8,567 research outputs found
Logical Concurrency Control from Sequential Proofs
We are interested in identifying and enforcing the isolation requirements of
a concurrent program, i.e., concurrency control that ensures that the program
meets its specification. The thesis of this paper is that this can be done
systematically starting from a sequential proof, i.e., a proof of correctness
of the program in the absence of concurrent interleavings. We illustrate our
thesis by presenting a solution to the problem of making a sequential library
thread-safe for concurrent clients. We consider a sequential library annotated
with assertions along with a proof that these assertions hold in a sequential
execution. We show how we can use the proof to derive concurrency control that
ensures that any execution of the library methods, when invoked by concurrent
clients, satisfies the same assertions. We also present an extension to
guarantee that the library methods are linearizable or atomic
A stiffness-based quality measure for compliant grasps and fixtures
This paper presents a systematic approach to quantifying the effectiveness of compliant grasps and fixtures of an object. The approach is physically motivated and applies to the grasping of two- and three-dimensional objects by any number of fingers. The approach is based on a characterization of the frame-invariant features of a grasp or fixture stiffness matrix. In particular, we define a set of frame-invariant characteristic stiffness parameters, and provide physical and geometric interpretation for these parameters. Using a physically meaningful scheme to make the rotational and translational stiffness parameters comparable, we define a frame-invariant quality measure, which we call the stiffness quality measure. An example of a frictional grasp illustrates the effectiveness of the quality measure. We then consider the optimal grasping of frictionless polygonal objects by three and four fingers. Such frictionless grasps are useful in high-load fixturing applications, and their relative simplicity allows an efficient computation of the globally optimal finger arrangement. We compute the optimal finger arrangement in several examples, and use these examples to discuss properties that characterize the stiffness quality measure
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