OCOG: A common grasp computation algorithm for a set of planar objects

This paper addresses the problem of defining a simple End-Effector design for a robotic arm that is able to grasp a given set of planar objects. The OCOG (Objects COmmon Grasp search) algorithm proposed in this paper searches for a common grasp over the set of objects mapping all possible grasps for each object that satisfy force closure and quality criteria by taking into account the external wrenches (forces and torque) applied to the object. The mapped grasps are represented by feature vectors in a high-dimensional space. This feature vector describes the design of the gripper. A database is generated for all possible grasps for each object in the feature vector space. A search algorithm is then used for intersecting all possible grasps over all parts and finding a common grasp suitable for all objects. The search algorithm utilizes the kd-tree index structure for representing the database of the sets of feature vectors. The kd-tree structure enables an efficient and low cost nearest-neighbor search for common vectors between the sets. Each common vector found (feature vector) is the grasp configuration for a group of objects, which implies the future end-effector design. The final step classifies the grasps found to subsets of the objects, according to the common vectors found. Simulations and experiments are presented for four objects to validate the feasibility of the proposed algorithm. The algorithm will be useful for standardization of end-effector design and reducing its engineering time.     

Solubility Limit of MgO in Al2O3 at 1600°C

The solubility of Mg in alumina was measured using wavelength-dispersive spectroscopy mounted on a scanning electron microscope. Careful calibration of the microscope's working conditions was performed in order to optimize the detection limit and accuracy. Measurements were conducted on water-quenched and furnace-cooled samples, without any thermal or chemical etching to avoid alteration of the bulk concentration. The results indicate the solubility limit of Mg in alumina to be 132±11 ppm at 1600°C.     

Lightweight Key Management for IEEE 802.11 Wireless LANs with Key Refresh and Host Revocation

The IEEE 802.11 Wireless LAN standard has been designed with very limited key management capabilities, using up to 4 static, long term, keys, shared by all the stations on the LAN. This design makes it quite difficult to fully revoke access from previously-authorized hosts. A host is fully revoked when it can no longer eavesdrop and decrypt traffic generated by other hosts on the wireless LAN. This paper proposes WEP*, a lightweight solution to the host-revocation problem. The key management in WEP* is in the style of pay-TV systems: The Access Point periodically generates new keys, and these keys are transferred to the hosts at authentication time. The fact that the keys are only valid for one re-key period makes host revocation possible, and scalable: A revoked host will simply not receive the new keys. Clearly, WEP* is not an ideal solution, and does not address all the security problems that IEEE 802.11 suffers from. However, what makes WEP* worthwhile is that it is 100% compatible with the existing standard. And, unlike other solutions, WEP* does not rely on external authentication servers. Therefore, WEP* is suitable for use even in the most basic IEEE 802.11 LAN configurations, such as those deployed in small or home offices. A WEP* prototype has been partially implemented using free, open-source tools. Avishai Wool received a B.Sc. (Cum Laude) in Mathematics and Computer Science from Tel Aviv University, Israel, in 1989. He received an M.Sc. and Ph.D. in Computer Science from the Weizmann Institute of Science, Israel, in 1992 and 1997, respectively. Dr. Wool then spent three years as a Member of Technical Staff at Bell Laboratories, Murray Hill, NJ, USA. In 2000 Dr. Wool co-founded Lumeta corporation, a startup company specializing in network security. Since 2002 Dr. Wool has been an Assistant Professor at the Department of Electrical Engineering Systems, Tel Aviv University, Israel. Dr. Wool is the creator of the Lumeta Firewall Analyzer. He is an associate editor of the ACM Transactions on Information and System Security. He has served on the program committee of the leading IEEE and ACM conferences on computer and network security. He is a member of the ACM, IEEE Computer Society, and USENIX. His research interests include firewall technology, network and wireless security, data communication networks, and distributed computing.     

Interactions between color and word processing in a flanker task.

