9/11, Weaponized/Militarized Music, Voronoi, Post Office Problem, Laurie Anderson, "O Superman", Eventide Communications, Broadcasting, Acoustics, Homeland Security, Interval Research, Synchronicity

RE: 9/11/2001 and Music Concerts

Yesterday, my friend, Matt of Quantum of Conscience, sent the following my way:

It seems 2 concerts “still took place on that day” … Sting’s was in Italy and began with the line… “If blood will flow…and flesh and steel are one…”

This strange person’s concert still went on… IN NEW YORK that evening. 9/11…

Laurie Anderson - O Superman [Official Music Video]

I should mention that earlier in the day, I was reviewing the following paper:

Synchronously, this is significant in relation to what I initially read about Laurie Anderson and her O Superman song linked above:

As part of the larger work United States , the text addresses issues of technology and communication, quoting at various points answering machine messages and the slogan “Neither snow nor rain nor gloom of night shall stay these couriers from the swift completion of their appointed rounds”. This line is inscribed over the entrance of the James Farley Post Office in New York, and is derived from a line in HerodotusHistories (8.98) referring to the ancient courier service of the [Persian Empire] (Achaemenid Empire - Wikipedia).

So began my intriguing trip into interrogating musician Laurie Anderson and her interesting connections to music companies with direct links to the military . . .

Additional information with respect to Laurie Anderson and her song, O Superman – in relation to 9/11/2001:

Although Anderson had dropped the song from her performance repertoire almost two decades earlier, she revived the piece in 2001 during a concert tour that included a retrospective look at some of her older pieces, an idea conceived by her companion, Lou Reed. A live performance of “O Superman” was recorded in New York City the week following the 9/11 attacks . In this context, certain lyrics appeared to many to take on a more topical significance: “This is the hand, the hand that takes / Here come the planes / They’re American planes. Made in America / Smoking or non-smoking?”[22] The 2001 live performance appears on Anderson’s 2002 album Live in New York.[23]

Overlaid on a sparse background of two alternating chords formed by the repeated spoken syllable “Ha” created by looping with an Eventide Harmonizer , the text of “O Superman” is spoken through a vocoder. A saxophone is heard as the song fades out, and a sample of tweeting birds is subtly overlaid at various points within the track. The two chords of the song are A♭ major and C minor, the repeating “Ha” syllable (a C note) acting as a drone.

O souverain, O juge, O père!


The song “O Superman” is based on the aria “O souverain, O juge, O père!”, from Jules Massenet’s opera Le Cid, here sung by Enrico Caruso in 1916.

The song’s introduction consists of a repetition of the “O Superman / O Judge / O Mom and Dad” stanza. The rest of the song’s lyrics are loosely structured around a phone conversation between the narrator and a mysterious voice. At first, the voice leaves a message claiming to be the narrator’s mother but, upon not receiving a response, reveals itself as someone whom the narrator “doesn’t know” but who “knows” the narrator. The narrator finally responds, asking “who is this really?” The voice then identifies itself as “the hand that takes” and informs the narrator that the “American planes” are coming. The song concludes with the stanza “When love is gone, there is always justice/ and when justice is gone, there is always force/ and when force is gone, there is always mom”, with the narrator pleading to be held in her mom’s “long”, “electronic”, and “petrochemical” arms.

As part of the larger work United States , the text addresses issues of technology and communication , quoting at various points answering machine messages and the slogan “Neither snow nor rain nor gloom of night shall stay these couriers from the swift completion of their appointed rounds”. This line is inscribed over the entrance of the James Farley Post Office in New York , and is derived from a line in HerodotusHistories (8.98) referring to the ancient courier service of the Persian Empire. The line is also interpreted in the accompanying music video into American Sign Language by Anderson wearing white gloves, white sunglasses and a white coat.

The lines “'Cause when love is gone, there’s always justice / And when justice is gone, there’s always force / And when force is gone, there’s always Mom” derive from the fourth sentence of Chapter 38 of the Tao Te Ching: “When Tao is lost, there is goodness. When goodness is lost, there is kindness. When kindness is lost, there is justice. When justice is lost, there is ritual. Now ritual is the husk of faith and loyalty, the beginning of confusion.”

