Haptic Feedback for Injecting Biological Cells using Miniature Compliant Mechanisms

We present a real-time haptics-aided injection technique for biological cells using miniature compliant mechanisms. Our system consists of a haptic robot operated by a human hand, an XYZ stage for micro-positioning, a camera for image capture, and a polydimethylsiloxane (PDMS) miniature compliant device that serves the dual purpose of an injecting tool and a force-sensor. In contrast to existing haptics-based micromanipulation techniques where an external force sensor is used, we use visually captured displacements of the compliant mechanism to compute the applied and reaction forces. The human hand can feel the magnified manipulation force through the haptic device in real-time while the motion of the human hand is replicated on the mechanism side. The images are captured using a camera at the rate of 30 frames per second for extracting the displacement data. This is used to compute the forces at the rate of 30 Hz. The force computed in this manner is sent at the rate of 1000 Hz to ensure stable haptic interaction. The haptic cell-manipulation system was tested by injecting into a zebrafish egg cell after validating the technique at a size larger than that of the cell.

Interference Alignment as a Tool in Network Coding as Applied to Distributed Storage

In this paper, we outline an approach to the task of designing network codes in a non-multicast setting. Our approach makes use of the concept of interference alignment. As an example, we consider the distributed storage problem where the data is stored across the network in n nodes and where a data collector can recover the data by connecting to any k of the n nodes and where furthermore, upon failure of a node, a new node can replicate the data stored in the failed node while minimizing the repair bandwidth.

Explicit Codes Uniformly Reducing Repair Bandwidth in Distributed Storage

A distributed storage setting is considered where a file of size B is to be stored across n storage nodes. A data collector should be able to reconstruct the entire data by downloading the symbols stored in any k nodes. When a node fails, it is replaced by a new node by downloading data from some of the existing nodes. The amount of download is termed as repair bandwidth. One way to implement such a system is to store one fragment of an (n, k) MDS code in each node, in which case the repair bandwidth is B. Since repair of a failed node consumes network bandwidth, codes reducing repair bandwidth are of great interest. Most of the recent work in this area focuses on reducing the repair bandwidth of a set of k nodes which store the data in uncoded form, while the reduction in the repair bandwidth of the remaining nodes is only marginal. In this paper, we present an explicit code which reduces the repair bandwidth for all the nodes to approximately B/2. To the best of our knowledge, this is the first explicit code which reduces the repair bandwidth of all the nodes for all feasible values of the system parameters.

Explicit and Optimal Codes for Distributed Storage

In the distributed storage coding problem we consider, data is stored across n nodes in a network, each capable of storing � symbols. It is required that the complete data can be reconstructed by downloading data from any k nodes. There is also the key additional requirement that a failed node be regenerated by connecting to any d nodes and downloading �symbols from each of them. Our goal is to minimize the repair bandwidth d�. In this paper we provide explicit constructions for several parameter sets of interest.

On the Compressibility of non-Abelian-Group Sources in a Distributed Source Coding Setting

We consider the problem of compression of a non-Abelian source.This is motivated by the problem of distributed function computation,where it is known that if one is only interested in computing a function of several sources, then one can often improve upon the compression rate required by the Slepian-Wolf bound. Let G be a non-Abelian group having center Z(G). We show here that it is impossible to compress a source with symbols drawn from G when Z(G) is trivial if one employs a homomorphic encoder and a typical-set decoder.We provide achievable upper bounds on the minimum rate required to compress a non-Abelian group with non-trivial center. Also, in a two source setting, we provide achievable upper bounds for compression of any non-Abelian group, using a non-homomorphic encoder.

Best Node Selection Through Distributed Fast Variable Power Multiple Access

In many wireless applications, it is highly desirable to have a fast mechanism to resolve or select the packet from the user with the highest priority. Furthermore, individual priorities are often known only locally at the users. In this paper we introduce an extremely fast, local-information-based multiple access algorithm that selects the best node in 1.8 to 2.1 slots,which is much lower than the 2.43 slot average achieved by the best algorithm known to date. The algorithm, which we call Variable Power Multiple Access Selection (VP-MAS), uses the local channel state information from the accessing nodes to the receiver, and maps the priorities into the receive power.It is inherently distributed and scales well with the number of users. We show that mapping onto a discrete set of receive power levels is optimal, and provide a complete characterization for it. The power levels are chosen to exploit packet capture that inherently occurs in a wireless physical layer. The VP-MAS algorithm adjusts the expected number of users that contend in each step and their respective transmission powers, depending on whether previous transmission attempts resulted in capture,idle channel, or collision.

CUSUM Based Distributed Detection in WSNs

We are concerned with the situation in which a wireless sensor network is deployed in a region, for the purpose of detecting an event occurring at a random time and at a random location. The sensor nodes periodically sample their environment (e.g., for acoustic energy),process the observations (in our case, using a CUSUM-based algorithm) and send a local decision (which is binary in nature) to the fusion centre. The fusion centre collects these local decisions and uses a fusion rule to process the sensors’ local decisions and infer the state of nature, i.e., if an event has occurred or not. Our main contribution is in analyzing two local detection rules in combination with a simple fusion rule. The local detection algorithms are based on the nonparametric CUSUMprocedure from sequential statistics. We also propose two ways to operate the local detectors after an alarm. These alternatives when combined in various ways yield several approaches. Our contribution is to provide analytical techniques to calculate false alarm measures, by the use of which the local detector thresholds can be set. Simulation results are provided to evaluate the accuracy of our analysis. As an illustration we provide a design example. We also use simulations to compare the detection delays incurred in these algorithms.

Network Coding for TCP Throughput Enhancement over a Multi-Hop wireless Network

The poor performance of TCP over multi-hop wireless networks is well known. In this paper we explore to what extent network coding can help to improve the throughput performance of TCP controlled bulk transfers over a chain topology multi-hop wireless network. The nodes use a CSMA/ CA mechanism, such as IEEE 802.11’s DCF, to perform distributed packet scheduling. The reverse flowing TCP ACKs are sought to be X-ORed with forward flowing TCP data packets. We find that, without any modification to theMAC protocol, the gain from network coding is negligible. The inherent coordination problem of carrier sensing based random access in multi-hop wireless networks dominates the performance. We provide a theoretical analysis that yields a throughput bound with network coding. We then propose a distributed modification of the IEEE 802.11 DCF, based on tuning the back-off mechanism using a feedback approach. Simulation studies show that the proposed mechanism when combined with network coding, improves the performance of a TCP session by more than 100%.

Viscoelastic phenomenology based structure assignment for closed-loop vibration control of a beam with sensors and actuators

In this paper we incorporate a novel approach to synthesize a class of closed-loop feedback control, based on the variational structure assignment. Properties of a viscoelastic system are used to design an active feedback controller for an undamped structural system with distributed sensor, actuator and controller. Wave dispersion properties of onedimensional beam system have been studied. Efficiency of the chosen viscoelastic model in enhancing damping and stability properties of one-dimensional viscoelastic bar have been analyzed. The variational structure is projected on a solution space of a closed-loop system involving a weakly damped structure with distributed sensor and actuator with controller. These assign the phenomenology based internal strain rate damping parameter of a viscoelastic system to the usual elastic structure but with active control. In the formulation a model of cantilever beam with non-collocated actuator and sensor has been considered. The formulation leads to the matrix identification problem of two dynamic stiffness matrices. The method has been simplified to obtain control system gains for the free vibration control of a cantilever beam system with collocated actuator-sensor, using quadratic optimal control and pole-placement methods.