The applications of two-armed robots is discussed and a review carried out of the main control methods. The teleoperation of robotic systems is then discussed and the need for good operator visualisation coupled with ...
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The applications of two-armed robots is discussed and a review carried out of the main control methods. The teleoperation of robotic systems is then discussed and the need for good operator visualisation coupled with minimum work load was identified as the key to system efficiency. The collision problem is discussed and the method of detecting and avoiding collisions are presented. The authors also identify the need for a real-time collision avoidance system suitable for two co-operating teleoperated arms, and develop a kinematics based modelling scheme which could be used for collision detection and avoidance.< >
The CEGB has devised a distributed computer installation consisting of a host machine and three target machines. One target controls five real and simulated plant systems via a suitable interface. The five plants have...
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The CEGB has devised a distributed computer installation consisting of a host machine and three target machines. One target controls five real and simulated plant systems via a suitable interface. The five plants have been selected to demonstrate different aspects of control such as three-element, cascade and ratio. The plant was designed as scaled down versions of boiler drums, temperature controllers, pressure systems, etc., and has been constructed as working engineering systems using hardware such as motors, valves, water tanks and pipework. Each physical plant system may be controlled by a target computer running CUTLASS software schemes. In order to give more of the CEGB trainee engineers hands on experience of real-time control using CUTLASS, the development of a low cost version of the power plant simulator was proposed. The low cost simulator is able to simulate any of the original sections of plant, or several sections simultaneously by using a dedicated microprocessor.< >
Over the past few years there has been an increased awareness of the need for methods to cover the complete software development life-cycle. There are a large number of methods available. No one method covers the comp...
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Over the past few years there has been an increased awareness of the need for methods to cover the complete software development life-cycle. There are a large number of methods available. No one method covers the complete development process. The paper gives a brief sketch of five of the most widely mentioned methods: CORE, Yourdon, JSD, SSADM and MASCOT3. It then compares them from the points of view of techniques and representations, method and life-cycle coverage. Finally some possible combinations of methods which give good life-cycle coverage are suggested and related to the use of Ada as the preferred programming language.< >
Future automobile architectures will be based on networked electronics. Designers of such networked systems envisage a new class of highly sophisticated complexity; therefore a new class of appropriate system design s...
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Future automobile architectures will be based on networked electronics. Designers of such networked systems envisage a new class of highly sophisticated complexity; therefore a new class of appropriate system design support tools is required. The author describes a full set of such tools, consisting of a network simulator, a network emulator and a network analyzer. The simulator is used for system layout purposes without the need for actual system hardware. The emulator replaces in realtimerealsystem components. The analyzer is used for verification of the system layout in the actual realsystem. As networks are the backbone of future automobile systems networks, development tools are fundamental for efficient automobile system design.< >
The successful completion of a project can be briefly defined as the development of a product on time, within budget and which meets the customer's requirements for functionality, reliability and quality. The meth...
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The successful completion of a project can be briefly defined as the development of a product on time, within budget and which meets the customer's requirements for functionality, reliability and quality. The methods available to overcome the problems presented by the task of managing the development of a large and complex system are threefold: define the project process for all the technical engineering disciplines involved also including project management, quality assurance and configuration management; establish the organisation to match the process and support it making the most effective use of real feedback, enabled by the explicit definition of the process, to control the project; and use tools to do the work within the structured process more efficiently by automating the tasks and supporting the process, i.e. IPSE.< >
Concerns the application of knowledge based systems to the scheduling of large fleets of vehicles. A prototype scheduling system for an authentic size of problem domain was implemented, using a high end expert system ...
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Concerns the application of knowledge based systems to the scheduling of large fleets of vehicles. A prototype scheduling system for an authentic size of problem domain was implemented, using a high end expert systemdevelopment environment (Automated Reasoning Tool). The system uses data directed techniques to produce a schedule, on industry standard hardware, in a commercially acceptable execution time. The problem considered involved a network of 50 arbitrarily connected nodes, arbitrary distances apart, and a resource of 50 to 150 trucks; the requirement was to plan 200 deliveries so there is a minimum of unladen travel and optimised speed of delivery. A truck is constrained to travel a maximum distance each day.< >
The development of real-time channel evaluation (RTCE) techniques for the purposes of improved channel characterisation and communication system control has taken place primarily in the HF band. More attention is now ...
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The development of real-time channel evaluation (RTCE) techniques for the purposes of improved channel characterisation and communication system control has taken place primarily in the HF band. More attention is now being given to forms of RTCE which can be 'embedded' into the overall communication system design, and which make use of essentially the same RF equipment as employed for communication purposes. In the paper, several alternative modem-based RTCE schemes are discussed including: (a) error rate monitoring;(b) phase perturbation measurements;(c) noise/interference characterisation;(d) use of soft-decision data;(e) use of ARQ requests;(f) use of synchronisation data;and (g) pseudo-error monitoring.
This conference contains 7 papers, one in abstract form only, dealing with the development and application of CAD packages to control system design. Topics covered include the following: Integrated use of Computer Aid...
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This conference contains 7 papers, one in abstract form only, dealing with the development and application of CAD packages to control system design. Topics covered include the following: Integrated use of Computer Aided Control system Design (CACSD);CAD based discrete optimal multivariable control techniques;Microcomputers in the control laboratory;CAD/CAT of digital PID Controllers for multivariable plants;CACSD project at Lund Institute of Technology;Man-Machine interface for CACSD;and real-time graphics operating system.
Advances in the ability to automate and optimise the high level control of complex processes have been achieved, based on a linguistic rule based expert system approach in which the decision making methods and actions...
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Advances in the ability to automate and optimise the high level control of complex processes have been achieved, based on a linguistic rule based expert system approach in which the decision making methods and actions of the human expert are emulated. This paper describes a stand alone purpose designed control sysem embodying these techniques, and its application to the supervisory control of cement manufacture.
This paper presents a review of ESM ENVIRONMENT SIMULATION techniques based upon a combination of the more desirable features offered by a mix of mathematical modelling and equipment simulation at the practical operat...
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This paper presents a review of ESM ENVIRONMENT SIMULATION techniques based upon a combination of the more desirable features offered by a mix of mathematical modelling and equipment simulation at the practical operating frequency of the sensor. The approach is based on synthesising, to a high degree of accuracy, the signals encountered in the real life environment. By generating actual signals and using real equipment the need for mathematical sensor models is eliminated. At the same time, since the synthesised environment is made to occur in realtime and at practical power levels a high degree of realism is achieved. The common requirement against which such simulators have evolved is the need to create the high fidelity, realtime dynamically changing, electromagnetic environment. A central theme of this paper is Electromagnetic Environment Synthesis.
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