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Albert Grindle
The Gazette
For an unusually humble man who could run like a deer, broad jump nearly 22 feet and trample defenders with the fury of a freight train, Tom Masters' life has consistently revolved around helping others and loving nature.
Growing up on a farm on the corner of Spieth and Columbia roads in York Township — the back half of the land owned by oil millionare Wellesley Wellington Vandeveer later was used to build Buckeye High School — cultivated Masters' personality. Though his passion for athletics never wavered, Masters is best known for his mind as a world-renown cardiovascular researcher who patented a solution that extended the life of donor heart nearly six-fold.
He retired — or, as he lovingly calls it, "rewired" — in 2009 as director of cardiovascular research at Carolinas Healthcare System in Charlotte and is now living out a longtime dream as owner of Thistledown Mountain Getaway Bed and Breakfast in the Appalachian Mountains of North Carolina. He teaches two of his favorite hobbies, woodturning and staining glass, at the facility he and wife Sara built from the ground up.
Through it all, Masters never forgot where he came from. He attends nearly every Buckeye class of 1961 reunion, reminiscing about the good ol' days with childhood friends like Bill Kramer and Tim Steingass, among many others. Often, the conversations turn to sports, and often those conversations involve Masters.
A high-scoring fullback, capable basketball player and two-time state champion in track and field, Masters was one of the many stars during what could be called one of the first golden eras in Medina County in the late 1950s and early 1960s. It's hard for him to believe he is mentioned in the same breath as Wadsworth's Bob Lyren, Medina's Jim Wells and Lodi's Dick Anderson, Bill Heffelfinger and Bob Packard.
This isn't just popular opinion. It will become reality when Masters is inducted into the Medina County Sports Hall of Fame during Thursday evening ceremonies at The Galaxy Restaurant in Wadsworth.
"When you're in sports, more than anything else, there are things you never forget," he said. "I think that's a very important thing in sports. When you participate and you win and you're recognized for your accomplishments, that's something you'll never forget."
Ahead of his time
Thomas Nelson Masters was born Aug. 20, 1943 as one of Paul and Eleanor's five children. Paul was the manager of Vandeveer's 375-acre farm, and Tom's early life was a microcosm of farmers' children across the country. He tended to Vandeveer's race horses, raised black angus cows, sheep, hogs and chicken and baled hay to such an extent he developed old-man strength that later became a valuable tool on the football field.
Farming was a time-consuming lifestyle for Masters, but he always found room for sports, though near-sightedness forced him to wear glasses whenever he competed.
From the beginning, it was evident Masters could do it all. He played first base and pitched for Medina's Babe Ruth League all-star team that placed in the state tournament, and later earned an invitation to try out for the Cincinnati Reds. He was a gazelle with the football in his hands and set a school record for points in a season. He could outrun anyone in nearly any event on the track, though his true love was the long jump. The latter two sports earned him a scholarship to Eastern Illinois.
Kramer played alongside Masters every step of the way. He is thoroughly convinced Masters should have been in the hall of fame years ago, but is thrilled beyond belief it is finally happening.
"Tom was of the mind of, 'Hey, I just do the best I can and whatever happens, happens,'" Kramer said. "With him, what happened happened to be pretty phenomenal."
Masters always knew when it was time for football. Practice nearly always began around his birthday. What he didn't know was how good the Bucks were going to be in 1960.
Under the direction of coach John Murphy, Buckeye was coming off consecutive 3-5-1 seasons. T-formation running backs Craig Stone, Steve Dina and Masters later made up three legs of the state-qualifying half-mile relay, so there was speed to burn. The line of Jim Devine, Tim Steingass, George Gunkleman, Bob Steingass and Paul Gaydos was full of country-strong farmboys who were in excellent physical condition. Nearly every player competed both ways because back then Buckeye's average graduating class was around 60.
The catch was how it all came together. In the end, the Bucks rode the bruising 6-foot-2, 175-pound Masters to an undefeated season, though his best-known play came in their only tie.
Buckeye opened the season against Brunswick, which was on the verge of its population boom and had a much larger pool of players to pick from. The Blue Devils took an 8-0 lead into halftime and grabbed key momentum when a Masters TD run was nullified because of penalty.
The Bucks finally caught a break when they blocked a quick punt and recovered in the end zone. Quarterback Kramer called for a fullback sweep on the two-point conversion, and Masters was in trouble from the start. Two defenders hit him 5 yards from paydirt, but they didn't bring him down.
Finally, Masters' muscular legs couldn't hold them any longer. He fell to the dirt in the end zone. The score was tied, and Masters had the clear-cut play of the game.
"He just wouldn't be denied. He kept going," Kramer said. "That sticks out in my mind more so than any of the really great runs he made. That was really the greatest. It was just incredible."
It also was only the beginning.
Over the final eight games, Buckeye averaged 45.8 points. The Bucks outscored Inland Conference opponents 276-6 and ended the season with the county's top three scorers. Masters led the way with 112 as Buckeye's final points-per-game average of 41.5 was a county record at the time.
When asked to provide a specific memory, Masters didn't point to the two-point conversion against Brunswick or any other of his highlight-reel touchdown runs. He instead launched into a story about how the team purposely was dead silent during warmups, only to erupt in rhythmic, intimidating chants before the opening kickoff.
He also remembered his only slight concussion and the interaction with Murphy.
"I was there on the field and got up and I didn't know where I was for a second," he with a chuckle. "Then I saw these white jerseys going this way, so I just followed them. Coach Murphy asked if I was OK and I said, 'Aren't we on the wrong side of the field?' and he told me to sit down.
"We went down for the touchdown and he said, 'Do you think you can get the extra point?' and I said, 'Yes,' and ran it in. I came back out and he said, 'Do you remember that?' and I said, 'Remember what?' He asked, 'Getting the extra point?' I asked, 'Well, did I get it?' and he sent me back to the bench."
While Masters also played basketball — he was the leading scorer for a .500 team — his favorite sport was also his best.
At that time, Buckeye didn't have a track. The school instead had a gentlemen's agreement to use what is now Medina Memorial Stadium. It was there Masters learned to fine tune his technique in the long jump with the help of the Medina coaching staff, as well as Murphy, who was Masters' coach in all three sports.
Heading into the spring of '61, Masters already held the Medina County League Meet record at 19 feet, 3 inches. It was a competitive distance, though nowhere near what was needed to compete for a state title.
But his hard work paid dividends.
At the MCL Meet, Masters cleared 20 feet. He then broke the Baldwin Wallace Class A District record by soaring 21-9½ — a distance that would lead the county today — while also running legs of the state-qualifying mile and half-mile relays.
Even then, a state title at historic Ohio Stadium wasn't in his mind. On a cold and windy Saturday, however, he made history.
In the mile relay, Masters built on leads set by Brunswick transfer Bill Bracken and 11th-hour substitute Bob Steingass, who filled in after Boyd McCourt pulled a muscle. Stone then took home the title as the Bucks finished in 3:33.1.
Two hours later, the spotlight was on Masters alone.
Masters finished second in the qualifying round of the long jump, clearing 20-2½. In the finals against five others, Masters pushed the ante to 20-8½. It was never matched, giving Buckeye its first state champion.
"I never did think I could win because throughout the state there were all these good guys," he said. "But I can remember the day just like it was today. It was a cool day, very cold and rainy. You'd warm up inside and you'd run out and jump."
With Masters having a piece of two titles, Buckeye finished third in the team standings. It would have been first if not for an illegal handoff between Stone and Masters that was outside the allowed zone in the half-mile relay. To this day, Masters is convinced if it was clean, he, Stone, Dina and Frank Farkas would have won it all.
Despite the disappointment, Masters remembers the positive over the negative. It's a theme that has been consistent his entire life.
