From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication

In this paper, we present our system design, operational procedure, testing process, field results, and lessons learned for the valve-turning task of the DARPA Robotics Challenge (DRC). We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link. Our system, composed of software modules running on-board the robot and on a remote workstation, allows the operators to specify the manipulation task in a straightforward manner. In addition, we have defined an operational procedure for the operators to manage the teleoperation task, designed to improve situation awareness and expedite task completion. Our testing process, consisting of hands-on intensive testing, remote testing, and remote practice runs , demonstrates that our framework is able to perform reliably and is resilient to unreliable network conditions. We analyze our approach, field tests, and experience at the DRC Trials and discuss lessons learned which may be useful for others when designing similar systems.     

磁盘空间占用“大户”查看我最行

当计算机系统长时间运行之后,很多人或许会感觉到系统速度会越来越慢,硬盘剩余空间也越来越小了。特别是一些喜欢下载软件或欣赏视频的用户,常常会感觉到硬盘空间就像是被病毒侵蚀一样不知不觉就被消耗光了。     

识别并管理企业的应用个性

很多时候,IT预算只是用来管理并运行企业的基础设施,而不是推动业务创新。不能适应当今迅速变化步伐的老旧系统和应用更加剧了这一问题。这种方式往往会导致企业发展停滞不前,且难以满足不断变化的业务需求。将现代化应用组合进行整合并转换到全新架构将能促进企业发展,能显著提高其敏捷性及创新能力。     

Path Analysis and Renaming for Predicated Instruction Scheduling

Increases in instruction level parallelism are needed to exploit the potential parallelism available in future wide issue architectures. Predicated execution is an architectural mechanism that increases instruction level parallelism by removing branches and allowing simultaneous execution of multiple paths of control, only committing instructions from the correct path. In order for the compiler to expose and use such parallelism, traditional compiler data-flow and path analysis needs to be extended to predicated code. In this paper, we motivate the need for renaming and for predicates that reflect path information. We present Predicated Static Single Assignment (PSSA) which uses renaming and introduces Full -Path Predicates to remove false dependences and enable aggressive predicated optimization and instruction scheduling. We demonstrate the usefulness of PSSA for Predicated Speculation and Control Height Reduction. These two predicated code optimizations used during instruction scheduling reduce the dependence length of the critical paths through a predicated region. Our results show that using PSSA to enable speculation and control height reduction reduces execution time from 12 to 68%.     

Reducing the overhead of dynamic compilation

The execution model for mobile, dynamically‐linked, object‐oriented programs has evolved from fast interpretation to a mix of interpreted and dynamically compiled execution. The primary motivation for dynamic compilation is that compiled code executes significantly faster than interpreted code. However, dynamic compilation, which is performed while the application is running, introduces execution delay. In this paper we present two dynamic compilation techniques that enable high performance execution while reducing the effect of this compilation overhead. These techniques can be classified as (1) decreasing the amount of compilation performed, and (2) overlapping compilation with execution. We first present and evaluate lazy compilation, an approach used in most dynamic compilation systems in which individual methods are compiled on‐demand upon their first invocation. This is in contrast to eager compilation, in which all methods in a class are compiled when a new class is loaded. In this work, we describe our experience with eager compilation, as well as the implementation and transition to lazy compilation. We empirically detail the effectiveness of this decision. Our experimental results using the SpecJVM Java benchmarks and the Jalapeño JVM show that, compared to eager compilation, lazy compilation results in 57% fewer methods being compiled and reductions in total time of 14 to 26%. Total time in this context is compilation plus execution time. Next, we present profile‐driven, background compilation, a technique that augments lazy compilation by using idle cycles in multiprocessor systems to overlap compilation with application execution. With this approach, compilation occurs on a thread separate from that of application threads so as to reduce intermittent, and possibly substantial, delay in execution. Profile information is used to prioritize methods as candidates for background compilation. Methods are compiled according to this priority scheme so that performance‐critical methods are invoked using optimized code as soon as possible. Our results indicate that background compilation can achieve the performance of off‐line compiled applications and masks almost all compilation overhead. We show significant reductions in total time of 14 to 71% over lazy compilation. Copyright © 2001 John Wiley & Sons, Ltd.     

Dynamic-CoMPI: dynamic optimization techniques for MPI parallel applications

This work presents an optimization of MPI communications, called Dynamic-CoMPI, which uses two techniques in order to reduce the impact of communications and non-contiguous I/O requests in parallel applications. These techniques are independent of the application and complementaries to each other. The first technique is an optimization of the Two-Phase collective I/O technique from ROMIO, called Locality aware strategy for Two-Phase I/O (LA-Two-Phase I/O). In order to increase the locality of the file accesses, LA-Two-Phase I/O employs the Linear Assignment Problem (LAP) for finding an optimal I/O data communication schedule. The main purpose of this technique is the reduction of the number of communications involved in the I/O collective operation. The second technique, called Adaptive-CoMPI, is based on run-time compression of MPI messages exchanged by applications. Both techniques can be applied on every application, because both of them are transparent for the users. Dynamic-CoMPI has been validated by using several MPI benchmarks and real HPC applications. The results show that, for many of the considered scenarios, important reductions in the execution time are achieved by reducing the size and the number of the messages. Additional benefits of our approach are the reduction of the total communication time and the network contention, thus enhancing, not only performance, but also scalability.     

