Distributed Orientation Agreement in a Group of Robots

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

Agreement in wider environments with weaker assumptions.

The set agreement problem states that from n proposed values at most n?1 can be decided. Traditionally, this problem is solved using a failure detector in asynchronous systems where processes may crash but do not recover, where processes have different identities, and where all processes initially know the membership. In this paper we study the set agreement problem and the weakest failure detector L used to solve it in asynchronous message passing systems where processes may crash and recover, with homonyms (i.e., processes may have equal identities) and without a complete initial knowledge of the membership.

Set agreement and the loneliness failure detector in crash-recovery systems

The set agreement problem states that from n proposed values at most n-1 can be decided. Traditionally, this problem is solved using a failure detector in asynchronous systems where processes may crash but not recover, where processes have different identities, and where all processes initially know the membership. In this paper we study the set agreement problem and the weakest failure detector L used to solve it in asynchronous message passing systems where processes may crash and recover, with homonyms (i.e., processes may have equal identities) and without a complete initial knowledge of the membership.

An information reconciliation protocol for secret-key agreement with small leakage

We report on a variant of the so-called Cascade protocol that is well-known for its usage as information reconciliation protocol in quantum cryptography. A theoretical analysis of the optimal size of the parity check blocks is provided. We obtain a very small leakage which is for block sizes of 2^16 typically only 2.5% above the Shannon limit, and notably, this holds for a QBER between 1% and 50%. For a QBER between 1% and 6% the leakage is only 2% above the Shannon limit. As comparison, the leakage of the original Cascade algorithm is 20% (40%) above the Shannon limit for a QBER of 10% (35%).

Agreement Abstractions in Anonymous and Homonymous Distributed Systems Prone to Failures

The distributed computing models typically assume every process in the system has a distinct identifier (ID) or each process is programmed differently, which is named as eponymous system. In such kind of distributed systems, the unique ID is helpful to solve problems: it can be incorporated into messages to make them trackable (i.e., to or from which process they are sent) to facilitate the message transmission; several problems (leader election, consensus, etc.) can be solved without the information of network property in priori if processes have unique IDs; messages in the register of one process will not be overwritten by others process if this process announces; it is useful to break the symmetry. Hence, eponymous systems have influenced the distributed computing community significantly either in theory or in practice. However, every thing in the world has its own two sides. The unique ID also has disadvantages: it can leak information of the network(size); processes in the system have no privacy; assign unique ID is costly in bulk-production(e.g, sensors). Hence, homonymous system is appeared. If some processes share the same ID and programmed identically is called homonymous system. Furthermore, if all processes shared the same ID or have no ID is named as anonymous system. In homonymous or anonymous distributed systems, the symmetry problem (i.e., how to distinguish messages sent from which process) is the main obstacle in the design of algorithms. This thesis is aimed to propose different symmetry break methods (e.g., random function, counting technique, etc.) to solve agreement problem. Agreement is a fundamental problem in distributed computing including a family of abstractions. In this thesis, we mainly focus on the design of consensus, set agreement, broadcast algorithms in anonymous and homonymous distributed systems. Firstly, the fault-tolerant broadcast abstraction is studied in anonymous systems with reliable or fair lossy communication channels separately. Two classes of anonymous failure detectors AΘ and AP∗ are proposed, and both of them together with a already proposed failure detector ψ are implemented and used to enrich the system model to implement broadcast abstraction. Then, in the study of the consensus abstraction, it is proved the AΩ′ failure detector class is strictly weaker than AΩ and AΩ′ is implementable. The first implementation of consensus in anonymous asynchronous distributed systems augmented with AΩ′ and where a majority of processes does not crash. Finally, a general consensus problem– k-set agreement is researched and the weakest failure detector L used to solve it, in asynchronous message passing systems where processes may crash and recover, with homonyms (i.e., processes may have equal identities), and without a complete initial knowledge of the membership.

Agreement Abstractions in Anonymous and Homonymous Distributed Systems Prone to Failures

The distributed computing models typically assume every process in the system has a distinct identifier (ID) or each process is programmed differently, which is named as eponymous system. In such kind of distributed systems, the unique ID is helpful to solve problems: it can be incorporated into messages to make them trackable (i.e., to or from which process they are sent) to facilitate the message transmission; several problems (leader election, consensus, etc.) can be solved without the information of network property in priori if processes have unique IDs; messages in the register of one process will not be overwritten by others process if this process announces; it is useful to break the symmetry. Hence, eponymous systems have influenced the distributed computing community significantly either in theory or in practice. However, every thing in the world has its own two sides. The unique ID also has disadvantages: it can leak information of the network(size); processes in the system have no privacy; assign unique ID is costly in bulk-production(e.g, sensors). Hence, homonymous system is appeared. If some processes share the same ID and programmed identically is called homonymous system. Furthermore, if all processes shared the same ID or have no ID is named as anonymous system. In homonymous or anonymous distributed systems, the symmetry problem (i.e., how to distinguish messages sent from which process) is the main obstacle in the design of algorithms. This thesis is aimed to propose different symmetry break methods (e.g., random function, counting technique, etc.) to solve agreement problem. Agreement is a fundamental problem in distributed computing including a family of abstractions. In this thesis, we mainly focus on the design of consensus, set agreement, broadcast algorithms in anonymous and homonymous distributed systems. Firstly, the fault-tolerant broadcast abstraction is studied in anonymous systems with reliable or fair lossy communication channels separately. Two classes of anonymous failure detectors AΘ and AP∗ are proposed, and both of them together with a already proposed failure detector ψ are implemented and used to enrich the system model to implement broadcast abstraction. Then, in the study of the consensus abstraction, it is proved the AΩ′ failure detector class is strictly weaker than AΩ and AΩ′ is implementable. The first implementation of consensus in anonymous asynchronous distributed systems augmented with AΩ′ and where a majority of processes does not crash. Finally, a general consensus problem– k-set agreement is researched and the weakest failure detector L used to solve it, in asynchronous message passing systems where processes may crash and recover, with homonyms (i.e., processes may have equal identities), and without a complete initial knowledge of the membership.

Lack of agreement between tonometric and gastric juice partial carbon dioxide tension

Our goal was to compare measurement of tonometered saline and gastric juice partial carbon dioxide tension (PCO2). In this prospective observational study, 112 pairs of measurements were simultaneously obtained under various hemodynamic conditions, in 15 critical care patients. Linear regression analysis showed a significant correlation between the two methods of measuring PCO2 (r 2 = 0.43; P < 0.0001). However, gastric juice PCO2 was systematically higher (mean difference 51 mmHg). The 95% limits of agreement were 315 mmHg and the dispersion increased as the values of PCO2 increased. Tonometric and gastric juice PCO2 cannot be used interchangeably. Gastric juice PCO2 measurement should be interpreted with caution.

The Merida Initiative: A Flawed Agreement

The Mexican government and people are engaged in a war for the survival of their nation. Drug cartels are creating a situation of terror on the streets of the nation in their attempts to retain control of trafficking drugs into the United States. The Merida Initiative is a flawed agreement as it only addresses the issue of violence perpetrated by drug cartels. The issues of human rights protection, education, and economic stability within Mexico must be addressed in order to not only improve the situation but also eradicate the power and allure of the cartels.

Nutrient Load Reduction: Challenges facing the Chesapeake 2000 Agreement

The Chesapeake Bay is the largest estuary in the United States supporting a complex ecosystem that sustains many habitats and the organisms that depend on them. The bay also supports economic, recreational, and cultural activities to over 16 million people residing in the watershed. Changes within the watershed have caused excessive levels of nutrients, mainly nitrogen and phosphorous, to pollute the bay. The Chesapeake Bay Program, guided by a complex agreement, was created to address these and other issues and oversee the restoration of the bay. The most recent version of this agreement, the Chesapeake 2000, declares its continued commitment to restore the bay with over 100 goals to be met by the year 2010. Reports show that although intensive efforts have been made to promote nutrient reduction, very little reduction has actually resulted. This project described these efforts. The final results reveal obstacles affecting progress, shortcomings to current approaches and possible solutions for future implementation.

Agreement between William Croswell and Charles Turner, 1807 September

Draft of an agreement between Croswell and Turner related to their evening school in Liverpool.

Publishing agreement for the celestial planisphere, 1808 June 18

Handwritten agreement between Croswell and geographer William Faden of Westminster, Massachusetts, for the engraving and printing of three maps.

Draft of lease agreement, 1832 May

Handwritten document with drafts of a lease agreement with William Croswell and Sarah Bumstead, as tenants, for lodging in Boston.

Agreement between John Lowell and John Walton, Thomas Mason, Joseph Holmes, and Samuel Mason to finish the basement of University Hall, 7 June 1814

This contract includes stipulations for finishing the two kitchens, windows, and floors in University Hall by the first of August 1815.