Through the connections of his uncle, Masters was invited to show off his fastball and knuckle-curve for the Reds. He respectfully declined with the intent of going to medical school.
The problem was how to pay for it. The Masters family didn't have a lot of money, and partial athletic/academic offers from Baldwin Wallace and Western Reserve weren't enough despite his honors diploma. So Murphy put in a flyer to his alma mater, Eastern Illinois. Much to Masters' surprise, the school responded with a near-full scholarship for him to compete in football and track and field.
With tuition reduced to $50 a quarter, he couldn't refuse.
Masters was a member of the football and track programs under Eastern Illinois coach Maynard "Pat" O'Brien for two years. He then left them to focus on schoolwork with the blessings of the legendary O'Brien, who gave Masters the biggest thrill of his life when he thanked him for all his hard work at the track and field banquet.
Masters graduated with a major in zoology and minors in German and chemistry. He was accepted academically but denied a scholarship into medical school at the University of Molloy, but wasn't deterred.
A blind-luck day changed everything.
"It's really funny how serendipity things happen in life," he said. "I went to visit a friend of mine who was applying to Loyola University in Chicago and went along with him. The guy who was interviewing him said, 'Come on in,' and it was an interview for both of us. Two weeks later, I got an absolutely full scholarship to go to Loyola, and my friend didn't even get it."
Five years later, Masters had a doctorate in physiology. Shortly thereafter, he accepted a position in the research department at Carolinas Healthcare System in Charlotte. It fit him perfectly, and he worked his way up the ladder.
Along the way, Masters extensively studied the heart, with a special emphasis on transplants. The culmination of his career came in the 1990s, when he developed a method of extending the life of a donor heart from 4 hours to nearly 24.
It gave not only CHS worldwide attention, but Masters as well.
"It was very pleasing to be able to go to various meetings and talk to your peers and they actually use (your ideas) in their practice," he said. "That's very rewarding. That's the reason I got into medical research. I was interested in how the heart functioned, but when you have pathological questions that pop up, being able to solve these and help people survive means the world."
When Masters "rewired," he had no intentions of slowing down. In his words, he wasn't going to be the retiree who sat around and waited to die.
So he got to living — his way.
During his time at CHS, Masters quietly began buying parcels of his father-in-law's Christmas tree farm on Big Yellow Mountain, eventually owning 20 acres but not exactly knowing what to do with them besides enjoy nature.
Then Masters took his children to a summer camp, where they learned crafts and milked cows, among other things. Masters and wife Sara decided it was a brilliant idea for their land: A nature retreat with activities not for children, but adults.
So in 2007, they began construction on a high point of the property that delivers stunning miles-long views in every direction. Four years later, the Thistledown Mountain Getaway Bed and Breakfast opened, featuring a beautiful wooden lodge with seven bedrooms and three large decks. Guests receive complementary breakfasts cooked by the Masters family, and activities include a campfire circle, meditation garden, oil painting, woodturning and glass staining classes taught by Tom Masters.
The facility instantly became a labor of joy for the Masters. They moved there permanently during construction.
"We're up here on a mountain and you can see for miles around," Tom said. "It's just a gorgeous place.
"Every time I get up in the morning, it's always different — different clouds, different winds, different colors. To me, it's a little piece of heaven. I really, really love it."
A lifetime of work and accomplishments allowed Masters to live his dreams.
Though he now lives 500 miles away, he always reminds himself Buckeye was where they all started.
"It was a very excellent time in my life," he said. "You think back and you interact with the kids of your class. I was class president for four years and I think, 'How did they ever elect me as president? What leadership abilities did I have that they saw that I never ever recognized whatsoever?' To have them (as classmates), it was a pleasing, complimentary thing when I think about it now. What a great group of people."
Contact Albert Grindle at (330) 721-4043 or email@example.com.


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More from this series
Hart Publishing
The landscape of European competition law has seen significant changes in the past decade, both in terms of enforcement and substantive application. One of the last frontiers to be subjected to scrutiny has been Article 82. In recent years the European Commission has pushed forward the debate on the nature and scope of Article 82. Of major significance to this debate were the Commission's Consultation Paper on an economic approach to Article 82, the Discussion Paper on the application of Article 82 to exclusionary abuses, and the Commission's recent Guidance on its enforcement priorities in applying Article 82.The debate over the realm of Article 82 EC has raised important questions as to its past and present application. This collection of essays by international experts explores the changing boundaries of Article 82 EC and considers its recent evolution. The chapters cover a range of subjects, including the legal and economic implications of an effects-based approach to Article 82 EC, the recent Commission Guidance on Article 82 EC, the interface between intellectual property rights and competition law, licensing, tying, excessive pricing, and the protection of the consumer interest.
Ariel Ezrachi is the Slaughter and May Lecturer in Competition Law at the University of Oxford and the Director of the Oxford Centre for Competition Law and Policy. He is a Fellow and Tutor in Law at Pembroke College, Oxford.
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subset: commoncrawl


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Dec 24, 2010 11:00 AM
It's hard not to admire the Eau d'Hadrien Gold Gift Set ($80) in all it's glittering glory. Despite its gaudy appearance, this soft citrus scent complements ladies who prefer subtlety to brazen statements. Featuring a 50ml eau de toilette and a 100ml body cream, this gilded package packs a punch.
If you've got a product or service that you'd like to promote on Outblush, click here to find out about our advertising opportunities.
Outblush is a blog for girls who love to shop. Our staff digs up the best clothes, home stuff, beauty items, and more. New items are posted every day — bookmark us and check out:


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Ecuador finally had their friendly against Bolivia confirmed. After lots of speculation, La Tri will play in Ft. Lauderdale's Lockhart Stadium on Saturday September 6. The announcement was made by Relevent Sports via a statement on Wednesday.
This match will be one of three FIFA international friendies that will be played in South Florida next month. The match will be played the day after Brazil and Colombia face off once again at Sun Life Stadium and three days before Chile faces Haiti at Lockhart.
The Ecuadorians begin their four-match tour of the United States that will continue in the month of October when they also face the US national team in East Hartford, Conn. as part of Landon Donovan's tribute.
Ecuadorian interim coach Sixto Vizuete already called up various World Cup players, but there are some major absentees as Felipe Caicedo and Jefferson Montero denied the callup after the controversy that emerged after the World Cup bonus scandal.


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Jesmond Dene is a great place for a walk or a run around. There is a Pets' Corner which has goats, sheep, pigs, rabbits, birds etc and is very accessible for the youngsters.
Other facilities in Jesmond Dene include Paddy Freemans boating lake, which also has a play area, toilets and a café open on a weekend and holidays. The area can be reached along Freeman Road.
Links with Heaton and Armstrong Park and Paddy Freeman's Park.
They even have organised events such as nature trails from time to time. For information on events in Jesmond Dene or Pets Corner, phone the Visitor Centre on 0191 281 2082.
Limited parking is available but alternatively there are good public transport links, many buses stopping at the Cradlewell on the Coast Road (A1058).
Opening hours: Daily
We went a few months ago and were shocked!, awful, won't visit again for a long time. I think the positive reviews must be when it first reopened. I can only think there was alot of people there due to it being a busy and popular residential area.
The animals were kept on mud; there was no straw/bedding and dirty empty feeding bowls where the poor rabbits lived. There were even rats, people were looking, don't know if they had fully taken in that this was not nice to look at.
The younger childrens' play area was crap, very limited and again on mud, no wood chippings.
The cafe loo was dirty.
Walking around there was lots of rubbish and dog poo; there was an historical ruin that could have been made a nice area for families to explore, it was all overgrown and used as a dumping ground for litter.
GIVE ME SALTWELL PARK ANYDAY; LOTS TO DO, WELL KEPT SURROUNDINGS AND HAPPY ANIMALS. NCC should be ashamed, never seen a Warden around either.
