Topic
Sidewinder
About: Sidewinder is a research topic. Over the lifetime, 49 publications have been published within this topic receiving 392 citations.
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TL;DR: Based on the behavior of the robots, the authors performed further animal studies, and used an iterative approach to improve the robots' capabilities and to better understand animal motion.
Abstract: Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granular media (such as sand dunes) that induce failure in field-tested limbless robots through slipping and pitching. Our laboratory experiments reveal that as granular incline angle increases, sidewinder rattlesnakes increase the length of their body in contact with the sand. Implementing this strategy in a physical robot model of the snake enables the device to ascend sandy slopes close to the angle of maximum slope stability. Plate drag experiments demonstrate that granular yield stresses decrease with increasing incline angle. Together, these three approaches demonstrate how sidewinding with contact-length control mitigates failure on granular media.
217 citations
Patent•
09 May 1991
TL;DR: In this paper, a player is challenged to keep a rolling ball to its objective descending, planar, zig-zag path by manipulating the rotation of the plane of the path.
Abstract: A carnival or amusement park game in which a player is challenged to keep a rolling ball to its objective descending, planar, zig-zag path by manipulating the rotation of the plane of the path. The game may be further enhanced by providing rotational steering alternatives, providing for coin operation, or by providing a device to record or signal the event of a successful play.
32 citations
29 citations
05 Apr 2008
TL;DR: Sidewinder is a new global router that combines pattern routing and maze routing in a novel, incremental, ILP formulation that is the first flat ILP-based approach scalable enough to consider over 104 GCells at once and is particularly good at finding routes with minimal via count.
Abstract: We propose Sidewinder, a new global router that combines pattern routing and maze routing in a novel, incremental, ILP formulation. It is the first flat ILP-based approach scalable enough to consider over 104 GCells at once. Moreover, it also can be used as a component in previously proposed multi-level and progressive ILP schemes. Sidewinder is particularly good at finding routes with minimal via count, which can improve yield in sub-90nm technologies. Other innovations in our work include an ILP construction based on a dynamically-updated congestion map and the use ofC-shape routes to alleviate local congestion and improve routability. On well-known benchmarks, Sidewinder improves routed wirelength and reduces via count by over 6% compared to ILP-based BoxRouter 1.0 and 35.8% compared to DLM-based FGR 1.0. This easy-to-implement methodology is extensible to detail routing of ASICs as well as FPGAs where it can account for complex design rules and models.
24 citations
22 Jun 2009
TL;DR: Sidewinder is a predictive data forwarding protocol for mobile wireless sensor networks that continuously predicts the current sink location based on distributed knowledge of sink mobility among nodes in a multi-hop routing process and significantly outperforms state-of-the-art solutions in packet delivery ratio, time delay, and energy efficiency.
Abstract: In-situ data collection for mobile wireless sensor network deployments has received little study, such as in the case of floating sensor networks for storm surge and innundation monitoring. We demonstrate through quantitative study that traditional approaches to routing in mobile environments do not work well due to volatile topology changes. Consequently, we propose Sidewinder, a predictive data forwarding protocol for mobile wireless sensor networks. Like a heat-seeking missile, data packets are guided towards a sink node with increasing accuracy as packets approach the sink. Different from conventional sensor network routing protocols, Sidewinder continuously predicts the current sink location based on distributed knowledge of sink mobility among nodes in a multi-hop routing process. Moreover, the continuous sink estimation is scaled and adjusted to perform with resource-constrained wireless sensors. Our design is implemented with nesC and evaluated in TOSSIM. The performance evaluation demonstrates that Sidewinder significantly outperforms state-of-the-art solutions in packet delivery ratio, time delay, and energy efficiency.
23 citations