Browsing by Subject "algorithm"
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Item Addressing the Consensus Problem in Real-time Using Lightweight Middleware on Distributed Devices(2012-10-19) Hall, Keith AntonWith the advent of the modern technological age, a plethora of electronic tools and devices are available in numbers as never before. While beneficial and ex-ceedingly useful, these electronic devices require users to operate them. When designing systems capable of observing and acting upon an environment, the number of devices can become unmanageable. Previously, middleware sys-tems were designed for large-scale computational systems. However, by apply-ing similar concepts and distributing logic to autonomous agents residing on the devices, a new paradigm in distributed systems research on lightweight de-vices is conceivable. Therefore, this research focuses upon the development of a lightweight middleware that can reside on small devices enabling the capabil-ity for these devices to act autonomously. In this research, analyses determined the most advantageous methods for solving this problem. Defining a set of requirements for the necessary middle-ware as well as assumptions for the environment and system in which it would operate achieved a proper research focus. By utilizing concepts already in ex-istence such as peer-to-peer networking and distributed hash tables, devices in this system could communicate effectively and efficiently. Furthermore, creat-ing custom algorithms for communicating with other devices, and collaborating on task assignments achieved an approach to solving the consensus problem in real time. The resulting middleware solution allowed a demonstration to prove the effi-cacy. Using three devices capable of observing the environment and acting up-on it, two tests highlighted the capabilities of the consensus-finding mechanism as well as the ability of the devices to respond to changes in the environment autonomously.Item Effective algorithms and protocols for wireless networking: a topological approach(Texas A&M University, 2008-10-10) Zhang, FenghuiMuch research has been done on wireless sensor networks. However, most protocols and algorithms for such networks are based on the ideal model Unit Disk Graph (UDG) model or do not assume any model. Furthermore, many results assume the knowledge of location information of the network. In practice, sensor networks often deviate from the UDG model significantly. It is not uncommon to observe stable long links that are more than five times longer than unstable short links in real wireless networks. A more general network model, the quasi unit-disk graph (quasi-UDG) model, captures much better the characteristics of wireless networks. However, the understanding of the properties of general quasi-UDGs has been very limited, which is impeding the design of key network protocols and algorithms. In this dissertation we study the properties for general wireless sensor networks and develop new topological/geometrical techniques for wireless sensor networking. We assume neither the ideal UDG model nor the location information of the nodes. Instead we work on the more general quasi-UDG model and focus on figuring out the relationship between the geometrical properties and the topological properties of wireless sensor networks. Based on such relationships we develop algorithms that can compute useful substructures (planar subnetworks, boundaries, etc.). We also present direct applications of the properties and substructures we constructed including routing, data storage, topology discovery, etc. We prove that wireless networks based on quasi-UDG model exhibit nice properties like separabilities, existences of constant stretch backbones, etc. We develop efficient algorithms that can obtain relatively dense planar subnetworks for wireless sensor networks. We also present efficient routing protocols and balanced data storage scheme that supports ranged queries. We present algorithmic results that can also be applied to other fields (e.g., information management). Based on divide and conquer and improved color coding technique, we develop algorithms for path, matching and packing problem that significantly improve previous best algorithms. We prove that it is unlikely for certain problems in operation science and information management to have any relatively effective algorithm or approximation algorithm for them.Item Orienting Deformable Polygonal Parts without Sensors(2012-02-14) Kristek, ShawnParts orienting is an important part of automated manufacturing. Sensorless manipulation has proven to be a useful paradigm in addressing parts orienting, and the manipulation of deformable objects is a growing area of interest. Until now, these areas have remained separate because existing orienting approaches utilize forces that if applied to deformable parts violate the assumptions used by existing algorithms, and could potentially break the part. We introduce a new algorithm and manipulator actions that, when provided with the geometric description and a deformation model of choice for the part, exploits the deformation and generates a Plan that consists of the shortest sequence of manipulator actions guaranteed to orient the part up to symmetry from any unknown initial orientation and pose. Additionally, the algorithm