OpenSense

OPENSENSE
OPEN INFRASTRUCTURE FOR AIR QUALITY MONITORING
Karl Aberer, EPFL Boi Faltings, Alcherio Martinoli, Martin Vetterli, EPFL Lothar Thiele, ETH Zrich Jan Blom, Nokia Research Center Lausanne

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OVERVIEW
Motivation and Research challenges Research progress and results
1. 2. 3. 4. Sensing System Data Analysis User Concerns End-to-end System Architecture

Conclusions

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M OTIVATION AND R ES EARCH C HAL L ENGES

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AIR POLLUTION
Air pollution in urban areas is a global concern
affects quality of life and health urban population is increasing

Deaths from Urban Air Pollution (courtesy CHUV)

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AIR POLLUTION MONITORING

Air pollution is highly location-dependent
traffic chokepoints urban canyons industrial installations

Precise location-dependent and real-time information on air pollution is needed Official uses
location of pollution sources incentives to reduce environmental footprint public health studies

Citizen uses
advice for outside activities assessment of long-term exposure pollution maps

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CITIZEN USE: NOKIA USER STUDY

Key questions: How is air quality perceived and how does it affect the daily life? Method: Probe study including diary about the different air quality situations in the familys life

Participants: Six families from Helsinki region

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EXAMPLE FINDINGS
The lack of air pollution related knowledge and perceptual gaps
Understanding the limitations of senses: what pollutants we cannot sense? What are the health impacts of different pollutants? What are preventive strategies? Connection between perception and objective truth? For instance, is the wind coming from seas direction really fresh? What pollutants are included in the perception of polluted air?

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Air Belongs to All Care Through Air Track Back Air

DESIGN DRIVERS
Relieve and Discover Fresh Moments My Mobile Air

Edutain Air

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EXAMPLE

Care Through Air

Parents taking care of their children with the help of an air quality service

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AIR POLLUTION AND CARDIOVASCULAR MORTALITY

Health studies show that air pollution increases the risk of cardiovascular mortality (hearth attacks) by 5% to 20% at least

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HEALTH STUDY SCENARIO

Under discussion with University Hospital CHUV and NOKIA Assessment of impact of air pollution an health
E.g. blood pressure, renal activity, respiration
Effects are immediate
High temporal and spatial resolution of air quality data required Trajectories of study subjects are needed

Correlation with activity and health parameters

On-body sensors Activity recognition (using mobile phones)

User concerns
Study participants are sensitive data privacy Participants would like personalized information about individual exposure and risks

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CHALLENGES TO MEET
1. Sensing system
With sufficient temporal and spatial resolution With sufficient precision At reasonable cost

2. Data analysis
Interpolate air quality parameters from raw data Ensure data quality Reduce acquisition cost

3. User concerns
Correlate with activity and mobility data Consider privacy concerns Provide individualized information

4. End-to-end system architecture

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1. S ENS ING S YST EM

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MONITORING TODAY

Stationary and expensive stations

Sparse sensor network (Nabel)

Expensive mobile high fidelity equipment

Coarse models (mesoscale = 1km2)

Data difficult to integrate into applications (e.g. for correlating with other features like peoples activities)

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OPPORTUNITIES
Wireless communication and low cost sensors: deploy larger numbers of stations Mobility: deploy mobile stations to increase spatial coverage Communities: citizens as data producers and information consumers

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SENSOR MODELING
Understand behavior of electro-chemical sensors
sensor dynamics linearity sensitivity to humidity variability with different flow conditions
Selected City Technology A3CO Sensor - measured and modeled response

Output [V]

Martinoli

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SAMPLING SYSTEM
Slow response of chemical sensors
replacing passive sampling with active sniffing 3D printing for fast prototyping 1st model of sniffer for CO2 sensor faster response by more than 50%
outlet towards miniature pump
Amplitude [ppm]

Prototype CO2 sniffer on Khepera III mobile robot

inlet

Telaire 6613 CO2 sensor

Martinoli

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ON-THE-FLY CALIBRATION
Challenge:
Supplied calibration may not match project requirements Baseline drift due to sensor aging

Approach:
Initial calibration using stationary, high quality instruments When deployed periodic recalibration using mobile sensor nodes
Original calibration performs with an average error of 30ppb After recalibration the average error drops below 3ppb

Thiele

D. Hasenfratz, O. Saukh, and L. Thiele, On-the-fly Calibration of Low-cost Gas Sensors, Proc. of 9th European Conference on Wireless Sensor Networks (EWSN 2012), Trento, Italy, Feb. 2012.

