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On the recursive formula of rhumb line maneuvers with its applications

On the recursive formula of rhumb line maneuvers with its ap...

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Guidance, Navigation, and Control conference, 1994

作者： Kawaguchi, Jun’ichiro Morita, Yasuhiro Yamakawa, Hirosh Hashimoto, Taisuaki Institute of Space and Astronautical Science 3-1-1 Yoshinodai SagamiharaKanagawa229 Japan

Rhumb line control method is one of the most conventional scheme in the reorientation for spin stabilized spacecraft, since it requires only a spin sun sensor and the reaction control system. However, since rhumb directional control accuracy is governed by so called the time delay from the moment each sun pulse signal is detected, the orientation accuracy is not as precise as other sophisticated maneuver methods that usually incorporate real-time attitude reference systems on board. In practical applications, since arhumb line control is regarded as an open loop scheme and in most cases only inadequate attitude information is available, it has not been attempted so much to extract real-time information and make use of closed loop feature during the maneuver. What this paper presents is the most simplified mathematical description associated with attitude behavior under rhumb line control, which is expressed explicitly in terms only of a series of sun angle signals. For illustration, a directional dispersion analysis is dealt with here and the quasi real-time identification scheme of it is presented with the results of a free drop experiment. Other numerical examples shown here include, as it were, the idea of a realtime rhumb direction finder in generalized ahumb line maneuvers and its extension to an adaptive observer for the advanced use in future. © 1994 American Institute of Aeronautics and Astronautics. Inc. All rights reserved.

关键词： Real time systems

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DUAL-USE applications OF LASER REMOTE-SENSING TO THE MILITARY BATTLEFIELD AND ENVIRONMENTAL MONITORING

DUAL-USE APPLICATIONS OF LASER REMOTE-SENSING TO THE MILITAR...

引用

conference on Tunable Diode Laser Spectroscopy, Lidar, and DIAL Techniques for Environmental and Industrial Measurements, at the Symposium on Optical Sensing for Environmental Monitoring

作者： LEONELLI, J BATTELLE MEM INST SENSOR SYST TECHNOL OFFCOLUMBUSOH 43201

ISBN: (纸本)0819414034

For the past 20 years, the Department of Defense has sponsored investigations and studies on the use of laser remote sensing techniques and light detection and ranging (lidar) methods for the detection, identification, and tracking of toxic and hazardous battlefield materials. The same lidar methods used by NASA, EPA, and several industry research groups to detect and measure the movement and concentration of air pollution near urban centers have been applied to the national security problem of detecting chemical and biological warfare agents that might be used on the modern battlefield. Significant government investment in the technology base and laser technology has resulted in advanced hardware configurations that are now available for demonstration and evaluation for industrial and environmental monitoring.

关键词： LIDAR Ultraviolet radiation Aerosols Atmospheric laser remote sensing Laser induced fluorescence Luminescence Atmospheric particles sensors Biological detection systems Remote sensing

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System design for safe robotic handling of nuclear materials

System design for safe robotic handling of nuclear materials

引用

2nd conference on Robotics for Challenging Environments (RCE II)

作者： Drotning, W Wapman, W Fahrenholtz, J Kimberly, H Kuhlmann, J Sandia Natl Lab Albuquerque United States

ISBN: (纸本)0872629139

Robotic systems are being developed by the Intelligent systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive nuclear materials. These systems will reduce the occupational radiation exposure to workers by automating operations which are currently performed manually. Because the robotic systems will handle material that is both hazardous and valuable, the safety of the operations is of utmost importance;assurance must be given that personnel will not be harmed and that the materials and environment will be protected. These safety requirements are met by designing safety features into the system using a layered approach. Several levels of mechanical, electrical, and software safety prevent unsafe conditions from generating a hazard, and bring the system to a safe state should an unexpected situation arise. The system safety features include the use of industrial robot standards, commercial robot systems, commercial and custom tooling, mechanical safety interlocks, advanced sensor systems, control and configuration checks, and redundant control schemes. The effectiveness of the safety features in satisfying the safety requirements is verified using a Failure Modes and Effects Analysis. This technique can point out areas of weakness in the safety design as well as areas where unnecessary redundancy may reduce the system reliability.

关键词： Robot applications

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Chemical sensor testing for space life support chemical processing: Part I. Moisture sensors

Chemical sensor testing for space life support chemical proc...

