From JonWiki

Papers

Unpublished

Here are some of the papers that I have written but are unpublished. Most are papers written for undergraduate classes.

• A Primer on Forward Kinematics and the Jacobian Transform
  • A short paper describing forward kinematics and applying the Jacobian Transform in control algorithms.
• Network Survivability using Delaunay Triangulation
  • Abstract: Delaunay triangulations are used to establish local topology for mobile wireless networks using directional antennae The maximization of the minimum angle inherent to the Delaunay triangulations is exploited to minimize cross talk, which in turn assures that each individual link can operate at its peak bandwidth. Additionally, the use of mobile relay stations is examined to improve data rate. These mobile relays move themselves into optimal position using information from the Delaunay triangulation and seek to mitigate unavoidably bad node placements that are dictated by the network's users.
• Path Planning with Phased Array SLAM and Voronoi Tessellation
  • Abstract: Autonomous vehicles must often navigate environments that are at least partially unknown. They are faced with the tasks of creating a coordinate system to localize themselves on, identify the positions of obstacles, and chart safe paths through the environment. This process is known as Simultaneous Localization and Mapping, or SLAM. SLAM has traditionally been executed using measurements of distance to features in the environment. We propose an angle based methodology using a single phased array antenna and DSP aimed to reduce this requirement to a signal path for each data type. Additionally, our method makes use of rudimentary echo-location to discover reflective obstacles. Finally, or method uses Voronoi Tessellation for path planning.
• TUCAN Problem
  • A short paper covering the canonical two cans draining serially from a differential equations standpoint.