Atropine and exercise-induced bronchoconstriction

Six asthmatic children were studied to determine whether supplemental, parenteral atropine would increase the effects of bronchodilation and protection against exercise-induced bronchoconstriction after maximal effects had been achieved by inhalation. First, we determined the amount of inhaled atropine sulfate that would give maximal bronchodilation for each patient at rest. This quantity of atropine was designated as "A." Then all subjects exercised for five sessions with the following pre-exercise treatments in a random order: (a) inhaled distilled water plus intramuscular (IM) saline solution; (b) inhaled A dose of atropine plus IM saline solution; (c) inhaled distilled water plus 0.35 mg IM atropine; (d) inhaled A dose of atropine plus 0.35 mg IM atropine; and (e) inhaled double the A dose plus IM saline solution. The results showed that the combination of inhaled and IM atropine had the greatest bronchodilation effect and the greatest protection against exercise-induced bronchoconstriction. Atropine inhalation alone (A dose) or IM injection (0.35 mg) was not as effective in bronchodilation or in alleviation of exercise-induced bronchoconstriction. Doubling the dose of inhalation (2A) did not increase the effects of the A dose. These results support the hypothesis that inhaled atropine does not reach all the airways where cholinergic receptors are present.     

Measurement of thrombus formation on intravascular catheters

War is a complex social situation due to the interplay of multiple factors. Economical and political ones are of utmost importance, but human attitudes and motivations must be also taken into account. Being desirable to modify human transactions in such a way that they do not interfere with the basic right of everyone to a condition of physical and mental well-being, war must be abolished. The author contends that an understanding of behaviour through Psychology can be helpful in that aim. Aggression is considered the principal psychological cause of war. It is worth while to differentiate between aggression as an instrument for attaining a special end, and as pure hostility. Only in the first form, it is held here, does it play an important role in war. Psychogists must deal also with a wide range of states of mind that can be "served" by aggression: feelings of inferiority or insecurity, fear, greed, projections, compensations, rationalizations, etc. Scientific approach is not the only one Physiology brings to war prevention. It is equally important the wide dissemination of its conclusions among the general public. Information on the dynamics that prompt people to decide war would make it easier to control. This applies not only to political or military leaders, but also to civil populations. Concerning those two possible contributions of psychologists, scientific and educative, it is suggested the extensive use of psychodramatic techniques. Their richness lie in the lifelike experiences they convey to the participants, and particular aptitude to promote changes of attitudes. Investigation and information on the psychological processes related to war should be undertaken by international organizations of social scientists, acting simultaneously in several countries. Some of the initial steps they could further: 1) that prevention of war be a current subject matter in psychological courses; 2) that the World Health Organization take interest in this subject; 3) that psychologists participate in international political and economical bodies in order to clarify the psychological factors leading to war.     

Relative importance of growth hormone and sex steroids for the growth at puberty of trunk length, limb length, and muscle width in growth hormone-deficient children

We have followed the growth of stature, sitting height, skinfolds, muscle widths measured radiologically, and skeletal maturity in growth hormone-deficient patients in whom hGH was given and withheld in alternating three-month periods throughout puberty (referred to as "off-hGH" and "on-hGH" periods). Six boys and four girls had true isolated GH deficiency and developed puberty spontaneously. Two boys had gonadotrophin deficiency plus GH deficiency, and five boys had multiple deficiencies; in these boys the signs of puberty were induced by hormone treatment. Boys with true isolated deficiency grew about two-thirds as much in height in the off-hGH periods as in the on-hGH periods; their total gain in height during the adolescent spurt would have been about 20 cm, instead of 30 cm, if hGH had been discontinued at the beginning of puberty. The effect of hGH was entirely on growth in leg-length, however, which virtually ceased during the off-hGH periods. Growth in sitting height altered little when hGH was withdrawn. Growth in limb muscles, however, was GH dependent throughout puberty; during the majority of periods when hGH was withheld, muscle was actually lost; this occurred in the boys who were receiving large doses of testosterone as well as in those producing their own normal amounts. Subcutaneous fat diminished when hGH was given and increased when it was withdrawn; this occurred independently of administration of testosterone. There was little evidence that growth of pubic and axillary hair progressed faster during on-hGH periods, except perhaps in patients with multiple deficiencies. There was some evidence, however, that bone age progressed less rapidly during on-hGH periods than during off-hGH periods in the patients with isolated deficiency. The results in the girls agreed with those in boys so far as stature was concerned, but the relationship with sitting height and leg length appeared to be different; the reasons for this are discussed. We conclude that all children with GH deficiency should continue on treatment with hGH throughout puberty, ideally until growth ceases.     

Nonlinear Performance Index (npi): A Tool for Manipulator Dynamics Improvement

The precise control of manipulators depends nonlinearly on the velocity of the motion as well as on manipulator configuration and commanded acceleration requiring complex control strategies. This paper presents a useful tool for identifying and quantifying nonlinear effects appearing during the motion of any manipulator, the Nonlinear Performance Index (npi). The npi takes into account not only the geometrical parameters defining the manipulator but also its structural dynamics through the use of inertial parameters like mass, inertia, centre of mass... The npi can be used in the design stage for analysing and reducing these undesirable nonlinear effects in any general motion or in the trajectory planning looking for paths along which more precise control is expected. The last part of the paper shows how this design optimisation and path planning has been applied to the Agribot, a fruit picking robot designed at the IAI.