All of this is in the context of an attack by American planes and arms. In an interview with the Australian magazine Bulletin in 2003, Anderson said that the song is connected to the Iran–Contra affair,[15] but she meant the Iran hostage crisis which took place in 1979–1980. Anderson appeared as a guest co-host on WFMT Chicago[16] to say the song is directly related to the crash of the military rescue helicopter outside Tehran — a disheartening incident where U.S. military technology essentially let down the government.[17] This equipment or pilot failure, she continued, was her primary impetus for the creation of the song/performance piece. When it became an emerging hit in the UK, she was as surprised as everyone else, and the need to press more singles to meet emerging UK demand was what led to her first multi-album record deal.

https://www.crunchbase.com/organization/eventide](https://www.crunchbase.com/organization/eventide) (based in Little Ferry, NJ)


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Eventide, Inc - Wikipedia

Eventide, Inc. (also known earlier as Eventide Clock Works Inc.) is an American audio, broadcast and communications company whose audio division manufactures digital audio processors, digital signal processor (DSP) software, and guitar effects. Eventide was one of the first companies to manufacture digital audio processors, and its products are mainstays in sound recording and reproduction, post production, and broadcast studios.[1]

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From Laurie Anderson’s Wikipedia link above:

Talking stick[edit]

The talking stick is a six-foot-long baton-like MIDI controller. It was used in the Moby-Dick tour in 1999–2000. She described it in program notes as follows:[9]

The Talking Stick is a new instrument that I designed in collaboration with a team from Interval Research and Bob Bielecki . It is a wireless instrument that can access and replicate any sound. It works on the principle of granular synthesis. This is the technique of breaking sound into tiny segments, called grains, and then playing them back in different ways. The computer rearranges the sound fragments into continuous strings or random clusters that are played back in overlapping sequences to create new textures. The grains are very short, a few hundredths of a second. Granular synthesis can sound smooth or choppy depending on the size of the grain and the rate at which they’re played. The grains are like film frames. If you slow them down enough, you begin to hear them separately.

Interval Research Corporation - Wikipedia

Interval Research Corporation

“a research setting seeking to define the issues, map out the concepts and create the technology that will be important in the future… [pursuing] basic innovations in a number of early-stage technologies and [seeking] to foster industries around them – sparking opportunity for entrepreneurs and highlighting a new approach to research.”

Rolf A. Faste (1943–2003) was an American designer who made major contributions to the fields of human-centered design and design education. He is best known for his contributions to design thinking which he advanced as a ‘whole person’ approach to problem solving centered on the perception of needs.[2][3] He was professor of industrial design at Syracuse University from 1971 to 1983, and professor of mechanical engineering and director of the Stanford Joint Program in Design from 1984 to 2003.

Early life and education[edit]

Faste was born in Seattle, Washington, the eldest child of Andreas Faste, a naval architect noted for his work on the MV Coho ferry, and Edith Morch Faste, an artist.[4] Interested from a young age with the intersection between art and engineering, he earned a bachelor’s degree in mechanical engineering from Stevens Institute of Technology in 1965, a master’s degree in engineering design from Tufts University in 1971 , and a second bachelor’s degree in architecture from Syracuse University in 1977. Faste’s graduate thesis work at Tufts on engineering creativity was advised by William J. J. Gordon, the originator of Synectics, and demonstrated a correlation between an individual’s creative ability when working on science and engineering problems and their capacity to visualize solution concepts.[5]


Faste was a professor of design at Syracuse University from 1971 to 1984, where he taught classes on rapid visualization, prototyping, materials, computer-aided design, aesthetics and the creative process. He was active in the field of accessible design in the early 1970s, and as research associate on the ANSI A117 project he co-authored the national standards for accessibility to buildings.[6] During this time he also served as an UNESCO consultant to the Indian Institute of Technology, Bombay, India.[7]

At Stanford Faste was noted for his contributions to engineering education and design research, developing courses to strengthen students’ visual and creative skills such as Aesthetics of Machinery , Ambidextrous Thinking and Expression of Function . He was interested in exploring the way that the body and mind influence technical creativity, understanding needs and cultural meaning in the creation of products, and incorporating functional, aesthetic and humanistic concerns in design. He was a recipient of the Raymond J. Perrin Award for Teaching and Course Development, and held five patents and one patent pending for his innovations.[8]

What do Rolf Faste and Interval Research Corporation...

