In this paper, we propose a newly developed suspension system called “Pentad Grade Assist Suspension (PEGASUS)”. PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The prototype of micro planetary rover Micro...

We present the design and results of our implementation of Andersen’s pointer analysis on the Pegasus intermediate representation. We use a constraint based formulation of this analysis and use the Banshee constraint solving framework to solve the generated constraints. The results of the pointer analysis are then used for analyzing the token dependencies between the various memory related oper...

This paper describes a technique for importing automatically an external relational schema into Pegasus, a heterogeneous, multidatabase system. The Pegasus data model is a functional object model which supports specialization, object-identity, and nested aggregation. The import algorithm generates the definition of a Pegasus schema which captures the semantics of a relational schema containing ...

This paper describes the Pegasus framework that can be used to map complex scientific workflows onto distributed resources. Pegasus enables users to represent the workflows at an abstract level without needing to worry about the particulars of the target execution systems. The paper describes general issues in mapping applications and the functionality of Pegasus. We present the results of impr...

In this paper we describe the Pegasus system that can map complex workflows onto the Grid. Pegasus takes an abstract description of a workflow and finds the appropriate data and Grid resources to execute the workflow. Pegasus is being released as part of the GriPhyN Virtual Data Toolkit and has been used in a variety of applications ranging from astronomy, biology, gravitational-wave science, a...

Modern science often requires the execution of large-scale, multi-stage simulation and data analysis pipelines to enable the study of complex systems. The amount of computation and data involved in these pipelines requires scalable workflow management systems that are able to reliably and efficiently coordinate and automate data movement and task execution on distributed computational resources...

BACKGROUND Increasingly, women elect breast reconstruction after mastectomy. However, their expectations of surgery are often not met, and dissatisfaction with outcome and ongoing psychosocial concerns and distress are common. We developed a patient-centered intervention, PEGASUS:(Patients' Expectations and Goals: Assisting Shared Understanding of Surgery) which supports shared decision making ...

We present Pegasus, a compact and expressive intermediate representation for imperative languages. The representation is suitable for target architectures supporting predicated execution and aggressive speculation. In Pegasus information about the global dataflow of the program is encoded in local structures, enabling compact and efficient algorithms for program optimizations. As a proof of the...

The PEGASUS photo injector at UCLA can produce a photo-electron beam with a normalized emittance of 2 mm·mrad at an energy of 12-15 MeV, capable of driving a Free-Electron Laser in the mid IR regime. The FEL program, associated with the PEGASUS injector and presented here, is based on a Self-Amplifying Spontaneous Emission (SASE) FEL. The studies focus on increasing the efficiency of an FEL by ...