We introduce a protocol for schema evolution in a globally distributed database management system with shared data, stateless servers, and no global membership. Our protocol is asynchronous--it allows different servers in the database system to transition to a new schema at different times--and online--all servers can access and update all data during a schema change. We provide a formal model for determining the correctness of schema changes under these conditions, and we demonstrate that many common schema changes can cause anomalies and database corruption. We avoid these problems by replacing corruption-causing schema changes with a sequence of schema changes that is guaranteed to avoid corrupting the database so long as all servers are no more than one schema version behind at any time. Finally, we discuss a practical implementation of our protocol in F1, the database management system that stores data for Google AdWords.

F1 is a distributed relational database system built at Google to support the AdWords business. F1 is a hybrid database that combines high availability, the scalability of NoSQL systems like Bigtable, and the consistency and usability of traditional SQL databases. F1 is built on Spanner, which provides synchronous cross-datacenter replication and strong consistency. Synchronous replication implies higher commit latency, but we mitigate that latency by using a hierarchical schema model with structured data types and through smart application design. F1 also includes a fully functional distributed SQL query engine and automatic change tracking and publishing.

Many of the services that are critical to Google's ad business have historically been backed by MySQL. We have recently migrated several of these services to F1, a new RDBMS developed at Google. F1 implements rich relational database features, including a strictly enforced schema, a powerful parallel SQL query engine, general transactions, change tracking and notification, and indexing, and is built on top of a highly distributed storage system that scales on standard hardware in Google data centers. The store is dynamically sharded, supports transactionally-consistent replication across data centers, and is able to handle data center outages without data loss.

This paper discusses the challenge of achieving high bandwidth, distant range wireless communication from mobile robots by way of antenna tracking. In the case of robots traversing rough terrain at moderate speeds, tracking demands high slew rates and large motion ranges due to vehicle motion disturbances. Attaining tracking accuracy, particular with the low mass and power inherent to mobile robots, requires an innovative approach. This paper presents the requirements analysis, mechanism design, sensor configuration and some experimental results for an antenna pointing mechanism that was developed for Nomad, a planetary-relevant mobile robot. The mechanism was demonstrated during the summer of 1997 in Nomad's 200 km traverse in the Atacama Desert of Chile.

In June and July 1997, Nomad, a planetary-relevant mobile robot, traversed more than 220 kilometers across the barren Atacama Desert in Chile, exploring a landscape analogous to the surfaces of the Moon and Mars. In this unprecedented demonstration, Nomad operated both autonomously and under the control of operators thousands of kilometers away, addressing issues of robot configuration, communication, position estimation, and navigation in rugged, natural terrain. The field experiment also served to test technologies for remote geological investigation, paving the way for new exploration strategies on Earth and beyond. Finally, by combining safeguarded teleoperation with panoramic visualization and a novel user interface, the Atacama Desert Trek provided the general public a compelling interactive experience an opportunity to remotely drive an exploratory robot. Nomad's performance in the Atacama Desert Trek set new benchmark in high performance robotics operations relevant to terrestrial and planetary exploration. This paper presents an overview of the experiment, describes technologies key to Nomad's success, and discusses outcomes and implications.

During the Summer of 1997, Nomad, a planetary-relevant mobile robot, was driven via satellite link for more than 125 miles in the Atacama Desert of Chile by novice operators in North America, demonstrating many technologies relevant to robotic exploration of the planets. An innovative "transforming" chassis was demonstrated which uses a simple linkage to change the footprint of the vehicle from a stowed to a deployed position. This linkage also enables both double Ackennan and point-turn steering. This paper presents details on the design of the transforming chassis including kinematic analysis used in low and high level control.

We present a stereoscopic mapping system for use in post-nuclear accident operations by the Pioneer robot. First we discuss a radiation shielded sensor array designed to tolerate extended cumulative dose using 4/spl times/ shielding. Next, we outline procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information into a 3-D, textured, metrically accurate surface mesh.