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which actuators should execute which actions, such that the overall performance of the actuators is maximized The problem is referred to as the Task Assignment problem (Melodia et al, 2007) in WSANs Each event in WSANs is assumed to be reported to one of robots In case of multiple (possibly concurrent) events, several tasks are to be distributed among robot team members For example, in re monitoring scenario, sensors detecting re route information to robots that need to decide which of them should act to exhaust the re Sometimes tasks need more than one robot to be successfully accomplished (eg, larger re) In the case of multiple events (eg, re on multiple locations, or multiple sensors deployment), concurrency and time constraints could decide the action.

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LTI inputs and corresponding outputs Output h(t) (de nition of h(t)) h(t 2 t) (time-invariance) x(t)h(t 2 t) (linearity; cf. Eq. (2.3)) 1 21 x(t)h(t 2 t) dt (linearity; extension of Eq. (2.2) to in nitely many terms)

1. Edward Rashba, Daniel Gamota, Doug Jamison, John Miller, and Kirk Hermann, Standards in Nanotechnology, 2 Nanotech. L&B (2004). A substantial part of the article was reprinted in this chapter with permission of Nanotechnology Law & Business. 2. See, e.g., Josh Lerner, Boom and Bust In The Venture Capital Industry and the Impact on Innovation, 87 Econ. Rev. 25 (Oct. 2002), at LEXIS, Nexis Library

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If there are no time limits then all multiple event problems can be treated as iterated version of single event problem The difference then is whether or not these events are known in advance, or unpredictable In the former case, a single robot could be assigned to handle multiple events in the sequence For example, in Figure 92 robot R4 could respond to event e2 followed by event e1 Alternatively, it could only handle event e2 while robot R3 responds to event e1 In summary, there are single/multiple task requiring single/multiple robots with/without strict time constraints for the execution These general problem statements allow for considering many speci c instances There are few generic approaches to solve the corresponding problems Depending on decision making process, the task assignment solutions can be classi ed as centralized , localized , and market-based solutions.

More formally, given a graph G = (V , E), a source s V , and a set of destinations D V , the multicast problem consists in nding a set of relay nodes R V , such that s F R is connected in G. The main idea behind multicast is to try to reduce R as much as possible (share a maximum of the links to send as few duplicate packets as possible). In most of the algorithms, this path sharing consists in building an overlay tree whose root is the source and leaves are destinations (destinations may also act as relay nodes, though). This is however not always the case, some algorithms rather build a mesh overlay, which better tolerate the failure of links, thanks to redundancy. Also, when the positions of destinations are known beforehand, the multicast task can be achieved without using any overlay structure. In this latter case, the paths may also form trees or meshes, but these structures are built on the y and not memorized. The present section reviews these different solutions.

A Windows 95 HMODULE value is nothing more than the linear memory address to where the loader memory mapped the file. Given an HMODULE and a small amount of calculation, you can convert the HMODULE into a pointer to the PE header. With a pointer to the header address, a program can do some additional lookups to find the address of the code, data, and resources for that module in memory. Winl6 is somewhat sloppy about the difference between an HMODULE and an HINSTANCE, although they really are different. A Winl6 HINSTANCE is the selector value of a task's or DLL's DGROUP segment. However, in Winl6, an HINSTANCE is also frequently used to differentiate between two different tasks. In 32-bit Windows 95 processes, an HMODULE and an HINSTANCE are the same thing -- the base address of the module in memory. As with Win32 processes and Winl6 tasks, Windows 95 stores information about a module on both sides of the 16- and 32-bit fence. Each 32-bit process module has a corresponding 16-bit NE module database. However, the 16-bit representation of these modules is minimal. Not all fields in these special 16-bit HMODULE segment are filled in. I call these minimal HMODULEs "pseudoHMODULEs." Pseudo-HMODULEs don't appear in the normal linked list of 16-bit modules. If you walk the list of modules with TOOLHELP, the pseudoHMODULEs don't show up. The SHOW16.EXE program from 7 shows how to find the 16-bit module databases for Win32 EXEs and DLLs.

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