Rolf Faste and Interval Research Corporation


American designer who made major contributions to the fields of human-centered design and design education.

  • Rolf Faste

Rolf Faste, Stanford design professor, who led the team that named the corporation “Interval Research”

  • Interval Research Corporation

Wikimania Human Centered Design Visualization

31 related topics


David Liddle

David Liddle is co-founder of Interval Research Corporation, consulting professor of computer science at Stanford University.

Allen at the Flying Heritage Collection in 2013

Paul Allen

American business magnate, computer programmer, researcher, investor, and philanthropist.

Interval Research Corporation: In 1992, Allen and David Liddle co-founded Interval Research Corporation, a Silicon Valley-based laboratory and new business incubator that was dissolved in 2000 after generating over 300 patents, four of which were the subject of Allen’s August 2010 patent infringement lawsuit against AOL, Apple, eBay, Facebook, Google, Netflix, Office Depot, OfficeMax, Staples, Yahoo!, and YouTube.

A Blender 2.45 screenshot displaying the 3D test model Suzanne

Franklin C. Crow

Computer scientist who has made important contributions to computer graphics, including some of the first practical spatial anti-aliasing techniques.

Crow taught at the University of Texas, NYIT and Ohio State University and was involved with research at Xerox PARC, Apple Computer’s Advanced Technology Group, and Interval Research.

Levitin in 2015

Daniel Levitin

American-Canadian cognitive psychologist, neuroscientist, writer, musician, and record producer.

He completed post-doctoral fellowships at Paul Allen’s Silicon Valley think-tank Interval Research, at the Stanford University Medical School, and at the University of California, Berkeley.

Golan Levin

American new media artist, composer, performer and engineer interested in developing artifacts and events which explore supple new modes of reactive expression.

Between degrees, Levin worked as an interface designer at Paul Allen’s Interval Research Corporation, where he was introduced to the field of interactive new media art by Michael Naimark, Brenda Laurel, and Scott Snibbe, among others.

Felsenstein in Berkeley in 2010

Lee Felsenstein

American computer engineer who played a central role in the development of the personal computer.

In 1992, he joined Interval Research Corporation, where he worked until 2000.

Laurel in 2016

Brenda Laurel

American interaction designer, video game designer, and researcher.

During this time Laurel also co-founded Telepresence Research, Inc., and became a research staff member at the Interval Research Corporation where she worked on research investigating the relationship between gender and technology.

Photographs which purportedly depicted ghosts or spirits were popular during the 19th century.

Dean Radin


Following a bachelor and master’s degree in electrical engineering and a PhD in educational psychology Radin worked at Bell Labs, researched at Princeton University, GTE Laboratories, University of Edinburgh, SRI International, Interval Research Corporation, and was a faculty member at University of Nevada, Las Vegas.

Dan Ingalls

Pioneer of object-oriented computer programming and the principal architect, designer and implementer of five generations of Smalltalk environments.

He then worked at Interval Research Corporation, and then returned to Apple.

Michael Naimark, NYC, Feb 2010

Michael Naimark

Artist, inventor, and scholar in the fields of virtual reality and new media art.

Naimark helped found a number of prominent research labs including the MIT Media Laboratory (1980), the Atari Research Lab (1982), the Apple Multimedia Lab (1987), Lucasfilm Interactive (1989), and Interval Research Corporation (1992).

Charles Babbage, sometimes referred to as the "father of computing".

Bruce Donald

American computer scientist and computational biologist.

While on sabbatical at Stanford University (1994-1996), he worked at Paul Allen’s R&D and technology incubator Interval Research Corporation (1995-1997), where he and Tom Ngo co-invented Embedded Constraint Graphics.

Interaction Design Institute Ivrea

Two-year graduate program in the field of Interaction Design operating in the town of Ivrea, in Northern Italy.

Among the academic advisors of Interaction Ivrea were leading practitioners and theorists like John Maeda, Ranjit Makkuni, Joy Mountford, John Thackara, Bill Verplank, Nathan Shedroff, Bill Moggridge (co-founder of IDEO) and David Liddle (co-founder of Interval Research).

