Networked and Embedded Systems Laboratory

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<DIV ALIGN=JUSTIFY>
<p>Sensor network nodes exhibit characteristics of both embedded
systems and general-purpose systems.
As an embedded system, a sensor node must use little energy and be
robust to environmental conditions.
As a generalpurpose system, a node should provide common services that
make it easy to write applications.
TinyOS, the current state of the art in sensor network operating systems, focuses on
traditional embedded system constraints; reusable components implement
common services, but a node runs a single statically-linked
system image, making it hard to run multiple applications or incrementally
update applications.
We present SOS, a new operating system for mote-class sensor nodes
that implements a more dynamic point on the design spectrum.
SOS consists of dynamicallyloaded modules and a common kernel, which
implements messaging, dynamic memory, and module loading and unloading,
among other services.
Modules are not processes: they are scheduled cooperatively and there is no
memory protection.
Nevertheless, the system protects against common module bugs using
techniques such as typed entry points, watchdog timers, and primitive resource
garbage collection.
Individual modules can be added and removed with minimal system
interruption.

We describe SOS's design and implementation, discuss tradeoffs, and compare
it with TinyOS and with the Mat'e virtual machine for TinyOS.
Our evaluation shows that despite the dynamic nature of SOS and its higher-level kernel
interface, it performs comparably to TinyOS in terms of energy usage and
performance, and better in terms of energy usage during software updates.</p></DIV>

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