"Robust distributed network localization with noisy range measurements" [PDF]

D. Moore, J. Leonard, D. Rus, S. Teller. Proceedings of the Second ACM Conference on Embedded Networked Sensor Systems (SenSys '04). Baltimore, MD. November 3-5, 2004. Winner of the best paper award.

"A Real-World System for Human Motion Detection and Tracking" [PDF]

My undergraduate thesis, completed under the supervision of Professor Pietro Perona of the Caltech Computer Vision Lab.

"A Platform for Cooperative and Coordinated Control of Multiple Vehicles: The Caltech Multi-Vehicle Wireless Testbed" [PDF]

T. Chung, L. Cremean, W.B. Dunbar, Z. Jin, E. Klavins, D. Moore, A. Tiwari, D. van Gogh, S. Waydo

This paper was presented at the 2002 Conference on Cooperative Control and Optimization. It describes in detail the MVWT project listed below. My contribution is the communications software suite used by the testbed.

libiptcdata: IPTC Metadata Library

libiptcdata is a library, written in C, for manipulating the International Press Telecommunications Council (IPTC) metadata stored within multimedia files such as images. This metadata can include captions and keywords, often used by popular photo management applications. The library provides routines for parsing, viewing, modifying, and saving this metadata. The library is licensed under the GNU Library General Public License (GNU LGPL). The libiptcdata package also includes a command-line utility, iptc, for editing IPTC data in JPEG files. I wrote the library because I was frustrated with the lack of an open-source library in C for captioning my photos under Linux.

Distributed Sensor Network Localization

Given a wireless sensor network consisting of low-power devices, localization is the task of discovering the 2D or 3D positions of the sensor nodes. My current research at MIT is to develop a robust distributed localization algorithm that makes use of distance estimates between nodes to compute 2D positions. In addition, the motion of mobile nodes can be reliably tracked.

Networking Software for MVWT

I have been writing some code for the Multi-Vehicle Wireless Testbed (MVWT) Project at Caltech. It's basically a bunch of little fan-powered hovercraft that scoot around and each have a laptop. The idea is to develop interesting control algorithms to coordinate a group of these craft. Of course, they can't coordinate without communication... so each laptop has 802.11b. I maintain a C, RHexLib, and Matlab library to make simple messaging passing easy and efficient, especially considering the lossiness and latency of a wireless network.

Authenticated User Community

AUC is an open source project of mine that seeks to implement a functional intranet portal for schools. It contains a web-based email client, discussion forums, course databases, and file sharing tools that are useful mainly for K-12 and university environments. I don't work on it as much as I should, but I do plan to continue adding to it.

Icebox: A kernel debugger for Linux

I wrote this simple kernel debugger for Linux as my CS 134c project. The goal was to have a fully-functional kernel debugger that would run from the console and require no patching or special compile of the kernel. It runs as a module and takes over the screen and keyboard upon invocation. It's neat, but not terribly useful yet because you can only debug in assembly, not the C code. However, I'll try to improve it some more in the future. It would be great if there was a debugger for Linux as powerful as SoftICE.