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IEEE Annual Joint Conference: INFOCOM, IEEE computer and Communications Societies

作者： A. Kumar S. Rai D.P. Agrawal Computer System Laboratory Electrical & Computer Engineering N.C. State University Raleigh NC USA

The authors introduce two techniques for computing the reliability of a distributed computing system (DCS). The first scheme uses two steps and requires enumeration of multiterminal connections which, in turn, leads to the reliability expression. The second technique, called FARE (Fast Algorithm for Reliability Evaluation), does not require an a priori knowledge of multiterminal connections for computing the reliability expression. A performance parameter called the communication cost index (CCI) is defined. The authors compare algorithms with an existing method in terms of computer time and memory requirement. The results show that FARE outperforms two-step methods.< >

关键词： computer network reliability Distributed computing Distributed control Radiofrequency interference Costs Surface-mount technology Laboratories Reliability engineering Fault tolerant systems Telecommunication network reliability

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Board-level diagnosis by signature analysis

Board-level diagnosis by signature analysis

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IEEE International Test Conference

作者： M.G. Karpovsky P. Nagvajara Research Laboratory for Design and Testing of Computer and Communication Systems Computer and Communication Systems Computer and Communication Systems Department of Electrical Computer and System Engineering Boston University Boston MA USA

Board-level diagnostic techniques by signature analysis based on single-error-correcting Hamming codes over GF(2/sup M/) (where M is the number of outputs per chip) are presented. Two techniques are considered: the space-time compressor technique for the case when responses from N chips on the board are wired to the compressor; and the time compressor technique for the case when test responses from each chip are transferred to the compressor via system bus. Assuming a single-faulty-chip model, a faulty chip on the board under test is located by an analysis of the relationship between the distortions in the obtained signatures. Both techniques for board-level diagnosis require less hardware than the straightforward diagnostic techniques using a built-in signature analyzer for every chip or selective testing of each chip via the system bus, hence offering an efficient approach for a design of a built-in-self-test board for for manufacturing testing.< >

关键词： system testing system buses Hardware Built-in self-test Automatic testing Pattern analysis Fault diagnosis Laboratories Design engineering systems engineering and theory

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Robot multi-sensor fusion and integration: optimum estimation of fused sensor data

Robot multi-sensor fusion and integration: optimum estimatio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R.C. Luo M.-H. Lin Robotics and Intelligent System Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

The authors address the problem of robot multisensor fusion and integration with special emphasis on optimal estimation of fused sensor data. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, crossfire, overload, and slip sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the real world. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results as well as results from the actual implementation of certain concepts of sensor data fusion have been demonstrated.< >

关键词： Robot sensing systems Sensor fusion Intelligent sensors Intelligent robots Sensor systems Layout Laboratories Data engineering State estimation Logic

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Recognition of 3-D Objects using Modified 3-D General Hough Transformation

Recognition of 3-D Objects using Modified 3-D General Hough ...

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Annual Conference of Industrial Electronics Society

作者： Ren C. Luo Woo Suk Yang Yonghoon Kim Robotics and Intelligence System Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

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Representation and Recognition of 3-D Curved Objects

Representation and Recognition of 3-D Curved Objects

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Annual Conference of Industrial Electronics Society

作者： Ren C. Luo Yonghoon Kim Woo Suk Yang Robotics and Intelligence System Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

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An improved Toeplitz approximation method

An improved Toeplitz approximation method

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： K.S. Arun B.D. Rao Electrical and Computer Engineering Coordinated Science Laboratory University of Illinois Urbana-Champaign Urbana IL USA Applied Mechanics and Engineering Science System Science Group University of California San Diego La Jolla CA USA

The authors suggest a modification of the Toeplitz approximation method for estimating frequencies of multiple sinusoids from covariance measurements. The method constructs a state-feedback matrix following a low-rank approximation of the Toeplitz covariance matrix via singular-value decomposition. Ideally, the eigenvalues of this state-feedback matrix will be on the unit circle in the complex plane, and the angles that they make with the real axis will be equal to the unknown sinusoid frequencies. The modification proposed here exploits this prior knowledge of the modulus of the eigenvalues and guarantees that even in the presence of noise the eigenvalues of the estimated state-feedback matrix will lie on the unit circle.< >

关键词： Approximation methods Frequency estimation Covariance matrix Eigenvalues and eigenfunctions Sensor arrays Parameter estimation Predictive models Extraterrestrial measurements Matrix decomposition Coordinate measuring machines

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PERFORMANCE-ORIENTED SYNTHESIS OF LARGE-SCALE DOMINO CMOS CIRCUITS

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IEEE TRANSACTIONS ON computer-AIDED DESIGN OF INTEGRATED CIRCUITS AND systemS 1987年第5期6卷 751-765页

