53306617
Human-Machine Collaborative Systems for Microsurgical Applications
Human-machine collaborative systems (HMCSs) are systems that amplify or assist human capabilities during the performance of tasks that require both human judgment and robotic precision. We examine the design and performance of HMCSs in the context of microsurgical procedures such as vitreo-retinal eye surgery. Three specific problems considered are: (1) development of systems tools for describing and implementing HMCSs, (2) segmentation of complex tasks into logical components given sensor traces of human task execution, and (3) measurement and evaluation of HMCS performance. These components can be integrated into a complete workstation with the ability to automatically “parse” traces of user activities into task models, which are loaded into an execution environment to provide the user with assistance using on-line recognition of task states. The major contributions of this work include an XML task graph modeling framework and execution engine, an algorithm for real-time segmentation of user actions using continuous hidden Markov models, and validation techniques for analyzing the performance of HMCSs.
6156793
Optimum Robot Control for 3D Virtual Fixture in Constrained ENT Surgery
In ENT surgery, the operating volume is very limited. This is especially true in sinus surgery, when the instrument passes through the sinus cavity to reach the pathological area. The sinus bones impose geometric constraints on the work volume. During the surgery, the surgeon needs to take care of the motion of the instrument tip to accomplish some delicate procedure; meanwhile he/she needs to avoid hitting anatomic constraints. In this paper, we present a method to assist the path following task in a constrained area. We project instrument tip motion, boundary information on the joint displacement via robot kinematics, and then use a constrained quadratic optimization algorithm to compute the optimal set of corresponding joint displacements. In the preliminary study, we show that the optimization constrained control can avoid collision with geometric constraints on the work volume, while keeping the precision of the tool motion.
12850359
Recognition of operator motions for real-time assistance using virtual fixtures
Hidden Markov Models (HMMs) are used for automatic segmentation and recognition of user motions. A new algorithm for real-time HMM recognition was developed. The segmentation results are used to provide appropriate assistance in a combined curve following and object avoidance task. This assistance takes the form of a virtual fixture, whose compliance can be altered online. Recognition and assistance experiments were performed using force and position data recorded from a cooperative manipulation system, where a robot and a human operator hold an instrument simultaneously. Recognition accuracy exceeds 90%, even when the users training the HMMs differ from those executing the task. For a task consisting of both path following and avoidance motions, an HMM-based virtual fixture switches the compliance from low to high when the user is trying to move away from the path. The HMM method improves operator performance in comparison with a constant virtual fixture and no virtual fixture.
27873507
Average-Case Analysis via Incompressibility
We will demonstrate how to use Kolmogorov complexity to do the average-case analysis via some examples. These examples include: longest common subsequence problem and shortest common supersequence problem [9, 11], problems in computational geometry [14], average case analysis of Heapsort [19, 17], average nni-distance between two binary rooted leave-labeled trees [23], compact routing in computer networks.
15025287
An Ontology Based Approach to Construct Behaviors in Web Information Systems
System behaviors specify the major functions of domain specific Web Information Systems (WIS). Traditional techniques can not satisfy various requirements or manage innumerous data while developing WIS behaviors. People appeal to a smart tool for implementing the WIS behaviors. This article makes the following contributions: (1) Proposes the concept of domain ontology and behavior ontology to describe the contents and operations of WIS; (2) Extends traditional ECA model to characterize the triggers, parameters, actions as well as validations of WIS behaviors; (3) Analyses the relationships between domain ontology and behavior ontology with rule sets; (4) Implements a tool named WISE Builder with four algorithms to help users building behavior ontology with domain ontology; (5)Shows the feasibility of this technique in a real application case.
