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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.J. Chang F. DiCesare G. Goldbogen Department of Electrical Computer and System Engineering Rensselaer Polytechnic Institute Troy NY USA Department of Electrical Computer and System Engineering Center for Manufacturing Productivity and Technology Transfer Rensselaer Polytechnic Institute Troy NY USA

The authors focus on the diagnostic step of the error recovery process in manufacturing systems and develop theories for evaluating the diagnosability of failure knowledge in manufacturing systems. The theories are based on the action-error-feature data set, described previously by the authors (1989). The definition of one-error diagnosability and the necessary and sufficient conditions for multiple-error diagnosability are given. A simple matrix operation, called covering analysis, for testing the conditions is also presented. The methodology provides a qualitative measure for the embedded diagnostic knowledge in terms of the ability to diagnose the number of multiple simultaneous errors in the system. This provides the diagnosability of the model and the feasibility of the computation, because the covering analysis is simple and at most two analyses are required to determine multiple-fault diagnosability. A discussion of the results obtained and simple examples to illustrate those results are presented.< >

关键词： Manufacturing systems Testing computer aided manufacturing Robots Knowledge engineering systems engineering and theory Pulp manufacturing Productivity technology transfer computer errors

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Development of micro actuator using shape memory alloy thin film

Development of micro actuator using shape memory alloy thin ...

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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Ikuta, Koji Fujita, Hiroyuki Arimoto, Suguru Ikeda, Michiaki Yamashita, Shinji Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Iizuka820 Japan Institute of Industrial Science University of Tokyo Roppongi Minato-ku Tokyo106 Japan Department of Mathematical Engineering and Information Physics Faculty of Engineering University of Tokyo Hongo Bunkyo-ku Tokyo113 Japan Research Laboratory Yaskawa Electric Mfg. Co. Ltd. Yahatanishi-ku Kitakyushu806 Japan

Basic research for the micro actuator using TiNi Shape Memory Alloy (SMA) is conducted from the crystallographic point of view. SMA (TiNi) thin film is fabricated by sputtering deposition. First, the influence of substrate temperature on crystal structure is verified by measuring resistivity-temperature curve and X-ray diffraction. Though high temperature substrate condition makes TiNi film in regular crystal, amorphous structure appears at low substrate temperature. Next, Optimal composition of sputtered SMA thin film is found by SSQ and negative slope of the resistivity curve due to phase transformation between R-phase and parent phase is observed. Finally, annealing methods is examined to crystalize amorphous TiNi. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Crystal structure

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Contact point detection for grasping of an unknown object using joint compliance

Contact point detection for grasping of an unknown object us...

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EEE International Workshop on Intelligent Robots and systems, Towards a New Frontier of Applications

作者： M. Kaneko K. Tanie Computer Scicnce and System Engineering Kyushu Institute of Technology Fukuoka Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

Focuses on a scheme for searching a contact point between a multifingered hand and an unknown object. Instead of mounting a distributed tactile sensor all over the finger links, the authors propose an active touch approach using joint compliance. The algorithm is composed of two phases. One is the approach phase, in which each finger is opened widely and approaches to an object until a part of a finger link is in contact with the object. The other is the detection phase, in which each finger posture is changed with slip while maintaining contact between object and finger. Using two selected postures during the detection phase, one can compute the intersecting point which leads to an approximate contact point. With a suitable combination of compliant joints and position-controlled joints, a finger link has the capability of changing its posture while maintaining contact with an object over a small angular displacement at a particular joint. This motion is essential in the contact point detection phase. The proposed algorithm is confirmed through simple experiments using a two-fingered robot hand.< >

关键词： Object detection Fingers Service robots Robot sensing systems Tactile sensors Shape Phase detection systems engineering and theory Mechanical engineering Laboratories

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Development of micro actuator using shape memory alloy thin film

Development of micro actuator using shape memory alloy thin ...

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EEE International Workshop on Intelligent Robots and systems, Towards a New Frontier of Applications

作者： K. Ikuta H. Fujita S. Arimoto M. Ikeda S. Yamashita Department of Mechanical System Engineering Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan Institute of Industrial Science University of Tokyo Tokyo Japan Department of Mathematical Engineering and Information Physics Faculty of Engineering University of Tokyo Tokyo Japan Research Laboratory Yaskawa Electric Manufacturing Company Limited Japan

Basic research for the micro actuator using TiNi shape memory alloy (SMA) is conducted from the crystallographic point of view. SMA (TiNi) thin film is fabricated by sputter deposition. First, the influence of substrate temperature on crystal structure is verified by measuring resistivity-temperature curve and X-ray diffraction. Though high temperature substrate conditions make TiNi film in regular crystal, an amorphous structure appears at low substrate temperature. Next optimal composition of sputtered SMA thin film is found by SSQ. The negative slope of the resistivity curve due to phase transformation between R-phase and parent phase is observed. Finally, annealing methods are examined to crystallize amorphous TiNi.< >

