Probabilistic Bounds on the Length of a Longest Edge in Delaunay Graphs of Random Points in d-Dimensions

Motivated by low energy consumption in geographic routing in wireless networks, there has been recent interest in determining bounds on the length of edges in the Delaunay graph of randomly distributed points. Asymptotic results are known for random networks in planar domains. In this paper, we obtain upper and lower bounds that hold with parametric probability in any dimension, for points distributed uniformly at random in domains with and without boundary. The results obtained are asymptotically tight for all relevant values of such probability and constant number of dimensions, and show that the overhead produced by boundary nodes in the plane holds also for higher dimensions. To our knowledge, this is the first comprehensive study on the lengths of long edges in Delaunay graphsComment: 10 pages. 2 figures. In Proceedings of the 23rd Canadian Conference on Computational Geometry (CCCG 2011). Replacement of version 1106.4927, reference [5] adde

Algorithms for Rapidly Dispersing Robot Swarms in Unknown Environments

We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels that form a connected subset of the integer grid. There is at most one robot per pixel and robots move horizontally or vertically at unit speed. Robots enter R by means of k>=1 door pixels Robots are primitive finite automata, only having local communication, local sensors, and a constant-sized memory. We first give algorithms for the single-door case (i.e., k=1), analyzing the algorithms both theoretically and experimentally. We prove that our algorithms have optimal makespan 2A-1, where A is the area of R. We next give an algorithm for the multi-door case (k>1), based on a wall-following version of the leader-follower strategy. We prove that our strategy is O(log(k+1))-competitive, and that this bound is tight for our strategy and other related strategies.Comment: 17 pages, 4 figures, Latex, to appear in Workshop on Algorithmic Foundations of Robotics, 200

A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the di_erent types of pipes that exists, a modular approach with di_erent types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a _eld in which there are not many prototypes. The robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototypes testing

Accurate implementation of leaping in space: The spatial partitioned-leaping algorithm

There is a great need for accurate and efficient computational approaches that can account for both the discrete and stochastic nature of chemical interactions as well as spatial inhomogeneities and diffusion. This is particularly true in biology and nanoscale materials science, where the common assumptions of deterministic dynamics and well-mixed reaction volumes often break down. In this article, we present a spatial version of the partitioned-leaping algorithm (PLA), a multiscale accelerated-stochastic simulation approach built upon the tau-leaping framework of Gillespie. We pay special attention to the details of the implementation, particularly as it pertains to the time step calculation procedure. We point out conceptual errors that have been made in this regard in prior implementations of spatial tau-leaping and illustrate the manifestation of these errors through practical examples. Finally, we discuss the fundamental difficulties associated with incorporating efficient exact-stochastic techniques, such as the next-subvolume method, into a spatial-leaping framework and suggest possible solutions.Comment: 15 pages, 9 figures, 2 table

RegPrecise web services interface: programmatic access to the transcriptional regulatory interactions in bacteria reconstructed by comparative genomics.

Web services application programming interface (API) was developed to provide a programmatic access to the regulatory interactions accumulated in the RegPrecise database (http://regprecise.lbl.gov), a core resource on transcriptional regulation for the microbial domain of the Department of Energy (DOE) Systems Biology Knowledgebase. RegPrecise captures and visualize regulogs, sets of genes controlled by orthologous regulators in several closely related bacterial genomes, that were reconstructed by comparative genomics. The current release of RegPrecise 2.0 includes >1400 regulogs controlled either by protein transcription factors or by conserved ribonucleic acid regulatory motifs in >250 genomes from 24 taxonomic groups of bacteria. The reference regulons accumulated in RegPrecise can serve as a basis for automatic annotation of regulatory interactions in newly sequenced genomes. The developed API provides an efficient access to the RegPrecise data by a comprehensive set of 14 web service resources. The RegPrecise web services API is freely accessible at http://regprecise.lbl.gov/RegPrecise/services.jsp with no login requirements

Approximation Algorithms for Generalized MST and TSP in Grid Clusters

We consider a special case of the generalized minimum spanning tree problem (GMST) and the generalized travelling salesman problem (GTSP) where we are given a set of points inside the integer grid (in Euclidean plane) where each grid cell is $1 \times 1$. In the MST version of the problem, the goal is to find a minimum tree that contains exactly one point from each non-empty grid cell (cluster). Similarly, in the TSP version of the problem, the goal is to find a minimum weight cycle containing one point from each non-empty grid cell. We give a $(1+4\sqrt{2}+\epsilon)$ and $(1.5+8\sqrt{2}+\epsilon)$-approximation algorithm for these two problems in the described setting, respectively. Our motivation is based on the problem posed in [7] for a constant approximation algorithm. The authors designed a PTAS for the more special case of the GMST where non-empty cells are connected end dense enough. However, their algorithm heavily relies on this connectivity restriction and is unpractical. Our results develop the topic further