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This paper describes Team THOR's approach to sliding autonomy in manipulation and full body control of a disaster response robot for the 2015 DARPA Robotics Challenge (DRC) Finals. Under the duress of unpredictable bandwidth constraints, autonomous behaviors become critical for reducing response time and dealing with dynamic disturbances. However, the nature of disaster response presents situations...
Accurate and robust detection of myonuclei in single muscle fiber is required to calculate myonuclear domain size. However, this task is challenging because: 1) The myonuclei have a variety of sizes and shapes. 2) Imaging techniques exhibit myonuclei that are often overlapping. 3) Inhomogeneous intensity due to DAPI concentration in heterochromatin, abundant in mouse nuclei, results in a speckled...
A novel method is introduced to design a single layer, dual-band large printed reflectarray with open loop elements of variable size for both bands. The reflectarray is designed for two frequency bands: 11.4-12.8 GHz for receive and 13.7-14.5 GHz for transmit. Different classes of open cross loop elements were used in the design of the receive band elements. Noting the larger relative bandwidth at...
This paper presents an efficient communication subsystem, DP-II, for clustering standard high-volume (SHV) servers using Gigabit Ethernet. The DP-II employs several lightweight messaging mechanisms to achieve low-latency and high-bandwidth communication. The test shows an 18.32 us single-trip latency and 72.8 MB/s bandwidth on a Gigabit Ethernet network for connecting two Dell PowerEdge 6300 Quad...
Current trends in processor design are pointing to deeper and wider pipelines and superscalar architectures. The efficient use of these resources requires speculative execution, a technique whereby the processor continues executing the predicted path of a branch before the branch condition is resolved. In this paper, we investigate the implications of speculative execution on instruction cache performance...
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