In this paper, we present Sensor Andrew, an infrastructure for Internet-scale sensing and actuation across a wide range of heterogeneous devices designed to facilitate application development. The goal of Sensor Andrew is to enable a variety of ubiquitous large-scale monitoring and control applications in a way that is extensible, easy to use, and secure while maintaining privacy. To illustrate the requirements of Sensor Andrew, as well as the capabilities and limitations of the system, we outline one such application in which multiple classes of energy sensors are combined with environmental sensors to not only monitor energy usage but also identify energy waste within buildings.