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Dynamic Pen Spinning Using a High-speed Multifingered Hand with High-speed Tactile sensor

Dynamic Pen Spinning Using a High-speed Multifingered Hand w...

引用

ieee-RAS international conference on Humanoid Robots

作者： Tatsuya Ishihara Akio Namiki Masatoshi Ishikawa Makoto Shimojo Department of Information Physics and Computing University of Tokyo Tokyo Japan

ISBN: (纸本)1424401992;142440200X

We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. the system is respectively capable of high-speed finger motion up to 180deg per 0.1s and high-speed tactile feedback with a sampling rate higher than 1kHz. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task using a high-speed multifingered hand equipped with tactile sensors. the paper describes the tactile feedback control strategies and experimental results

关键词： Spinning Tactile sensors Fingers Feedback control Manipulator dynamics Force feedback Force sensors Humans Robot sensing systems Sampling methods

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Coverage Estimation in Heterogeneous Visual sensor Networks

Coverage Estimation in Heterogeneous Visual Sensor Networks

引用

international conference on distributed computing in sensor systems (DCOSS)

作者： Mahmut Karakaya Hairong Qi Electrical Engineering and Computer Science Department University of Tennessee Knoxville TN USA

Coverage estimation is one of the fundamental issues in many applications of sensor networks. Coverage estimation in visual sensor networks (VSNs) is more challenging than in conventional 1-D scalar sensor networks (SSNs) due to the directional sensing characteristic of cameras and the existence of visual occlusions in crowded environments. Moreover, deployment of heterogeneous visual sensors and existence of heterogeneous targets in the sensing field makes the coverage estimation problem even more challenging. In this paper, we study the coverage estimation problem in heterogeneous VSNs. We first investigate into a new target detection model, referred to as the "certainty-based target detection" as compared to the traditional "occupancy-based target detection" to facilitate the formulation of the visual coverage estimation. By adopting the new target detection model, we then derive the closed-form solution for the visual coverage estimation problem in heterogeneous VSNs. Our formulation also allows us to take both the presence of visual occlusions and boundary effect into consideration. Results from simulation validate the theoretical formulation, especially when the boundary effect is considered.

关键词： Visualization sensors Estimation Object detection Cameras Closed-form solutions Uncertainty

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Visuel: A novel performance monitoring and analysis toolkit for cluster and grid environments

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6th international conference on Algorithms and Architectures for Parallel Processing, ICA3PP

作者： Li, Kuan-Ching Cheng, Hsiang-Yao Yang, Chao-Tung Hsu, Ching-Hsien Wang, Hsiao-Hsi Hsu, Chia-Wen Hung, Sheng-Shiang Chang, Chia-Fu Liu, Chun-Chieh Pan, Yu-Hwa Parallel and Distributed Processing Center Department of Computer Science and Information Management Providence University Taichung 43301 Taiwan High Performance Computing Laboratory Department of Computer Science and Information Engineering Tunghai University Taichung 40704 Taiwan Department of Computer Science and Information Engineering Chung Hua University Hsinchu 300 Taiwan

ISBN: (纸本)3540292357

the computing power provided by high performance low-cost PC-based Cluster and Grid platforms are attractive, and they are equal or superior to supercomputers and mainframes widely available. In this research paper, we present the design rationale and implementation of Visuel, a toolkit for performance measurement and analysis of MPI parallel programs and real time resources monitoring in cluster and grid computing environments. the proposed toolkit is web-based interface to show performance activities of all computing nodes involved in the execution of a MPI parallel program, such as CPU and memory usage levels of each computing node, and monitors all computing nodes of a computing platform by displaying real time performance data. In addition, this toolkit is able to display comparative performance data charts of multiple executions of MPI parallel application under investigation, which facilitates the "what-if" analysis. the usage of this toolkit shows that it outperforms in easing the process of investigation of parallel applications. © Springer-Verlag Berlin Heidelberg 2005.

