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ROLE OF SIMULATION IN RAPID PROTOTYPING FOR CONCEPT DEVELOPMENT

NAVAL ENGINEERS JOURNAL 1991年第3期103卷 204-211页

作者： KING, JF BARTON, DE J. Fred King:is the manager of the Advanced Technology Department for Unisys in Reston Virginia. He earned his Ph.D. in mathematics from the University of Houston in 1977. He has been principal investigator of research projects in knowledge engineering pattern recognition and heuristic problem-solving. Efforts include the development of a multi-temporal multispectral classifier for identifying graincrops using LANDSAT satellite imagery data for NASA. Also as a member of the research team for a NCI study with Baylor College of Medicine and NASA he helped develop techniques for detection of carcinoma using multispectral microphotometer scans of lung tissue. He established and became technical director of the AI Laboratory for Ford Aerospace where he developed expert scheduling modeling and knowledge acquisition systems for NASA. Since joining Unisys in 1985 he has led the development of object-oriented programming environments blackboard architectures data fusion techniques using neural networks and intelligent data base systems. Douglas E. Barton:is manager of Logistics Information Systems for Unisys in Reston Virginia. He earned his B.A. degree in computer science from the College of William and Mary in 1978 and did postgraduate work in London as a Drapers Company scholar. Since joining Unisys in 1981 his work has concentrated on program management and software engineering of large scale data base management systems and design and implementation of knowledge-based systems in planning and logistics. As chairman of the Logistics Data Subcommittee of the National Security Industrial Association (NSIA) he led an industry initiative which examined concepts in knowledge-based systems in military logistics. His responsibilities also include evaluation development and tailoring of software engineering standards and procedures for data base and knowledge-based systems. He is currently program manager of the Navigation Information Management System which provides support to the Fleet Ballistic Missile Progr

A valuable technique during concept development is rapid prototyping of software for key design components. This approach is particularly useful when the optimum design approach is not readily apparent or several known alternatives need to be rapidly evaluated. A problem inherent in rapid prototyping is the lack of a "target system" with which to interface. Some alternatives are to develop test driver libraries, integrate the prototype with an existing working simulator, or build one for the specific problem. This paper presents a unique approach to concept development using rapid prototyping for concept development and scenario-based simulation for concept verification. The rapid prototyping environment, derived from artificial intelligence technology, is based on a blackboard architecture. The rapid prototype simulation capability is provided through an object-oriented modeling environment. It is shown how both simulation and blackboard technologies are used collectively to rapidly gain insight into a tenacious problem. A specific example will be discussed where this approach was used to evolve the logic of a mission controller for an autonomous underwater vehicle.

关键词： Military engineering

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MAGNETOHYDRODYNAMIC SUBMARINE PROPULSION systems

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NAVAL ENGINEERS JOURNAL 1991年第3期103卷 141-157页

作者： SWALLOM, DW SADOVNIK, I GIBBS, JS GUROL, H NGUYEN, LV VANDENBERGH, HH Daniel W. Swallomis the director of military power systems at Avco Research Laboratory Inc. a subsidiary of Textron Inc. in Everett Mass. Dr. Swallom received his B.S. M.S. and Ph.D. degrees in mechanical engineering from the University of Iowa Iowa City Iowa in 1969 1970 and 1972 respectively. He has authored numerous papers in the areas of power propulsion and plasma physics and currently is a member of the Aerospace Power Systems Technical Committee of the AIAA. Dr. Swallom has directed various programs for the development of advanced power generation systems lightweight power conditioning systems and advanced propulsion systems for marine applications. His previous experience includes work with Odin International Corporation Maxwell Laboratories Inc. Argonne National Laboratory and the Air Force Aero Propulsion Laboratory. Currently Dr. Swallom is directing the technical efforts to apply magnetohydrodynamic principles to a variety of propulsion and power applications for various marine vehicles and power system requirements respectively. Isaac Sadovnikis a principal research engineer in the Energy Technology Office at Avco Research Laboratory Inc. a subsidiary of Textron Inc. He received his B.S. in engineering (1974) B.S. in physics (1975) M.S. in aeronautics and astronautics (1976) and Ph.D. in physics of fluids (1981) at the Massachusetts Institute of Technology. Dr. Sadovnik has been involved in research work funded by DARPA concerning the use of magnetohydrodynamics for underwater propulsion. He has built theoretical models that predict the hydrodynamic behavior of seawater flow through magnetohydrodynamic ducts and their interaction with the rest of the vehicle (thrust and drag produced). In addition Dr. Sadovnik has been involved in research investigations geared toward the NASP program concerning the use of magnetohydrodynamic combustion-driven accelerator channels. Prior to joining Avco Dr. Sadovnik was a research assistant at MIT where he conducted experimental and

