Search

In this paper, a bilateral haptic virtual surgery simulation system under a hybrid controller was studied. An analogue controller realized by a field programmable analogue array (FPAA) was paralleled in the operator robot side, which reduced the impact of controller discretisation on the system. A system stability conditions under hybrid control with multiple-operators were deduced. The stability analysis indicates that the addition of analogue derivative term widens the range of haptic controls gains that satisfy the multiple-users' stability conditions. Finally, the human's performance of a stiffness discrimination task was studied in an independently developed minimally invasive surgical (MIS) platform. The experiment results show that, human operators under the hybrid controller achieve the highest task success rates. [ABSTRACT FROM AUTHOR]

High performance LINPACK (HPL) benchmark is used to evaluate the maximum floating-point performance of a computer cluster. Since the performance of the graphics processing unit (GPU) has been improved rapidly, many researchers start to optimize HPL benchmark through GPU to maximize system utilization. Nevertheless, it is difficult to determine the optimal combination of parameters in this process due to the complexity of the input. Therefore, running HPL on a heterogeneous system is time-consuming and is not flexible under different hardware components. So we propose a simulation model of HPL in this paper. The model is no longer limited by hardware components and able to simulate the execute process of HPL across different computing node in heterogeneous GPU-enhanced clusters at any scale. It can also assist researchers in evaluating the floating-point performance quickly and provide a reference for the hardware investment. [ABSTRACT FROM AUTHOR]