Abstract: Techniques for validating or determining trajectories for a vehicle are discussed herein. A trajectory management component can receive status and/or error data from other safety system components and select or otherwise determine safe and valid vehicle trajectories. A perception component of a safety system can validate a trajectory upon which the trajectory management component can wait for selecting a vehicle trajectory, validate trajectories stored in a queue, and/or utilize kinematics for validation of trajectories. A filter component of the safety system can filter out objects based on trajectories stored in a queue. A collision detection component of the safety system can determine the collision states based on trajectories stored in a queue or determine a collision state upon which the trajectory management component can wait for selecting or otherwise determining a vehicle trajectory.

Abstract: Systems and techniques for determining a trajectory for use in controlling a vehicle are described. A trajectory determination system may generate a variety of trajectories for potential use in controlling a vehicle, including a maximum braking trajectory that enables the maximum application of the vehicle's brakes. A vehicle computing system may determine a distance between vehicle and an obstacle and stopping distances for the various trajectories and implement the maximum braking trajectory after determining that the distance to stop for that trajectory is the same as, but not substantially greater than, the distance between the vehicle and the obstacle.

Abstract: Systems and methods of providing a haptic barrier for an instrument include a computer-assisted device. The computer-assisted device includes a grip input control, a repositionable arm configured to support an instrument, and one or more processors. The one or more processors are configured to detect a position of the grip input control in a first direction of a degree of freedom having In a first region, a second region, and a third region between the first and second regions; in response to determining that the detected position is in the first region, operate the instrument according to a first mode; in response to determining that the detected position is in the third region, provide a haptic barrier to resist movement of the grip input control through the third region; and in response to determining that the detected position is in the second region, operate the instrument according to a second mode.

Abstract: In accordance with described techniques for DRAM row management for processing in memory, a plurality of instructions are obtained for execution by a processing in memory component embedded in a dynamic random access memory. An instruction is identified that last accesses a row of the dynamic random access memory, and a subsequent instruction is identified that first accesses an additional row of the dynamic random access memory. A first command is issued to close the row and a second command is issued to open the additional row after the row is last accessed by the instruction.

Abstract: A parallel processing (PP) level coherence directory, also referred to as a Processing In-Memory Probe Filter (PimPF), is added to a coherence directory controller. When the coherence directory controller receives a broadcast PIM command from a host, or a PIM command that is directed to multiple memory banks in parallel, the PimPF accelerates processing of the PIM command by maintaining a directory for cache coherence that is separate from existing system level directories in the coherence directory controller. The PimPF maintains a directory according to address signatures that define the memory addresses affected by a broadcast PIM command. Two implementations are described: a lightweight implementation that accelerates PIM loads into registers, and a heavyweight implementation that accelerates both PIM loads into registers and PIM stores into memory.

Abstract: A parallel processing (PP) level coherence directory, also referred to as a Processing In-Memory Probe Filter (PimPF), is added to a coherence directory controller. When the coherence directory controller receives a broadcast PIM command from a host, or a PIM command that is directed to multiple memory banks in parallel, the PimPF accelerates processing of the PIM command by maintaining a directory for cache coherence that is separate from existing system level directories in the coherence directory controller. The PimPF maintains a directory according to address signatures that define the memory addresses affected by a broadcast PIM command. Two implementations are described: a lightweight implementation that accelerates PIM loads into registers, and a heavyweight implementation that accelerates both PIM loads into registers and PIM stores into memory.

Abstract: A method for capturing an object in a cavity in a patient is described. The method includes advancing a ureteroscope into the cavity containing the object. A basket is advanced through a working channel of the ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Then, two actions are performed simultaneously. The basket is collapsed while simultaneously the basket tool is advanced forward so that the object remains within the basket, ideally near the center of the basket, as the basket closes around the object. Once the object is captured, the basket is retracted to remove the object out of the cavity. Further, this process may be automated by having the method carried out by robotic arms acting in tandem, with one or more robotic arms advancing the basket tool or ureteroscope, and another robotic arm collapsing the basket.

Abstract: A branch predictor of a processor includes one or more prediction structures, including a predicted branch address and predicted branch direction, that identify predicted branches. To reduce power consumption, the branch predictor selects one or more of the prediction structures that are not expected to provide useful branch prediction information and filters the selected structures such that the filtered structures are not used for branch prediction. The branch predictor thereby reduces the amount of power used for branch prediction without substantially reducing the accuracy of the predicted branches.

Abstract: An electronic device includes a processor, a branch predictor in the processor, and a predictor controller in the processor. The branch predictor includes multiple prediction functional blocks, each prediction functional block configured for generating predictions for control transfer instructions (CTIs) in program code based on respective prediction information, the branch predictor configured to select, from among predictions generated by the prediction functional blocks for each CTI, a selected prediction to be used for that CTI. The predictor controller keeps a record of prediction functional blocks from which the branch predictor previously selected predictions for CTIs. The predictor controller uses information from the record for controlling which prediction functional blocks are used by the branch predictor for generating predictions for CTIs.

Abstract: A method for capturing an object in a cavity in a patient is described. The method includes advancing a ureteroscope into the cavity containing the object. A basket is advanced through a working channel of the ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Then, two actions are performed simultaneously. The basket is collapsed while simultaneously the basket tool is advanced forward so that the object remains within the basket, ideally near the center of the basket, as the basket closes around the object. Once the object is captured, the basket is retracted to remove the object out of the cavity. Further, this process may be automated by having the method carried out by robotic arms acting in tandem, with one or more robotic arms advancing the basket tool or ureteroscope, and another robotic arm collapsing the basket.

