involve hundreds of processes that must be able to acquire resources dynamically and communicate e#ciently. This paper analyzes the unique security requirements of large-scale distributed (grid) computing and develops a security policy and a corresponding security architecture. An implementation

"Grid" computing has emerged as an important new field, distinguished from conventional distributed computing by its focus on large-scale resource sharing, innovative applications, and, in some cases, high-performance orientation. In this article, we define this new field. First, we

Grid technologies enable large-scale sharing of resources within formal or informal consortia of individuals and/or institutions: what are sometimes called virtual organizations. In these settings, the discovery, characterization, and monitoring of resources, services, and computations

In an increasing number of scientific disciplines, large data collections are emerging as important community resources. In this paper, we introduce design principles for a data management architecture called the Data Grid. We describe two basic services that we believe are fundamental

. The purpose of this paper is to propose the framework as an evaluation technique for visual programming environments. We apply it to two commercially-available dataflow languages (with further examples from other systems) and conclude that it is effective and insightful; other HCI-based evaluation

A robot exploring an unknown environmentmay need to build a world model from sensor measurements. In order to integrate all the frames of sensor data, it is essential to align the data properly. An incremental approach has been typically used in the past, in which each local frame of data

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In tree-based multicast systems, a relatively small number of interior nodes carry the load of forwarding multicast messages. This works well when the interior nodes are highly available, d d cated infrastructure routers but it poses a problem for application-level multicast in peer-to-peer systems. SplitStreamadV esses this problem by striping the content across a forest of interior-nodno# sjoint multicast trees that d stributes the forward ng load among all participating peers. For example, it is possible to construct efficient SplitStream forests in which each peer contributes only as much forwarding bandH d th as it receives. Furthermore, with appropriate content encod ngs, SplitStream is highly robust to failures because a nod e fai ure causes the oss of a single stripe on average. We present thed#' gnand implementation of SplitStream and show experimental results obtained on an Internet testbed and via large-scale network simulation. The results show that SplitStreamd istributes the forward ing load among all peers and can accommod'9 peers with different band0 d capacities while imposing low overhead for forest constructionand maintenance.

Abstract- Coda is a file system for a large-scale distributed computing environment composed of Unix workstations. It provides resiliency to server and network failures through the use of two distinct but complementary mechanisms. One mechanism, server replication,stores copies of a file

o widen the range of application and deployment of robots, both in research and in industrial contexts, we need to develop more powerful and flexible robotic systems exhibiting higher degrees of autonomy and able to sense, plan, and operate in unstructured environments. For that, the robot must