The best thing about Jesmond Dene was the icecream van and the guy selling who was very pleasant.
jesmond dene is open again, it has a lovely new play area, the pets corner has been refurbished and the cafe/visitors centre is much bigger with better access for buggies and seating out the back!!
This has been shut for refurbishment. Anyone know when it will be open again?
had a lush time. Alfie really enjoyed all the animals then we had a good game of football xx recommend it to anyone.
Just wanted to say Pets corner and the little cafe and toilets next to it are closed for refurbishment. Due to open Summer 2010
What a fab place to go - the animals and cafe are great and up the top (if you can walk that far) is Paddy Freeman's park with great swings and things
Helen says: *Recommendation for a family day out has to be Jesmond dene with its free admission.
Lots of space for picnics , running around. Park with swing etc. Lake for remote control boats to be played on as well as feeding the ducks. Place for drinks & icecreams now all we need is the sunshine.*


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Literature fan looking for a fun trip out of LA for a few days?
Why not head East in honor of the 100-year anniversary of the death of author, Mark Twain, (aka. Samuel Clemens) with a trip to his historic home in Hartford, Connecticut.
Called "the father of American literature" by famed author William Faulkner, Twain is still alive in spirit through his body of work, especially in the custom-built house where he lived and wrote many of his major works from 1874 to 1891.
The custom-built, 19-room Victorian mansion was crafted to Twain's specifications by famed New York City architect Edward Tuckerman Potter. With interiors designed by Louis Comfort Tiffany & Co. and Associated Artists, the house welcomed the birth of his three daughters, as well as numerous famous works including "The Adventures of Huckleberry Finn," "The Adventures of Tom Sawyer," "The Prince and the Pauper," and "A Connecticut Yankee in King Arthur's Court."
Twain hosted numerous famous politicians, inventors, artists, writers, and activists here, as well, including Thomas Edison, Nicola Tesla and Harriet Beecher Stowe.
Also, for those who like a little added mystery, the Mark Twain House was recently featured in a Dec. 2009 episode of the TV show, "Ghost Hunters," where the hosts experienced hauntingly unexplainable events (often experienced by the mansion's caretakers) during their overnight investigation of the home.
Designated a National Historic Landmark in 1963, the Mark Twain House draws thousands of visitors annually and is a major national tourist attraction. The Mark Twain House Foundation, in celebration of the writer's legacy, will hold numerous events and celebrations all year in his honor, including a special exhibit dedicated to Twain's life and works.
Travelocity has fantastic last-minute, budget-friendly flight/hotel packages from Los Angeles (and other cities) to Hartford, the city of which Twain declared, "Of all the beautiful towns it has been my fortune to see, Hartford is the chief."
Kayak also has a number of cheap flight/hotel options, and Expedia offers package deals, too, starting as low as $375. Price and availability varies depending on length of trip and advanced purchase of tickets, so check each travel site for more information and details.
So get outta LA this year for a few days of a fun, budget-friendly, and inspiring trip to Mark Twain's house and celebrate this historic centennial of the great writer's death and legacy.


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Rangers Press Releases
Yu Darvish scheduled for rehab start on Monday for Frisco at Northwest Arkansas
The Texas Rangers today announced that right-hander Yu Darvish is scheduled to make a start on injury rehabilitation assignment on Monday, July 4 for Double-A Frisco at Arvest Ballpark in Springdale, Arkansas, home of the Northwest Arkansas Naturals (Kansas City affiliate). Gametime is 6:35 p.m.
Rangers claim LHP Surkamp on waivers from Oakland; option him to AAA Round Rock
The Texas Rangers today announced that the club has received left-handed pitcher Eric Surkamp on a waiver claim from the Oakland A's. Surkamp has been optioned to Triple-A Round Rock of the Pacific Coast League.
SiriusXM All-Star Futures Game rosters announced
Rosters for the 2016 SiriusXM All-Star Futures Game, which will be played at 7:00 p.m. (ET)/4:00 p.m. (PT) on Sunday, July 10th at Petco Park in San Diego, were announced by Major League Baseball earlier today on MLB Network's "The Rundown."
Texas Rangers announce partnership with Uber
With the new lot, fans will have easy access to utilize Uber in getting to and from Rangers games at Globe Life Park. When fans contact Uber and confirm their location at Globe Life Park, the Uber app will automatically direct them to the Lot C location. The lot is clearly marked with distinctive Uber signage.
Rangers to honor David Murphy and David Ortiz during Red Sox series this weekend
The Texas Rangers will close this homestand with a three game series against the Boston Red Sox, Friday, Saturday, and Sunday, June 24-26.
Rangers place Derek Holland on 15-day DL; recall Luke Jackson from Round Rock
The Texas Rangers today announced that the club has placed left-handed pitcher Derek Holland on the 15-day disabled list, retroactive to June 21, with left shoulder inflammation. To take his place on the active roster, the team has recalled right-handed pitcher Luke Jackson (#77) from Triple-A Round Rock.
Rangers acquire INF Kyle Kubitza from Angels in exchange for cash considerations
The Texas Rangers today announced that the club has acquired infielder Kyle Kubitza (ka-BIT-sa) from the Los Angeles Angels in exchange for cash considerations. Kubitza goes on the Rangers' 40-man roster and has been optioned to Triple-A Round Rock.
Oates Field presented by Papa John's dedicated at Rangers MLB Youth Academy
The dedication of Oates Field presented by Papa John's took place this afternoon at the new Texas Rangers MLB Youth Academy at Mercy Street Sports Complex in West Dallas.
Rangers Homestand Highlights
The Texas Rangers return home to face the Baltimore Orioles, Cincinnati Reds, and Boston Red Sox in a six game homestand that begins on Monday, June 20.


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Aye Aye Soe is accused in the indictment of knowingly and unlawfully acquiring, transferring, and possessing Supplemental Nutrition Assistance Program (SNAP) benefits – better known as food stamps – in exchange for cash and ineligible items.
She also is suspected of accepting SNAP benefits in repayment for loans.
Golden Burma was approved to accept SNAP benefits, which in Michigan come in the form of the Bridge Card, in December 2009.
Soe was indicted in federal court on Friday and faces penalties up to $290,000.
Soe could not be reached for comment; the store appears to be closed.
Follow Jay Scott Smith on Twitter: @JayScottSmith. Email him at email@example.com Follow MLive Lansing on Facebook and Twitter.


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Sanya Daocaoren Tinghai Inn - Sanya
- Location:
- Address: C-1001, Dadonghai Garden, Sanya
- Tel: 0898-88211702 (Book this hotel, call 800-2682918)
- Hotel Name in Chinese: 三亚稻草人听海小舍(大东海店)
- Lowest Price: $19
- Prices not include 18% service fee and tax.
- Payment Method: pay using our secure online payment service or pay at the hotel at some hotels.
- Triple/quad occupancy may require an extra bed at extra cost.
Hotel Amenities
|Hotel Services
|Car rentals, Medical clinic service, Wake Up Call, Permanent English-speaking staff, Business Centre, Copy Service, E-mail, Fax Service, Typing Service
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|Air conditioning, Alarm clock, Color Television, Telephone, Bath and Shower, Internet access
Hotel Amenities: Elevator, Parking, Business Floor or Executive Floor, Air-Conditioned Facilities, Beauty Salon, Sauna, Meeting Room, Deposit Box at Front Desk, Fire Detector, Chess & Playing Cards Room
Dining Facilities: Chinese Restaurant, Western Restaurant
Print the Taxi Directions
- Please drive me to Sanya Daocaoren Tinghai Inn - Sanya, thank you!
