— 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)
Imaging is used to map activity across populations of neurons. Microscopes with cellular resolution have small (.
This thesis has been read by each member of the following supervisory committee and by majority vote has been found to be satisfactory. I have read the thesis of Daniel Montrallo Flickinger in its final form and have found that (1) its format, citations, and bibliographic style are consistent and acceptable; (2) its illustrative materials including figures,… (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)
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)
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)