit...............................................................................................25
2-4 Cork Cube platform...........................................................................................................26
3-1 Middleware architecture for programmable pervasive spaces...........................................31
3-2 Atlas-specific architecture for programmable pervasive spaces........................................31
3-3 Software stack architecture of the Atlas platform..............................................................32
4-1 Three-layered Atlas node...................................................................................................42
4-2 Atlas Processing Layer......................................................................................................43
4-3 Atlas Wired Ethernet Communication Layer....................................................................43
4-4 Atlas WiFi Communication Layer.....................................................................................43
4-5 Atlas ZigBee Communication Layer.................................................................................44
4-6 Atlas Programming and Debugging Board........................................................................44
4-7 Atlas Universal Patch Antenna..........................................................................................44
4-8 Atlas Analog Sensor – 8 Device Interface Layer...............................................................45
4-9 Atlas Analog Sensor – 32 Device Interface Layer.............................................................45
4-10 Atlas Digital Contact Sensor Device Interface Layer........................................................45
4-11 Atlas Servo Device Interface Layer...................................................................................46
4-12 Atlas General Purpose Input/Output Device Interface Layer............................................46
5-1 Communication path for data transmitted from Atlas node to middleware.......................59
5-2 Communication path for data transmitted from Atlas middleware to node.......................60
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5-3 Component and module diagram of TinyOS-based Atlas firmware.................................61
6-1 Adding a new Atlas node to the network...........................................................................76
6-2 Knopflerfish OSGi framework running the Atlas middleware..........................................77
6-3 Atlas node web configuration page....................................................................................77
6-4 Atlas repository web configuration page...........................................................................78
6-5 Atlas Eclipse IDE plugin...................................................................................................78
6-6 Screenshot of the AtlasSim application.............................................................................79
6-7 AtlasSim node configuration window...............................................................................79
6-8 Processor load vs. number of sensors................................................................................80
6-9 Memory usage vs. number of sensors................................................................................80
6-10 Processor load vs. number of sensors................................................................................81
6-11 Memory usage vs. number of sensors................................................................................81
8-1 Servo motor attached to the Smart Blinds.........................................................................97
8-2 Tile of the Smart Floor, with Atlas node...........................................................................98
8-3 Atlas node connected to 32 pressure sensors.....................................................................98
8-4 Graphical display of location tracker service.....................................................................99
8-5 Connecting the electronic deadbolt to the Atlas platform.................................................99
8-6 Private-Door Duo electronic door opener..........................................................................99

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