Route Swarm: Wireless Network Optimization through Mobility

In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. The ICP commands the robots towards evenly distributed inter-flow allocations, with intra-flow configurations that maximize route quality. The PCP then guides the robots via potential-based control to reconfigure according to ICP commands. This formulation, deemed Route Swarm, decouples information flow and physical control, generating a feedback between routing and sensing needs and robotic configuration. We demonstrate our propositions through simulation under a realistic wireless network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on Intelligent Robots and Systems (IROS) 201

Multi-Channel Scheduling for Fast Convergecast in Wireless Sensor Networks

We explore the following fundamental question - how fast can information be collected from a wireless sensor network? We consider a number of design parameters such as, power control, time and frequency scheduling, and routing. There are essentially two factors that hinder efficient data collection - interference and the half-duplex single-transceiver radios. We show that while power control helps in reducing the number of transmission slots to complete a convergecast under a single frequency channel, scheduling transmissions on different frequency channels is more efficient in mitigating the effects of interference (empirically, 6 channels suffice for most 100-node networks). With these observations, we define a receiver-based channel assignment problem, and prove it to be NP-complete on general graphs. We then introduce a greedy channel assignment algorithm that efficiently eliminates interference, and compare its performance with other existing schemes via simulations. Once the interference is completely eliminated, we show that with half-duplex single-transceiver radios the achievable schedule length is lower-bounded by max(2nk − 1,N), where nk is the maximum number of nodes on any subtree and N is the number of nodes in the network. We modify an existing distributed time slot assignment algorithm to achieve this bound when a suitable balanced routing scheme is employed. Through extensive simulations, we demonstrate that convergecast can be completed within up to 50% less time slots, in 100-node networks, using multiple channels as compared to that with single-channel communication. Finally, we also demonstrate further improvements that are possible when the sink is equipped with multiple transceivers or when there are multiple sinks to collect data

The Gibbs-Thomson formula at small island sizes - corrections for high vapour densities

In this paper we report simulation studies of equilibrium features, namely circular islands on model surfaces, using Monte-Carlo methods. In particular, we are interested in studying the relationship between the density of vapour around a curved island and its curvature-the Gibbs-Thomson formula. Numerical simulations of a lattice gas model, performed for various sizes of islands, don't fit very well to the Gibbs-Thomson formula. We show how corrections to this form arise at high vapour densities, wherein a knowledge of the exact equation of state (as opposed to the ideal gas approximation) is necessary to predict this relationship. Exploiting a mapping of the lattice gas to the Ising model one can compute the corrections to the Gibbs-Thomson formula using high field series expansions. We also investigate finite size effects on the stability of the islands both theoretically and through simulations. Finally the simulations are used to study the microscopic origins of the Gibbs-Thomson formula. A heuristic argument is suggested in which it is partially attributed to geometric constraints on the island edge.Comment: 27 pages including 7 figures, tarred, gzipped and uuencoded. Prepared using revtex and espf.sty. To appear in Phys. Rev.

Exactly Solvable Model for the QCD Tricritcal Endpoint

An inclusion of temperature and chemical potential dependent surface tension into the gas of quark-gluon bags model resolves a long standing problem of a unified description of the first and second order phase transition with the cross-over. The suggested model has an exact analytical solution and allows one to rigorously study the vicinity of the critical endpoint of the deconfinement phase transition. It is found that at the curve of a zero surface tension coefficient there must exist the surface induced phase tranition of the 2-nd or higher order. The present model predicts that the critical endpoint (CEP) of quantum chromodynamics is the tricritical endpoint.Comment: 14 pages, 3 figures, invited talk given at the International Workshop ``Relativistic Nuclear Physics: from Nuclotron to LHC Energies'', Kiev, Ukraine, June 18-22, 200

Atomic step motion during the dewetting of ultra-thin films

We report on three key processes involving atomic step motion during the dewetting of thin solid films: (i) the growth of an isolated island nucleated far from a hole, (ii) the spreading of a monolayer rim, and (iii) the zipping of a monolayer island along a straight dewetting front. Kinetic Monte Carlo results are in good agreement with simple analytical models assuming diffusion-limited dynamics.Comment: 7 pages, 5 figure