引用

24th International conference on Environmental systems and 5th European Symposium on Space Environmental Control systems

作者： Jan, Darrell L. Voecks, Gerald E. Rohatgi, Naresh K. Jet Propulsion Laboratory California Institute of Technology United States

In support of the National Aeronautics and Space Administration(NASA), a laboratory has been established at the Jet Propulsion Laboratory (JPL) to evaluate the characteristics of chemical sensors which are candidates for use in a controlled chemical processing life support system. Such a facility is required for characterizing those sensors under development as well as those commercially available but whose functional properties are typically based upon operating in industrial environments that will not be completely synonomous with space operations. Space environments, such as an orbiting station or lunar base, will generally have different sensor requirements than terrestrial applications with respect to size, multifunctionality, sensitivity, reliability, temperature, ruggedness, mass, consumables, life, and power requirements. Both commercially available and developmental moisture sensors have been evaluated. These sensors have been evaluated under conditions which simulate the process stream environment of a four bed, molecular sieve, carbon dioxide removal operation. Selected sensors were also tested in an environment simulating an advanced Carbon Formation System. sensor technologies include electrochemical(both conductometric and capacitive) and surface acoustic wave (SAW) types. Parameters of interest over repeated cyclic life testing included particular conditions of flowrate and temperature. A computer-controlled data acquisition and control system allows programmable and repeatable cycles operating over the specific moisture-time profile measured from air processing operations. Test results are presented for various commercially available moisture sensors. © Copyright 1994 Society of Automotive Engineers, Inc.

关键词： NASA

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sensor, actuator and loop validation

Sensor, actuator and loop validation

引用

IEEE conference on Control Technology and applications (CCTA)

作者： Clarke Department of Engineering Science University of Oxford UK

Economic pressures are dispersing machine intelligence away from centralised computers towards distributed Fieldbus devices. Simultaneously, the control concept is being extended to include other operational factors such as quality assurance, process data management just-in-time maintenance, plant safety and availability. As credible sensing and actuation is an essential prerequisite for advanced control, validation of the sensor and actuator interface is necessary. As such subsystems are linked to a range of different overall plant systems, we must consider generic validation and its reporting to the 'next level up'. The paper discusses validation features which are best embedded in local devices.< >

关键词： Process control Detectors Actuators Redundancy Fault diagnosis

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Representation issues in creating an avionics domain-specific software architecture domain model

Representation issues in creating an avionics domain-specifi...

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IEEE National conference on Aerospace and Electronics (NAECON)

作者： D. Batory W. Tracz S. Shafer L. Coglianese University of Technology Austin TX USA Loral Federal Systems Owego NY USA

A domain-specific software architecture describes a family of related software applications. A domain model is a theory of how the software applications in a domain can be constructed from prefabricated components. This paper presents a domain model for avionics software. It describes how complex avionics systems can be assembled from primitive building blocks. Based on the advanced Research Projects Agency's (ARPA) Domain-Specific Software Architecture (DSSA) program's Avionics Domain Application Generation Environment (ADAGE) project results, our focus is on data source object (DSO), navigation, radio navigation, guidance, and flight director software. In this paper we present the domain model for ADAGE and discuss representation issues.< >

关键词： Aerospace electronics Software architecture Radio navigation sensor phenomena and characterization sensor systems Microwave sensors Magnetic sensors Application software Software systems Open source software

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Design of a smart, survivable sensor system for enhancing the safe and secure transportation of hazardous or high-value cargo on railroads

Design of a smart, survivable sensor system for enhancing th...

引用

ASME/IEEE Joint conference on Rail

作者： J.R. Hogan D. Rey S.E. Faas Sandia National Laboratories USA

An application of smart sensor technology developed by Sandia National Laboratories for use in the safe and secure transportation of high value or hazardous materials is proposed for a railroad application. The Green Box would be capable of surviving most typical railroad accidents. In an accident, the system would send a distress signal notifying authorities of the location and condition of the cargo; permitting them to respond in the most effective manner. The concept proposes a strap-on sensor package. the Green Box, that could be attached to any railroad car or cargo container. Its primary purpose is to minimize the number, severity and consequences of accidents and to reduce losses due to theft. The system would also be capable of recognizing component failure conditions, notifying the operators and logging sensor data for use in directing preventative maintenance. The modular implementation, which facilitates system integration in a number of applications including the advanced Train Control System (ACTS), is discussed. The methodology for determining the environmental specification for accident survivability is presented. A test plan for evaluating hardware performance in both normal operating and accident conditions is described.< >

关键词： sensor systems Accidents Intelligent sensors Rail transportation Hazardous materials Packaging Containers Preventive maintenance Control systems Testing

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An original braking controller with torque sensor

An original braking controller with torque sensor

引用

IEEE conference on Control Technology and applications (CCTA)

作者： Chamaillard Gissinger Perronne Renner Laboratoire M.I.A.M. ESSAIM Mulhouse France