Sally Cruikshank at Snazelle Films in the 1970s, where she produced her signature "Quasi" animated shorts

Sally Cruikshank

American cartoonist and animator whose work includes animation for the Children’s Television Workshop program Sesame Street, and whose short “Quasi at the Quackadero” (1975) was inducted into the United States National Film Registry.

For a short time in the 1990s, Cruikshank was employed by the Palo Alto laboratory and technology incubator Interval Research Corporation as an animator.

Malcolm Slaney in Santa Barbara in 2017, during the KITP workshop "Physics of Hearing: From Neurobiology to Information Theory and Back"

Malcolm Slaney

American electrical engineer, whose research has focused on machine perception and multimedia analysis.

Previously, he worked at Bell Labs, Schlumberger Palo Alto Research, Apple Computer, Interval Research Corporation, IBM Research – Almaden, Yahoo! Research, and Microsoft Research.

Scott Snibbe at MIT Media Lab (2009)

Scott Snibbe

Interactive media artist, entrepreneur, and meditation instructor who is currently the host of A Skeptic’s Path to Enlightenment meditation podcast.

He was an employee at Paul Allen’s Interval Research from 1996 to 2000 where he worked on computer vision, computer graphics, interactive music, and haptics research projects.

Denise Caruso

American journalist and analyst specializing in the industries of digital technology and biotechnology.

Beginning in April 1997, she took a one-year position as visiting scholar at Interval Research Corporation in Palo Alto, California, a think tank and product incubator funded by Paul Allen.

Bill Verplank giving a lecture at CIID in July 2010

Bill Verplank

Designer and researcher who focuses on interactions between humans and computers.

From 1992-2000 at Interval Research Corporation, he directed the design and research for collaboration, tangibility and music.

Students in Design Loft

Stanford Joint Program in Design

Graduate program jointly offered by the Mechanical Engineering Department and the Art Department at Stanford University.

Bob McKim went Emeritus; Matt Kahn, Rolf Faste and David Kelley continued instruction in the tradition of merging art, science and needfinding though the 1980s and 1990s.

Front page of Scientific American in 1907, demonstrating the size, operation, and popularity of the Telharmonium

Richard Boulanger

Composer, author, and electronic musician.

Boulanger continued his computer music research at Bell Labs, the Center for Computer Research in Music and Acoustics at Stanford University, the Massachusetts Institute of Technology Media Lab, Interval Research, IBM, and One Laptop per Child.

Deep Future


Starlab NV/SA was a multidisciplinary, blue sky research institute established to serve as an incubator for long-term and basic research in the spirit of Bell Labs, MIT Media Lab, Xerox PARC, and Interval Research.

Alcorn in 2007

Allan Alcorn

American pioneering engineer and computer scientist best known for creating Pong, one of the first video games.

In 1998, Alcorn co-founded Zowie Intertainment, a spinoff from Interval Research.

Anderson in 1986

Laurie Anderson

American avant-garde artist, composer, musician, and film director whose work spans performance art, pop music, and multimedia projects.

In the late 1990s, she collaborated with Interval Research to develop an instrument she called a “talking stick,” a 6 ft long baton-like MIDI controller that can access and replicate sounds.

B612 Foundation

Private nonprofit foundation headquartered in Mill Valley, California, United States, dedicated to planetary science and planetary defense against asteroids and other near-Earth object impacts.

Liddle is a partner at the venture capital firm U.S. Venture Partners, and is a co-founder and former CEO of both the Interval Research Corporation and Metaphor Computer Systems, plus a consulting professor of computer science at Stanford University, credited with heading development of the Xerox Star computer system.

Astronomer Edward Charles Pickering's Harvard computers

Women in computing

Women in computing were among the first programmers in the early 20th century, and contributed substantially to the industry.

Game designer Brenda Laurel started working at Interval Research in 1992, and began to think about the differences in the way girls and boys experienced playing video games.

Tom Novak

Denit Trust Distinguished Scholar and Professor of Marketing at The George Washington University School of Business, where he co-directs the Center for the Connected Consumer and the Connected Consumer Panel.

