Mayur Palankar

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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)
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 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)
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)
The volume of data produced and shared by data-intensive scientific collaborations is rapidly growing. For example, modern high-energy physics experiments, such as DZero, typically acquire more than one TB of data per day and may move up to ten times as much [1]. As a result, significant resources, both human and equipment, are allocated to support the(More)
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