On Modular Design of Field Robotic Systems

Robots are needed to perform important field tasks such as hazardous material clean-up, nuclear site inspection, and space exploration. Unfortunately their use is not widespread due to their long development times and high costs. To make them practical, a modular design approach is proposed. Prefabricated modules are rapidly assembled to give a low-cost system for a specific task. This paper described the modular design problem for field robots and the application of a hierarchical selection process to solve this problem. Theoretical analysis and an example case study are presented. The theoretical analysis of the modular design problem revealed the large size of the search space. It showed the advantages of approaching the design on various levels. The hierarchical selection process applies physical rules to reduce the search space to a computationally feasible size and a genetic algorithm performs the final search in a greatly reduced space. This process is based on the observation that simple physically based rules can eliminate large sections of the design space to greatly simplify the search. The design process is applied to a duct inspection task. Five candidate robots were developed. Two of these robots are evaluated using detailed physical simulation. It is shown that the more obvious solution is not able to complete the task, while the non-obvious asymmetric design develop by the process is successful.

The Use of Factor Analysis in the Development of Hand Sizes for Glove Design

Factor analysis was used to develop a more detailed description of the human hand to be used in the creation of glove sizes; currently gloves sizes are small, medium, and large. The created glove sizes provide glove designers with the ability to create a glove design that can provide fit to the majority of hand variations in both the male and female populations. The research used the American National Survey (ANSUR) data that was collected in 1988. This data contains eighty-six length, width, height, and circumference measurements of the human hand for one thousand male subjects and thirteen hundred female subjects. Eliminating redundant measurements reduced the data to forty-six essential measurements. Factor analysis grouped the variables to form three factors. The factors were used to generate hand sizes by using percentiles along each factor axis. Two different sizing systems were created. The first system contains 125 sizes for male and female. The second system contains 7 sizes for males and 14 sizes for females. The sizing systems were compared to another hand sizing system that was created using the ANSUR database indicating that the systems created using factor analysis provide better fit.

Sofya: Supporting Rapid Development of Dynamic Program Analyses for Java

Dynamic analysis is an increasingly important means of supporting software validation and maintenance. To date, developers of dynamic analyses have used low-level instrumentation and debug interfaces to realize their analyses. Many dynamic analyses, however, share multiple common high-level requirements, e.g., capture of program data state as well as events, and efficient and accurate event capture in the presence of threading. We present SOFYA – an infra-structure designed to provide high-level, efficient, concurrency-aware support for building analyses that reason about rich observations of program data and events. It provides a layered, modular architecture, which has been successfully used to rapidly develop and evaluate a variety of demanding dynamic program analyses. In this paper, we describe the SOFYA framework, the challenges it addresses, and survey several such analyses.

On the Ecology and Distribution of Echinococcus spp. (Cestoda: Taeniidae), and Characteristics of Their Development in the Intermediate Host. II. Comparative Studies on the Development of Larval E. multilocularis Leuckart, 1863, in the Intermediate Host

This paper reports the results of a comparative study of the development of the larval Echinococcus multilocularis Leuckart, 1863), and associated tissue reaction in naturally and experimentally infected mammals representing 31 species. The histogenesis of the larval cestode was traced in detail in arvicoline rodents of several species, and interspecific differences were defined. In arvicoline rodents, the developing larva exhibited host-specific characteristics within about a month after infection was established. The tissue reaction in Microtus oeconomus was characterized by the production of a large quantity of detritus around the larva, and by the formation of a thick epithelioid zone. In one subspecies, M. oeconomus innuitus, development of the larva was retarded, and the detrital mass was often calcified; in another, M. oeconomus operarius, the detritus rarely became calcified and the larva proliferated more rapidly. In M. pennsylvanicus, the tissue reaction was minimal, and little detritus was present. The characteristics of the tissue reaction in M. montebelli placed it in an intermediate position between the aforementioned species. In Clethrionomys rutilus, a thin epithelioid zone and an outer zone of loose collagenous fibers composed the adventitial layer; exogenous budding was retarded in this vole. A minimal tissue reaction occurred in Lagurus curtatus. In Lemmus spp., larger cysts were characteristic, but areas of small-cystic proliferation were always present. Similar differences in species or subspecies of Citellus and Dicrostonyx were described. Lesions of alveolar bydatid disease in man also were studied. The invasive growth of the larval cestode in the human liver involves a process comparable to small-cystic proliferation in the natural intermediate hosts. Although the later stages of development of the larval cestode are inhibited in man, exogenous proliferation of vesicles continues for the life of the host. The lesion in man was compared with a morphologically similar formation produced by anomalous development of the larval E. granulosus in the bovine liver. The latter is distinguished by the absence of areas of small-cystic proliferation. Non-echinococcal lesions found in the tissues studied, some of which resembled foci caused by the larval E. multilocularis, were briefly discussed.