作者： DEMICHELI, G Computer System Laboratory Department of Electrical Engineering Stanford University Stanford CA USA

The quality of the design of large-scale integrated circuits is determined by such figures of merit as silicon area, power consumption, and switching-time performance. We address here the problem of the automatic synthesis of digital circuits with the goal of achieving high-performance designs. We assume we are given an intermediate circuit representation that optimizes area and/or power. We use timing optimization techniques to improve the circuit performance, possibly at the expense of the other figures of merit. We consider general classes of digital circuits, with a given partition into registers, combinational blocks, and I/O ports. Circuit performance is related to the worst-case propagation delay of signals between two register boundaries. In this context, circuit performance optimization is equivalent to minimizing the critical path delay through the combinational circuits. We assume a multiple-level implementation of the combinational logic, by means of an interconnection of logic gates implementing arbitrary multiple-input, single-output logic functions. We consider dynamic CMOS implementation of the logic gates, operating in the domino mode. We present a global approach to timing performance optimization, which involves operations at the logic, topological, and physical level of abstraction of the circuit. In particular, at the logic level, we look for optimal structures of multiple-level combinational networks. At the topological level, we search for the optimal positions of gates or groups of gates. At the physical design level, we optimize MOS device sizes. The algorithms are described, together with their implementation and the interface to the Yorktown Silicon Compiler system, which is an automated synthesis system described in [7]. The results of applying timing-performance optimization to a 32-bit microprocessor design are reported.

关键词： Circuit synthesis Large-scale systems CMOS logic circuits Circuit optimization Integrated circuit synthesis Digital circuits Timing Registers Logic gates Logic devices

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ROBOTIC AND ARTIFICIAL-INTELLIGENCE systemS FOR THE NAVAL OPERATIONAL ENVIRONMENT

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NAVAL ENGINEERS JOURNAL 1987年第4期99卷 74-86页

作者： HOGGE, SM The author earned her bachelor's of science degree in industrial engineering and operations research from Virginia Polytechnic Institute and State University. While at Virginia Tech she worked in the Robotics Laboratory supporting robotics research sponsored by the National Bureau of Standards. She completed her master's of science in computer science at The Johns Hopkins University. Until this past March Miss Hogge worked at the Naval Surface Weapons Center in Silver Spring Maryland. Her duties included the application of robotics and artificial intelligence to explosive ordnance disassembly mobile robotics remote controlled fire fighting vehicles human factors expert systems computer enhanced decision-making aids and hardware security. She published a two-volume study discussing shipboard operational applications of robotics and AI. In addition her publications include nine recent journal articles on robotics and computer security. Miss Hogge is currently employed with Automaker Inc. in Houston Texas. Her current role is manager of all government related robotic operations and vision systems. Miss Hogge's projects at Automaker include: an explosive ordnance disassembly gantry robot system a vision inspection system to examine bearings 3-part camouflage spray painting an investigation of the use of robotic welding in Navy shipyards and rework facilities and epoxy spray painting of missile radomes.

Due to demographical factors, there will be a 25% decline in the national labor pool of eligible 17 to 21 year old men by 1992. As the Navy faces fierce competition with other services and private industry for the dwindling personnel resources of the nation, efforts must be made to consider automating certain tasks, especially those that are hazardous, boring, and labor intensive onboard ships at sea. The Surface Ship Continuing Concept Formulation (CONFORM) Program (SEA-5014) sponsored the Naval Surface Weapons Center's Robotics laboratory to identify potential applications of robotic and artificial intelligence systems to operation and mission activities for shipboard use. The results of the investigation concerning applications of robotics to automate the aforementioned tasks are presented. Changes in current manning levels for selected tasks and ship classes, i.e., CVs, CVNs, LPDs, LPNs, and auxiliaries are examined. Future ship designs incorporating robotics, such as the advance based repair (ABR) ship are discussed. Twenty-four applications were cited in the study which include a remote controlled vehicle for flight deck operations, limited tasks in biological, chemical, and radiation environments, computer aided command decision aids, ordnance handling, undersea search, recovery, and salvage, and ventilation duct cleaning. Four of the applications and their subsequent hardware fruition will be discussed.