Magnetohydrodynamic propulsion systems for submarines offer several significant advantages over conventional propeller propulsion systems. These advantages include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, greater payload capability, and the addition of a significant emergency propulsion system. These advantages can be obtained with a magnetohydrodynamic propulsion system that is neutrally bouyant and can operate with the existing submarine propulsion system power plant. A thorough investigation of magnetohydrodynamic propulsion systems for submarine applications has been completed. During the investigation, a number of geometric configurations were examined. Each of these configurations and mounting concepts was optimized for maximum performance for a generic attack class submarine. The optimization considered each thruster individually by determining the optimum operating characteristics for each one and accepting only those thrusters that result in a neutrally buoyant propulsion system. The results of this detailed optimization study show that the segmented, annular thruster is the concept with the highest performance levels and greatest efficiency and offers the greatest potential for a practical magnetohydrodynamic propulsion system for attack class submarines. The optimization study results were used to develop a specific point design for a segmented, annular magnetohydrodynamic thruster for an attack class submarine. The design point case has shown that this thruster may be able to provide the necessary thrust to propel an attack class submarine at the required velocity with the potential for a substantial acoustic signature reduction within the constraints of the existing submarine power plant and the maintenance of neutral buoyancy. This innovative magnetohydrodynamic propulsion system offers an approach for submarine propulsion that can be an important contributio

关键词： Ship Propulsion

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Tracking in a complex visual environment 1st

Tracking in a complex visual environment

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1st European Conference on computer Vision, ECCV 1990

作者： Aloimonos, John Yiannis Tsakiris, Dimitris P. Computer Vision Laboratory Center for Automation Research and Institute for Advanced Computer Studies and Computer Science Department University of Maryland College ParkMD20742-3411 United States Electrical Engineering Department and Systems Research Center University of Maryland College ParkMD20742-3411 United States

ISBN: (纸本)9783540525226

We examine the tracking of 3-dimensional targets moving in a complex (e.g. highly textured) visual environment, which makes the application of methods relying on static segmentation and feature correspondence very problematic, even under specific assumptions about the trajectory of the target. From the system kinematics and optical flow formalism we derive a general criterion, the Tracking Constraint, which specifies the optimal camera reorientation as the one that minimizes the optical flow in the center of the camera in the sense of an appropriate metric. A correspondence-free scheme is devised which employs dynamic segmentation and linear features of the image in order to capture global information about the scene and bypass numerical differentiation of the image intensity. © Springer-Verlag Berlin Heidelberg 1990.

关键词： Optical flows

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Motion planning in a dynamic domain

Motion planning in a dynamic domain

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Fujimura H. Samet Center for Engineering Systems Advanced Research Oak Ridge National Laboratory Oak Ridge TN USA Center for Automation Research and Computer Science Department and Institute for Advanced Computer Studies University of Maryland College Park MD USA

Motion planning is studied in a time-varying environment. Each obstacle is a convex polygon that moves in a fixed direction at a constant speed. The robot is a convex polygon that is subject to a speed bound. A method of determining whether or not there is a translational collision-free motion for a polygonal robot from an initial position to a final position and of planning such a motion, if it exists, is presented. The method makes use of the concept of configuration spaces and accessibility. An algorithm is given for motion planning in such an environment, and its time complexity is analyzed.< >

关键词： Robots Motion planning Orbital robotics Robotics and automation Algorithm design and analysis Space stations systems engineering and theory Laboratories Motion analysis Shape

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AEGIS AAW CORRELATOR TRACKER (AACT) EXPERIMENT

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 37-42页

作者： GRANT, CJ The Author:is an assistant group supervisor of the Anti-Air Warfare Systems Engineering Group in the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory (JHU/APL). He received a B.S. in physics from the University of Maryland in 1978 an M.S. in applied physics and an M.S. in computer science from The Johns Hopkins University in 1982 and 1984 respectively. Since joining JHU/APL in 1978 Mr. Grant has been involved in the development and integration of advanced command support systems and communications in U.S. Navy shipboard combat systems with particular emphasis on the Aegis Combat System. He is currently the lead engineer of the Command Support At Sea Experiment in which an Aegis AAW Correlator/Tracker capability is being developed for shipboard evaluation.

