Enabling efficient reprogramming through reduction of executable modules in networked embedded systems

We present a systematic modular design approach for networked embedded systems. We effectively reduce the module file size to enable efficient network reprogramming, while at the same time retain necessary information to maintain module flexibility. We further handle module dependencies in a fine-grained manner, which improves system reliability while keeping the system configuration to its minimum requirement. We have implemented the modular approach based on a micro embedded OS, SenSpire OS, for AVR and MSP430 platforms. The evaluation results show that the proposed SELF module file format is 4.6–7.6 times smaller than the standard ELF format, and is 1.6–2.4 times smaller than the CELF format (a Compact ELF format for the Contiki OS). SELF retains necessary information to enable flexible modular programming and inter-module communications. We have further developed a long-term energy efficiency model to explore the tradeoffs of different reprogramming approaches.