关键词： ROBOTICS

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DOCTRINAL AUTOMATION IN NAVAL COMBAT systemS - THE EXPERIENCE AND THE FUTURE

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NAVAL ENGINEERS JOURNAL 1987年第3期99卷 74-79页

作者： GERSH, JR The authoris a principal staff engineer at The Johns Hopkins University Applied Physics Laboratory where he supervises the AAW Operations Section of the Combat Direction Group. Since joining JHU/APL in 1980 he has been involved in the specification development and testing of advanced surface combat direction systems specializing in the application of rule-based control mechanisms to command and control problems. In 1985-86 he chaired the Doctrine Working Group of the Naval Sea Systems Command's Combat Direction System Engineering Committee. Mr. Gersh served in the U.S. Navy from 1968 to 1977 as a sonar technician and as a junior officer (engineering and gunnery) aboard Atlantic Fleet frigates and as a member of the U.S. Naval Academy's Electrical Engineering faculty. He was educated at Harvard University and the Massachusetts Institute of Technology receiving S. B. S. M. and E. E. degrees in electrical engineering from the latter. He holds certificates as a commercial pilot and flight instructor and is a member of the U.S. Naval Institute the IEEE Computer Society and the American Association for Artificial Intelligence.

For the last four years the most advanced surface combat direction system (CDS) of the U.S. Navy has employed a limited knowledge-based control mechanism. Implemented in the Aegis Weapon system's command and decision element, this capability is called control by doctrine, and is a foundation for the Ticonderoga class cruisers' exceptional performance. Control by doctrine allows CIC personnel to direct that certain CDS functions be performed automatically upon tracks with specified characteristics. In effect, these CDS functions, from identification to engagement, can now be controlled through the specification and activation of general system response rules rather than by individual operator actions. The set of active rules, called doctrine statements, forms a system knowledge-base. The Advanced Combat Direction system, Block 1, successor to today's Naval Tactical Data system, will also employ control by doctrine. As part of a larger effort investigating Aegis/ACDS commonality issues, a Doctrine Working Group was chartered to consider, among other things, implications for force-wide interoperability of multiple systems with such rule-based control mechanisms. The working group produced a set of design objectives for doctrine statement standardization across CDSs. Principal features of these objectives are described. The prospect of several such ships operating together in a battle group has raised questions as to the methods by which the actions of ships with those doctrinally-automated systems can best be coordinated. Related questions deal with specific design features for the support of such coordinated action. Work is now being carried out to investigate these questions. Combat system automation through doctrine statements is only one kind of rule-based control. Much work in the area of artificial intelligence deals with the use and maintenance of complex systems of rules, usually in non-real-time problem solving applications. Such systems are just now beginning

关键词： WARSHIPS

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UNDERGROUND-STORAGE TANK MONITORING - OBSERVATION WELL BASED systemS

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GROUND WATER MONITORING AND REMEDIATION 1986年第4期6卷 49-55页

作者： SCHEINFELD, RA ROBERTSON, JB SCHWENDEMAN, TG Raymond A. Scheinfeld is a geologist with Roy F. Weston Inc. He holds a B. A. and an M. S. in geology from Temple University and is working on a Ph. D. in geology at the University of Delaware. His areas of specialization include organic and biogeochemistry sedimentology clay mineralogy karst hydrogeology aquifer testing and underground storage tank management. Todd G. Schwendeman is presently the underground storage system coordinator of the American Petroleum Institute. He has a B. S. in biology from Colgate University and an M. S. in civil engineering from Montana State University. From 1982 to 1983 he was employed by the Research and Technical Laboratory for Texaco USA. His responsibilities included ground water surface water and hazardous waste investigations and assessments. His experience includes chemical/soil science hydrogeology geology and ground water contamination computer modeling. Prior to working for Texaco Schwendeman was employed by the U. S. Forest Service to investigate the water quality impact of select dust suppressants as well as performing technical analyses for a soils engineering firm. John B. Robertson is vice president and director of National Ground Water Programs for Roy F. Weston Inc. Robertson holds a geological engineering degree from the Colorado School of Mines with advanced studies in ground water hydrogeology at the University of Arizona. Before joining Weston he served more than 20 years with the U. S. Geological Survey conducting research on the fate and behavior of organic and radioactive wastes in ground water ground water modeling and management of nationwide radioactive and hazardous waste hydrogeology programs. At Weston Robertson directs several underground storage tank technology projects ground water modeling studies and serves as senior technical advisor on major nuclear waste disposal programs remedial investigations and ground water protection programs.

A growing number of state and local governments and petroleum-related companies require the use of release detection systems for underground petroleum storage tanks. This has resulted in a confusing array of commercially available petroleum product detection devices, many of which have not been extensively field-tested. These systems, which are installed in ground water observation wells, vapor wells or U-tubes, include hydrocarbon-detecting paste, bailers, interface probes, electrical resistivity sensors, thermal-conductivity sensors, hydrocarbon-soluble devices, hydrocarbon-permeable materials and vapor detectors. This paper describes the available state-of-the-art technology for leak detection and the application for which each system is best suited.

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