The Johns Hopkins University Applied Physics laboratory, in continuing development of the Aegis Command and Control capabilities aboard USS Ticonderoga class cruisers and USS Arleigh Burke class destroyers, under the direction of the Aegis Shipbuilding Project (PMS-400), is in the process of developing the Aegis AAW Correlator/Tracker (AACT) to experiment with and evaluate the capability to correlate track and contact data from over-the-horizon (OTH) sources and sensors with the shipboard real-time tactical picture. AACT, which is based on multi-hypothesis correlation algorithms, is intended to be fully automated; requiring little or no operator interaction in spite of ambiguous or conflicting data. Unlike other OTH correlator/tracker designs, the experimental AACT capability is highly integrated with the combat system. It makes maximum use of the shipboard sensor data, such as that provided by the AN/SPY-1 radar, to provide the basis from which to correlate the OTH data in areas of mutual sensor coverage. This approach helps to resolve the traditional conflicts between the tactical picture derived from battle group sensors and that derived from OTH sensors, and provides command the track data in the formats, rates, and timeliness needed to fight the AAW battle. This paper describes the AACT concept, design, and implementation. It addresses the plans for installation of AACT aboard an Aegis cruiser for evaluation of this capability in an operational environment.

关键词： computer Graphics

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computer-SYSTEM ARCHITECTURE CONCEPTS FOR FUTURE COMBAT systems

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 43-62页

作者： ZITZMAN, LH FALATKO, SM PAPACH, JL Dr. Lewis H. Zitzman:is the group supervisor of the Advanced Systems Design Group Fleet Systems Department The Johns Hopkins University Applied Physics Laboratory (JHU/APL). He has been employed at JHU/APL since 1972 performing applied research in computer science and in investigating and applying advanced computer technologies to Navy shipboard systems. He is currently chairman of Aegis Computer Architecture Data Bus and Fiber Optics Working Group from which many concepts for this paper were generated. Dr. Zitzman received his B.S. degree in physics from Brigham Young University in 1963 and his M.S. and Ph.D. degrees in physics from the University of Illinois in 1967 and 1972 respectively. Stephen M. Falatko:was a senior engineering analyst in the Combat Systems Engineering Department Comptek Research Incorporated for the majority of this effort. He is currently employed at ManTech Services Corporation. During his eight-year career first at The Johns Hopkins University Applied Physics Laboratory and currently with ManTech Mr. Falatko's work has centered around the development of requirements and specifications for future Navy systems and the application of advanced technology to Navy command and control systems. He is a member of both the Computer Architecture Fiber Optics and Data Bus Working Group and the Aegis Fiber Optics Working Group. Mr. Falatko received his B.S. degree in aerospace engineering with high distinction from the University of Virginia in 1982 and his M.S. degree in applied physics from The Johns Hopkins University in 1985. Mr. Falatko is a member of Tau Beta Pi Sigma Gamma Tau the American Society of Naval Engineers and the U.S. Naval Institute. Janet L. Papach:is a section leader and senior engineering analyst in the Combat Systems Engineering Department Comptek Research Incorporated. She has ten years' experience as an analyst supporting NavSea Spa War and the U.S. Department of State. She currently participates in working group efforts under Aegis Combat System Doctrin

This paper sets forth computer systems architecture concepts for the combat system of the 2010–2030 timeframe that satisfy the needs of the next generation of surface combatants. It builds upon the current Aegis computer systems architecture, expanding that architecture while preserving, and adhering to, the Aegis fundamental principle of thorough systems engineering, dedicated to maintaining a well integrated, highly reliable, and easily operable combat system. The implementation of these proposed computer systems concepts in a coherent architecture would support the future battle force capable combat system and allow the expansion necessary to accommodate evolutionary changes in both the threat environment and the technology then available to effectively counter that threat. Changes to the current Aegis computer architecture must be carefully and effectively managed such that the fleet will retain its combat readiness capability at all times. This paper describes a possible transition approach for evolving the current Aegis computer architecture to a general architecture for the future. The proposed computer systems architecture concepts encompass the use of combinations of physically distributed, microprocessor-based computers, collocated with the equipment they support or embedded within the equipment itself. They draw heavily on widely used and available industry standards, including instruction set architectures (ISAs), backplane busses, microprocessors, computer programming languages and development environments, and local area networks (LANs). In this proposal, LANs, based on fiber optics, will provide the interconnection to support system expandability, redundancy, and higher data throughput rates. A system of cross connected LANs will support a high level of combat system integration, spanning the major warfare areas, and will facilitate the coordination and development of a coherent multi-warfare tactical picture supporting the future combatant command st

关键词： computer Architecture

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Robot navigation research at CESAR

Robot navigation research at CESAR

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IEEE Conference on Decision and Control

作者： D.L. Barnett G. de Saussure F.G. Pin A. Sabharwal S.S. Iyengar Center of Engineering Systems Advanced Research Oak Ridge National Laboratory Oak Ridge TN USA Oak Ridge Nat. Lab. TN USA Department of Computer Science Louisiana State University Baton Rouge LA USA

