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Microcontroller-operated anthropomorphic manipulator with haptic feedback

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2007年第1期23卷 63-70页

作者： Al-Ali, A. R. Jarrah, M. A. Dhaouadi, R. Amer Univ Sharjah Sch Engn Dept Comp Engn Sharjah U Arab Emirates Amer Univ Sharjah Sch Engn Dept Mech Engn Sharjah U Arab Emirates Amer Univ Sharjah Sch Engn Dept Elect Engn Sharjah U Arab Emirates

This article presents the design of a cluster-distributed computing system to operate and control an anthropomorphic manipulator with haptic feedback. The system hardware consists of four major building blocks, anthropomorphic manipulator, haptic sensor glove, real-time microcontroller-based cluster distributed computing (CDC) network, and closed-loop controller. The system software architecture consists of three key operation modules, namely, the sensor glove, anthropomorphic manipulator and communication module. It is designed based on a shared file system concept which forms the foundation of the CDC protocol. The key advantages of this system are its novel structure and its comparatively low cost using microcontroller-based distributed cluster networks which allow large-scale expansion/integration. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： anthropomorphic manipulator haptic feedback cluster-distributed computing embedded systems shared file system

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Corslet: A shared storage system keeping your data private

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Science China(Information Sciences) 2011年第6期54卷 1119-1128页

作者： XUE Wei 1,2 , SHU JiWu 1,2 , LIU Yang 1 & XUE Mao 1 1 Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China 2 Tsinghua National Laboratory for Information Science and Technology, Tsinghua University, 1. Department of Computer Science and Technology Tsinghua University Beijing 100084 China2. Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing 100084 China

With the exponential growth of digital data, it is becoming more and more popular to store data in shared distributed storage systems inside the same organization. In such shared distributed storage systems, an ordinary user usually does not have the control permission over the whole system, and thus cannot secure data storage or data sharing of his own files. To solve this issue, this paper proposes a new system architecture to secure file storing and sharing efficiently over untrusted shared storage and network environments. Based on this architecture, this paper designs and implements a stackable secure storage system called Corslet. Corslet can run directly on deployed underlying storage systems without modification, while bringing end-to-end confidentiality and integrity as well as efficient access control for user data. For individual users, Corslet is easy to use, and does not require users to maintain or manage any keys on their client machines locally. The Bonnie++ and IOzone benchmark results show that the throughput of Corslet over NFS can achieve more than 90% of native NFS throughput in most tests, proving that Corslet can provide enhanced security for user data while maintaining acceptable performance.

关键词： storage security access control key management shared file system

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Computational ecosystems for data-driven medical genomics

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GENOME MEDICINE 2010年第9期2卷 1-2页

作者： Almeida, Jonas S. Univ Texas MD Anderson Canc Ctr Dept Bioinformat & Computat Biol Houston TX 77030 USA

In the path towards personalized medicine, the integrative bioinformatics infrastructure is a critical enabling resource. Until large-scale reference data became available, the attributes of the computational infrastructure were postulated by many, but have mostly remained unverified. Now that large-scale initiatives such as The Cancer Genome Atlas (TCGA) are in full swing, the opportunity is at hand to find out what analytical approaches and computational architectures are really effective. A recent report did just that: first a software development environment was assembled as part of an informatics research program, and only then was the analysis of TCGA's glioblastoma multiforme multi-omic data pursued at the multi-omic scale. The results of this complex analysis are the focus of the report highlighted here. However, what is reported in the analysis is also the validating corollary for an infrastructure development effort guided by the iterative identification of sound design criteria for the architecture of the integrative computational infrastructure. The work is at least as valuable as the data analysis results themselves: computational ecosystems with their own high-level abstractions rather than rigid pipelines with prescriptive recipes appear to be the critical feature of an effective infrastructure. Only then can analytical workflows benefit from experimentation just like any other component of the biomedical research program.

关键词： Glioblastoma Multiforme Application Programming Interface shared file system Data Analysis Module Cloud Computing Resource

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Parallelizing the Execution of Sequential Scripts 13

Parallelizing the Execution of Sequential Scripts

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International Conference for High Performance Computing, Networking, Storage and Analysis (SC)

作者： Zhang, Zhao Katz, Daniel S. Armstrong, Timothy G. Wozniak, Justin M. Foster, Ian Univ Chicago Dept Comp Sci Chicago IL 60637 USA Univ Chicago Computat Inst Argonne Natl Lab Chicago IL USA Argonne Natl Lab Math & Comp Sci Div Chicago IL USA

ISBN: (纸本)9781450323789

Scripting is often used in science to create applications via the composition of existing programs. Parallel scripting systems allow the creation of such applications, but each system introduces the need to adopt a somewhat specialized programming model. We present an alternative scripting approach, AMFS Shell, that lets programmers express parallel scripting applications via minor extensions to existing sequential scripting languages, such as Bash, and then execute them in-memory on large-scale computers. We define a small set of commands between the scripts and a parallel scripting runtime system, so that programmers can compose their scripts in a familiar scripting language. The underlying AMFS implements both collective (fast file movement) and functional (transformation based on content) file management. Tasks are handled by AMFS's built-in execution engine. AMFS Shell is expressive enough for a wide range of applications, and the framework can run such applications efficiently on large-scale computers.