estimates whether a given manipulator is sufficiently precise to perform the actions which guarantee the final orientation. This is dictated by the particular part geometry, deformation model, and the manipulator action path planner which contains simple end-effector constraints and any standard motion planner. We illustrate the success of the algorithm with multiple parts through 192 trials of experiments that were performed with low-precision robot manipulators and six parts made of four types of materials. The experimental trials resulted in 154 successes, which show the feasibility of deformable parts orienting. The analysis of the failures showed that for success the assumptions of zero friction are essential for this work, increased manipulator precision would be beneficial but not necessary, and a simple deformation model can be sufficient. Finally, we note that the algorithm has applications to truly sensorless manipulation of non-deformable parts.Item Photoacoustic computed tomography in biological tissues: algorithms and breast imaging(Texas A&M University, 2004-11-15) Xu, MinghuaPhotoacoustic computed tomography (PAT) has great potential for application in the biomedical field. It best combines the high contrast of electromagnetic absorption and the high resolution of ultrasonic waves in biological tissues. In Chapter II, we present time-domain reconstruction algorithms for PAT. First, a formal reconstruction formula for arbitrary measurement geometry is presented. Then, we derive a universal and exact back-projection formula for three commonly used measurement geometries, including spherical, planar and cylindrical surfaces. We also find this back-projection formula can be extended to arbitrary measurement surfaces under certain conditions. A method to implement the back-projection algorithm is also given. Finally, numerical simulations are performed to demonstrate the performance of the back-projection formula. In Chapter III, we present a theoretical analysis of the spatial resolution of PAT for the first time. The three common geometries as well as other general cases are investigated. The point-spread functions (PSF's) related to the bandwidth and the sensing aperture of the detector are derived. Both the full-width-at-half-maximum of the PSF and the Rayleigh criterion are used to define the spatial resolution. In Chapter IV, we first present a theoretical analysis of spatial sampling in the PA measurement for three common geometries. Then, based on the sampling theorem, we propose an optimal sampling strategy for the PA measurement. Optimal spatial sampling periods for different geometries are derived. The aliasing effects on the PAT images are also discussed. Finally, we conduct numerical simulations to test the proposed optimal sampling strategy and also to demonstrate how the aliasing related to spatially discrete sampling affects the PAT image. In Chapter V, we first describe a prototype of the RF-induced PAT imaging system that we have built. Then, we present experiments of phantom samples as well as a preliminary study of breast imaging for cancer detection.Item Radar Nowcasting of Total Lightning over the Kennedy Space Center(2011-08-08) Seroka, Gregory NicholasThe NASA Kennedy Space Center (KSC) is situated along the east coast of central Florida, where a high frequency of lightning occurs annually. Although cloud-to-ground (CG) lightning forecasting using radar echoes has been thoroughly analyzed, few studies have examined intracloud (IC) and/or total (IC CG) lightning. In addition to CG lightning, IC flashes are of great concern to KSC launch operations. Four years (2006-2009) of summer (June, July, August) daytime (about 14-00 Z) Weather Surveillance Radar ? 1988 Doppler data for Melbourne, FL were analyzed. Convective cells were tracked using a modified version of the Storm Cell Identification and Tracking (SCIT) algorithm and then correlated to CG lightning data from the National Lightning Detection Network (NLDN), as well as grouped IC flash data acquired from the KSC Lightning Detection and Ranging (LDAR) networks I and II. Pairs of reflectivity values (30, 35, and 40 dBZ) at isothermal levels (-10, -15, -20 and updraft -10 degrees C), as well as a vertically integrated ice (VII) product were used to optimize criteria for radar-based forecasting of both IC and CG lightning within storms. Results indicate that the best radar-derived predictor of CG lightning according to CSI was 25 dBZ at -20 degrees C, while the best reflectivity at isothermal predictor for IC was 25 dBZ at -15 degrees C. Meanwhile, the best VII predictor of CG lightning was the 30th percentile (0.840 kg m-2), while the best VII predictor of IC was the 5th percentile (0.143 kg m-2), or nearly 6 times lower than for CG! VII at both CG and IC initiation was higher than at both CG and IC cessation. VII was also found to be lower at IC occurrence, including at initiation, than at CG occurrence. Seventy-six percent of cells had IC initiation before CG initiation; using the first IC flash as a predictor of CG occurrence also statistically outperformed other predictors of CG lightning. Even though average lead time for using IC as a predictor of CG was only 2.4 minutes, when taking into account automation processing and radar scan time for the other methods, lead times are much more comparable.