Abstract: Systems, apparatuses, and methods for reusing remote registers in processing in memory (PIM) are disclosed. A system includes at least a host processor, a memory controller, and a PIM device. When the memory controller receives, from the host processor, an operation targeting the PIM device, the memory controller determines whether an optimization can be applied to the operation. The memory controller converts the operation into N PIM commands if the optimization is not applicable. Otherwise, the memory controller converts the operation into a N?1 PIM commands if the optimization is applicable. For example, if the operation involves reusing a constant value, a copy command can be omitted, resulting in memory bandwidth reduction and power consumption savings. In one scenario, the memory controller includes a constant-value cache, and the memory controller performs a lookup of the constant-value cache to determine if the optimization is applicable for a given operation.

Abstract: A surgical robotic system includes an endoscope, a robotic arm including a drive mechanism, the drive mechanism coupled to the endoscope. The surgical robotic system further includes a controller configured to receive a command to move the endoscope using the robotic arm, access a set of calibration parameters associated with the endoscope, generate an adjusted command based on the command and the set of calibration parameters, and provide the adjusted command to the robotic arm to move the endoscope.

Abstract: An electronic device includes a processor, a branch predictor in the processor, and a predictor controller in the processor. The branch predictor includes multiple prediction functional blocks, each prediction functional block configured for generating predictions for control transfer instructions (CTIs) in program code based on respective prediction information, the branch predictor configured to select, from among predictions generated by the prediction functional blocks for each CTI, a selected prediction to be used for that CTI. The predictor controller keeps a record of prediction functional blocks from which the branch predictor previously selected predictions for CTIs. The predictor controller uses information from the record for controlling which prediction functional blocks are used by the branch predictor for generating predictions for CTIs.

Abstract: A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By accounting for nonlinear behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. The surgical robotic system models the nonlinearities using sets of calibration parameters determined based on images captured by an image sensor of the endoscope. Calibration parameters can describe translational or rotational movements of the endoscope in one or more axis, e.g., pitch and yaw, as well as a slope, hysteresis, or dead zone value corresponding to the endoscope's motion. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath or the leader, which causes the endoscope to articulate.

Abstract: An electronic device handles accesses of a branch prediction functional block when executing instructions in program code. The electronic device includes a processor having the branch prediction functional block that provides branch prediction information for control transfer instructions (CTIs) in the program code and a minimum predictor use (MPU) functional block. The MPU functional block determines, based on a record associated with a given fetch group of instructions, that a specified number of subsequent fetch groups of instructions that were previously determined to include no CTIs or conditional CTIs that were not taken are to be fetched for execution in sequence following the given fetch group. The MPU functional block then, when each of the specified number of the subsequent fetch groups is fetched and prepared for execution, prevents corresponding accesses of the branch prediction functional block for acquiring branch prediction information for instructions in that subsequent fetch group.

Abstract: An electronic device handles accesses of a branch prediction functional block when executing instructions in program code. The electronic device includes a processor having the branch prediction functional block that provides branch prediction information for control transfer instructions (CTIs) in the program code and a minimum predictor use (MPU) functional block. The MPU functional block determines, based on a record associated with a given fetch group of instructions, that a specified number of subsequent fetch groups of instructions that were previously determined to include no CTIs or conditional CTIs that were not taken are to be fetched for execution in sequence following the given fetch group. The MPU functional block then, when each of the specified number of the subsequent fetch groups is fetched and prepared for execution, prevents corresponding accesses of the branch prediction functional block for acquiring branch prediction information for instructions in that subsequent fetch group.

Abstract: A branch predictor of a processor includes one or more prediction structures that identify predicted branches, including a predicted branch addresses and predicted branch direction. To reduce power consumption, the branch predictor selects one or more of the prediction structures that are not expected to provide useful branch prediction information and filters the selected structures such that the filtered structures are not used for branch prediction. The branch predictor thereby reduces the amount of power used for branch prediction without substantially reducing the accuracy of the predicted branches.

Abstract: Lyrics associated with songs are processed to generate a probabilistic topic model that includes probabilities for terms of the lyrics with respect to one or more predetermined topics. At a later time, a user may desire to hear songs that are associated with a particular term, and may submit the term using a user interface. When the term is received, the probabilities of the probabilistic model are used to identify a topic of the predetermined topics that is most likely associated with the received term. The probabilistic model is used to identify songs that are associated with the identified topic, and some or all of the identified songs are presented as being related to the received term in the user interface.

Abstract: A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By accounting for nonlinear behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. The surgical robotic system models the nonlinearities using sets of calibration parameters determined based on images captured by an image sensor of the endoscope. Calibration parameters can describe translational or rotational movements of the endoscope in one or more axis, e.g., pitch and yaw, as well as a slope, hysteresis, or dead zone value corresponding to the endoscope's motion. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath or the leader, which causes the endoscope to articulate.

Abstract: This disclosure relates to data converters for electronic systems. An example system includes a primary analog to digital converter (ADC) circuit, a slope calculation circuit, a digital phase lock loop (DPLL) circuit, a sampling error circuit, and a summing circuit. The primary ADC circuit samples an input signal and produces a digital output signal representative of the input signal. The slope calculation circuit generates a digital slope signal representative of slope of the input signal, and the DPLL circuit provides a sampling clock signal to the primary ADC circuit. The sampling error circuit generates a sampling error signal representative of sampling error by the primary ADC circuit using the digital slope signal and the sampling clock signal. The summing circuit receives the sampling error signal and the digital output signal of the primary ADC circuit and generates an adjusted digital output signal representative of the input signal.