To examine interactions between color and word attributes, participants responded, either manually or vocally, to a central target (color patch or word) flanked by a Stroop stimulus. Color and word attributes of the flanker affected both vocal and manual responding to color patches. Color and word flankers also affected manual responding to word targets, but only word flanker affected vocal responding to word targets. These results are not consistent with models (e.g., translational models) of Stroop tasks, which posit that interactions between colors and words occur only when vocal responding is required. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Molecular Mechanisms of Skewed X-Chromosome Inactivation in Female Hemophilia Patients—Lessons from Wide Genome Analyses

Introduction: Hemophilia A (HA) is an X-linked bleeding disorder caused by factor VIII (FVIII) deficiency or dysfunction due to F8 gene mutations. HA carriers are usually asymptomatic because their FVIII levels correspond to approximately half of the concentration found in healthy individuals. However, in rare cases, a carrier may exhibit symptoms of moderate to severe HA primarily due to skewed inactivation of her non-hemophilic X chromosome. Aim: The aim of the study was to investigate X-chromosome inactivation (XCI) patterns in HA carriers, with special emphasis on three karyotypically normal HA carriers presenting with moderate to severe HA phenotype due to skewed XCI, in an attempt to elucidate the molecular mechanism underlying skewed XCI in these symptomatic HA carriers. The study was based on the hypothesis that the presence of a pathogenic mutation on the non-hemophilic X chromosome is the cause of extreme inactivation of that X chromosome. Methods: XCI patterns were studied by PCR analysis of the CAG repeat region in the HUMARA gene. HA carriers that demonstrated skewed XCI were further studied by whole-exome sequencing (WES) followed by X chromosome-targeted bioinformatic analysis. Results: All three HA carriers presenting with the moderate to severe HA phenotype due to skewed XCI were found to carry pathogenic mutations on their non-hemophilic X chromosomes. Patient 1 was diagnosed with a frameshift mutation in the PGK1 gene that was associated with familial XCI skewing in three generations. Patient 2 was diagnosed with a missense mutation in the SYTL4 gene that was associated with familial XCI skewing in two generations. Patient 3 was diagnosed with a nonsense mutation in the NKAP gene that was associated with familial XCI skewing in two generations. Conclusion: Our results indicate that the main reason for skewed XCI in our female HA patients was negative selection against cells with a disadvantage caused by an additional deleterious mutation on the silenced X chromosome, thus complicating the phenotype of a monogenic X-linked disease. Based on our study, we are currently offering the X inactivation test to symptomatic hemophilia carriers and plan to expand this approach to symptomatic carriers of other X-linked diseases, which can be further used in pregnancy planning.     

Competition Between Endogenous and Exogenous Orienting of Visual Attention.

The relation between reflexive and voluntary orienting of visual attention was investigated with 4 experiments: a simple detection task, a localization task, a saccade toward the target task, and a target identification task in which discrimination difficulty was manipulated. Endogenous and exogenous orienting cues were presented in each trial and their validity was manipulated orthogonally to examine whether attention mechanisms are mediated by separate systems and whether they have additive and independent effects on visual detection and discrimination. The results showed that each orienting mechanism developed its typical and independent effect in every case except for the difficult identification task. A theoretical framework for understanding the relationship between endogenous and exogenous orienting of attention is proposed, tested, and confirmed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Crumbling walls: a class of practical and efficient quorum systems

Summary.  A quorum system is a collection of sets (quorums) every two of which intersect. Quorum systems have been used for many applications in the area of distributed systems, including mutual exclusion, data replication and dissemination of information. In this paper we introduce a general class of quorum systems called Crumbling Walls and study its properties. The elements (processors) of a wall are logically arranged in rows of varying widths. A quorum in a wall is the union of one full row and a representative from every row below the full row. This class considerably generalizes a number of known quorum system constructions. The best crumbling wall is the CWlog quorum system. It has small quorums, of size O(lg n), and structural simplicity. The CWlog has optimal availability and optimal load among systems with such small quorum size. It manifests its high quality for all universe sizes, so it is a good choice not only for systems with thousands or millions of processors but also for systems with as few as 3 or 5 processors. Moreover, our analysis shows that the availability will increase and the load will decrease at the optimal rates as the system increases in size. Received: August 1995 / Accepted: August 1996