On the criteria to be used in decomposing systems into modules
Communications of the ACM
A Comparison of Protocols for Updating Location Information
Cluster Computing
The Location Stack: A Layered Model for Location in Ubiquitous Computing
WMCSA '02 Proceedings of the Fourth IEEE Workshop on Mobile Computing Systems and Applications
Seamful interweaving: heterogeneity in the theory and design of interactive systems
DIS '04 Proceedings of the 5th conference on Designing interactive systems: processes, practices, methods, and techniques
MiddleWhere: a middleware for location awareness in ubiquitous computing applications
Proceedings of the 5th ACM/IFIP/USENIX international conference on Middleware
ACM Transactions on Computer-Human Interaction (TOCHI)
EnTracked: energy-efficient robust position tracking for mobile devices
Proceedings of the 7th international conference on Mobile systems, applications, and services
Error Estimation for Indoor 802.11 Location Fingerprinting
LoCA '09 Proceedings of the 4th International Symposium on Location and Context Awareness
PerPos: a translucent positioning middleware supporting adaptation of internal positioning processes
Proceedings of the ACM/IFIP/USENIX 11th International Conference on Middleware
TraX: a device-centric middleware framework for location-based services
IEEE Communications Magazine
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Traditionally, the goal for positioning middleware is to provide developers with seamless position transparency, i.e., providing a connection between the application domain and the positioning sensors while hiding the complexity of the positioning technologies in use. A key part of the hidden complexity is the uncertainty associated to positions caused by inherent limitations when using sensors to convert physical phenomena to digital representations. We propose to use the notion of seamful design for developers to design a positioning middleware that provides transparent positioning and still allows developers some control of the uncertainty aspects of the positioning process. The design presented in this paper shows how uncertainty of positioning can be conceptualized and internalized into a positioning middleware. Furthermore, we argue that a developer who is interacting with uncertainty concepts is best supported when provided with a programming method with declarative constructs.