- 请送我到三亚稻草人听海小舍(大东海店),谢谢
- Address: C-1001, Dadonghai Garden, Sanya
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Red BlackBerry R10 gets caught on camera
Remember that affordable BlackBerry 10-running smartphone with a full physcial QWERTY keyboard that is supposedly launching in the second half of this year? It's been known so far as the R-series, but it may as well get released as the BlackBerry R10 (which is what we'll call it from now on, until we'll find out for sure what moniker it will go under).
That particular device… is what you can see in the image below. This showcases a red R10, with a white unit in the background as well. By the looks of it though, both of these seem to be mere dummy units, and not the actual handsets. Still, dummy units have to be identical in terms of looks to the phones they are depicting, so this is what the BlackBerry R10 will look like when it hits the market.
It's going to be made out of plastic, and we also get a slightly less vague release time frame. This time it's during Q3 that it's rumored to be out. That's between (and including) July and September, by the way. So still a long way off at this point. It's obviously not going to top the Q10 in terms of specs, but at the same time it should be cheaper than that. A QWERTY BlackBerry 10 device for the masses, then. A Curve successor, if you will.
Via CrackBerry


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1 Feb 12:32 2009
Re: an idea about slice motion
Ralph Versteegen <teeemcee <at> gmail.com>
2009/1/24 James Paige <Bob <at> hamsterrepublic.com>: > I had a though about moving slices. > > It would be pretty easy for me to add members to Slices like ->Xspeed > ->Yspeed ->Xgo ->Ygo > > Then I could add an AnimateSliceTree sub which would be called on the > tree once a cycle. If there was a non-zero "go" value, it would move the > slice according to speed, and then decrement go towards zero. > > This means there could be commands like: > > # move a sprite 1 pixel down over each of 5 ticks > move slice y(handle, 1, 5) > wait for slice(handle) > > Does anybody else like this idea? Yes me too, but I think move slice y (handle, distance, speed) is cleaner. > > The thing that gave me the idea was that I was thinking about > retrofitting the battle system to use slices for animations now, so when > we add battlescripting it will be easy to hook into animations. > > --- > James Paige > _______________________________________________(Continue reading)


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North American WoodworkingPosted on 2014/01/26 by Wallace
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Panasonic plans an Android phone for outside Japan
Panasonic, one of Japan's largest handset makers, intends to manufacture an Android phone for various markets around the world.
The Japanese company currently sells phones only in Japan, so the planned Android device will represent its mobile debut overseas.
Tech-On quotes Keisuke Ishii, director of the Mobile Terminal Business Unit at Panasonic Mobile Communications, as saying: "We are seriously considering developing an Android-based handset and entering overseas mobile phone markets in fiscal 2010."
(Panasonic P-07A, exclusively available in Japan)
If the company will make an Android phone, it will probably be launched both in Europe and North America.
Well, we're impatiently waiting – especially since the Panasonic phones sold in Japan are all high-end, with features like WVGA displays and cameras of at least 5MP.
As a side note, the first Android phone to hit Japan is HTC Magic, which should be released soon by NTT DoCoMo, under the name of HT-03A.


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As of today, Fido Fashion (FF), makers of a new line of fun and fashionable pet collars and leashes featuring the new patented MagneClip®, inked a deal with select Pet Supplies Plus stores in the Dallas, Texas area. The stores have agreed to carry FF's new innovative line of patented MagneClip® Ease magnetic snap leashes.
In fact, all eight Pet Supplies Stores in the Dallas, surrounding area, including Dallas, Plano, Lewisville, Garland and Plano, are currently carrying Fido Fashion's four- and six-foot leashes featuring the new and exclusive patented MagneClip® Ease magnetic closures and are featured in an end cap to showcase the availability of the new line.
Their products are unlike the prolific stiff spring clips on most leashes that are difficult to operate. The patented MagneClip® featured on the new line of leashes at Pet Supplies Plus, is a high quality hand-polished clip that's perfect for pet owners who suffer from arthritis or weak grip strength, or are just tired of chipping and breaking nails and pinching fingers.
The unique MagneClip® features magnets that work very differently than springs, allowing a very powerful attraction when they touch creating more strength in the clip, yet diminishes the magnetic attraction the further the magnets are apart, allowing the clip to be easily opened and easily closed, nevertheless strong enough for any size pet.
"We are very excited to be able to offer our innovative MagneClip® leashes for pet lovers through these popular Pet Supplies Plus stores in the Dallas area," shared Lucy Mitchell, founder of Fido Fashion and MagneClip®. "We believe this is just the start of our intro into a wider distribution in the US market."
Fido Fashion was founded in 2008 by President and Owner, Lucy A. Mitchell. In 2010 while she attended a large pet tradeshow in Germany, she spoke with a pet leash vendor. While doing so, she was looking over one of their leash products when the spring clip snapped back and painfully flipped her thumb nail off from the nail bed, breaking it. Alas, the idea for the brand new, patented MagneClip® Ease leash and matching collars.
She sketched up some idea and sent them to Goddard Technologies, Incorporated, in Boston, Massachusetts. They took three years to develop and get her creation into production. Finally, in October, 2012, the MagneClip® was officially launched at HH Backer Tradeshow in Chicago, Illinois.
By March, 2013, Fido Fashion leashes became available at several retail outlets in Denver, Colorado. Full Utility patents and Trademarks were issued. Then in April, Fido Fashion leashes using MagneClip® patented clips became available on Amazon.com.
If Lucy continues to expand her excellent product, perhaps soon Fido Fashion will be in your area. Be on the lookout!


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Welcome to the Digital Technologies, Inc. website. Please take a moment to look around. If you feel our team can be of service, please click on the Contact Us tab to reach us.
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AES E-Library
Phase Error in Tape Cartridges for Radio Broadcast Service
Much discussion has evolved around the subject of phase error in stereo radio broadcast cartridge systems. A survey was made in the form of phase measurements at radio stations using the same equipment those stations used for on-air spots and music. This paper reports on the measurements taken and shows that much of the phase error is in excess of 50o and 10kHz.
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Download Journey To Mecca Trailer (English) video
Download Journey To Mecca Trailer (English) video on savevid.com
Download Journey To Mecca Trailer (English) streaming video in flv, mp4, avi formats direct easily on Savevid.com.
Journey To Mecca Trailer (English)
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Journey to Mecca is an IMAX® dramatic and documentary feature that tells the amazing story of Ibn Battuta, the greatest explorer of the Old World, following his first pilgrimage between 1325 and 1326 from Tangier to Mecca.
His perilous journey resonates with adventure while presenting an unforgettable picture of Islamic civilization during the 14th century, culminating with Battuta's first Hajj. The story is book-ended by a close-up look at the contemporary Hajj, a pilgrimage to Mecca that draws three million Muslims from around the world.
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Diagnosis Unknown (1960)The Case of the Radiant Wine - Season 1, Episode 1 (July 5, 1960) - In this Summer replacement series, Patrick O'Neal plays Dr. Daniel Coffee, a pathologist who seeks to uncover the cause of death, not necessarily find the murderer. In this case, Dr. Coffee is hired to find what killed a woman who'd just placed a call threatening suicide. Their only clue? Her toothbrush was radioactive. Chester Morris (of the Boston Blackie Movies) place Captain Ritter of the police. Noted guest stars on this episode include Tom Bosley (Happy Days) and Larry Hagman. This appears to have been recorded Live on the East Coast and then rebroadcast on the West Coast.
To Download or Embed this video, go to this link.
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If at first you don't succeed, try, try again. That would seem to be the case with Travis County as after this month, the county will no longer host a gun show in its Exposition Center based on county commissioners not renewing the lease for what the Austin American-Statesman calls a "controversial event."
One year ago, weeks after the Newtown, Conn., school shooting, the commissioners toyed with banning gun shows on county property:
With Tuesday's unanimous vote, Travis County commissioners ended their current consideration of banning gun shows on county property. This development signals the county's plan to honor an existing contract with Saxet Trade Shows for nine upcoming shows at the Travis County Exposition Center. The vote also keeps intact a county income stream that represents about 10 percent of the Expo Center's total $1.15 million annual revenue.
