Efficient Message Propagation In Dense Linear Ad-Hoc Networks

In this thesis, the dynamics of the cooperative broadcast in high density 1-dimensional (1D) networks is studied using multiple levels of relays. The benefits of the cooperative broadcast in terms of transmission range and power efficiency are evaluated by approximating the network as a continuum of nodes. Two transmission protocols are studied, the single-shot transmission and the continuous source transmission. In the single-shot transmission, the source node transmits a single message, whereas in the continuous source transmission, it transmits independent messages periodically adding signal interference into the picture. For each case, the analytical expressions for successful broadcasting are presented as a function of source and relay powers, decoding threshold and the noise power. This study shows that the broadcast behavior highly depends on the path-loss exponent $\gamma$ and the type of transmission, being bidirectional or unidirectional. It is shown that the message can propagate successfully to the entire network for all ranges of $\gamma$ using the cooperative broadcast. Furthermore, the cooperative broadcast is compared with the non-cooperative multi-hop broadcast in terms of power efficiency

FUmanoid team description 2009

Abstract. This document describes hardware and software of the robots developed by the "FUmanoid" Team for the RoboCup competitions to be held in Graz, Austria 2009. The robot has 22 actuated degrees of freedom based on Dynamixel RX28, and RX64 servos. Central Processing, including Machine vision, Planning and control is performed using a Gumstix Verdex 6LP which is an ARM based 600MHz platform. Planning algorithms are organized in a new structure called Concurrent Scenario based Planning (CSBP). This paper explains the software and hardware used for the robot as well as control and stabilization methods developed by our team

The Effect of Mindfulness-Based Interventions on the Stress Experienced by Emergency Department Nurses

Emergency room nurses experience high levels of stress. The high levels of stress can lead to nurse burnout and high turnover rates. Interventions to reduce ER nurse stress include organizational-directed interventions and individual-focused interventions. Individual focused interventions are further divided into mindfulness-based interventions and education interventions. Implementing Mindfulness-Based training workshops increase the nurse's ability to cope and improve well-being.Nursing, College o

Design and Development of a Robotic Bee for the Analysis of Honeybee Dance Communication

We have designed a robotic honeybee to mimic the bee dance communication system. To achieve this goal, a tracking system has been developed to extract real bee dance trajectories recorded with high-speed video cameras. The results have been analysed to find the essential properties required for the prototype robot. Putative signals in the dance communication have been identified from the literature. Several prototypes were built with successive addition of more features or improvement of existing components. Prototypes were tested in a populated beehive results were documented using high-speed camera recordings. A substantial innovation is a visual feedback system that helps the robot to minimise collisions with other bees

Ethylene Homopolymerization by Ziegler-Natta (TiCl4/MgCl2) Catalyst through Full Factorial Experimental Design

Full factorial experimental design (23) for the evaluation of slurry ethylene polymerization in the presence of an industrial TiCl4/MgCl2 Ziegler-Natta catalyst was employed. The following parameters were used as independentvariables: Al/Ti molar ratio, reaction temperature and hydrogen partial pressure. The total polymerization pressure was 9 bar. Catalyst activity, MFI (melt flow index) and melting temperature were statistically analyzed through response surface method. Hydrogen partial pressure had the most and temperature had the least effect on catalyst activity. Catalyst activity was affected by binary interactions of Al/Ti molar ratio-hydrogen partial pressure and temperature-hydrogen partial pressure. No interaction of temperature-Al/Ti molar ratio was found. Hydrogen partial pressure, temperature and their interaction had the strongest influence on MFI. Cubic models were employed for describing the surface responses of catalyst activity and melt flow index as a function of operating variables. The effects of Al/Ti molar ratio, reaction temperature, hydrogen partial pressure and their interactions were not significant from statistical point of view. Therefore no cubic model was employed