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MULTI-HOP CALIBRATION

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PLATFORMS

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LAUSANNE DEPLOYMENT
Planned 12 stationary stations
NO2, CO, Humidity, Temperature Solar panel powered Communication: GSM, Wireless multi-hop routing

8 mobile stations
NO2, CO, CO2, Humidity, Temperature Positioning module Powered by bus Communication: GSM

1 prototype station mounted on bus

Vetterli

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LAUSANNE COVERAGE

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DATA FROM LAUSANNE DEPLOYMENT

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ZRICH MOBILE
5 stations mounted on Trams
O3, CO, fine particles Temperature, humidity, acceleration Communication: GSM, WLAN

Calibration
Under lab conditions at EMPA On-the-fly using 3 reference stations in the city

Plan: 10 stations

Thiele

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HARDWARE

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INSTALLATION @ TRAM 3005

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ZRICH DATA

CO concentration Pollutant # of Measurements

PM concentration Sampling rate Time Period

Particulate matter
Ozone CO

116000
350000 350000

5s
20s 20s

2 months
5 months 5 months

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PERSONAL MOBILE SENSOR

Thiele

D. Hasenfratz, O. Saukh, S. Sturzenegger, and L. Thiele. Participatory Air Pollution Monitoring Using Smartphones. In the 1st International Workshop on Mobile Sensing: From Smartphones and Wearables to Big Data, Beijing, China, 2012.

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GSN @ DATA.OPENSENSE.ETHZ.CH

Thiele, Aberer et al

Thiele

Aberer

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2. D ATA A NALYS IS

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OPTIMAL SENSING FOR MOVING SENSORS

Goal: find an optimal sensing strategy, which provides an appropriate balance between maximize sensing coverage of moving sensors and minimize sensing cost (sampling)? Question: Can segmentation help?

Aberer

Z. Yan, J. Eberle, K. Aberer, OptiMoS: Optimal Sensing for Mobile Sensors, 13th International Conference on Mobile Data Management (MDM). Bengaluru, India, July 2012

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RESULTS FOR LAUSANNE DATA

Segmentation
Evaluated heuristic segmentation strategies Compared to optimal On existing datasets about 5 segments sufficient

Sampling
Evaluated heuristic strategies Entropy-based strategy performs best Current sampling rate about 5 times too high

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REGION-BASED MODEL
Observation
pollution tends to be relatively homogeneous within regions

Approach
Tracking trends of pollution level in regions (streets, residential blocks, parks) Annotate regions with relevant emission, land use, meteorology and measurement data.

Goals
learning structured causal relations from past data Interpolate real time measurement Understand possible causes of pollution levels

Faltings

Thiele

J. J. Li, B. V. Faltings, Towards a Qualitative, Region-Based Model for Air Pollution Dispersion, IJCAI Workshop on Space, Time and Ambient Intelligence (STAMI), 2011.

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Figure9: Thecorrelation of thedi erent locationswith theonemarked by theblack pin given by the Nott & Dunsmuir covariance function. We can see that the obtained correlogram is highly non-stationary.

NON-STATIONARY GAUSSIAN MODEL

Interpolate with a global nonstationary spatial model based on Gaussian Process regression
Learning spatial covariance from past data Validate model with Strasbourg simulations

A fully modular java toolkit for modeling/visualizing pollution.

Figure 10: The predictive mean of our non-stationary model on the realization of the 7th of January at 1AM.

36

J. J. Li, B. Faltings, O. Saukh, D. Hasenfratz, and J. Beutel. Sensing the Air We Breathe the OpenSense Dataset. In the Proceedings of the 26th International Conference on Artificial Intelligence (AAAI), Toronto, Canada, 2012.

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3. U S ER C O NCER NS

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SEMANTIC INDOOR ACTIVITIES: LEARNING FROM ACCELEROMETER

Dataset Nokia N95 6 users 1-2 months daily indoor activities

User activity tag cloud

Aberer

OpenSense TWO-TIER SEMANTIC ACTIVITY LEARNING

Inferred HA Labels

HA1=break@office

HA2=cooking@home

Layer II. High-level (Seman c) Ac vity Inference [HA]

(Discrimina ve Set & Sequen al Pa ern Features on MA streams)

Inferred MA Streams

a1

a2

an

an+1

an+2

an+m

GPS Location: office

GPS Location: home

Layer I. Micro-Ac vity Inference [MA]

(Classifica on using Frame-Level Raw Accelerometer Features) Raw Accelerometer Stream
Frame Frame Frame Frame Frame Frame Frame Frame Frame Frame

Robust feature set for Micro Activity inference

sit, stand, walk, sitActive, loiter etc. Home activities: cook, work, relax, break, eat, baby-care, etc. Office activities: work, lunch, break, meeting, toilet, coffee, etc.
Z. Yan, D. Chakraborty, A. Misra, H. Jeung, K. Aberer, SAMMPLE: Detecting Semantic Indoor Activities in Practical Settings using Locomotive Signatures, 16th International Symposium on Wearable Computers (ISWC), Newcastle, UK, June 2012

Set/Sequential features for Semantic Activity inference

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USER PRIVACY VS. DATA RELIABILITY

Participatory sensing
Users reveal location Semi-honest aggregation server infers user activity Obfuscation affects data quality

Approach
Personalized privacy Users estimate potential privacy loss

Possible moves

Obfuscated trajectory

Aberer

B.Agir, T.Papaioannou, R.Narendula, K.Aberer, J.P. Hubaux., An adaptive scheme for personalized privacy in participatory sensing, WiSec 2012.