After a closed meeting with county attorneys, commissioners reportedly said they question having the legal authority to ban the shows. "I take very seriously the idea of abiding by the law. State law prevents this court from doing much of anything on this issue," Commissioner Sarah Eckhardt said. The Austin American-Statesman additionally reported Eckhardt and other commissioners' favor requiring all gun buyers to pass a background check, a measure not currently in place.
Despite dropping the gun show ban, commissioners did vote to implement a new level of building use approval in which their permission will be required for proposed Expo Center events deemed as posing "unusually high safety risks." Expo Center event contracts were previously approved by county staffers.
Citing plans to develop requirements for such events beyond gun shows, Judge Sam Biscoe said, "It was clear from legal advice we received that our net needs to be a lot broader, and we need to pick up all events that are more unsafe than others." Biscoe also voiced his support for gun shows requiring background checks for all purchases.
Saxet Gun Shows has held regular shows at Travis County's Expo Center since 2010 and was negotiating a contract for another eight shows scheduled from March to January 2015. Negotiations broke down when county officials wanted the company to require background checks for all firearm sales, a point the company reportedly refused to concede.
The Statesman reports this reaction:
"If you use a public facility to sell guns, we really oughta have background checks done. Or don't use the facility," County Judge Sam Biscoe, the chairman of the commissioners, told reporters after the meeting.
Alice Tripp, lobbyist for the Texas State Rifle Association, called the move "political."
Todd Beiter, who owns Saxet Gun Shows, said in a phone interview that neither state nor federal law requires background checks by private sellers, and "it is not really my job to infringe on anyone's rights."
The background checks affecting a small percentage of gun show patrons further suggests the political nature of this move. During last year's debate, gun rights advocates noted how the price of display tables often prompt gun shows being populated by Federal Firearms License (FFL) holders who either conduct their business exclusively at gun shows or else use the shows to promote their traditional shops. In either case, their sales require use of the National Instant Criminal Background Check System (NICS) to determine firearm purchase eligibility. In addition to the loss of both government and private revenue, the bans under discussion would impede legal dealers' commercial activities and deny legal consumers efficient buying opportunities.
Based on this point of view, lawsuits could be ahead. Last January, Attorney General Greg Abbott posted on his Twitter page: "If Austin or Travis Co. try to ban gun shows they better be ready for a double-barreled lawsuit."
With the 2014 primary looming, hotly contested races underway between both gubernatorial and attorney general candidates and gun rights a major issue, this development won't go unnoticed or unaddressed.


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A Brief History of Southern Wine & Spirits of New Mexico
Southern Wine & Spirits of New Mexico is today one of the state's largest wine, spirits, beer and non-alcoholic beverage distributors. In fact, according to a survey in Impact Newsletter, a publication of M. Shanken Communications, Southern Wine & Spirits of New Mexico is growing rapidly and is poised to post still stronger gains during the next few years.
Supported by this impressive operational and personnel infrastructure, Southern Wine & Spirits of New Mexico is able to offer rapid delivery services to the state's chain and independent retail and restaurant accounts, hotels and resorts from Albuquerque north to Santa Fe on to the Four Corners area, south to the Mexican border and east to Texas.
Mr. Michael Jahn, Executive Vice President, General Manager of Southern Wine & Spirits of Arizona and New Mexico, notes that the Company's operation is the result of an acquisition of two New Mexican-based distributorships by Southern Wine & Spirits of America in 1999. Noting the strong leadership of Wayne Chaplin and Harvey Chaplin, respectively Southern Wine & Spirits of America's President and Chief Operating Officer and its Chairman and CEO, Mr. Jahn says: "To me it is very simple, Wayne and Harvey Chaplin have the unique ability to find passionate, motivated people dedicated to this business."
Noting that he has worked for a number of leading distribution firms during his career, Mr. Jahn added that thanks to the Company's deep commitment to its employees: "When you walk into a retail store or restaurant, you feel stronger than anyone else because you are part of the Southern Wine & Spirits family. Everyone is so proud to work for Southern Wine & Spirits of New Mexico."
Following Mr. Jahn's appointment in 2005, Southern Wine & Spirits of New Mexico named Greg Templeton as Vice President, General Sales Manager of the Company. Like Mr. Jahn, Mr. Templeton is also a seasoned drinks industry executive. Together the two executives have continued to build on the Company's longstanding program of aggressively expanding and improving the sales, marketing and merchandising capabilities of the distribution companies acquired by the Company. In particular, according to Mr. Templeton, new attention and emphasis was immediately given to enhancing the sale and promotion of the Company's entire wine and spirits portfolio in the rapidly growing on-premise arena.
In addition, Mr. Jahn says: "A host of new sales and educational positions were created to support our spirit, wine and fine wine brands and lines; the internal structure of our entire sales force was reorganized to better serve our customer base." And in view of improving service to each distinct sales channel in the state, Mr. Jahn says, "Each salesman's selling area and client list was re-configured to help them sell more effectively." Proud of the Company's customer-focused efforts and success in this area, Mr. Jahn adds, "We serve each of our sales channels with the unique requirements that each warrants."
On the technological front, Mr. Templeton says a number of new programs have been implemented, including the installation of a new state-of-the-art information system. This was backed up by improved customer delivery practices as well as Company-wide investments in improving the product-knowledge of the entire sales force.
Proof that these service enhancements and back-office investments were successful, Mr. Jahn reports proudly that Southern Wine & Spirits of New Mexico's market share has grown dramatically in the few years. These sales gains have come not only via winning new business and new lines from brand owners, but also by achieving strong organic growth from Southern Wine & Spirits of New Mexico's existing wine and spirits portfolio.
According to Mr. Jahn, Southern Wine & Spirits of New Mexico is deeply committed to and confident about winning still more business in the future. Bullish about the New Mexico market, Mr. Templeton notes that the state's tourism industry is poised to grow rapidly in the next decade, which will inevitably create new opportunities for the state's hospitality, tourist and retail businesses.
Looking to the future, Mr. Jahn predicts: "We believe that we are the market leader in the eyes of customers not from our size but as a result of our passion for the business and the focus on the marketplace in which we work and live. At the end of the day, we know that there's nobody who knows the state's market like we do. At Southern Wine & Spirits, we know how to work with our suppliers and our customers; it is second nature to us. New Mexico is the land of enchantment and we are all aware of the growing business opportunities of tourism."
About Southern Wine & Spirits of America, Inc.