An objective based classification of aggregation techniques for wireless sensor networks

Wireless Sensor Networks have gained immense popularity in recent years due to their ever increasing capabilities and wide range of critical applications. A huge body of research efforts has been dedicated to find ways to utilize limited resources of these sensor nodes in an efficient manner. One of the common ways to minimize energy consumption has been aggregation of input data. We note that every aggregation technique has an improvement objective to achieve with respect to the output it produces. Each technique is designed to achieve some target e.g. reduce data size, minimize transmission energy, enhance accuracy etc. This paper presents a comprehensive survey of aggregation techniques that can be used in distributed manner to improve lifetime and energy conservation of wireless sensor networks. Main contribution of this work is proposal of a novel classification of such techniques based on the type of improvement they offer when applied to WSNs. Due to the existence of a myriad of definitions of aggregation, we first review the meaning of term aggregation that can be applied to WSN. The concept is then associated with the proposed classes. Each class of techniques is divided into a number of subclasses and a brief literature review of related work in WSN for each of these is also presented

Tackling Local Anesthetic Failure in Endodontics

Achieving anesthesia in a hot tooth or tooth with inflamed pulp is challenging, especially during endodontic treatment. In the presence of symptomatic irreversible pulpitis, mainly in mandibular teeth, pose even more challenge to attain profound anesthesia. Tetradoxin resistant channel is a class of sodium channel that is found to be increased in such condition and is found to resist local anesthesia. The pH also determines the success of local anesthesia. In inflammatory conditions, the surrounding area\u27s pH, which eventually decreases the amount of base form of local anesthetic penetration into the nerve membrane, thereby causing anesthetic failure. In such conditions, the excitability threshold is reduced, leading to failure in achieving anesthesia. This chapter highlights and discusses the cause of anesthetic failure and its management in obtaining profound anesthesia during endodontic treatment

Decay of isolated surface features driven by the Gibbs-Thomson effect in analytic model and simulation

A theory based on the thermodynamic Gibbs-Thomson relation is presented which provides the framework for understanding the time evolution of isolated nanoscale features (i.e., islands and pits) on surfaces. Two limiting cases are predicted, in which either diffusion or interface transfer is the limiting process. These cases correspond to similar regimes considered in previous works addressing the Ostwald ripening of ensembles of features. A third possible limiting case is noted for the special geometry of "stacked" islands. In these limiting cases, isolated features are predicted to decay in size with a power law scaling in time: A is proportional to (t0-t)^n, where A is the area of the feature, t0 is the time at which the feature disappears, and n=2/3 or 1. The constant of proportionality is related to parameters describing both the kinetic and equilibrium properties of the surface. A continuous time Monte Carlo simulation is used to test the application of this theory to generic surfaces with atomic scale features. A new method is described to obtain macroscopic kinetic parameters describing interfaces in such simulations. Simulation and analytic theory are compared directly, using measurements of the simulation to determine the constants of the analytic theory. Agreement between the two is very good over a range of surface parameters, suggesting that the analytic theory properly captures the necessary physics. It is anticipated that the simulation will be useful in modeling complex surface geometries often seen in experiments on physical surfaces, for which application of the analytic model is not straightforward.Comment: RevTeX (with .bbl file), 25 pages, 7 figures from 9 Postscript files embedded using epsf. Submitted to Phys. Rev. B A few minor changes made on 9/24/9

Correlating the nanostructure and electronic properties of InAs nanowires

The electronic properties and nanostructure of InAs nanowires are correlated by creating multiple field effect transistors (FETs) on nanowires grown to have low and high defect density segments. 4.2 K carrier mobilities are ~4X larger in the nominally defect-free segments of the wire. We also find that dark field optical intensity is correlated with the mobility, suggesting a simple route for selecting wires with a low defect density. At low temperatures, FETs fabricated on high defect density segments of InAs nanowires showed transport properties consistent with single electron charging, even on devices with low resistance ohmic contacts. The charging energies obtained suggest quantum dot formation at defects in the wires. These results reinforce the importance of controlling the defect density in order to produce high quality electrical and optical devices using InAs nanowires.Comment: Related papers at http://pettagroup.princeton.ed