The present evolution of regulated braking systems requires the knowledge and control of dynamic parameters of the vehicle during the braking process. In a classical ABS system, the chassis speed is only known approximately and this is not sufficient to control the slip ratio. An advanced control principle requiring additional dynamic parameters would allow us to improve the braking performance. The application we have developed is based on a new principle with adaptive algorithms and online control of the braking torque based on the strain measurement on the calliper support. The adaptive principle has been chosen in order to improve robustness and to take account of the parameter variations and the variation of the behaviour when the system is perturbed. Precautions must be taken when algorithms are initialized to ensure good results. Performance improvements have been achieved by simulation and the complexity of the algorithms allows real implementation in a realistic, industrial microprocessor based system.< >

关键词： Road vehicles Torque control Real time systems Adaptive control Dynamics Strain measurement

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advanced LWIR HGCDTE DETECTORS FOR STRATEGIC applications

ADVANCED LWIR HGCDTE DETECTORS FOR STRATEGIC APPLICATIONS

引用

conference on Aerial Surveillance Sensing Including Obscured and Underground Object Detection

作者： BLAZEJEWSKI, ER WILLIAMS, GM MCLEVIGE, WV VANDERWYCK, AB EDWALL, DD GERTNER, ER ELLSWORTH, J FISHMAN, L HAMPTON, S VYDYANATH, H ROCKWELL INT CORP CTR SCITHOUSAND OAKSCA 91360

ISBN: (纸本)0819415219

`The demand for high detectivity LWIR IR focal plane arrays that operate at low backgrounds is shown to drive the HgCdTe technology toward increased detector performance. Reduced operating temperature together with advanced material technology and detector design are presented as solutions. High performance MWIR, MLWIR and LWIR HgCdTe detector test arrays and variable area test structures were recently demonstrated through the joint collaboration of Aerojet Electronic systems Division and Rockwell International. These devices are based on the innovative buried planar heterostructure (BPH) detector architecture grown by liquid phase epitaxy of HgCdTe on II-VI substrates. The major features of the BPH design include planar geometry, heterostructure wide gap p-type on narrow gap n-type HgCdTe and a buried LWIR electrical junction. Excellent 78K median R_(omicron )A performance across the IR spectrum from 5.2 micrometers to 12 micrometers is reported and shown to follow the diffusion trend line. Excellent 40K median R_(omicron )A performance for devices with cutoffs ranging from 9 micrometers to 19 micrometers are also presented. LWIR R_(omicron )A statistical performance data at both 78K and 40K from fanout test arrays are presented with median R_(omicron )A values of 100 ohm-cm² at 78K and > 10⁶ ohm-cm² at 40K for cutoffs of 10.4 micrometers and 11.4 micrometers respectively. The 90% test array operability was found to exceed 5 x 10⁵ ohm-cm² at 40K. Devices with median R_(omicron )As of 20 ohm-cm² at 78K and 7 x 10⁵ ohm-cm² at 40K were measured for cutoffs of 12 micrometers and 13 micrometers respectively. Uniform and high quantum efficiencies were measured at 40K with a median of approximately equals 70%.

关键词： sensors Mercury cadmium telluride Long wavelength infrared Diffusion Diodes Mid-IR Quantum efficiency Heterojunctions sensor performance Detector arrays

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Statistical estimation algorithms for ultrasonic detection of surface features

Statistical estimation algorithms for ultrasonic detection o...

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Proceedings of IEEE/RSJ International conference on Intelligent Robots and systems (IROS'94)

作者： A.M. Sabatini Advanced Robotics Technology and Systems Laboratory Pisa Italy

For several applications of interest in the robotic field, range sensing is often accomplished by means of single ultrasonic sensors. Additional information about the objects' surface, such as the orientation relative to the sensing device, has to be extracted by means of ultrasonic sensor arrays. So far, a few researchers have dealt with the problem of determining also the local curvature of curved reflectors. The aim of this paper is to investigate the minimum amount of range information needed to estimate distance, orientation and radius of cylindrical targets by means of a linear array of ultrasonic transducers. The proposed imaging problem is stated within the field of statistical estimation theory: an iterative linearised least-squares estimator, i.e. an extended Kalman filter, is designed and used for optimal processing of the sensed data. The theoretical analysis of the filtering algorithm performance allows one to elucidate the critical factors ultimately affecting the achievable accuracies of the proposed technique. Experimental results are presented, in close agreement with the predictions of the theoretical analysis.< >

关键词： sensor arrays Ultrasonic transducer arrays Robot sensing systems Data mining Ultrasonic transducers Ultrasonic imaging Estimation theory State estimation Data analysis Performance analysis

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