We have developed several middleware services for the motes. These include
Our Radio Interferometric Positioning System (RIPS) utilizes standard MICA2 motes for self localization.
The radio interference created by two simultaneously transmitting nodes is used to determine the relative position of the motes. The accuracy
of RIPS is a few centimeters at ranges up to 170 meters.
The Flooding Time Synchronization Protocol (FTSP) utilizes a single
broadcasted message to obtain time synchronization reference points between the sender and its neighbors.
Nodes broadcast time synchronization messages periodically and synchronize their clocks to that of an
elected leader. The algorithm is robust; it handles topology changes and node failures well. The average
per hop error is less than 2 microseconds on the MICA2 platform.
The Directed Flood Routing Framework (DFRF) for wireless sensor networks
allows the rapid development of application specific routing protocols based on directed flooding.
Flood-routing protocols are probabilistic methods that make only the best effort to route data packets.
The presented family of protocols can route regular sized data packets via broadcast messages according
to customizable routing policies that govern the way intermediate nodes rebroadcast messages.
The framework automatically supports data packet aggregation, and allows in-network data packet
filtering and alteration.
The Remote Control utility enables the monitoring and control of
individual (or groups of) motes. Its combination with the Message Center results in a very useful