Redundancy resolution using a tractrix and its application to real-time simulations of hyper-redundant manipulators, snakes and tying of knots

To realistically simulate the motion of flexible objects such as ropes, strings, snakes, or human hair,one strategy is to discretise the object into a large number of small rigid links connected by rotary or spherical joints. The discretised system is highly redundant and the rotations at the joints (or the motion of the other links) for a desired Cartesian motion of the end of a link cannot be solved uniquely. In this paper, we propose a novel strategy to resolve the redundancy in such hyper-redundant systems.We make use of the classical tractrix curve and its attractive features. For a desired Cartesian motion of the `head'of a link, the `tail' of the link is moved according to a tractrix,and recursively all links of the discretised objects are moved along different tractrix curves. We show that the use of a tractrix curve leads to a more `natural' motion of the entire object since the motion is distributed uniformly along the entire object with the displacements tending to diminish from the `head' to the `tail'. We also show that the computation of the motion of the links can be done in real time since it involves evaluation of simple algebraic, trigonometric and hyperbolic functions. The strategy is illustrated by simulations of a snake, tying of knots with a rope and a solution of the inverse kinematics of a planar hyper-redundant manipulator.

An algebraic formulation of exact force-, moment-isotropy in spatial parallel manipulators

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions.We use the force and moment transformation matrices separately,and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation has been applied to a class of Stewart platform manipulators. We obtain multi-parameter families of isotropic manipulator analytically. In addition to computing the isotropic configurations of an existing manipulator,we demonstrate a procedure for designing the manipulator for isotropy at a given configuration.

Self Assessment-Based Decision Making for Multiagent Cooperative Search

This paper addresses a search problem with multiple limited capability search agents in a partially connected dynamical networked environment under different information structures. A self assessment-based decision-making scheme for multiple agents is proposed that uses a modified negotiation scheme with low communication overheads. The scheme has attractive features of fast decision-making and scalability to large number of agents without increasing the complexity of the algorithm. Two models of the self assessment schemes are developed to study the effect of increase in information exchange during decision-making. Some analytical results on the maximum number of self assessment cycles, effect of increasing communication range, completeness of the algorithm, lower bound and upper bound on the search time are also obtained. The performance of the various self assessment schemes in terms of total uncertainty reduction in the search region, using different information structures is studied. It is shown that the communication requirement for self assessment scheme is almost half of the negotiation schemes and its performance is close to the optimal solution. Comparisons with different sequential search schemes are also carried out. Note to Practitioners-In the futuristic military and civilian applications such as search and rescue, surveillance, patrol, oil spill, etc., a swarm of UAVs can be deployed to carry out the mission for information collection. These UAVs have limited sensor and communication ranges. In order to enhance the performance of the mission and to complete the mission quickly, cooperation between UAVs is important. Designing cooperative search strategies for multiple UAVs with these constraints is a difficult task. Apart from this, another requirement in the hostile territory is to minimize communication while making decisions. This adds further complexity to the decision-making algorithms. In this paper, a self-assessment-based decision-making scheme, for multiple UAVs performing a search mission, is proposed. The agents make their decisions based on the information acquired through their sensors and by cooperation with neighbors. The complexity of the decision-making scheme is very low. It can arrive at decisions fast with low communication overheads, while accommodating various information structures used for increasing the fidelity of the uncertainty maps. Theoretical results proving completeness of the algorithm and the lower and upper bounds on the search time are also provided.

The Case for Non-Cooperative Multihoming of Users to Access Points in IEEE 802.11 WLANs

In many cases, a mobile user has the option of connecting to one of several IEEE 802.11 access points (APs),each using an independent channel. User throughput in each AP is determined by the number of other users as well as the frame size and physical rate being used. We consider the scenario where users could multihome, i.e., split their traffic amongst all the available APs, based on the throughput they obtain and the price charged. Thus, they are involved in a non-cooperative game with each other. We convert the problem into a fluid model and show that under a pricing scheme, which we call the cost price mechanism, the total system throughput is maximized,i.e., the system suffers no loss of efficiency due to selfish dynamics. We also study the case where the Internet Service Provider (ISP) could charge prices greater than that of the cost price mechanism. We show that even in this case multihoming outperforms unihoming, both in terms of throughput as well as profit to the ISP.

Asymptotically optimal cooperative wireless networks without constellation expansion

In this work, we construct a unified family of cooperative diversity coding schemes for implementing the orthogonal amplify-and-forward and the orthogonal selection-decode-and-forward strategies in cooperative wireless networks. We show that, as the number of users increases, these schemes meet the corresponding optimal high-SNR outage region, and do so with minimal order of signaling complexity. This is an improvement over all outage-optimal schemes which impose exponential increases in signaling complexity for every new network user. Our schemes, which are based on commutative algebras of normal matrices, satisfy the outage-related information theoretic criteria, the duplex-related coding criteria, and maintain reduced signaling, encoding and decoding complexities

Performance Analysis of a Cooperative System with Rateless Codes and Buffered Relays

In a cooperative relay-assisted communication system that uses rateless codes, packets get transmitted from a source to a destination at a rate that depends on instantaneous channel states of the wireless links between nodes. When multiple relays are present, the relay with the highest channel gain to the source is the first to successfully decode a packet from the source and forward it to the destination. Thus, the unique properties of rateless codes ensure that both rate adaptation and relay selection occur without the transmitting source or relays acquiring instantaneous channel knowledge. In this paper, we show that in such cooperative systems, buffering packets at relays significantly increases throughput. We develop a novel analysis of these systems that combines the communication-theoretic aspects of cooperation over fading channels with the queuing-theoretic aspects associated with buffering. Closed-form expressions are derived for the throughput and end-to-end delay for the general case in which the channels between various nodes are not statistically identical. Corresponding results are also derived for benchmark systems that either do not exploit spatial diversity or do not buffer packets. Altogether, our results show that buffering - a capability that will be commonly available in practical deployments of relays - amplifies the benefits of cooperation.