Over the past two decades, Novak and his wife, Donna Hoffman co-founded and co-directed a series of research centers (Project 2000, eLab, the Sloan Center for Internet Retailing, and the Center for the Connected Consumer) with support from the Alfred P. Sloan Foundation, the National Science Foundation, Paul Allen’s Interval Research Corporation and 40 other corporate sponsors including Walmart.com, Netscape, Procter & Gamble, and Hershey’s.

A patent issued by the U.S. Patent and Trademark Office

Article One Partners

Online prior art search and intellectual property research crowdsourcing community.

In March 2011, Article One Partners launched community examination of patents owned by Interval Research Corporation, a non-practicing entity co-founded by Paul Allen and David Liddle.

Camille Norment

Oslo-based multimedia artist who works with sound, installation, sculpture, drawing, performance, and video.

In the late 1990s, Norment worked at Interval Research, a research and development technology laboratory co-founded by Paul Allen and David Liddle.

Patrice M. Regnier

American choreographer, director, producer and inventor.

Regnier acts as a creative consultant for several companies, including Interval Research Corporation, founded by Paul Allen, the co-founder of Microsoft.

Joy Mountford

Internationally recognized leader in the field of computer-human interaction or interface design.

Mountford was a senior project lead at Interval Research (Paul Allen’s research company) focusing on Soundscapes using both physical objects and software to compose non-notational audio scapes.

Science and Engineering Complex - School of Engineering.

Tufts University School of Engineering

One of the ten schools that comprise Tufts University.

Rolf Faste (M.S., 1971), American designer, director of Stanford Joint Program in Design

1 Like

Thanks for pulling this together @Stephers. Interval Research Corps ad Paul Allen particularly intrigues me.

1 Like

@AMcD From above:

Paul Allen

American business magnate, computer programmer, researcher, investor, and philanthropist.

Interval Research Corporation: In 1992, Allen and David Liddle co-founded Interval Research Corporation, a Silicon Valley-based laboratory and new business incubator that was dissolved in 2000 after generating over 300 patents, four of which were the subject of Allen’s August 2010 patent infringement lawsuit against AOL, Apple, eBay, Facebook, Google, Netflix, Office Depot, OfficeMax, Staples, Yahoo!, and YouTube.

@AMcD What you sent me yesterday:

Paul Allen = Vulcan - think syn-bio “foundries”

Old blog post of mine on Vulcan. Christensen = LDS Harvard Business School Disruptor

Dintersmith likes to portray himself as just an average person who happens to have the wherewithal to take two years off to tour, meeting with billionaires, politicians, teachers and students to reimagine public education. Though retired, he is cultivated as a thought leader in tech and innovation. The year he launched his film, Dintersmith met with Gates and Global Education Futures Forum affiliate Tom Vander Ark in Seattle to discuss impact investments in education.

The 2015 gathering, hosted by Vulcan Inc. included representatives from Digital Promise, the Clayton Christensen Institute, and Dreambox. Vulcan Inc. is the “engine behind Microsoft cofounder Paul G. Allen’s network of organizations and initiatives.” Mr. Allen has his hands in many enterprises. In addition to being an incubator for innovative technologies, the firm manages extensive real estate holdings, ownership of the Seattle Seahawks, and the Allen Brain Science Institute. A number of guests at the Vander Ark/Vulcan meet-up created videos to promote impact investing in education. This is Dintersmith’s clip.

That conference resulted in the 37-page report “25 Impact Opportunities in K12 U.S. Education.” It references Dintersmith’s film and can be read here. I have found no evidence that Charles River Ventures is directly involved in Pay for Success or Social Impact Bonds. They are, however, based in Cambridge, the epicenter of the innovative finance sector, and make investments in the types of technological “solutions” that will enable the data-collection and impact evaluation of outcomes-based contracts.

In November of 2015, Dintersmith was referenced in a White House press release detailing the launch of the Obama administration’s Next Generation High School initiative. The president’s call to action specified a more “personalized,” “real world” approach to learning that, of course, emphasized STEM. Dintersmith, along with Ed Reform 2.0 funders like the Nellie Mae, Grable, and Overdeck Foundations, teamed up with Hewlett Packard to create a MOOC that would promote a “deeper learning” approach to education to a thousand school leaders nationwide. Their “School ReTool” effort is housed within IDEO, a global design and innovation company focused on “social impact.” Among IDEO’s partners are the Gates, Rockefeller and Bezos Family Foundations. Richard Culatta, Director of Educational Technology under Obama, former Chief Innovation Office for the State of Rhode Island and now CEO of the International Society of Technology in Education, is currently a design resident for IDEO.