17270817
Grid Computing in China
Abstract
Grid computing presents a new trend to distributed computation and Internet applications, which can construct a virtual single image of heterogeneous resources, provide uniform application interface and integrate widespread computational resources into super, ubiquitous and transparent aggregation. In the adoption of Grid computing, China, who is facing more resource heterogeneity and other specific demands, has put much effort on both research and practical utilization. In this paper, we introduce the major China Grid research projects and their perspective applications. First we give the overview of the four government-sponsored programs in Grid, namely the China National Grid, ChinaGrid, NSFC Grid, and ShanghaiGrid. Then we present six representative ongoing Grid systems in details, which are categorized into Grid middleware and Grid application. This paper provides the general picture of Grid computing in China, and shows the great efforts, devotion and confidence in China to use Grid technology to boost the society, economics and scientific research.

45496659
Migrating legacy codes to distributed computing environments: a CORBA approach
Abstract This paper describes techniques used to migrate legacy codes as CORBA components to a distributed problem solving environment (PSE). It presents a CORBA compliant wrapper generator (WG), which can be used to automatically wrap high performance legacy codes in C or Fortran as CORBA components for reuse in the PSE. Using WG, a finite element based computational fluid dynamics (CFD) legacy code has been wrapped as a CORBA component and a PSE for simulating incompressible Navier-Stokes flows has been implemented. A user can submit a task to the wrapped CFD component through a Web page without knowing the exact implementation of the component. In this way, a user's desktop computing environment can be extended to a computing environment using a cluster of workstations or a parallel computer.
553776
Linear approximation of shortest superstrings
We consider the following problem: given a collection of strings s1, ••• ,sm, find the shortest string s such that each s; appears as a substring (a consecutive block) of s. Although this problem is known to be NP-hard, a simple greedy procedure appears to do quite well and is routinely used in DNA sequencing and data compression practice, namely: repeatedly merge the pair of (distinct) strings with maximum overlap until only one string remains. Let n denote the A. Blum was supported by a National Science Foundation (NSF) Graduate Fellowship. Part of this work was done while A. Blum was visiting AT & T Bell Labs. T. Jiang was supported in part by a grant from SERB, McMaster University and NSERC Operating Grant OGP0046613. M. Li was supported in part by the NSERC Operating Grants OGP0036747 and OGP0046506. J. Tromp was supported in part by NSERC Grant OGP0036747 while the author was visiting at the University of Waterloo. Authors' present addresses: A. Blum, School of Computer Science, Carnegie-Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213. E-mail: avrim@theory.cs.cmu.edu; T. Jiang, Department of Computer Science, McMaster University, Hamilton, Ont., Canada L8S 4Kl. E-mail: jiang<Q•maccs. mcmaster.ca; M. Li, Department of Computer Science, University of Waterloo, Waterloo, Ont., Canada N3L 30 I. E-mail: mli@watmath.waterloo.edu; J. Tromp, CWI, P.O. Box 4079, 1009 AB Amsterdam, The Netherlands. E-mail: tromp@cwi.nl; M. Yannakakis, Room 2C-319, AT&T Bell Labs, 600 Mountain Avenue, Murray Hill, NJ 07974. E-mail: mihalis@research.att.com. Permission to copy without fee all or part of this material is granted provided that the copies arc not made or distributed for direct commercial advantage, the ACM copyright notice and the title of the publication and its date appear, and notice is given that copying is by permission of the Association for Computing Machinery. To copy otherwise, or to republish, requires a fee and/or specific permission. © 1994 ACM 0004-5411/94/0700-0630$03.50 Journal of the Association for Computing Machinery, Vol. 41, No. 4, July 1994, pages 630-647. Linear Approximation of Shortest Superstrings 631 length of the optimal superstring. A common conjecture states that the above greedy procedure produces a superstring of length O(n) (in fact, 2n), yet the only previous nontrivial bound known for any polynomial-time algorithm is a recent O(n log n) result. We show that the greedy algorithm does in fact achieve a constant factor approximation, proving an upper bound of 4n. Furthermore, we present a simple modified version of the greedy algorithm that we show produces a superstring of length at most 3n. We also show the superstring problem to be MAX SNP-hard, which implies that a polynomial-time approximation scheme for this problem is unlikely.