关键词： distributed computer systems

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Data Management of Wireless sensor Networks

Data Management of Wireless Sensor Networks

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Consumer Communications and Networking conference, CCNC ieee

作者： Haiying Shen Ting Li Department of Computer Science and Computer Engineering University of Arkansas Fayetteville AR USA

Wireless sensor networks can monitor physical and environmental conditions inexpensively, and the networks have been widely used in military and civilian applications. the sensor nodes in the networks not only have the ability to sense, but also can supply data storage, computation and communicate with each other. However, energy efficiency is the major concern in wireless sensor networks, which usually rely on battery for energy source. Centralized data storage and query processing schemes lead to high energy consumption. this paper proposes a distributed data storage scheme (DDS) that disseminates related event data in a neighborhood in wireless sensor networks. Besides offering data query according to event names, DDS also provides distributed querying. Experimental results show that the DDS scheme yields higher efficiency and effectiveness than the centralized scheme.

关键词： Wireless sensor networks Memory Military computing Computer network management Condition monitoring Computer networks Energy efficiency Batteries Query processing Energy consumption

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distributed, self-stabilizing placement of replicated resources in emerging networks

Distributed, self-stabilizing placement of replicated resour...

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international conference on Network Protocols

作者： Bong-Jun Ko D. Rubenstein Department of Electrical Engineering Columbia University NY USA

Emerging large scale distributed networking systems, such as P2P file sharing systems, sensor networks, and ad hoc wireless networks, require replication of content, functionality, or configuration to enact or optimize communication tasks. the placement of these replicated resources can significantly impact performance. We present a novel self-stabilizing, fully distributed, asynchronous, scalable protocol that can be used to place replicated resources such that each node is "close" to some copy of any object. We describe our protocol in the context of a graph with colored nodes, where a node's color indicates the replica/task that it is assigned. Our combination of theoretical results and simulation prove stabilization of the protocol, and evaluate its performance in the context of convergence time, message transmissions, and color distance. Our results show that the protocol generates colorings that are close to the optimal under a set of metrics, making such a protocol ideal for emerging networking systems.

关键词： Intelligent networks Protocols distributed computing Grid computing Wireless sensor networks Peer to peer computing Large-scale systems sensor systems Computer networks Synchronization

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Interference aware scheduling for Ultra Wideband networks

Interference aware scheduling for Ultra Wideband networks

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ieee international conference on Wireless and Mobile computing, Networking And Communications (WiMob)

作者： Holger Rosier Jens Frerichs Sebastian Max Communication Networks (ComNets) Research Group Faculty 6 RWTH Aachen University Germany

Wireless Personal Area Networks (WPANs) are used for a wide variety of applications. Earlier WPANs, like Bluetooth, offer data rates only for low rate communication. Nowadays, consumer electronic devices have high demands on communication systems, e.g. for high definition video transmission. Users expect future WPANs to act like wired systems by means of reliability, that is, packet loss and distortion. Multimedia systems are ubiquitous; hence, it can be expected, that future WPANs have to operate in dense network topologies. For that reason new technologies have to be evaluated in terms of interference mitigation and their ability to cooperate with Simultaneously Operating Piconets (SOPs). this paper focuses on Ultra Wideband (UWB) communication according to ECMA-368, calledWiMedia. WiMedia's reservation-based medium access for high throughput and strict QoS requirements is evaluated taking inter-piconet interference into account. Strategies for distributed interference aware scheduling are proposed and examined by simulation to show system capacity for given scenarios.

关键词： Interference Personal area networks Resource management Estimation Signal to noise ratio Availability Protocols

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Polygon-Based Query Evaluation over Geospatial Data Using distributed Hash Tables

Polygon-Based Query Evaluation over Geospatial Data Using Di...

