The flooding time synchronization protocol
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Versatile low power media access for wireless sensor networks
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Simulating the power consumption of large-scale sensor network applications
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Sympathy for the sensor network debugger
Proceedings of the 3rd international conference on Embedded networked sensor systems
Kansei: a testbed for sensing at scale
Proceedings of the 5th international conference on Information processing in sensor networks
TWIST: a scalable and reconfigurable testbed for wireless indoor experiments with sensor networks
REALMAN '06 Proceedings of the 2nd international workshop on Multi-hop ad hoc networks: from theory to reality
MoteLab: a wireless sensor network testbed
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Micro power meter for energy monitoring of wireless sensor networks at scale
Proceedings of the 6th international conference on Information processing in sensor networks
EmStar: a software environment for developing and deploying wireless sensor networks
ATEC '04 Proceedings of the annual conference on USENIX Annual Technical Conference
Accurate prediction of power consumption in sensor networks
EmNets '05 Proceedings of the 2nd IEEE workshop on Embedded Networked Sensors
Software-based on-line energy estimation for sensor nodes
Proceedings of the 4th workshop on Embedded networked sensors
Evaluating Energy Consumption in Wireless Sensor Networks Applications
DSD '07 Proceedings of the 10th Euromicro Conference on Digital System Design Architectures, Methods and Tools
Clairvoyant: a comprehensive source-level debugger for wireless sensor networks
Proceedings of the 5th international conference on Embedded networked sensor systems
Energy Metering for Free: Augmenting Switching Regulators for Real-Time Monitoring
IPSN '08 Proceedings of the 7th international conference on Information processing in sensor networks
The Energy Endoscope: Real-Time Detailed Energy Accounting for Wireless Sensor Nodes
IPSN '08 Proceedings of the 7th international conference on Information processing in sensor networks
Dustminer: troubleshooting interactive complexity bugs in sensor networks
Proceedings of the 6th ACM conference on Embedded network sensor systems
Passive diagnosis for wireless sensor networks
Proceedings of the 6th ACM conference on Embedded network sensor systems
PDA: Passive distributed assertions for sensor networks
IPSN '09 Proceedings of the 2009 International Conference on Information Processing in Sensor Networks
Exploiting Timed Automata for Conformance Testing of Power Measurements
FORMATS '09 Proceedings of the 7th International Conference on Formal Modeling and Analysis of Timed Systems
Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems
The case for a network protocol isolation layer
Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems
Deployment support network a toolkit for the development of WSNs
EWSN'07 Proceedings of the 4th European conference on Wireless sensor networks
Diagnostic powertracing for sensor node failure analysis
Proceedings of the 9th ACM/IEEE International Conference on Information Processing in Sensor Networks
Quanto: tracking energy in networked embedded systems
OSDI'08 Proceedings of the 8th USENIX conference on Operating systems design and implementation
Sensei-uu: a relocatable sensor network testbed
Proceedings of the fifth ACM international workshop on Wireless network testbeds, experimental evaluation and characterization
Efficient diagnostic tracing for wireless sensor networks
Proceedings of the 8th ACM Conference on Embedded Networked Sensor Systems
Scoped identifiers for efficient bit aligned logging
Proceedings of the Conference on Design, Automation and Test in Europe
Flexible experimentation in wireless sensor networks
Communications of the ACM
Proceedings of the 9th ACM Conference on Embedded Networked Sensor Systems
pTunes: runtime parameter adaptation for low-power MAC protocols
Proceedings of the 11th international conference on Information Processing in Sensor Networks
Minerva: distributed tracing and debugging in wireless sensor networks
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
Chaos: versatile and efficient all-to-all data sharing and in-network processing at scale
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
Synchronous transmissions enable simple yet accurate protocol modeling
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
Tracking smartphones using low-power sensor nodes
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
Twonet: large-scale wireless sensor network testbed with dual-radio nodes
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
Towards TCP communication with the low power wireless bus
Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems
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Testbeds are indispensable for debugging and evaluating wireless embedded systems. While existing testbeds provide ample opportunities for realistic, large-scale experiments, they are limited in their ability to closely observe and control the distributed operation of resource-constrained nodes - access to the nodes is restricted to the serial port. This paper presents FlockLab, a testbed that overcomes this limitation by allowing multiple services to run simultaneously and synchronously against all nodes under test in addition to the traditional serial port service: tracing of GPIO pins to record logical events occurring on a node, actuation of GPIO pins to trigger actions on a node, and high-resolution power profiling. FlockLab's accurate timing information in the low microsecond range enables logical events to be correlated with power samples, thus providing a previously unattained level of visibility into the distributed behavior of wireless embedded systems. In this paper, we describe FlockLab's design, benchmark its performance, and demonstrate its capabilities through several real-world test cases.