Paul Allen’s side kick is Tom Vander Ark, buddies with transhumanist and GEF leader Pavel Luksha. Vander Ark’s degree was from Colorado School of Mines

Bruce Donald

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Bruce Randall Donald (born 1958) is an American computer scientist and computational biologist. He is the James B. Duke Professor of Computer Science and Biochemistry at Duke University. He has made numerous contributions to several fields in Computer Science such as robotics, Microelectromechanical Systems (MEMS), Geometric & physical algorithms and computational geometry; as well as in areas of Structural Molecular Biology & Biochemistry such as Protein design, Protein Structure Determination and Computational Chemistry.


Donald received a B.A. summa cum laude in Russian Language and Literature from Yale University in 1980. After working at the Laboratory for Computer Graphics and Spatial Analysis in the Graduate School of Design at Harvard University, he then attended MIT EECS, where he received his S.M. in EECS (1984) and Ph.D. in Computer Science (1987) under the supervision of professor Tomás Lozano-Pérez in the MIT AI Lab (Artificial Intelligence Laboratory).[1] He joined the Cornell University Department of Computer Science as an assistant professor in 1987.

At Cornell, Donald received tenure in 1993, and served as associate professor of computer science at Cornell University until 1998. While on sabbatical at Stanford University (1994-1996), he worked at Paul Allen’s R&D and technology incubator Interval Research Corporation (1995-1997), where he and Tom Ngo co-invented Embedded Constraint Graphics.[2][3] After moving to Dartmouth, Donald was the Joan P. and Edward J. Foley Jr 1933 Professor of Computer Science, Dartmouth College until 2006 when he moved to Duke University. Currently Donald is the James B. Duke Professor of Computer Science, Chemistry, and Biochemistry, in the Trinity College of Arts and Sciences at Duke University and in the School of Medicine, Duke University Medical Center. Donald was appointed William and Sue Gross Professor from 2006 to 2012, and was named James B. Duke Professor in 2012.[4]

He is a fellow of the Association for Computing Machinery (ACM) and a fellow of the IEEE. Previously, he was a Guggenheim Fellow (2001–2002) and received a National Science Foundation Presidential Young Investigator Award (1989–1994). In 2015, Donald was elected a fellow of the American Association for the Advancement of Science (AAAS), for contributions to computational molecular biology.[5]


Donald’s early research was in the field of robotic motion planning and distributed manipulation.[6] Later he has made numerous contributions to MEMS and Micro-robotics, and designed MEMS micro-robots with dimensions of 60 µm by 250 µm by 10 µm.[7]

Recently, he has conducted research in the areas of Structural Molecular Biology; chiefly, Protein Design and Protein Structure Determination from NMR data. He has developed numerous algorithms for protein design which have been successfully tested experimentally in the wet lab.[8] The protein design algorithms attempt to incorporate additional molecular flexibility into the design process by using ensembles and continuously flexible rotamers and backbones. Donald has also developed algorithms for determining the structures of biomedically significant proteins. For example, his subgroup algorithm CRANS (Acta Crystallogr. D 2004; J. Biol. Chem. 2003), which identifies cross-rotation peaks consistent with non-crystallographic symmetry, was used in the structure determination of the enzyme dihydrofolate reductase-thymidylate synthase (DHFR-TS) from Cryptosporidium hominis, an important advancement in Cryptosporidium biology. He has designed many algorithms and computational protocols to extract structural information from NMR data, and used that information to compute structures of globular proteins and symmetric homo-oligomers. A distinct feature of his algorithms is that they use less data, and provide complexity-theoretic guarantees on time and space (See, e.g., B. R. Donald and J. Martin. “Automated NMR Assignment and Protein Structure Determination using Sparse Dipolar Coupling Constraints.” Progress in NMR Spectroscopy 2009; 55(2):101-127). Donald is the author of Algorithms in Structural Molecular BiologyAlgorithms in Structural Molecular Biology, a textbook published by MIT Press (2011).