引用

ieee international conference on Utility and Cloud computing (UCC)

作者： Matthew Malensek Sangmi Pallickara Shrideep Pallickara Department of Computer Science Colorado State University Fort Collins USA

Data volumes in the geosciences and related domains have grown significantly as sensing equipment designed to continuously gather readings and produce data streams for geographic regions have proliferated. the storage requirements imposed by these datasets vastly outstrip the capabilities of a single computing resource, leading to the use and development of distributed storage frameworks composed of commodity hardware. In this paper, we explore the challenges associated with supporting geospatial retrievals constrained by arbitrary polygonal bounds on a distributed hash table architecture. Our solution involves novel distribution and partitioning of these voluminous datasets, thus enabling the use of a lightweight, distributed spatial indexing structure, the geoavailability grid. Geoavailability grids provide global, coarse-grained representations of the spatial information stored within these ever-expanding datasets, allowing the search space of distributed queries to be reduced by eliminating storage resources that do not hold relevant information. this results in improved response times and more effective utilization of available resources. Geoavailability grids are also applicable in non-distributed settings for local lookup functionality, performing competitively with other leading spatial indexing technology.

关键词： Indexing Query processing Geospatial analysis distributed databases Data structures Peer-to-peer computing

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Embedded Damage Detection in Water Pipelines Using Wireless sensor Networks

Embedded Damage Detection in Water Pipelines Using Wireless ...

引用

ieee international conference on High Performance computing and Communications (HPCC)

作者： Hadil Mustafa Pai H. Chou Department of Electrical Engineering and Computer Science University of California Irvine Irvine CA USA

ISBN: (纸本)9781467321648

this paper proposes a distributed real-time detection algorithm for detecting rupture events in water pipelines noninvasively. the purpose is to suppress not only unnecessary transmission but also local processing in order to save power without sacrificing sensitivity or specificity of the events of interest. All these goals are accomplished by adaptive thresholding, a cascaded wake-up chain, local processing, and aggressive power management. Experimental results show that the proposed algorithm achieves high sensitivity and high specificity while reducing the total energy consumption significantly.

关键词： Monitoring sensors Pipelines Wireless sensor networks Energy consumption Vibrations Sensitivity

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High-Level Metrics for Service Level Objective-aware Autoscaling in Polaris: a Performance Evaluation

High-Level Metrics for Service Level Objective-aware Autosca...

引用

ieee international conference on Fog and Edge computing (ICFEC)

作者： Nicolò Bartelucci Paolo Bellavista thomas Pusztai Andrea Morichetta Schahram Dustdar Department of Computer Science and Engineering University of Bologna Bologna Italy Distributed Systems Group Vienna University of Technology Vienna Austria

With the increasing complexity, requirements, and variability of cloud services, it is not always easy to find the right static/dynamic thresholds for the optimal configuration of low-level metrics for autoscaling resource management decisions. A Service Level Objective (SLO) is a high-level commitment to maintaining a specific state of a service in a given period, within a Service Level Agreement (SLA): the goal is to respect a given metric, like uptime or response time within given time or accuracy constraints. In this paper, we show the advantages and present the progress of an original SLO-aware autoscaler for the Polaris framework. In addition, the paper contributes to the literature in the field by proposing novel experimental results comparing the Polaris autoscaling performance, based on highlevel latency SLO, and the performance of a low-level average CPU-based SLO, implemented by the Kubernetes Horizontal Pod Autoscaler.

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An architectural framework for interoperation of distributed heterogeneous database systems

An architectural framework for interoperation of distributed...

引用

ieee international conference on Engineering of Complex Computer systems

作者： Xuequn Wu Fraunhofer Institute for Software Engineering and Systems Engineering Dortmund Germany

ISBN: (纸本)0818676140

As database technology advances rapidly, there are usually heterogeneous databases used by different departments in an enterprise. On the other hand, the object oriented technology is becoming the dominant application development paradigm. thus, there is a data modeling gap between applications and heterogeneous databases. We present some main architecture aspects of the system VHDBS which has been developed by an ongoing research project. this architecture provides a way to support cooperative access to distributed heterogeneous databases and to fill the data modeling gap in a distributed heterogeneous environment. Our work contributes not only to an implementation solution but also to an architecture framework and paradigmatic solution.

关键词： Database systems Data models Object oriented modeling Object oriented databases distributed databases Relational databases Scalability Prototypes Software engineering Data engineering

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