Systems Science for Physical Geometric Algorithms Final Report for EIA-9802068 David Kotz (PI), David Nicol, Bruce Donald, Dan Rockmore dfk AT dartmouth.edu Department of Computer Science, Dartmouth College http://www.cs.dartmouth.edu March 13, 2005 1 Contents 1 Introduction 1 2 Faculty 2 3 Information Retrieval (Javed Aslam, Daniela Rus) 3 3.1 Activities and Findings ....................................... 3 3.1.1 Mobile agents for information retrieval. .......................... 3 3.1.2 Automatic information organization ............................ 3 3.1.3 Metasearch ......................................... 4 3.1.4 Metasearch, Pooling, and System Evaluation ....................... 5 3.2 Products ............................................... 6 3.3 Contributions ............................................ 7 4 Algorithms and Theory (Amit Chakrabarti) 9 4.1 Activities and Findings ....................................... 9 4.1.1 Research .......................................... 9 4.1.2 Teaching .......................................... 9 4.1.3 Outreach Activities ..................................... 9 4.2 Products ............................................... 10 4.3 Contributions ............................................ 10 5 Out-of-Core Computing (Thomas Cormen) 11 5.1 Activities and Findings ....................................... 11 5.2 Products ............................................... 14 5.3 Contributions ............................................ 16 6 Computational Biology (Bruce Donald) 17 6.1 Activities and Findings ....................................... 17 6.1.1 Education .......................................... 18 6.2 Products ............................................... 19 6.3 Contributions ............................................ 23 7 MEMS (Bruce Donald) 24 7.1 Activities and Findings ....................................... 24 7.1.1 Algorithms for Sensorless Manipulation Using a Vibrating Surface ............ 24 7.1.2 A Single Universal Force Field Can Uniquely Pose Any Part up to Symmetry ...... 24 7.1.3 Untethered Scratch Drive Actuators ............................ 24 7.2 Products ............................................... 26 7.3 Contributions ............................................ 27 8 Robotics (Bruce Donald) 28 8.1 Activities and Findings ....................................... 28 8.1.1 Mobile Robot Self-Localization Without Explicit Landmarks ............... 28 8.1.2 Using Haptic Vector Fields for Animation Motion Control ................ 28 8.1.3 Constrained Prehensile Manipulation: Distributed Manipulation with Ropes ....... 28 8.1.4 Visibility-Based Planning of Sensor Control Strategies .................. 29 8.2 Products ............................................... 29 8.3 Contributions ............................................ 30 9 Graphics and Animation (Bruce Donald) 31 9.1 Activities and Findings ....................................... 31 9.2 Products ............................................... 31 9.3 Contributions ............................................ 31 10 Computational Geometry (Scot Drysdale) 32 10.1 Activities and Findings ....................................... 32 10.1.1 Research Activities ..................................... 32 10.1.2 Educational Activities and Outreach ............................ 32 10.2 Products ............................................... 33 10.3 Contributions ............................................ 33 11 Digital Image Tampering (Hany Farid) 35 11.1 Activities and Findings ....................................... 35 11.1.1 Major Research Activities ................................. 35 11.1.2 Major Findings ....................................... 35 11.1.3 Opportunities for Training and Development ....................... 36 11.1.4 Outreach .......................................... 36 11.2 Publications and Products ...................................... 36 11.2.1 Books/non-Periodicals ................................... 38 11.2.2 Web Site .......................................... 39 11.2.3 Other Specific Products ................................... 39 11.3 Contributions ............................................ 39 12 Programming Languages (Chris Hawblitzel) 40 12.1 Activities and Findings ....................................... 40 12.2 Products ............................................... 40 12.3 Contributions ............................................ 41 13 Distributed Algorithms (Prasad Jayanti) 42 13.1 Activities and Findings ....................................... 42 13.2 Products ............................................... 42 13.3 Contributions ............................................ 43 14 Mobile Agents (David Kotz, Daniela Rus) 44 14.1 Activities and Findings ....................................... 44 14.1.1 Mobile agents. ....................................... 45 14.1.2 Market-based resource control. ............................... 45 14.1.3 Conclusions ......................................... 46 14.2 Products ............................................... 47 14.3 Contributions ............................................ 50 15 Kerf (David Kotz, Javed Aslam, Daniela Rus) 52 15.1 Activities and Findings ....................................... 52 15.2 Products ............................................... 53 15.3 Contributions ............................................ 54 16 Armada (David Kotz) 55 16.1 Activities and Findings ....................................... 55 16.2 Products ............................................... 55 16.3 Contributions ............................................ 56 17 Snowflake (David Kotz) 58 17.1 Activities and Findings ....................................... 58 17.2 Products ............................................... 58 17.3 Contributions ............................................ 59 18 Solar (David Kotz) 60 18.1 Activities and Findings ....................................... 60 18.2 Products ............................................... 61 18.3 Contributions ............................................ 63 19 Wireless networks (David Kotz) 64 19.1 Activities and Findings ....................................... 64 19.2 Products ............................................... 67 19.3 Contributions ............................................ 69 20 Biomedical Computing (Fillia Makedon) 70 20.1 Activities and Findings ....................................... 70 20.2 Products ............................................... 71 20.3 Contributions ............................................ 75 21 Secure Distributed Resource Sharing (Fillia Makedon) 76 21.1 Activities and Findings ....................................... 76 21.2 Products ............................................... 76 21.3 Contributions ............................................ 79 22 Simulation and Modeling (David Nicol) 80 22.1 Activities and Findings ....................................... 80 22.2 Contributions ............................................ 81 22.3 Products ............................................... 81 23 Signal processing (Dan Rockmore) 85 23.1 Activities and Findings ....................................... 85 23.2 Products ............................................... 85 23.3 Contributions ............................................ 86 24 Robotics (Daniela Rus) 87 24.1 Activities .............................................. 87 24.1.1 Self-reconfiguring Robots ................................. 87 24.1.2 MEMS Robots ....................................... 90 24.2 Products ............................................... 91 24.3 Contributions ............................................ 92 25 Sensor Networks (Daniela Rus) 95 25.1 Activities and Findings ....................................... 95 25.2 Products ............................................... 97 25.3 Contributions ............................................ 99 26 PKI and Trust (Sean Smith) 100 26.1 Activities and Findings ....................................... 100 26.1.1 Trusted Computing ..................................... 100 26.1.2 Public Key Infrastructure .................................. 102 26.2 Products ............................................... 104 26.3 Contributions ............................................ 111 27 Algorithms (Cliff Stein) 112 27.1 Activities and Findings ....................................... 112 27.2 Products ............................................... 114 27.3 Contributions ............................................ 116 28 Courses 117 29 Equipment 119 30 Technical Report series 121 Dartmouth College EIA-9802068 1 1 Introduction The Department of Computer Science at Dartmouth College received NSF Institutional Infrastructure award (number EIA-9802068) in 1998, which extended over a five-year period. With a one-year no-cost extension, the award completed in September 2004. We used the funds from this award to purchase equipment, and to hire staff, that broadly supported the department’s research capability. The result was dramatic; this final report demonstrates the incredible amount of research that was enabled, in whole or in part, by this infrastructure. Much of that infrastructure, and all of the staff, is still in place. Since this staff and some of the equipment provided fundamental research infrastructure (shared networks and servers, printers, and graduate-student desk- top computers), the award supported essentially all of the department’s research activity since the beginning of the award period. In this document we report on