Donald has supervised many students and postdocs, many of whom are now professors in reputed universities such as MIT, Carnegie-Mellon University, University of Washington, Seattle, University of Massachusetts Amherst, Dartmouth College, Duke University, Middlebury College and University of Toronto; and some are researchers in prestigious research organizations viz. NIAID, NIST, IBM, Sandia National Laboratories.[9]

Personal life[edit]

Donald is the son of historian David Herbert Donald and historian and editor Aida DiPace Donald.

See also[edit]


Donald is the author of over 100 publications. A representative selection:

Bruce R. Donald
Nationality USA
Alma mater Yale
Awards Presidential Young Investigator Award
Guggenheim Fellowship
Fellow of the ACM
Fellow of the IEEE
Fellow of the AAAS
Scientific career
Fields Computational Biology
Computer Science
Computational Chemistry
Molecular Design
Institutions Harvard University
Cornell University
Stanford University
Interval Research
Dartmouth College
Duke University
Thesis Error Detection and Recovery for Robot Motion Planning with Uncertainty (1987)
Doctoral advisor Tomás Lozano-Pérez
Doctoral students Patrick Xavier
Karl Bohringer
Ivelin Georgiev

In robotics and motion planning, kinodynamic planning is a class of problems for which velocity, acceleration, and force/torque bounds must be satisfied, together with kinematic constraints such as avoiding obstacles. The term was coined by Bruce Donald, Pat Xavier, John Canny, and John Reif.[1] Donald et al. developed the first polynomial-time approximation schemes (PTAS) for the problem. By providing a provably polynomial-time ε-approximation algorithm, they resolved a long-standing open problem in optimal control. Their first paper considered time-optimal control (“fastest path”) of a point mass under Newtonian dynamics, amidst polygonal (2D) or polyhedral (3D) obstacles, subject to state bounds on position, velocity, and acceleration. Later they extended the technique to many other cases, for example, to 3D open-chain kinematic robots under full Lagrangian dynamics.[2] [3] More recently, many practical heuristic algorithms based on stochastic optimization and iterative sampling were developed, by a wide range of authors, to address the kinodynamic planning problem. These techniques for kinodynamic planning have been shown to work well in practice. However, none of these heuristic techniques can guarantee the optimality of the computed solution (i.e., they have no performance guarantees), and none can be mathematically proven to be faster than the original PTAS algorithms (i.e., none have a provably lower computational complexity).

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by Petr Svec

Kinodynamic motion planning of an autonomous robot in an unknown or partially known indoor or outdoor environment is a challenging task, especially when the gen- erated path must maintain the largest distance from surrounding obstacles and the robot’s kinodynamic properties, its localisation, and uncertainty of the environment are also considered. A new motion planning technique, which is built on the gener- alised Voronoi diagram, for a robot with kinematic or dynamic constraints is proposed. The generalised Voronoi diagram serves this task effectively as it maintains the largest (the safest) possible distance from surrounding obstacles. Moreover, a novel approx- imation geometric algorithm, which embodies a trade-off between the efficiency of computation, implementation difficulty, and robustness, for computing this diagram is presented.

Key words : kinodynamic motion planning, generalised Voronoi diagram, Fortune’s plane sweep algorithm, global motion planning, real-time motion plan- ning

Peter started his consulting career after 10 years of several procurement managing positions in automotive and HVAC sectors. His core competence was primary strategic sourcing and TCO reduction projects. Further he developed his skills in lean transformation, (improvement of OEE by TPM, process optimisation, Shopfloor management), turn around and project management (make or buy analysis and production site relocations).

He launched on-site projects for his clients in western Europe (Great Britain, Germany, Swiss, Austria, ) and eastern Europe (Poland, Czech republic, Hungary, Slovakia, Russia).

The projects were done across several industrial sectors (automotive, railway, aerospace, building, wholesale, processing…etc).

Main references: Danfoss, Magna, Recaro, Eco Plastics, Delfort, Hirschmann, Steag, Haas Metal, Busch, DS Smith, FACC, Waagner Biro, Stahl Gerlafingen.

He lives in Slovakia and speaks slovak, english, german, czech and russian language.