Daniel Montrallo Flickinger

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— Simulation has been the dominant research methodology in wireless and sensor networking. When mobility is added, real-world experimentation is especially rare. However, it is becoming clear that simulation models do not sufficiently capture radio and sensor irregularity in a complex, real-world environment, especially indoors. Unfortunately, the high(More)
— Contemporary time-stepping methods used in the dynamic simulation of rigid bodies suffer from problems in accuracy, performance, and robustness. Significant allowances for tuning, coupled with careful implementation of a broad phase collision detection scheme is required to make dynamic simulation useful for practical applications. A recently developed(More)
1. OVERVIEW We have extended the well-known Emulab network testbed software to support both fixed and mobile wireless sensor devices. Mobility is achieved through remotely-controlled robots. We have deployed this software in public production use for the research and education communities. The current temporary testbed is in a 60 square meter indoor area.(More)
— This paper presents a method for determining impact forces associated with an abrupt velocity change when a free-flying body comes into contact with another body. Hard impact is considered where deformation of the impacting surfaces is negligible. The proposed approach uses a discrete algebraic model of impact in conjunction with moment and tangential(More)
— Teleoperated robots generally receive high level commands from a remote system, while accomplishing motion control through conventional means. We present a teleoperated system that removes the entire motion control structure from the robot, in order to preserve the availability of crucial on-board resources. The operation of state feedback control is(More)
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