Southern Wine & Spirits of America, Inc. is the nation's largest wine and spirits distributor and broker with operations in 35 markets. The multi-state distributor currently operates in: Alabama, Alaska, Arizona, California, Colorado, Delaware, the District of Columbia, Florida, Kentucky, Hawaii, Idaho, Illinois, Indiana, Iowa, Maryland, Maine, Michigan, Minnesota, Mississippi, Montana, Nevada, New Hampshire, New Mexico, New York, North Carolina, Ohio, Oregon, Pennsylvania, South Carolina, Utah, Vermont, Virginia, Washington, West Virginia and Wyoming. Southern also holds operating licenses and permits in Nebraska and Texas. On a national basis, Southern Wine & Spirits of America, Inc. employs nearly 14,500 team members. Southern urges all retail customers and adult consumers to market, sell, serve and enjoy its products responsibly. For more information about Southern and its responsible consumption program, see:


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International Journal of Distributed Sensor Networks
Volume 2013 (2013), Article ID 923426, 9 pages
Nonparametric Bootstrap-Based Multihop Localization Algorithm for Large-Scale Wireless Sensor Networks in Complex Environments
1School of Instrumentation Science and Opto-Electronics Engineering, Beijing University of Aeronautics and Astronautics (Beihang University), Beijing 100191, China
2Department of Command, Naval Aeronautical and Astronautical University, Yantai 264001, China
Received 8 November 2012; Revised 20 March 2013; Accepted 27 March 2013
Academic Editor: Wenzhong Li
Copyright © 2013 Yongji Ren et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
This paper presents a nonparametric bootstrap multihop localization algorithm for large-scale wireless sensor networks (WSNs) in complex environments. Unlike most of the existing schemes, this work is based on the consideration that it is not feasible to obtain a lot of available distance measurements sample for estimation and to get exact noise distributions or enough prior information for conventional statistical methods, which is a situation commonly encountered in complex environments practically. For the first time, we introduce a nonparametric bootstrap method into multihop localization to build confidence intervals for multihop distance estimation, which can eliminate the risk of small sample size and unknown distribution. On this basis, we integrate the interval analysis method with bootstrap approach for ordinary nodes localization. To reduce the computational complexity, boxes approach is utilized to approximate the irregular intersections. Simulation results show that our proposed scheme is less affected by the variation of unknown distributions and indicate that our method can achieve high localization coverage with relatively small average localization error in large-scale WSNs, especially in sparse and complex network with smaller connectivity and anchor percentage.
1. Introduction
In the last few years, there has been a rapidly growing interest in extensive monitoring applications of wireless sensor networks (WSNs). One important reason is that, as opposed to traditional solutions, WSNs can be rapidly and randomly deployed in a large-scale monitoring region by plane or unmanned aerial vehicle (UAV), of which the environments of monitoring region are always complex even inaccessible.
As new technologies, WSNs can provide the means for long-term, all-weather, real-time, accurate, and extensive monitoring unattended, which brought us a convenient way to sense and monitor the complex environments. It is considered as an ideal system for this type of extensive environment monitoring and can fulfill the needs of various practical applications, for example, marine surveillance, ocean scientific exploration, and commercial exploitation.
For most WSNs applications, localization service is an indispensable part and an essential task. The location of the sensor nodes should be determined for meaningful interpretation of the sensed information. In recent years, a certain amount of research work has been conducted in this interesting research area, and a comprehensive survey is provided in [1–3] and the references therein. Some of the solutions are mainly designed for small-scale networks, and although this is also an interesting field, we will not contribute to the region in this paper; instead, we focus on the large-scale localization context.
As we know, out of the consideration of economic rationality, generally, it is too hard to deploy the sensor nodes in a large-scale area with relatively high density and large percentage of anchor nodes. If it is used for monitoring ocean environment, the network will be deployed sparsely and only a minority of anchor nodes can be employed for localization. In these cases, it will be harder for ordinary nodes to communicate with enough anchor nodes directly so as to measure distances, which are necessary for localization.
To solve this problem, three types of localization schemes are proposed for large-scale localization, namely, mobile anchor assisted localization algorithms [4–6], recursive algorithms [7–9], and multihop algorithms [10–12], respectively. Hereinto, mobile anchor assisted localization methods commonly employ some expensive mobile equipment such as Autonomous Underwater Vehicle (AUV) which can roam across the monitoring region to assist localization. In recursive algorithms, some ordinary nodes that have been localized become secondary anchor nodes and broadcast coordinates to assist other nodes in estimating their locations. The localization process will inevitably suffer from the delay and adverse effects of error propagation and accumulation. Whereas for multihop localization, the ordinary node can infer the distances to its nonneighboring anchor nodes by approximating the length of the shortest path to the Euclidean distance, so as to get enough anchor nodes with known distances for localization. They not only can provide better real-time performance but also have no additional equipment requirement. In comparison, the characteristics of multihop methods are more suitable for large-scale WSNs localization. Therefore, multihop localization method has received more and more attention in recent years.
Certainly there are still many challenges for the multihop localization, especially in the complex environments. Here we define the complex environments as multiple complex terrain conditions (e.g., forest, rocks, marsh, underwater, etc.), random and sparse sensor node distribution, irregular radio propagation pattern, various unknown ambient noises, and multiple anisotropic network situations (e.g., H-type network, C-type network, etc.). There is no doubt that these adverse factors will seriously affect the accuracy of the multihop distance estimation which is the basis of the accurate sensor location estimation. To address this problem, most of the existing schemes have adopted conventional statistical methods and considered distance measurements affected by normal distribution noise and then determined the localization uncertainties through Monte Carlo analysis or nonlinear transformation techniques. For example, in [13], a dynamic localization scheme, the Monte Carlo localization (MCL), has been proposed. In [14], based on the discovery that the multihop distance errors obey normal distribution with various biases, a multihop localization algorithm that incorporates the distance estimation bias has been presented. But for the previous methods, only when the measurements sample size is large and the precondition that the errors obey normal distribution is satisfied, they could perform well in online localization.
However, for the large-scale WSNs in complex environment, it is too hard to get exact distribution characteristics of distance measurements and enough a priori information which is necessary for conventional statistical estimation method, and it is impossible to guarantee repeatable ranging conditions for reproducible measurements so as to obtain a large number of available measurements sample for Monte Carlo analysis or other similar methods. Hence, there is a need to develop a novel algorithm for producing coordinates through multihop localization approach as only very few measurements are available. And it is better that this methodology only needs less prior information and even no statistical assumptions on disturbances.
On the basis of analysis on the challenges of complex environments and limitations of existing studies for large-scale localization, a different approach is proposed and investigated, that is, a multihop localization method based on nonparametric bootstrap for large-scale WSNs in complex environments.
The bootstrap is a powerful technique for assessing the accuracy of a parameter estimator in situations where conventional techniques are not valid. The nonparametric bootstrap method was originally introduced by Efron in [15] and used to address CI estimate for statistics based on independent and identically distributed (i.i.d.) random variable from some unknown distribution [16]. Compared with conventional techniques, the significant advantages of the nonparametric bootstrap method are that it does not require any modeling or assumptions on the data and it is more suitable for small sample estimation. In this paper, it can be utilized to build confidence intervals effectively for multihop distance estimation online. On this basis, with interval methods, we can compute the bounds of the possible solutions that correspond to measured quantities and determine the guaranteed regions that involve the correct solution.
This paper is organized as follows. Section 2 introduces the related works and challenges for large-scale WSNs localization. Section 3 presents in details the nonparametric bootstrap and interval analysis method. Section 4 evaluates the performance of our algorithm through experiments, and Section 5 concludes this paper.
2. Related Works
2.1. Mobile Anchor Assisted Localization Algorithms
To solve the localization problems of large-scale WSNs, in [4], the authors employ a single mobile beacon to aid in localization. The sensor locations are maintained as probability distributions that are sequentially updated using Monte Carlo sampling as the mobile anchor node moves over the monitoring area. This method relies on the more powerful anchor to perform the calculation and relieves most localization tasks from the less powerful ordinary nodes.
The authors in [5] proposed a range-free localization scheme for WSNs using mobile anchor nodes equipped with four directional antennas. Therein, each mobile anchor node can determine its position via Global Position System (GPS), and then it broadcasts its coordinates as it moves through the region. The ordinary nodes detect these messages and utilize a simple processing scheme to determine their own coordinates based on those of the anchors.
In the AUV-aided localization scheme proposed in [6], AUVs keep roaming across the underwater sensor field to aid in localization. The AUVs can get coordinates from GPS while floating periodically and dive into a fixed depth and navigate through a predefined route using compass and dead-reckoning. They can estimate the distance between the AUV and ordinary nodes through a request/response message pair exchange which contains its coordinates. Therefore, the ordinary nodes can be localized after the message exchange from three different noncoplanar AUV locations.