Cooperative Profit Sharing in Coalition-Based Resource Allocation in Wireless Networks

We consider a network in which several service providers offer wireless access to their respective subscribed customers through potentially multihop routes. If providers cooperate by jointly deploying and pooling their resources, such as spectrum and infrastructure (e.g., base stations) and agree to serve each others' customers, their aggregate payoffs, and individual shares, may substantially increase through opportunistic utilization of resources. The potential of such cooperation can, however, be realized only if each provider intelligently determines with whom it would cooperate, when it would cooperate, and how it would deploy and share its resources during such cooperation. Also, developing a rational basis for sharing the aggregate payoffs is imperative for the stability of the coalitions. We model such cooperation using the theory of transferable payoff coalitional games. We show that the optimum cooperation strategy, which involves the acquisition, deployment, and allocation of the channels and base stations (to customers), can be computed as the solution of a concave or an integer optimization. We next show that the grand coalition is stable in many different settings, i.e., if all providers cooperate, there is always an operating point that maximizes the providers' aggregate payoff, while offering each a share that removes any incentive to split from the coalition. The optimal cooperation strategy and the stabilizing payoff shares can be obtained in polynomial time by respectively solving the primals and the duals of the above optimizations, using distributed computations and limited exchange of confidential information among the providers. Numerical evaluations reveal that cooperation substantially enhances individual providers' payoffs under the optimal cooperation strategy and several different payoff sharing rules.

Regioselective Deiodination of Thyroxine by Iodothyronine Deiodinase Mimics: An Unusual Mechanistic Pathway Involving Cooperative Chalcogen and Halogen Bonding

Iodothyronine deiodinases (IDs) are mammalian selenoenzymes that catalyze the conversion of thyroxine (T4) to 3,5,3'-triiodothyronine (T3) and 3,3',5'-triiodothyronine (rT3) by the outer- and inner-ring deiodination pathways, respectively. These enzymes also catalyze further deiodination of T3 and rT3 to produce a variety of di- and monoiodo derivatives. In this paper, the deiodinase activity of a series of pen-substituted naphthalenes having different amino groups is described. These compounds remove iodine selectively from the inner-ring of T4 and T3 to produce rT3 and 3,3'-diiodothyronine (3,3'-T2), respectively. The naphthyl-based compounds having two selenols in the pen-positions exhibit much higher deiodinase activity than those having two thiols or a thiol selenol pair. Mechanistic investigations reveal that the formation of a halogen bond between the iodine and chalcogen (S or Se) and the pen-interaction between two chalcogen atoms (chalcogen bond) are important for the deiodination reactions. Although the formation of a halogen bond leads to elongation of the C-I bond, the chalcogen bond facilitates the transfer of more electron density to the C-I sigma* orbitals, leading to a complete cleavage of the C-I bond. The higher activity of amino-substituted selenium compounds can be ascribed to the deprotonation of thiol/selenol moiety by the amino group, which not only increases the strength of halogen bond but also facilitates the chalcogen chalcogen interactions.

Pattern clustering using cooperative game theory

In this paper, we approach the classical problem of clustering using solution concepts from cooperative game theory such as Nucleolus and Shapley value. We formulate the problem of clustering as a characteristic form game and develop a novel algorithm DRAC (Density-Restricted Agglomerative Clustering) for clustering. With extensive experimentation on standard data sets, we compare the performance of DRAC with that of well known algorithms. We show an interesting result that four prominent solution concepts, Nucleolus, Shapley value, Gately point and \tau-value coincide for the defined characteristic form game. This vindicates the choice of the characteristic function of the clustering game and also provides strong intuitive foundation for our approach.

Cooperative distributed sequential spectrum sensing

We consider cooperative spectrum sensing for cognitive radios. We develop an energy efficient detector with low detection delay using sequential hypothesis testing. Sequential Probability Ratio Test (SPRT) is used at both the local nodes and the fusion center. We also analyse the performance of this algorithm and compare with the simulations. Modelling uncertainties in the distribution parameters are considered. Slow fading with and without perfect channel state information at the cognitive radios is taken into account.

A novel algorithm for cooperative distributed sequential spectrum sensing in Cognitive Radio

This paper considers cooperative spectrum sensing in Cognitive Radios. In our previous work we have developed DualSPRT, a distributed algorithm for cooperative spectrum sensing using Sequential Probability Ratio Test (SPRT) at the Cognitive Radios as well as at the fusion center. This algorithm works well, but is not optimal. In this paper we propose an improved algorithm- SPRT-CSPRT, which is motivated from Cumulative Sum Procedures (CUSUM). We analyse it theoretically. We also modify this algorithm to handle uncertainties in SNR's and fading.

Cooperative distributed sequential spectrum sensing

We consider cooperative spectrum sensing for cognitive radios. We develop an energy efficient detector with low detection delay using sequential hypothesis testing. Sequential Probability Ratio Test (SPRT) is used at both the local nodes and the fusion center. We also analyse the performance of this algorithm and compare with the simulations. Modelling uncertainties in the distribution parameters are considered. Slow fading with and without perfect channel state information at the cognitive radios is taken into account.