D(t) =

Y posobf (t )

dist(postrue (t),Y (t))P(Y, t)

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EXPERIMENTAL RESULTS
error completeness

Real data for electrosmog sensing by Nokia campaign Avg Static : static parameters that meet the threshold on the average Max Static : static parameters that always meet the threshold

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4. E ND - TO - END S YSTEM A RCHIT EC T UR E

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CONTROL: WHAT IS THE PROBLEM?

Two mobile nodes: who should measure?
1. 2. 3. 4. 5. 6. Node decides individually depending on its state, e.g. calibration Nodes communicate with WSN and coordinate Base station schedules nodes using mobility model: a third node arrives, dont measure! Air quality model: dont need measurement! Privacy model: node 1 should measure! Application model (e.g. health service): no measurement needed!

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MULTI-MODEL QUERY PROCESSING

Continuous Moving Queries Aggregate Queries COX emitted yesterday in Give a (in car) pollution update every 30 mins Lausanne center

Approach
Data aggregator produces a model cover from a set of models on an area Continuous sensor updates Continuous and ad-hoc queries

Goal
Consider privacy concerns Account for trustworthiness Optimize social utility
Aberer

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SIMULATION STUDY
Sensors
2D region Randomly moving sensors Inherent sensor inaccuracy Not completely trusted

Data aggregator
Collects queries Selects sensors Optimizes using a utility function

Strategies
Greedy: iteratively select best sensor for each query PerLocation: iteratively select best sensor for each location Randomized: repeat PerLocation for different location orderings

Users
Ask point queries Obfuscate their location by multiple requests Limited budget

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SENSOR SELECTION HEURISTICS

Total utility of different sensor selection algorithms for different trust distributions of sensors
90 80 70 60

Total Utility

50 40

Optimal

Randomized
PerLocationOptimal

30
20 10 0 Trustworthy Trustworthiness_Uniform_[0.5,1] Trustworthiness_Uniform_[0,1]

Greedy

Trustworthiness of Sensors

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SOCIAL UTILITY
Total utility by the greedy algorithm for different sensitivity to privacy, different trust distributions and energy cost functions
30000 25000

20000

Total Utility

15000

10000

Trustworthy Trustworthiness_Uniform_[0.5,1]

5000

Trustworthiness_Uniform_[0,1]

Privacy Sensitivity-Energy Cost Function

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OPENSENSE ARCHITECTURE
Applications checks data offers submits requests response landuse data Map data Landuse data queries charges data cost submits offers Service market

Environment models interpolation/segment ation

cleaned calibrated data

Calibration model Cleaning model raw data calibrated data

sampling for locations considering error, value Data aggregation server required samples priority

Data market

sensor locations Mobility model predictions sensor status predictions Mobile sensors

measurements, location, status

Scheduling component schedule (measurements, priority)

Sensor model (e.g sensor wear)

local coordination

Context

Data Flow

Control Flow

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C O NCLUS IO NS

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COLLABORATIONS
Vetterli, Martinoli, Thiele e2V,
SensorScope

, EMPA, FHNW

Sensing platform

Mobility platform

TL, VBZ, PSA

Vetterli, Martinoli, Thiele

Vetterli, Faltings, Aberer, Blom

Nokia, CHUV, Swiss TPH

Applications

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CONCLUSION
End-to-end system view crucial
Investigate all system layers: sensor user interfaces Utility-based framework as integrative approach

Availability of real data and user requirements crucial Last year will focus in particular on integration
Having a concrete health related scenario in mind

Results applicable beyond air pollution

Complex, distributed, participatory measurement

For more information: opensense.epfl.ch

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TEAM
Karl Aberer, EPFL-LSIR, project leader
Thanasis Papaioannou, postdoc Rammohan Narendula, PhD Mehdi Riahi, PhD Zhixian Yan, PhD Sofiane Sarni, engineer Saket Sathe, PhD

Alcherio Martinoli, EPFL-DISAL, PI

Chris Evans, PhD Emanuel Droz, engineer Adrian Arfire, PhD

Lothar Thiele, ETH Zrich, PI

Olga Saukh, postdoc Jan Beutel, postdoc David Hasenfratz (PhD) Christoph Walser (engineer)

Boi Faltings, EPFL-LIA, PI

Jason Jingshi Li, postdoc

Martin Vetterli, EPFL-LCAV, PI

Guillermo Barrenetxea, postdoc Andrea Ridolfi, postdoc