Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure

Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is challenging due to inherent non-linearities in cable-driven systems. We propose and evaluate a novel two-phase coarse-to-fine calibration method. In Phase I (coarse), we place a red calibration marker on the end effector and let it randomly move through a set of open-loop trajectories to obtain a large sample set of camera pixels and internal robot end-effector configurations. This coarse data is then used to train a Deep Neural Network (DNN) to learn the coarse transformation bias. In Phase II (fine), the bias from Phase I is applied to move the end-effector toward a small set of specific target points on a printed sheet. For each target, a human operator manually adjusts the end-effector position by direct contact (not through teleoperation) and the residual compensation bias is recorded. This fine data is then used to train a Random Forest (RF) to learn the fine transformation bias. Subsequent experiments suggest that without calibration, position errors average 4.55mm. Phase I can reduce average error to 2.14mm and the combination of Phase I and Phase II can reduces average error to 1.08mm. We apply these results to debridement of raisins and pumpkin seeds as fragment phantoms. Using an endoscopic stereo camera with standard edge detection, experiments with 120 trials achieved average success rates of 94.5%, exceeding prior results with much larger fragments (89.4%) and achieving a speedup of 2.1x, decreasing time per fragment from 15.8 seconds to 7.3 seconds. Source code, data, and videos are available at https://sites.google.com/view/calib-icra/.Comment: Code, data, and videos are available at https://sites.google.com/view/calib-icra/. Final version for ICRA 201

Beltway: Getting Around Garbage Collection Gridlock

We present the design and implementation of a new garbage collection framework that significantly generalizes existing copying collectors. The Beltway framework exploits and separates object age and incrementality. It groups objects in one or more increments on queues called belts, collects belts independently, and collects increments on a belt in first-in-first-out order. We show that Beltway configurations, selected by command line options, act and perform the same as semi-space, generational, and older-first collectors, and encompass all previous copying collectors of which we are aware. The increasing reliance on garbage collected languages such as Java requires that the collector perform well. We show that the generality of Beltway enables us to design and implement new collectors that are robust to variations in heap size and improve total execution time over the best generational copying collectors of which we are aware by up to 40%, and on average by 5 to 10%, for small to moderate heap sizes. New garbage collection algorithms are rare, and yet we define not just one, but a new family of collectors that subsumes previous work. This generality enables us to explore a larger design space and build better collectors

The Extensional Rheology of Non-Newtonian Materials

The evolution of the transient extensional stresses in dilute and semi-dilute viscoelastic polymer solutions are measured with a filament stretching rheometer of a design similar to that first introduced by Sridhar, et al. The solutions are polystyrene-based (PS) Boger fluids that are stretched at constant strain rates ranging from 0.6 less than or equal to epsilon(0) less than or equal to 4s(exp -1) and to Hencky strains of epsilon greater than 4. The test fluids all strain harden and Trouton ratios exceeding 1000 are obtained at high strains. The experimental data strain hardens at lower strain levels than predicted by bead-spring FENE models. In addition to measuring the transient tensile stress growth, we also monitor the decay of the tensile viscoelastic stress difference in the fluid column following cessation of uniaxial elongation as a function of the total imposed Hencky strain and the strain rate. The extensional stresses initially decay very rapidly upon cessation of uniaxial elongation followed by a slower viscoelastic relaxation, and deviate significantly from FENE relaxation predictions. The relaxation at long times t is greater than or equal to 5 s, is compromised by gravitational draining leading to non-uniform filament profiles. For the most elastic fluids, partial decohension of the fluid filament from the endplates of the rheometer is observed in tests conducted at high strain rates. This elastic instability is initiated near the rigid endplate fixtures of the device and it results in the progressive breakup of the fluid column into individual threads or 'fibrils' with a regular azimuthal spacing. These fibrils elongate and bifurcate as the fluid sample is elongated further. Flow visualization experiments using a modified stretching device show that the instability develops as a consequence of an axisymmetry-breaking meniscus instability in the nonhomogeneous region of highly deformed fluid near the rigid endplate

The extensional rheology of non-Newtonian materials

It has been proposed to measure the extensional viscosity function of a non-Newtonian polymer solution in a reduced gravity environment as part of the Advanced Fluid Module. In ground-based extensional measurements, the no-sip boundary condition at solid-fluid interfaces always result in appreciable shear gradients in the test fluid; however the removal of gravitational body forces permits controlled extensional deformation of containerless test samples and the first unambiguous measurements of this kind. Imperative to successful implementation of this experiment is the generation and subsequent deformation of a stable cylindrical column of test fluid. A study of the generation and deformation of liquid bridges demonstrates that Newtonian liquid bridges undergo capillary breakup as anticipated when stretched beyond a critical aspect ratio; non-Newtonian liquid bridges, however, are stabilized by the strain-hardening phenomenon exhibited by these materials. Numerical simulations of Newtonian breakup are compared with experimental results, and show that previous ground-based attempts at measuring the extensional viscosity of Newtonian fluids are of limited accuracy

