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def evaluate regression(x, fo): if len(x.shape) <> 2: raise RuntimeError, "Expected x to be a 2d array" num obs = x.shape[0] y = numpy.zeros(num obs) for i in range(num obs): y[i] = fo(x[i, :]) return y

FIGURE 5.3 An electrical machine that computes connectivity of graph edges [50]. It may be possible to conceive that nature generates a computable function of a real variable directly and not necessarily by approximation as in the traditional approach [37].

C O M supports hierarchical naming. C O M names can be complex, though they are not implemented as a composite data structure; instead, C O M uses specially designated delimiters to separate the name components within one string. A delimiter that is often used with C O M is \ . M k P a r s e D i s p l a y N a m e constructs a moniker from a name until it

Equation C.162 is the general-purpose formula for the matrix forms of interest, which differ only in their scalar functions si r . These scalar functions si r are generally rational functions of the following scalar functions (shown in terms of their gradients): @ jrjp pjrjp 2 rT ; @r @ sin jrj cos jrj jrj 1 rT ; @r @ cos jrj sin jrj jrj 1 rT @r C:163 C:164 C:165

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task communication protocol meeting this minimal expressivity need, and then tting this protocol to the particular relevant eld of application On the other hand, a decentralized approach will be relevant if: the available knowledge within each distributed component is suf cient to perform coherent decisions; this required amount of knowledge does not endow the distributed components with the problems of a centralized system (in terms of computation power and communication bandwidth requirements) One way to ensure that a minimal global coherence will be satis ed within the whole system is to enable communication between the robots of the system up to a level that will guarantee that the decision is globally coherent However, instead of de nitely choosing one of these extreme con gurations, an alternative possibility lies in hybrid solutions that may t at best the requirements of a heterogenous system 3633.

Communication between components Network and data link layers in the communication of an autonomous robot team are similar to a MANET (Mobile Ad hoc NETwork) A MANET can be described as a peer-to-peer network which usually comprises tens to hundreds of meters, and aims to form and maintain a connected multi-hop network capable of transporting a large amount of data between nodes The main goal for a MANET, like other conventional wireless networks, is to provide high QoS and high bandwidth ef ciency when mobility exists In contrast, the main goal in a sensor network is to extend the network lifetime by reducing as much as possible the energy consumption while providing the services that the WSN was designed for As a consequence, a lower performance in other aspects of operation such as QoS and bandwidth usage is assumed.

projects. Altogether, this has saved us about $70,000. Controller, telecom equipment, 160 employees, Illinois.

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Two examples of multi-hop routing algorithms for MANET are Ad Hoc On Demand Distance Vector (AODV) routing and Temporally Ordered Routing Algorithm (TORA) Both are examples of demand-driven systems that eliminate most of the overhead associated with table updating in high mobility scenarios However, the energy cost during route set up (path discovery) is high, so they are not used in WSNs Another algorithm, called Power-Aware Routing, nds the minimum metric path on two different power metrics: minimum energy per packet and minimum cost per packet The rst metric is intuitive and produces substantial energy-saving while the network retains full connectivity However, performance degradation due to node/link failure is not accounted for The minimum cost metric is obtained by weighting the energy consumption by the energy reserve on each node.

It has the nice property of delaying failures by steering traf c away from low-energy nodes, but overhead for path maintenance could be high As a conclusion, it is obvious that different protocols are needed for autonomous robotic teams and WSNs..

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