Robot graphic simulation testbed

The objective of this research was twofold. First, the basic capabilities of ROBOSIM (graphical simulation system) were improved and extended by taking advantage of advanced graphic workstation technology and artificial intelligence programming techniques. Second, the scope of the graphic simulation testbed was extended to include general problems of Space Station automation. Hardware support for 3-D graphics and high processing performance make high resolution solid modeling, collision detection, and simulation of structural dynamics computationally feasible. The Space Station is a complex system with many interacting subsystems. Design and testing of automation concepts demand modeling of the affected processes, their interactions, and that of the proposed control systems. The automation testbed was designed to facilitate studies in Space Station automation concepts

On the Disruption of Star Clusters in a Hierarchical Interstellar Medium

The distribution of the number of clusters as a function of mass M and age T suggests that clusters get eroded or dispersed in a regular way over time, such that the cluster number decreases inversely as an approximate power law with T within each fixed interval of M. This power law is inconsistent with standard dispersal mechanisms such as cluster evaporation and cloud collisions. In the conventional interpretation, it requires the unlikely situation where diverse mechanisms stitch together over time in a way that is independent of environment or M. Here we consider another model in which the large scale distribution of gas in each star-forming region plays an important role. We note that star clusters form with positional and temporal correlations in giant cloud complexes, and suggest that these complexes dominate the tidal force and collisional influence on a cluster during its first several hundred million years. Because the cloud complex density decreases regularly with position from the cluster birth site, the harassment and collision rates between the cluster and the cloud pieces decrease regularly with age as the cluster drifts. This decrease is typically a power law of the form required to explain the mass-age distribution. We reproduce this distribution for a variety of cases, including rapid disruption, slow erosion, combinations of these two, cluster-cloud collisions, cluster disruption by hierarchical disassembly, and partial cluster disruption. We also consider apparent cluster mass loss by fading below the surface brightness limit of a survey. In all cases, the observed log M - \log T diagram can be reproduced under reasonable assumptions.Comment: ApJ vol. 712, March 20, 2010, 33 pages 15 figure

FLASH: Randomized Algorithms Accelerated over CPU-GPU for Ultra-High Dimensional Similarity Search

We present FLASH (\textbf{F}ast \textbf{L}SH \textbf{A}lgorithm for \textbf{S}imilarity search accelerated with \textbf{H}PC), a similarity search system for ultra-high dimensional datasets on a single machine, that does not require similarity computations and is tailored for high-performance computing platforms. By leveraging a LSH style randomized indexing procedure and combining it with several principled techniques, such as reservoir sampling, recent advances in one-pass minwise hashing, and count based estimations, we reduce the computational and parallelization costs of similarity search, while retaining sound theoretical guarantees. We evaluate FLASH on several real, high-dimensional datasets from different domains, including text, malicious URL, click-through prediction, social networks, etc. Our experiments shed new light on the difficulties associated with datasets having several million dimensions. Current state-of-the-art implementations either fail on the presented scale or are orders of magnitude slower than FLASH. FLASH is capable of computing an approximate k-NN graph, from scratch, over the full webspam dataset (1.3 billion nonzeros) in less than 10 seconds. Computing a full k-NN graph in less than 10 seconds on the webspam dataset, using brute-force ($n^2D$), will require at least 20 teraflops. We provide CPU and GPU implementations of FLASH for replicability of our results

Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to unexpected events. That is not only identifying the sudden anomaly, but also deciding how to handle it. In this work, we contribute a recovery policy that allows a robot to recovery from various anomalous scenarios across different tasks and conditions in a consistent and robust fashion. The system organizes tasks as a sequence of nodes composed of internal modules such as motion generation and introspection. When an introspection module flags an anomaly, the recovery strategy is triggered and reverts the task execution by selecting a target node as a function of a state dependency chart. The new skill allows the robot to overcome the effects of the external disturbance and conclude the task. Our system recovers from accidental human and tool collisions in a number of tasks. Of particular importance is the fact that we test the robustness of the recovery system by triggering anomalies at each node in the task graph showing robust recovery everywhere in the task. We also trigger multiple and repeated anomalies at each of the nodes of the task showing that the recovery system can consistently recover anywhere in the presence of strong and pervasive anomalous conditions. Robust recovery systems will be key enablers for long-term autonomy in robot systems. Supplemental info including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl

VIRTUALIZED BASEBAND UNITS CONSOLIDATION IN ADVANCED LTE NETWORKS USING MOBILITY- AND POWER-AWARE ALGORITHMS

Virtualization of baseband units in Advanced Long-Term Evolution networks and a rapid performance growth of general purpose processors naturally raise the interest in resource multiplexing. The concept of resource sharing and management between virtualized instances is not new and extensively used in data centers. We adopt some of the resource management techniques to organize virtualized baseband units on a pool of hosts and investigate the behavior of the system in order to identify features which are particularly relevant to mobile environment. Subsequently, we introduce our own resource management algorithm specifically targeted to address some of the peculiarities identified by experimental results