Carnegie Mellon University

About: Carnegie Mellon University is a education organization based out in Pittsburgh, Pennsylvania, United States. It is known for research contribution in the topics: Population & Robot. The organization has 36317 authors who have published 104359 publications receiving 5975734 citations. The organization is also known as: CMU & Carnegie Mellon.

Cortical control of a prosthetic arm for self-feeding

Abstract: Brain-machine interfaces have mostly been used previously to move cursors on computer displays. Now experiments on macaque monkeys show that brain activity signals can control a multi-jointed prosthetic device in real-time. The monkeys used motor cortical activity to control a human-like prosthetic arm in a self-feeding task, with a greater sophistication of control than previously possible. This work could be important for the development of more practical neuro-prosthetic devices in the future. A system where monkeys use their motor cortical activity to control a robotic arm in a real-time self-feeding task, showing a significantly greater sophisitication of control than in previous studies, is demonstrated. This work could be important for the development of more practical neuro-prosthetic devices in the future. Arm movement is well represented in populations of neurons recorded from the motor cortex1,2,3,4,5,6,7. Cortical activity patterns have been used in the new field of brain–machine interfaces8,9,10,11 to show how cursors on computer displays can be moved in two- and three-dimensional space12,13,14,15,16,17,18,19,20,21,22. Although the ability to move a cursor can be useful in its own right, this technology could be applied to restore arm and hand function for amputees and paralysed persons. However, the use of cortical signals to control a multi-jointed prosthetic device for direct real-time interaction with the physical environment (‘embodiment’) has not been demonstrated. Here we describe a system that permits embodied prosthetic control; we show how monkeys (Macaca mulatta) use their motor cortical activity to control a mechanized arm replica in a self-feeding task. In addition to the three dimensions of movement, the subjects’ cortical signals also proportionally controlled a gripper on the end of the arm. Owing to the physical interaction between the monkey, the robotic arm and objects in the workspace, this new task presented a higher level of difficulty than previous virtual (cursor-control) experiments. Apart from an example of simple one-dimensional control23, previous experiments have lacked physical interaction even in cases where a robotic arm16,19,24 or hand20 was included in the control loop, because the subjects did not use it to interact with physical objects—an interaction that cannot be fully simulated. This demonstration of multi-degree-of-freedom embodied prosthetic control paves the way towards the development of dexterous prosthetic devices that could ultimately achieve arm and hand function at a near-natural level.

The Shifting Bottleneck Procedure for Job Shop Scheduling

Abstract: We describe an approximation method for solving the minimum makespan problem of job shop scheduling. It sequences the machines one by one, successively, taking each time the machine identified as a bottleneck among the machines not yet sequenced. Every time after a new machine is sequenced, all previously established sequences are locally reoptimized. Both the bottleneck identification and the local reoptimization procedures are based on repeatedly solving certain one-machine scheduling problems. Besides this straight version of the Shifting Bottleneck Procedure, we have also implemented a version that applies the procedure to the nodes of a partial search tree. Computational testing shows that our approach yields consistently better results than other procedures discussed in the literature. A high point of our computational testing occurred when the enumerative version of the Shifting Bottleneck Procedure found in a little over five minutes an optimal schedule to a notorious ten machines/ten jobs problem on which many algorithms have been run for hours without finding an optimal solution.

The Eighth Data Release of the Sloan Digital Sky Survey: First Data from SDSS-III

Abstract: The Sloan Digital Sky Survey (SDSS) started a new phase in 2008 August, with new instrumentation and new surveys focused on Galactic structure and chemical evolution, measurements of the baryon oscillation feature in the clustering of galaxies and the quasar Lyα forest, and a radial velocity search for planets around ~8000 stars. This paper describes the first data release of SDSS-III (and the eighth counting from the beginning of the SDSS). The release includes five-band imaging of roughly 5200 deg2 in the southern Galactic cap, bringing the total footprint of the SDSS imaging to 14,555 deg2, or over a third of the Celestial Sphere. All the imaging data have been reprocessed with an improved sky-subtraction algorithm and a final, self-consistent photometric recalibration and flat-field determination. This release also includes all data from the second phase of the Sloan Extension for Galactic Understanding and Exploration (SEGUE-2), consisting of spectroscopy of approximately 118,000 stars at both high and low Galactic latitudes. All the more than half a million stellar spectra obtained with the SDSS spectrograph have been reprocessed through an improved stellar parameter pipeline, which has better determination of metallicity for high-metallicity stars.

Architecting phase change memory as a scalable dram alternative

Abstract: Memory scaling is in jeopardy as charge storage and sensing mechanisms become less reliable for prevalent memory technologies, such as DRAM. In contrast, phase change memory (PCM) storage relies on scalable current and thermal mechanisms. To exploit PCM's scalability as a DRAM alternative, PCM must be architected to address relatively long latencies, high energy writes, and finite endurance.We propose, crafted from a fundamental understanding of PCM technology parameters, area-neutral architectural enhancements that address these limitations and make PCM competitive with DRAM. A baseline PCM system is 1.6x slower and requires 2.2x more energy than a DRAM system. Buffer reorganizations reduce this delay and energy gap to 1.2x and 1.0x, using narrow rows to mitigate write energy and multiple rows to improve locality and write coalescing. Partial writes enhance memory endurance, providing 5.6 years of lifetime. Process scaling will further reduce PCM energy costs and improve endurance.