ALLIANCE is a software architecture that fa- cilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled subtasks that may have ordering dependencies. ALLIANCE allows teams of robots, each of which possesses a variety

assumptions do not always hold. An especially compelling setting where this occurs is a virtualized data center, such as Amazon’s Elastic Compute Cloud (EC2). We show that Hadoop’s scheduler can cause severe performance degradation in heterogeneous environments. We design a new scheduling algorithm, Longest

this paper is the interactions occurring within specific complexes. These were obtained from the MIPS complexes catalog (Fellenberg et al. 2000), which represents a carefully annotated, comprehensive data set of protein complexes culled from the scientific literature. In addition, we looked

cause of this change. Enhanced ozone depletion in the Antarctic and Arctic regions is linked to heterogeneous chlorine chemistry that occurs on the surfaces of polar stratospheric clouds at cold temperatures. Observations also show that some of the same heterogeneous chemistry occurs on the surfaces

statistically-multiplexable sources are considered, or only nonstatistically-multiplexable sources are considered. If these two types of sources are intermixed, then nonlinear interactions occur and fewer sources can be admitted than a linear theory would predict. A qualitative characterization

coding). Examined models range in complexity from those recognizing only a morphological and a molecular partition to those having complex substitution models with independent parameters for each gene. Bayesian MCMC analysis deals efficiently with complex models: convergence occurs faster and more

that there should be no trade at all. Empirical research by Odean (1999) also shows that the trades of many investors not only fail to cover transaction costs, but tend to lose money before transaction costs. To address the puzzle of why so much trading occurs, it would be useful to understand what motivates trades

result, high levels of cooperation are sustained. Our results do not require that group members be related or that group extinctions occur. r

not utilized this theoretical foundation and most of them have relied on ad-hoc approaches. We present results that seek to bridge this gap. First, we consider the problem of deciding information capacity equivalence and dominance of schemas that occur in practice, i.e., those that can express inheritance

Portable, embedded systems place ever-increasing demands on high-performance, low-power microprocessor design. Dynamic voltage and frequency scaling (DVFS) is a well-known technique to reduce energy in digital systems, but the effectiveness of DVFS is hampered by slow voltage transitions that occur