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 labor(More)
This paper presents a methodology for treating energy consistency when considering multiple simultaneous impacts and contacts with friction in the simulation of systems of multiple interconnected bodies. Hard impact and contact is considered where deformation of the impacting surfaces is negligible. The proposed approach uses a discrete algebraic model of(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)
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. It contains(More)
This paper presents a new dissipation principle for resolving post-impact tangential velocities after simultaneous oblique impact events on a system composed of interconnected rigid bodies. In this work, contact is considered as a succession of impacts so that simultaneous contacts and impacts can be treated using the same framework. This treatment includes(More)
Contemporary software systems used in the dynamic simulation of rigid bodies suffer from problems in accuracy, performance, and robustness. Significant allowances for parameter tuning, coupled with the careful implementation of a broad phase collision detection scheme is required to make dynamic simulation useful for practical applications. A geometrically(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 onboard resources. The operation of state feedback control is(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)
Most new wireless research protocols and applications are evaluated using simulation, and such evaluations sparsely consider real-world radio signal propagation effects or device mobility. Current simulators do not describe these detailed RF characteristics very well. Researchers have found that multipath effects and other sources of radio irregularity can(More)
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