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could be earmarked for sensor nodes that have the minimum computation resources, communication bandwidth, or storage (memory) capacity to support their execution. The ability to associate the requisite sensing and computation requirements of a task with its declaration is especially important for architecture-independent programming for a heterogeneous system. Note that such resource annotations can also be combined with other annotations to control, say, the placement of tasks with a specific sensing interface in a particular geographic region. Resource annotations can also be defined for resources that are expected to change at runtime. Energy level at a node is a classic example of such a resource. An abstract task can be annotated with a particular minimum energy level so as to be invoked only when the energy resources at the node are above that limit and other invocation triggers (firing rules) are satisfied. The application of such annotation is twofold. First, it allows the system to switch between different versions of the application at runtime based on energy levels, where each version could correspond to a different pattern of computation and communication in the network. Second, it allows a node to switch from using one implementation of a task to another when the energy level drops below some threshold. From the ATaG program s perspective, this means that different subsets of the abstract tasks (and hence the associated channels and data items) in the same program are activated at different times, based on the resource availability in the network. The program therefore represents the union of possible spatio-temporal execution patterns, depending on resource availability. The variety of task annotations defined above lead naturally to a common framework of attribute-based task placement. In the previous discussions, we have defined various categories for task annotations such as fine-grained control, density-based instantiation, resource-linked instantiation, etc. For each of these categories, we discussed representative annotations and the applicable scenarios of usage. Instead of extending the set of annotations in each categories and/or defining new categories of annotations, a common framework can be adopted based on the observation that geographic location, node identifiers, sensing interface, resource availability, etc., all characterize the state of a node at a given point in time and space. Each of these categories can be considered as a type of attribute value that a sensor node has to satisfy in order to be eligible for hosting the task. If node attributes (such as geographic location, node ID, and type of sensing interface) are known at design time and are unchanging for the target deployment, task placement can also be determined at compile time. The runtime system does not need to incorporate
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Figure 2 3 Instantiating an abstract task on each node in the network. .
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mechanisms to track possible changes in these attributes, thereby reducing the complexity of the runtime system software. For other attributes such as energy level of the node, compile time decisions cannot be made because it is an inherently dynamic property of the node. In such cases, code placement can occur at compile time on all nodes of the network, while task placement is left to the runtime system. A resource management module on each node is then expected to track the corresponding attribute (in this case, the energy level) and change the task placement for that node based on the intent of the programmer.
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2.3.3 IIIustrative examples
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In this section, we provide simple examples to help the reader visualize the effect of using a few of the task placement annotations and channel annotations to set up a variety of patterns of collaborative computation in the network. For sake of simplicity, we focus on a single abstract task and a single output channel. Figure 2.3 shows how to instantiate an abstract task on every single node of the network by using the nodes-per-instance task placement annotation with the parameter 1. This is a simple but commonly occurring pattern
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