Cooperative cache scrubbing

Managing the limited resources of power and memory bandwidth while improving performance on multicore hardware is challeng-ing. In particular, more cores demand more memory bandwidth, and multi-threaded applications increasingly stress memory sys-tems, leading to more energy consumption. However, we demon-strate that not all memory traffic is necessary. For modern Java pro-grams, 10 to 60 % of DRAM writes are useless, because the data on these lines are dead- the program is guaranteed to never read them again. Furthermore, reading memory only to immediately zero ini-tialize it wastes bandwidth. We propose a software/hardware coop-erative solution: the memory manager communicates dead and zero lines with cache scrubbing instructions. We show how scrubbing instructions satisfy MESI cache coherence protocol invariants and demonstrate them in a Java Virtual Machine and multicore simula-tor. Scrubbing reduces average DRAM traffic by 59%, total DRAM energy by 14%, and dynamic DRAM energy by 57 % on a range of configurations. Cooperative software/hardware cache scrubbing reduces memory bandwidth and improves energy efficiency, two critical problems in modern systems

A garbage collection design and bakeoff in JMTk: An efficient extensible Java memory management toolkit

In this paper, we describe the design, implementation, and evaluation of a new garbage collection framework called the Java Memory Management Toolkit (JMTk). The goals of JMTk are to provide an efficient, composable, extensible, and portable toolkit for quickly building and evaluating new and existing garbage collection algorithms. Our design clearly demarcates the external interface between the collector and the compiler for portability. For extensibility, JMTk provides a selection of allocators, garbage identification, collection, pointer tracking, and other mechanisms that are efficient and that a wide variety garbage collection algorithms can compose and share. For instance, our mark-sweep and reference counting collectors share the free list implementation. We perform a comprehensive and detailed study of collectors including copying, mark-sweep, reference counting, copying generational, and hybrid generational collectors using JMTk in Jikes RVM on a uniprocessor. We find that the performance of collectors in JMTk is comparable to the highly tuned original Jikes collectors. In a study of full heap and generational collectors, we confirm the significant benefits of generational collectors on a wide variety of heap sizes, and reveal that on very small heaps, collection time is enormous. These experiments add other new insights, such as firmly establishing that for a variety of generational collectors, a variable-size nursery which is allowed to grow to fill all the space not in use by the older generation performs better than a fixed-size nursery. We thus show the utility of extensive collector comparisons and establish the benefits of our design

Thermorheological Properties Near the Glass Transition of Oligomeric Poly(methyl methacrylate) Blended with Acrylic Polyhedral Oligomeric Silsesquioxane Nanocages

Submitted to Rheologica ActaTwo distinct oligomeric species of similar mass and chemical functionality (Mw ≈ 2,000 g/mol), one a linear methyl methacrylate oligomer (radius of gyration Rg ≈ 1.1 nm) and the other a hybrid organic-inorganic polyhedral silsesquioxane nanocage (methacryl-POSS, r ≈ 1.0 nm), were subjected to thermal and rheological tests to compare the behaviors of these geometrically dissimilar molecules over the entire composition range. The glass transition temperatures of the blends varied monotonically between the glass transition temperatures of the pure oligomer (Tg = â47.3°C) and the pure POSS (Tg = â61.0°C). Blends containing high POSS contents (with volume fraction φ_POSS ⥠0.90) exhibited enhanced enthalpy relaxation in DSC measurements, and the degree of enthalpy relaxation was used to calculate the kinetic fragility indices m of the oligomeric MMA (m = 59) and the POSS (m = 74). The temperature dependences of the viscosities were fitted by the free volume-based WLF-VFT framework and a dynamic scaling relation. The calculated values of the fragility from the WLF-VFT fits were similar for the POSS (m = 82) and for the oligomer (m = 76), and the dynamic scaling exponent was similar for the oligomeric MMA and the POSS. Within the range of known fragilities for glass-forming liquids, the temperature dependence of the viscosity was found to be similarly fragile for the two species. The difference in shape of the nanocages and oligomer chains is unimportant in controlling the glass-forming properties of the blends at low volume fractions ( φPOSS < 0.20); however, at higher volume fractions, adjacent POSS cages begin to crowd each other, leading to an increase in the fractional free volume at the glass transition temperature and the observed enhanced enthalpy relaxation in DSC.AFOSR (DURINT Program