Eric J. Gottlieb

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The Robinson-Foulds (RF) metric is the measure most widely used in comparing phylogenetic trees; it can be computed in linear time using Day's algorithm. When faced with the need to compare large numbers of large trees, however, even linear time becomes prohibitive. We present a randomized approximation scheme that provides, in sublinear time and with high(More)
Approved for public release; further dissemination unlimited. of the United States Government. Neither the United States Government, nor any agency thereof, nor any of their employees, nor any of their contractors, subcontractors, or their employees, make any warranty, express or implied, or assume any legal liability or responsibility for the accuracy,(More)
Sandia's Umbra modular simulation framework was designed to enable the modeling of robots for manufacturing, military, and security system concept evaluation. Umbra generalizes data-flow-based simulation to enable modeling of heterogeneous interaction phenomena via a <i>multiple worlds</i> abstraction. This and other features make Umbra particularly(More)
In this paper we present an analysis of the Umbra Simulation Framework. Umbra was developed by researchers at Sandia National Laboratories Intelligent Systems and Robotics Center. The framework allows users to quickly generate simulations with three-dimensional graphics and models. The analysis is performed on the standard design patterns used in developing(More)
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