Mayur Palankar

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Amazon.com has introduced the Simple Storage Service (S3), a commodity-priced storage utility. S3 aims to provide storage as a low-cost, highly available service, with a simple 'pay-as-you-go' charging model. This article makes three contributions. First, we evaluate S3's ability to provide storage support to large-scale science projects from a cost,(More)
Software systems that are successfully deployed and used seem to always have a longer lifetime than was originally expected. It is also common knowledge that the cost of maintaining and evolving those systems during that lifetime dwarf the initial cost of creating the system. This makes support for self-management in the legacy software arena all that much(More)
Future improvements in hardware and O/S support for monitoring programs will depend on providing feedback for current support (even if it is quite limited). We look at using hardware breakpoint registers and performance counters in order to trace data accesses in a program. We first present a small experiment to understand how these features can be used to(More)
— A Force Threshold-based Position (FTP) controller is presented for cyclic legged locomotion over irregular terrain. Force feedback in the form of threshold comparison is used to control each leg independently. The FTP controller decouples the control of individual legs and uses only localized feedback to generate joint torques. No feedback of body state(More)
Data breakpoints, sometimes called watchpoints, have long been desirable for debugging and other dynamic analyses, but are often prohibitively slow to use. Current processors have a small number of breakpoint registers that can be used to trap data read and write operations at CPU speeds—for example, the Intel 386+ CPUs have four breakpoint registers that(More)
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF(More)
—In this paper we present the design and implementation of our Small Sized League RoboCup Team – Eagle Knights. We explain the three main components of our architecture: Vision System, AI System and Robots. Each element is an independent entity. The explanation focuses on the improvements made to our fourth generation of robots and how these changes(More)
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