MiNT: Miniaturized Network Testbed Christopher Mitchell EE ‘09 The Cooper Union June 2, 2008

Table of Contents Background: Research Area Research Problem: Wireless Testbed Context: Dr. Gopalan’s Research Purpose: Why MiNT is Significant Previous Work & Future Work Project Feasibility Sources

Background: Research Area Combined application of robotics and networking: network simulation Previous simulation extremes –Large-scale, physical testbed –Single-computer virtual simulation MiNT: Small-scale, automated physical testbed Definitions –Ad-hoc networking: decentralized network –Mesh network: Wireless application of ad-hoc networking

Mesh Networking Node 1 Node 3 Node 2 Node 4 Step 1: Routing protocol Step 2: Data exchange Step 3: Rerouting

Research Problem: Wireless Testbed Use iRobot Roomba vacuums with wireless networking capabilities to create automated testbed, building on work at SUNY Stony Brook Modify existing software network simulator, NS2, to control physical robots Tasks 1. Figure out iRobot’s API for controlling small robots 2. Recreate Stony Brook’s hybrid NS2 3. Create fault injection and analysis toolbox 4. Add capability to utilize arbitrary protocols

iRobot Programmable Robot Programmable Can be interfaced to external hardware such as a controller board with a wireless interface

Context: Dr. Gopalan’s Research Current areas of research –Ad-hoc network –Wireless protocols Previous attempts to ameliorate NS2’s shortcomings by tweaking its algorithm –Much less effective than using physical node MiNT will allow testing of arbitrary protocols under development

Purpose: Why MiNT is Significant Compromise between a large-scale physical testbed and a virtual simulation Improvements over Stony Brook –Newer NS2: More maintainable for the future –Better tracking of nodes –Fault injection and analysis –Use of experimental protocols

Previous Work Stony Brook –Two prototypes testbeds –Hybrid NS2 with older version of NS2 –Visual tracking of robots using fixed webcams –Ability to use existing wireless protocols Binghamton –Collaborative work with Stony Brook –No physical testbed

Future Work: My Involvement Figure out iRobot’s API for controlling Roombas –Explore how to interface hybridized NS2 with robots Create new Hybrid NS2 –Examine current software-simulation code for NS2 –Examine Stony Brook’s notes on creating a hybrid version employing physical robots for nodes –Create new, maintainable Hybrid NS2 using up-to- date source code of latest version

Project Feasibility Already shown to be possible by Stony Brook Main focus will be improving upon previous work –Rebuild Hybrid NS2 –Provide maintainability to allow addition of new features, such as better movement control, fault injection, and arbitrary protocols

Sources Binghamton MiNT Page: l Stony Brook MiNT Page: Dr. Kartik Gopalan’s Homepage: NS2/NAM Manual: NS2/NAM Homepage: