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Full-Text Articles in Physical Sciences and Mathematics
Multiscouting: Guiding Distributed Manipulation With Multiple Mobile Sensors, Michael G. Ross
Multiscouting: Guiding Distributed Manipulation With Multiple Mobile Sensors, Michael G. Ross
Dartmouth College Undergraduate Theses
This thesis investigates the use of multiple mobile sensors to guide the motion of a distributed manipulation system. In our system, multiple robots cooperatively place a large object at a goal in a dynamic, unstructured, unmapped environment. We take the system developed in [Rus, Kabir, Kotay, Soutter 1996], which employs a single mobile sensor for navigational tasks, and extend it to allow the use of multiple mobile sensors. This allows the system to perform successful manipulations in a larger class of spaces than was possible in the single scout model. We focus on the development of a negotiation protocol that …
Distributed Route Planning Using Partial Map Building, Christine J. Alvarado
Distributed Route Planning Using Partial Map Building, Christine J. Alvarado
Dartmouth College Undergraduate Theses
Our goal is to manipulate and guide an object across an unknown environment toward a goal in a known location in space. Our tools include a system of manipulation robots, which are "blind" and one mobile scout robot who relies on a series of sonar sensors for information about the environment. Previous solutions to this problem have taken a simultaneous guiding and manipulating approach, moving the whole system under the scout's guidance. My approach, however, presents a separate scouting algorithm that can return a series of coordinates through which the manipulation system can safely pass to reach the goal in …
Boosting A Simple Weak Learner For Classifying Handwritten Digits, Matthew P. Carter
Boosting A Simple Weak Learner For Classifying Handwritten Digits, Matthew P. Carter
Dartmouth College Undergraduate Theses
A weak PAC learner is one which takes labeled training examples and produces a classifier which can label test examples more accurately than random guessing. A strong learner (also known as a PAC learner), on the other hand, is one which takes labeled training examples and produces a classifier which can label test examples arbitrarily accurately. Schapire has constructively proved that a strong PAC learner can be derived from a weak PAC learner. A performance boosting algorithm takes a set of training examples and a weak PAC learning algorithm and generates a strong PAC learner. Our research attempts to solve …
The Effects Of Singular Value Decomposition On Collaborative Filtering, Michael H. Pryor
The Effects Of Singular Value Decomposition On Collaborative Filtering, Michael H. Pryor
Dartmouth College Undergraduate Theses
As the information on the web increases exponentially, so do the efforts to automatically filter out useless content and to search for interesting content. Through both explicit and implicit actions, users define where their interests lie. Recent efforts have tried to group similar users together in order to better use this data to provide the best overall filtering capabilities to everyone. This thesis discusses ways in which linear algebra, specifically the singular value decomposition, can be used to augment these filtering capabilities to provide better user feedback. The goal is to modify the way users are compared with one another, …
Avoiding Conflicts Dynamically In Direct Mapped Caches With Minimal Hardware Support, Peter N. Desantis
Avoiding Conflicts Dynamically In Direct Mapped Caches With Minimal Hardware Support, Peter N. Desantis
Dartmouth College Undergraduate Theses
The memory system is often the weakest link in the performance of today's computers. Cache design has received increasing attention in recent years as increases in CPU performance continues to outpace decreases in memory latency. Bershad et al. proposed a hardware modification called the Cache Miss Lookaside buffer which attempts to dynamically identify data which is conflicting in the cache and remap pages to avoid future conflicts. In a follow-up paper, Bershad et al. tried to modify this idea to work with standard hardware but had less success than with their dedicated hardware. In this thesis, we focus on a …
An Implementation Of External-Memory Depth-First Search, Christopher S. Leon
An Implementation Of External-Memory Depth-First Search, Christopher S. Leon
Dartmouth College Undergraduate Theses
In many different areas of computing, problems can arise which are too large to fit in main memory. For these problems, the I/O cost of moving data between main memory and secondary storage (for example, disks) becomes a significant bottleneck affecting the performance of the program. Since most algorithms do not take into account the size of main memory, new algorithms have been developed to optimize the number of I/O's performed. This paper details the implementation of one such algorithm, for external-memory depth-first search. Depth-first search is a basic tool for solving many problems in graph theory, and since graph …
C Compiler Targeting The Java Virtual Machine, Jack Pien
C Compiler Targeting The Java Virtual Machine, Jack Pien
Dartmouth College Undergraduate Theses
One of the major drawbacks in the field of computer software development has been the inability for applications to compile once and execute across many different platforms. With the emergence of the Internet and the networking of many different platforms, the Java programming language and the Java Platform was created by Sun Microsystems to address this "Write Once, Run Anywhere" problem. What sets a compiled Java program apart from programs compiled from other high level languages is the ability of a Java Virtual Machine to execute the compiled Java program on any platform, as long as the Java Virtual Machine …
A Framework For World Wide Web Client-Authentication Protocols, Cem Paya
A Framework For World Wide Web Client-Authentication Protocols, Cem Paya
Dartmouth College Undergraduate Theses
Existing client-authentication protocols deployed on the World Wide Web today are based on conventional distributed systems and fail to address the problems specific to the application domain. Some of the protocols restrict the mobility of the client by equating user identity to a machine or network address, others depend on sound password management strategies, and yet others compromise the privacy of the user by transmitting personal information for authentication. We introduce a new framework for client-authentication by separating two goals that current protocols achieve simultaneously: 1. Maintain persistent sense of identity across different sessions. 2. Prove facts about the user …