关键词： Microactuators Shape memory alloys Transistors Sputtering Substrates Temperature Crystallization Amorphous materials Crystallography X-ray diffraction

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A finger shaped tactile sensor using an optical waveguide

A finger shaped tactile sensor using an optical waveguide

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Annual Conference of Industrial Electronics Society

作者： N. Nakao M. Kaneko N. Suzuki K. Tanie NTT Tsukuba Field Engineering Development Center Tsukuba Ibaraki Japan School of Computer Science and System Engineering Department Kyushu Institute of Technology Fukuoka Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing the scattering light at the sensor-object contact. The contact location is recognized using a CCD to detect light. By a simple calculation of the equation derived from the sensor surface geometry, the sensor can also provide the surface normal of the touched object. Through experiments using a prototype sensor, the fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed.< >

关键词： Optical waveguides Fingers Tactile sensors Optical sensors Sensor phenomena and characterization Optical scattering Charge coupled devices Optical surface waves Optical devices Light sources

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Temporal reasoning for airlift scheduling analysis

Temporal reasoning for airlift scheduling analysis

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： J.D. Clay M.P. Wellman C.R. Bisbee Mission System Division USAF Eglin Air Force Base FL USA AI Technology Office Wright Research and Development Center Aeronautical Systems Division USAF OH USA Department of Electrical and Computer Engineering Air Force Institute of Technology USAF OH USA

A general temporal constraint reasoner and a set of mechanisms for deriving temporal information from airlift requirements and partial schedule specifications have been developed. Temporal reasoning provides a general mechanism integrating various types of temporal constraints on airlift events to provide time bounds on execution of the complete plan. Physical limitations of the aircraft and operating facilities and the availability of cargo produce constraints on when certain events may occur. Constraints include the time required to fly from one location to another, or the time spent waiting for an aircraft to be loaded. Comparing cargo requirements with airlift capacity over time provides additional constraints. By considering these constraints and their interactions, the planner is in a better position to assess the impact of high-level planning decisions. Deliberate planning for airlift operations consists of an iterated cycle of resource allocation, simulation, and analysis. This project deals only with deliberate planning.< >

关键词： Aircraft Process planning Analytical models Processor scheduling Resource management Feedback Time factors Content addressable storage Artificial intelligence Research and development

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SHIP SERVICE ELECTRICAL systemS - DESIGNING FOR SURVIVABILITY

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NAVAL ENGINEERS JOURNAL 1990年第5期102卷 32-36页

作者： CERMINARA, J KOTACKA, RO John Cerminara:is a principal engineer with Westinghouse Machinery Technology Division Electrical Systems Department. He holds a B.S. degree in electrical engineering from the University of Pittsburgh. He is a registered professional engineer and a member of IEEE ASNE and the Ship Steering Group of the Combat Survivability Division of ADPA. Mr. Cerminara has had over 30 years of multidiscipline experience ranging from engineering and construction in heavy industry to standards and publications. Past assignments include DOE/ NASA wind turbine project manager for Westinghouse and task leader of MTD electrical systems. Most recent assignments have included hull mechanical and electrical (HM&E) distributive system survivability analyses of the LSD-41 mobility mission area and application and validation of NavSea computer-aided design of Survivable Distributive System (CADSDiS) Program. Rolf O. Kotacka:is presently a ship systems engineer in the Ship Systems Engineering Branch of the Naval Sea Systems Command Engineering Directorate where his primary responsibility is ship system survivability. He is a 1977 graduate of SUNY Maritime College where he received his bachelor of engineering degree in marine electrical engineering as well as a U.S. Coast Guard Third Assistant Engineer License and a commission in the U. S. Naval Reserve. Upon graduation Mr. Kotacka was employed by Charleston Naval Shipyard as a field engineer until 1981 where he gained his background in surface ship HM&E systems and equipment. He then transferred to the Supervisor of Shipbuilding Conversion and Repair Groton where he served as a senior electrical engineer monitoring the design and construction of Trident and 688 class submarines and received the Meritorious Unit Citation. Prior to his present position Mr. Kotacka was the life cycle manager for diesel generator sets in the Naval Sea Systems Command's Generators Branch. He has coauthored several papers dealing with power generation for ASE and SNAME. Mr. Kotacka is also a lieutena

This paper highlights the survivability concerns in the design of ship service power systems. The paper gives a brief description of what constitutes a typical ship service electric power system and concentrates on electric power generation and associated controls. Established survivability design principles and guidelines are highlighted and the application of those guidelines are discussed. General Specifications (Gen Specs) for Ships of the U.S. Navy are cited as the cornerstone for design. Specific design criteria are cited as well as the rationale associated with the survivability design guidelines pertaining to power generation and distribution. The application of these survivability design guidelines plus the use of the deactivation diagram/damage tolerance analysis cited in the Gen Spec section 072e will enhance overall design and help ensure survivable electric power systems for surface combatants.