The core of the navigation program for the Oak Ridge CESAR (Center for engineering systems advanced Research) robots is a production system developed on the expert system shell CLIPS, which runs on an NCUBE hypercube aboard the robot. The production system can call on C-compiled navigation procedures. The production rules can read the sensor data and address the robot's effectors. This architecture was found to be efficient and flexible when used for the development and testing of the navigation algorithms. However, to process unexpected emergencies intelligently, it was necessary to control the production system through externally generated asynchronous data. This led to the design of an asynchronous production system, APS, which is being developed on the robot. Some of the navigation algorithms developed and tested at CESAR are reviewed, and the need for APS, and how it is being integrated into the robot architecture, are discussed.< >

关键词： Navigation Production systems Robot sensing systems Intelligent sensors Testing systems engineering and theory Expert systems Hypercubes Intelligent robots Control systems

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The visit problem: visibility graph-based solution

The visit problem: visibility graph-based solution

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IEEE International Conference on Robotics and Automation (ICRA)

作者： N.S.V. Rao S.S. Iyengar G. deSaussure Department of Computer Science Louisiana State University Baton Rouge LA USA Oak Ridge National Laboratory Center for Engineering Systems Advanced Research Oak Ridge TN USA

An algorithm to navigate a point robot through a sequence of destination points amid unknown stationary polygonal obstacles in a two-dimensional terrain is presented. The algorithm implements learning in the course of building a global terrain model by integrating the sensor information obtained during navigation. This global model is used in planning future navigational paths. This approach prevents the robot from making localized detours, and results in better navigation, in an average case, than obtained using algorithms without learning. The proposed algorithms are implemented in the C language on a simulator for a HERMIES-II robot running on an IBM PC.< >

关键词： Navigation Rain computer science systems engineering and theory Laboratories Sensor systems Heuristic algorithms Robot sensing systems Robotics and automation Automata

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NAVAL engineering ANALYSIS

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NAVAL ENGINEERS JOURNAL 1988年第3期100卷 306-316页

作者： PACE, DK HUNT, RJ Dale K. Pace:is a member of the Principal Professional Staff of The Johns Hopkins University Applied Physics Laboratory (APL). He currently serves as the APL liaison with the Hopkins School of Advanced International Studies and with the Naval War College. His professional responsibilities have included various leadership roles in the Military Operations Research Society chairmanship of the Physical and Engineering Sciences Group for the Summer Computer Simulation Conference and chairmanship of the ASNEJournalCommittee. Richard J. Hunt:is head of the Naval Warfare Analysis Department of The Johns Hopkins University Applied Physics Laboratory (APL). A graduate of the Loyola College in Baltimore (B.S. in mathematics) in the 1950s Mr. Hunt was involved with development and use of the first digital computer simulation of Navy AAW. Since then he has played major roles in all aspects of analyses of surface ship AAW and of many other naval warfare topics. Currently he is a member of the FOSAD the Federation of Systems Analysis Directors for Navy R&D Centers and APL.

Analysis pervades all aspects of naval engineering. It is used to determine requirements for new or upgraded systems and to explore concepts for their employment. It is used to evaluate performance. It is used to establish design characteristics. And it comes in many varieties. This paper addresses use and misuse of analysis in naval engineering. The paper is oriented toward managers of analytic endeavors rather than the practitioners of analysis. It does not deal in depth with how to perform particular analytic techniques. Instead it discusses general principles that should guide both the selection and application of analytic techniques. The paper identifies problems which are frequently encountered in analyses related to naval engineering and suggests ways to ameliorate their deleterious effects. These problems are addressed from both the perspective of the manager of analysis and that of the user or consumer of results from the analysis. Some of the challenges that face naval engineering analyses as a consequence of hardware and software improvements and of more sophisticated systems are also discussed.

关键词： NAVAL ARCHITECTURE

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On terrain acquisition by a finite-sized mobile robot in plane

On terrain acquisition by a finite-sized mobile robot in pla...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： N. Rao S. Iyengar C. Jorgensen C. Weisbin Department of Computer Science Louisiana State University Baton Rouge LA Engineering Physics and Mathematics division Center for Engineering Systems Advanced Research Oak Ridge National Laboratory Oak Ridge TN

The terrain acquisition problem deals with the acquisition of the complete obstacle terrain model by a mobile robot placed in an unexplored terrain. This is a precursory problem to many well-known find-path and related problems which assume the availability of the complete terrain model. In this paper, we present a method for terrain acquisition by a finite-sized robot operating in plane populated by an unknown (but, finite) number of polygonal obstacles; each obstacle is arbitrarily located and has unknown (but, finite) number of vertices. The robot progressively explores newer vertices of the obstacles using sensor equipment. We show that the complete terrain model will be built by the robot in a finite time. We also show that at any point of time the partially acquired terrain suffices for the navigation of the robot during the exploration. Hence we conclude that the navigation techniques for known terrains can be applied for the robot navigation during exploration.

关键词： Mobile robots Robot sensing systems Navigation Rain Power engineering and energy systems engineering and theory computer science Motion planning Shape Contracts

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