Abstract: Example implementations relate to disaggregated storage systems. An example method may include initializing a plurality of level 1 (L1) clusters in a disaggregated storage system, where each L1 cluster includes multiple compute nodes. The method may also include electing an L1 leader node in each L1 cluster, and forming a level 2 (L2) cluster including the L1 leader nodes. The method may include electing an L2 leader node by the L1 leader nodes included in the L2 cluster.

Abstract: Example implementations relate to disaggregated storage systems. An example method may include initializing a plurality of level 1 (L1) clusters in a disaggregated storage system, where each L1 cluster includes multiple compute nodes. The method may also include electing an L1 leader node in each L1 cluster, and forming a level 2 (L2) cluster including the L1 leader nodes. The method may include electing an L2 leader node by the L1 leader nodes included in the L2 cluster.

Abstract: A predictive needle insertion device including a needle having a proximal needle end and a distal needle end is disclosed. A probe is movably coupled to the needle such that the probe is capable of extending beyond the distal needle end. An actuator is operable to actuate the probe to apply a mechanical force to a tissue composition. A force sensor and position sensor are configured to determine a resistive force of the tissue composition and an insertion distance of the probe, respectively. A processor is communicatively coupled to the force sensor and the position sensor, and is configured to receive sensor data indicative of a mechanical response to the mechanical force and the insertion distance of the probe, and to implement a predictive model that, based on the sensor data, predicts a forward distance to a remote position of a remote tissue portion of the tissue composition.