关键词： Many-task computing Parallel scripting shared file system

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IMDBfs: Bridging the Gap between In-Memory Database Technology and file-Based Tools for Life Sciences

IMDBfs: Bridging the Gap between In-Memory Database Technolo...

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IEEE International Conference on Bioinformatics and Biomedicine (IEEE BIBM)

作者： Schapranow, Matthieu-P. Kraus, Milena Danner, Marius Plattner, Hasso Hasso Plattner Inst Enterprise Platform & Integrat Concepts August Bebel Str 88 D-14482 Potsdam Germany

ISBN: (纸本)9781509016105

Many established processing and analysis tools in life sciences are still operating on files, e.g. alignment of genome data. Their integration into optimized workftows requires time-consuming transformation, import and export of data. In the given contribution, we introduce IMDBfs: a shared file system operating on top of an in-memory database system. Our IMDBfs provides transparent access to database resources via traditional file system operations. For the first time, it allows seamless integration of file-based life science tools into processes optimized for latest IMDB technology. As a result, existing tools neither need to be ported nor modified whilst transparent IMDB data access is provided.

关键词： In-Memory Database shared file system Process Optimization Integrated Workflow

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Facilitating Large Data Sharing In Collaborative Environment Using Dropoff

Facilitating Large Data Sharing In Collaborative Environment...

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作者： Mahendru, Ajay University of Missouri - Columbia

学位级别：M.S.

Researchers belonging to multiple institutions forming a collaborative environment are increasingly working with large files and datasets, which they often need to share for their collaboration. There is no provision in the current generation systems to transfer large data among collaborators in multiple institutions, without having to provision user credentials at some common location that all collaborators can use. “Dropoff” is a system for sharing large data combining several transport, storage and security methods to allow researchers to share large files quickly and easily for a specified period in a trusted environment. Dropoff is an enhanced implementation of a project called “filesender” [5]. Dropoff provides services to upload a large file from the user’s machine and send a download URL link for the file to recipients through email. It is enhanced to provide more security, administration services and additional upload/download features that are necessary and useful in a shared collaborative environment. The current project replaces the SimpleSAML authentication mechanism with a Shibboleth and X.509 certificate based authentication mechanism for authenticating users. It secures the download of a file by forcing the recipients to authenticate and thus making sure that only the intended recipient downloads a file. It allows the user to upload and share a file from the user’s data repository and download it to the data repository if one exists for that particular user. It also provides an implementation to have distributed administrator users such that the administrator can administer files belonging to the same organizational domain as the administrator.

关键词： big data data sharing shared file system

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A scalable multi-host RAID-5 with parity consistency

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IEICE TRANSACTIONS ON INFORMATION AND systemS 2002年第7期E85D卷 1086-1092页

作者： Hwang, JY Ahn, CW Park, SJ Park, KH Korea Adv Inst Sci & Technol Dept Elect Engn & Comp Sci Comp Engn Res Lab Div Elect EngnYusong Gu Taejon 305701 South Korea

This paper proposes a multi-host RAID-5 architecture in which multiple hosts can access disk array via storage area network. In this configuration, parity inconsistency occurs when different hosts try to write to the same stripe simultaneously. Parity consistency can be ensured by the serialization of the writes to the same stripe with locking method. While conventional locking methods can be used, the performance is degraded in the case of large number of hosts. When multiple-reader single-writer file consistency semantic is used, most of the stripes are written exclusively by a single host, so parity inconsistency problem does not occur. By removing locking of those stripes which amounts to 95% in practical workloads, the performance becomes more scalable and 50% faster than using the conventional stripe locking methods.

关键词： RAID multi-host RAID-5 shared file system storage area network

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IMDBfs: Bridging the Gap between In-Memory Database Technology and file-Based Tools for Life Sciences

IMDBfs: Bridging the Gap between In-Memory Database Technolo...

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IEEE International Conference on Bioinformatics and Biomedicine

作者： Matthieu-P. Schapranow Milena Kraus Marius Danner Hasso Plattner Institute Enterprise Platform and Integration Concepts August-Bebel-Str. 88 14482 Potsdam Germany

ISBN: (纸本)9781509016129

Many established processing and analysis tools in life sciences are still operating on files, e.g. alignment of genome data. Their integration into optimized workflows requires time-consuming transformation, import and export of data. In the given contribution, we introduce IMDBfs: a shared file system operating on top of an in-memory database system. Our IMDBfs provides transparent access to database resources via traditional file system operations. For the first time, it allows seamless integration of file-based life science tools into processes optimized for latest IMDB technology. As a result, existing tools neither need to be ported nor modified whilst transparent IMDB data access is provided.

关键词： Integrated Workflow In-Memory Database shared file system Process Optimization

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