关键词： Warships

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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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Printed circuit board inspection system PI/1 2

Printed circuit board inspection system PI/1

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Automated Inspection and High-Speed Vision Architectures II 1988

作者： Yu, Shiaw-Shian Cheng, Wen-Chin Chiang, Chris S. C. Advanced Technology Center Electronics Research and Service Organization Industrial Technology Research Institute Chutung Hsinchu31015 Taiwan Control System Department Electronics Research and Service Organization Industrial Technology Research Institute Chutung Hsinchu31015 Taiwan Institute of Computer Science and Information Engineering National Chiao Tung University Hsinchu30049 Taiwan AITech International Corporation United States

An automatic printed circuit board (PCB) inspection system called PI/l, is described in this paper. The system can inspect PCB artwork and inner layers to find trace faults such as open circuits, short circuits, pin holes, fine lines and narrow line spaces. PI/1 uses a line scan camera with 1024 pixels resolution to take images. The whole image can be obtained by the help of a scanning mechanism in the X and the Y directions. Continuous pictures can be taken without blurring, and the resolution is between 1/2 to 2 mils. The inspection method used in PI/1 is a type of design rule checking. It does not require a reference image and can tolerate changes in the inspection environment due to illumination and PCB positioning. The inspection algorithm has been implemented into a special hardware and the inspection speed is about 4 x 106 pixels/sec. © 1989 SPIE. All rights reserved.

关键词： Printed circuit boards

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THE QUANTIFICATION OF INTEROPERABILITY

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NAVAL ENGINEERS JOURNAL 1989年第3期101卷 251-256页

作者： MENSH, DR KITE, RS DARBY, PH Dennis Roy Mensh:is currently the task leader Interoperability Project with the MITRE Corporation in McLean Va. He received his B.S. and M.S. degrees in applied physics from Loyola College in Baltimore Md. and the American University in Washington D. C. He also has completed his course work towards his Ph.D. degree in computer science specializing in the fields of systems analysis and computer simulation. He has been employed by the Naval Surface Warfare Center White Oak Laboratory Silver Spring Md. for 20 years in the areas of weapon system analysis and the development of weapon systems simulations. Since 1978 he has been involved in the development of tools and methodologies that can be applied to the solution of shipboard combat system/battle force system architecture and engineering problems. Mr. Mensh is a member of ASNE MORS IEEE U.S. Naval Institute MAA and the Sigma Xi Research Society. Robert S. Kite:is a systems engineer with the Naval Warfare Systems Engineering Department of the MITRE Corporation in McLean Va. Mr. Kite received his B.S. degree in electronic engineering from The Johns Hopkins University in Baltimore Md. Mr. Kite retired from the Federal Communications Commission in 1979 and served a project manager of the J-12 Frequency Management Support Project for the Illinois Institute of Technology Research Institute in Annapolis Md. before joining MITRE. Mr. Kite is presently a member of ASNE the Military Operations Research Society and an associate member of Sigma Xi. Paul H. Darby:has worked in the field of interoperability both in the development of interoperability concepts and systems since joining the Department of the Navy in 1967. He was the Navy's program manager for the WestPacNorth TACS/ TADS and IFFN systems. He is currently head of the Interoperability Branch Warfare Systems Engineering Office Space and Naval Warfare Systems Command. He holds a B.S. from the U.S. Naval Academy.

JCS Pub 1 defines interoperability as “The ability of systems, units or forces to provide services to and accept services from other systems, units or forces and to use the services so exchanged to enable them to operate effectively together.” With JCS Pub 1 as a foundation, interoperability of systems, units or forces can be factored into a set of components that can quantify interoperability. These components are: media, languages, standards, requirements, environment, procedures, and human factors. The concept described in this paper uses these components as an analysis tool to enable specific detailed analyses of the interoperability of BFC3 systems, units, or forces for the purpose of uncovering and resolving interoperability issues and problems in the U.S. Navy, Joint, and Allied arenas. Also, as a management tool, the components can help determine potential interoperability characteristics of future U.S. Navy BFC3 systems for compliance with battle force systems architectures. The approach selected for the quantification of interoperability was the development of a set of measures of performance (MOPs) and measures of effectiveness (MOEs). The MOPs/MOEs were integrated with a candidate set of components, which were used to partition the totality of interoperability into measurable entities. The methodology described employs basic truth table theory in conjunction with logic equations to evaluate the interoperability components in terms of MOPs that were aggregated to MOEs. It is believed that this concept, although elementary and based on fundamental principles, represents an operationally significant approach rather than a theoretical approach to the quantification of interoperability. The vehicle used as a means to measure the MOPs and MOEs was the Research Evaluation and systems Analysis (RESA) computer modeling and simulation capability at the Naval Ocean systems Center (NOSC), San Diego, Calif. Data for the measurements were collected during a Tactical I

关键词： Military engineering

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