Although these protocols exploit the mobility of the mobile equipment to overcome the lack of adequate anchor nodes, the major drawbacks of these mobile anchor assisted localization algorithms are that the mobile machine is too expensive for WSNs, and the slow speed of AUV or other machine always introduces high localization delay. In addition, the movement of the anchor nodes will be severely restricted by the complex environments.
2.2. Recursive Localization Algorithms
Liu and Zhang [7] presented an error control mechanism for recursive localization based on the characteristics of node uncertainty and the active selection strategy of anchor nodes. The error control mechanism only utilizes local knowledge and can mitigate the effect of error propagation for both range and directional sensors to a certain extent.
Yu et al. proposed a two-stage localization approach in [8]. Firstly, localization process starts from the nodes with the largest numbers of neighbor anchors which have the priority. Then, the coordinates of all neighbor nodes are exploited to improve localization accuracy. During the procedure, a number of measures are also taken to ensure the reliability of each location estimate to avoid abnormal errors and reduce error propagation.
Vemula et al. [9] formulated the sensor localization from a probabilistic point of view and incorporated anchor position uncertainty to estimate the distribution of node coordinates, including iterative least squares and Bayesian methods, Monte Carlo importance sampling, and cost-based methods.
These schemes try to inhibit the propagation and accumulation of localization errors, but the high computational complexity and increased communication cost limit their application in practice. Additionally, this kind of method is also easy to cause the localization delay.
2.3. Multihop Localization Algorithms
DV-distance and DV-hop algorithms, as the origination of multihop localization schemes for WSNs, are proposed in [10]. In both algorithms, each anchor node broadcasts a message to its immediate neighbor nodes firstly. Then, the message is propagated in a controlled flood manner so that each ordinary node can estimate the lengths of shortest paths to anchor nodes. When the ordinary node obtains the estimates to enough anchor nodes, its position can be calculated.
Wang and Xiao [11] presented an improved multihop algorithm called i-Multihop which has higher computational complexity. At the beginning, the upper bound constraints are used to filter out the incorrect distance estimations and the estimated position is pinpointed to the intersection constrained by the correct distances. And then, the distance fitting is used to fit correct distance measurements, which makes the final estimated position not to be affected by the layout of anchor nodes.
The authors in [12] proposed three multihop localization schemes based on least squares and multilateration, namely, Taylor-LS, weighted Taylor based least squares, and constrained total least squares, respectively. Additionally, a generalized Cramér-Rao lower bound is developed to analyze the performance of multihop localization approaches.
As we can see, most of the previous schemes considered the measurement uncertainty as normal distribution even zero-mean normal distribution noise and employ conventional error-processing approaches, for example, nonlinear least squares estimator (NLSE), and so forth. However, in complex large-scale WSNs, it is practically too hard to fulfill the requirements which are necessary for these approaches, such as enough a priori information, exact distribution characteristics, and large sample size.
Specifically, for the ordinary nodes, there are not so many anchors that can communicate with them to accomplish distance measurement. The ranging process also cannot be performed again and again due to the limited energy of sensor nodes. Even when cost is not a main concern, it is also impossible to guarantee repeatable conditions for reproducible distance measurement. Hence, it is not practically feasible to obtain a lot of available distance measurements sample for estimation. Moreover, in complex environments, for example, underwater environments, the ranging process will suffer from various non-Gaussian noises, for example, the multipath and waveguide effects, surface scattering, and so forth. Obviously, for the previous noises, it is too hard to get exact distribution characteristics and enough prior information which are necessary for statistical methods. It is also unreasonable to consider that the uncertainties always obey normal distribution. Hence, in this paper, the bootstrap localization method is proposed for large-scale WSNs in complex environments.
3. Nonparametric Bootstrap-Based Localization Algorithm for Large-Scale WSNs
To solve the problems mentioned earlier, in this paper, we propose a novel multihop localization scheme which integrates a nonparametric bootstrap distance estimation method with an interval analysis approach. We firstly utilize the nonparametric bootstrap method to provide a confidence interval (CI) as the estimation for distance measurement. On that basis, interval analysis approach is employed to determine the feasible set and search the optimal estimation of coordinates.
3.1. Short Review of CI Estimate
As we know, CI is an interval about the measurement result within which the values that could reasonably be attributed to the measurand may be expected to lie with a given level of confidence. A common approach to address CI estimate based on the normal distribution can be described as follows. Let be i.i.d. Gaussian random variables with known from distance measurements, and suppose that we wish to find a confidence level interval for the mean . As we know, the random variable obeys standard normal distribution, and its probability density function (PDF) can be computed by and its cumulative distribution function (CDF) can be computed by
For a given confidence level , there exists constant such that
It follows that constant satisfies , and thus, , where has been tabulated.
Equality (3) can be rewritten as
Interval is the CI corresponding to confidence level .
However, must be practically estimated from the distance measurements, and this method performs well only in the case when is large as per the central limit theorem. In the case where is small , this method could be invalid.
If sample size , the CI based on the Student's -distribution is often utilized to replace the previous method. Under the circumstances, the CIs can be obtained as the following.
Let the sample variance be defined by and the random variable obeys Student's -distribution with degrees of freedom. The PDF of , which is denoted by , can be obtained by where is a normalizing constant. Let be the CDF of Student's -distribution with degrees of freedom and constant such that
Then, constant must satisfy , and can be obtained by , where has been tabulated.
Equality (8) can be rewritten as
Interval is the CI corresponding to confidence level . There into, both and can be estimated from the distance measurements.
3.2. CI Based on Nonparametric Bootstrap
In most studies, the CI is commonly and directly obtained through the previous two methods, based on the hypothesis that the distance uncertainty obeys normal distribution and the sample size is sufficiently large. However, as we mentioned before, it is not the case for large-scale WSNs localization in complex environments. When improving accuracy in conventional methods is invalid, bootstrap method can be used to address the CI estimate issues. The CIs of distance measurements can be estimated by employing the nonparametric percentile bootstrap method as follows.
Let represent the th percentile of bootstrap replications . Percentile limit , of intended coverage , is directly obtained from the following percentiles:
The nonparametric percentile bootstrap methodology to determine the upper and lower bounds on the CI for distance will be described in detail in the bootstrap distance estimation subsection.
3.3. Nonparametric Bootstrap-Based Distance Estimation Approach
The basic concept of bootstrap method is to produce a large number of independent bootstrap distance estimates by resampling the original distance estimate; that is, , which consists of measurements at random from unknown probability distribution .
A bootstrap resample is obtained as a random sample of size randomly drawn with replacement from the original measurement set . Sample has true mean ; drawing various other samples from the distribution , their means will present distribution . The distribution of real estimated mean is approximated by the distribution of pseudoestimated mean from bootstrap resample .
Let represent the set of the corresponding distance measurements. Using the nonparametric percentile bootstrap method on this set, we generate resamples; , . And then, we calculate the mean of all measurements in to obtain given by where is often smaller than 5 (which is a reasonable value and common situation in complex WSNs localization practically), and . The mean of this distribution is given as
We sort bootstrap estimates in an ascending order. Let the sorted distance be given by
The desired nonparametric CI for the distance is given by , where is the integer part of , , and is the integer part of .
Furthermore, note that , , and are referred to as the upper, lower, and middle, respectively.
Finally, we can obtain the interval as the CI of distance corresponding to confidence level . Median point is almost identical to the mean. The upper, middle, and lower points are used by the algorithm to estimate the CIs for the distance, respectively. For and , we can get , , and . And the CI corresponding to confidence level 95% can be described as .
3.4. Determination of Coordinates Based on Interval Analysis Method
When we obtain the CI from a small sample set of distance measurements, the interval analysis method will be utilized to determine the positions of ordinary nodes.
