Abstract-We define the routing capacity of a network to be the supremum of all possible fractional message throughputs achievable by routing. We prove that the routing capacity of every network is achievable and rational, we present an algorithm for its computation, and we prove that every non-negative rational number is the routing capacity of some network. We also determine the routing capacity for various example networks. Finally, we discuss the extension of routing capacity to fractional coding solutions and show that the coding capacity of a network is independent of the alphabet used.

Abstract-We define the routing capacity of a network to be the supremum of all possible fractional message throughputs achievable by routing. We prove that the routing capacity of every network is achievable and rational, we present an algorithm for its computation, and we prove that every non-negative rational number is the routing capacity of some network. We also determine the routing capacity for various example networks. Finally, we discuss the extension of routing capacity to fractional coding solutions and show that the coding capacity of a network is independent of the alphabet used.

This paper develops a joint hashing/watermarking scheme in which a short hash of the host signal is available to a detector. Potential applications include content tracking on public networks and forensic identification. The host data into which the watermark is embedded are selected from a secret subset of the full-frame discrete cosine transform of an image, and the watermark is inserted through multiplicative embedding. The hash is a binary version of selected original image coefficients. We propose a maximumlikelihood watermark detector based on a statistical image model. The availability of a hash as side information to the detector modifies the posterior distribution of the marked coefficients. We derive Chernoff bounds on the receiver operating characteristic performance of the detector. We show that hostsignal interference can be rejected if the hash function is suitably designed. The relative difficulty of an eavesdropper's detection problem is also determined; the eavesdropper does not know the secret key used. Monte Carlo simulations are performed using photographic test images. Finally, various attacks on the watermarked image are introduced to study the robustness of the derived detectors. The joint hashing/watermarking scheme outperforms the traditional "hashless" watermarking technique. Index Termscontent-based retrieval, authentication, image watermarking, image hashing, detection theory, likelihood ratio test, Chernoff bounds, eavesdropping.

An algorithm is given for placing relays at spatial positions to improve the reliability of communicated data in a sensor network. The network consists of many power-limited sensors, a small set of relays, and a receiver. For each sensor, the receiver receives a direct signal as well as an indirect signal from one of the available relays. The relays rebroadcast the transmissions in order to achieve diversity at the receiver. Both amplify-and-forward and decode-and-forward relay networks are considered. Channels are modeled with Rayleigh fading, path loss, and additive white Gaussian noise. Performance analysis and numerical results are given.

Comprehensive Automation for Specialty Crops is a project focused on the needs of the specialty crops sector, with a focus on apples and nursery trees. The project's main thrusts are the integration of robotics technology and plant science; understanding and overcoming socio-economic barriers to technology adoption; and making the results available to growers and stakeholders through a nationwide outreach program. In this article, we present the results obtained and lessons learned in the first year of the project with a reconfigurable mobility infrastructure for autonomous farm driving. We then present sensor systems developed to enable three real-world agricultural applications-insect monitoring, crop load scouting, and caliper measurement-and discuss how they can be deployed autonomously to yield increased production efficiency and reduced labor costs.