Consider a network consisting of anchors with known positions and ordinary nodes which need to be localized. The location of node can be described by . The CI of measured distance from the ordinary node to one of its anchor nodes can be obtained through nonparametric bootstrap distance estimation approach, and the Euclidean distance can be defined as
Obviously, the desired position estimate is guaranteed to be bounded by an admissible space which can be denoted as is the intersection of all the spherical caps of center and of internal and external radii and , respectively. Clearly, has a complicated geometrical shape (see Figure 1).
To reduce the computational burden, boxes approach will be utilized to approximate the irregular intersection of all feasible solutions. For each anchor ordinary pair, their admissible space represents a region between two boxes of length and , respectively (see Figure 2).
As we know, interval analysis is usually used to model quantities that vary around a central value within certain bounds. With simple operations, the interval analysis allows to consistently deal with problems involving interval data. Based on the interval analysis theory, the admissible space of to can be denoted by , where is a closed and connected subset of , and and are the minimal and maximal bounds of , respectively. Set theory operations, such as intersection, can be applied to intervals. Consider two intervals and , and their intersection is always an interval which can be denoted as . The intersection can be computed by
Specifically, the area encircled by the circumscribed and inscribed squares as shown in Figure 2, that is, 's admissible space to , can be computed by:
Using the same previous method, we can get 's another admissible space. Finally, the feasible set , an interval vector set contains all the possible coordinates, can be obtained by simple enumeration of the intersection points among the two boxes.
Therefore, the feasible set of ordinary node can be rewritten as
Clearly, the intersection of all subfeasible set is a set of boxes. Regarding the coordinates of all subboxes' centers as samples of , we can get a sample set and the centre of can be found by . The optimum point estimate, that is, the desired coordinates, can be obtained by
Finally, the coordinates can be given as
4. Performance Evaluation
In this section, we conduct extensive simulations to evaluate the performance of our proposed localization scheme, called Nonparametric Bootstrap Based Multihop Localization Algorithm (NBMLA). All simulations are run in Matlab R2012a. To reduce the influence of outliers, we take the average of 100 simulation runs as the final data points.
4.1. Simulation Settings
In our simulation experiments, 400 nodes with adjustable transmission range are randomly distributed in a large-scale three dimensional region with a size of 3000 m × 3000 m × 200 m (see Figure 3). We control the density and connectivity of the network by changing the transmission range while keeping the area of deployment the same. Different anchor percentages are also considered in our simulation. Besides our scheme, we also simulate an improved localization algorithm named Taylor-LS for comparison which is almost the same as [12].
We mainly consider three performance metrics: localization coverage, localization error, and time complexity. Localization coverage is defined as the ratio of the localized nodes to the total sensor nodes. Average localization error is the average distance between the estimated positions and the real positions of all ordinary nodes. Distribution boxplots of node localization errors show the average errors, median errors, and maximum outliers. The analysis of time complexity mainly focuses on the communication cost and computation complexity.
4.2. Localization Coverage
In this subsection, we analyze the performance of localization coverage with different network connectivity and anchor percentage, respectively. Figure 4 shows the performance of localization coverage with changing network connectivity while anchor percentage is 15%. We can observe that the localization coverage of our scheme increases monotonically with the connectivity ranging from 4 to 13. But when the connectivity reaches a high value, the coverage rate becomes relatively large and will not change much after that. For example, when the network connectivity is 10, the localization coverage becomes 97% and then changes slower. The reason is that when the network connectivity reaches a certain point, most nodes can get enough anchor nodes by multihop approach and localize themselves.
As shown in Figure 5, the localization coverage of our proposed scheme increases with the anchor number when we change the anchor nodes from 20 (5% anchors) to 80 (20% anchors) with step 10, while keeping the network connectivity as 9. We can see that when the anchor number reaches a certain value, for example, 50 anchors, the coverage rate will not change much after that. We can also see that when the anchor rate is 15% and the connectivity is 9, our scheme can localize more than 95% nodes in the large-scale WSNs. Compared with the results of Taylor-LS, NBMLA can achieve better performance in terms of localization coverage, especially in the low anchor percentage situation.
4.3. Localization Error
As mentioned before, in complex environment the ranging process usually encountered some non-Gaussian noises which stem from multiple factors, for example, multipath effect, multihop distance estimation, and anisotropic network condition. This makes it harder for ordinary nodes to get exact distribution characteristics of the distance measurement noises. For comparison with classical approaches and showing the performance of our algorithm in non-Gaussian noises context, the measurement noise has been assumed to follow Rayleigh distribution, with three percent of real distances as the standard deviations. In other words, the knowledge of the error bound roughly equals nine percent of real distances. This is a reasonable assumption and can be satisfied by the existing distance measurement technologies when suffering multiple adverse factors.
Figure 6 plots the relationship between the average localization error and network connectivity when the anchor percentage is 15%. Besides the given Rayleigh distribution, we also simulate a normal distribution noise situation with mean value and standard deviation (10 m, 10 m) for comparison with the classical approaches relying on normal distributions hypotheses. We can observe that the average localization error of our scheme decreases significantly with the increase of network connectivity. It should be noted that our scheme can achieve relatively high localization accuracy even with low network connectivity. This indicates the good localization performance of our proposed scheme in sparse region. And it can be seen that our scheme outperforms the Taylor-LS method in both Gaussian and non-Gaussian cases. It indicates that our scheme is less affected by the variation of distributions.
In Figure 7, we vary the anchor percent, which is ranging from 5% to 20%, and get the accuracy comparisons with different anchors. For our scheme, with the number of anchor nodes varying from 20 to 80, the localization error decreases by 40%. However, the localization error of Taylor-LS decreases only by 20%, when the network connectivity is 9. This suggests that in sparse networks, our scheme can achieve higher localization accuracy just by increasing a little number of anchor nodes.
4.4. Discussions
Finally, we analyze the time complexity of the schemes which mainly focuses on the communication cost and computation complexity. For a network with anchor nodes and ordinary nodes, the overall communication complexity of our scheme is . Firstly, NBMLA needs the times flooding initiated by anchors to make the ordinary nodes know their hop counts, whose overhead is . Besides the flooding, our scheme requires each anchor to propagate its hop counts to three or four hops' neighboring nodes by a confined flooding. This also has the overhead of . The communication complexity of Taylor-LS equals to that of NBMLA. But when the algorithms need more distance samples for parametric statistics or location refinement, our scheme can achieve much lower communication cost compared with Taylor-LS. This is due to the fact that NBMLA obtained lots of distance samples by bootstrap resampling approach rather than repeating communication with anchors which introduces a large communication cost for Taylor-LS. This characteristic is particularly important when the network is sparse. Of course, in this case, the computation complexity of our scheme will be larger than Taylor-LS, because the resampling process is necessary when the original distance sample size is very small. For example, if there are only 5 effective distance measurement samples, the NBMLA needs to resample at least times (>200) for estimating parameter and constructing the CI. Thus, the computation complexity of NBMLA is . Fortunately, in our scheme, the location estimate can be obtained by simple enumeration instead of complex matric arithmetic. And compared with the communication cost, the computation cost of our method is moderate and acceptable.
5. Conclusions
In this paper, we present a novel multihop localization algorithm which integrates the nonparametric bootstrap method with interval analysis approach for large-scale WSNs in complex environments. In the first phase, the nonparametric bootstrap method is utilized to build confidence interval of distance form a small sample set of available measurements with unknown noise distributions. On that basis, we adopt interval analysis approach to estimate the positions of ordinary nodes. The simulation results demonstrate that our algorithm can get high localization coverage and accuracy while resisting against the variation of unknown noise distributions. Compared with the traditional method, the proposed method can greatly improve the average localization accuracy. Further studies are being conducted to extend the method to mobile WSNs in complex environments.
The authors are grateful to the anonymous reviewers for their industrious work and insightful comments. This work is supported by the National Natural Science Foundation of China under Grant nos. 61001138 and 61201317.
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