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22nd Annual Workshop on Microprogramming and Microarchitecture, MICRO 1989

作者： Mulder, Hans Stravers, Paul Section Digital Systems and Computer Architecture Department of Electrical Engineering Delft University of Technology P.O. Box 5031 Delft2600 GA Netherlands

ISBN: (纸本)0897913248

Two major limitations concerning the design of cost-effective application-specific architectures are the recurrent costs of system-software development and hardware implementation, in particular VLSI implementation, for each architecture. The SCalable architecture Experiment (SCARCE) aims to provide a framework for application-specific processor design. The framework allows scaling of functionality, implementation complexity, and performance. The SCARCE framework consists and will consist of: an architecture framework defining the constraints for the design of application-specific architectures;tools for synthesizing architectures from application or application-area;VLSI cell libraries and tools for quick generation of application-specific processors;a system-software platform which can be retargeted quickly to fit the application-specific architecture;This paper concentrates on the micro-architecture framework of SCARCE and outlines the process of generating VLSI processors. © 1990 ACM.

关键词： Cost effectiveness

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Cost-effective design of application specific VLIW processors using the SCARCE framework 22

Cost-effective design of application specific VLIW processor...

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22nd Annual Workshop on Microprogramming and Microarchitecture, MICRO 1989

作者： Mulder, Hans Portier, Robert J. Section Digital Systems and Computer Architecture Department of Electrical Engineering Delft University of Technology P.O. Box 5031 Delft2600 GA Netherlands

ISBN: (纸本)0897913248

Increasing the performance of application-specific processors by exploiting application-resident parallelism is often prohibited by costs;especially in the case of low-volume productions. The flexibility of horizontal-microcoded machines allows these costs to be reduced, but the flexibility often reduces efficiency. VLIW is a new and promising concept for the design of low-cost, high-performance parallel computer systems. We suggest that the VLIW concept can also be used as a basis for cost-effective design of application-specific processors which must exploit application-resident parallelism. The SCARCE (SCalable architecture Experiment) framework, an approach for cost-effective design of application-specific processors, provides features which allow the design of retargetable VLIW architectures. However, a retargetable VLIW architecture is only effective if there is a retargetable VLIW compiler. Since a VLIW compiler is an essential part of the VLIW architecture, tradeoffs must be made between the variety of VLIW architectures and the compiler complexity. We suggest that limiting the flexibility of the retargetable VLIW architecture does not necessary reduce the application space. This paper discusses the issues related to the design of a retargetable VLIW processor architecture and compiler within the SCARCE framework. © 1990 ACM.

关键词： Very long instruction word architecture

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Two Adaptive Control Structures of Robot Manipulators

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IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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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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Efficient macro-code emulation in hardwired pipelined processors 21

Efficient macro-code emulation in hardwired pipelined proces...

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Proceedings of the 21st annual workshop on Microprogramming and microarchitecture

作者： J. M. Mulder R. J. Portier A. Srivastava R. in't Velt Section Digital Systems and Computer Architecture Department of Electrical Engineering Delft University of Technology POBox 5031 2600 AG Delft The Netherlands

ISBN: (纸本)9780818619199

Traditionally microcoded computers have been the ideal machines for implementing scalable architectures. These machines easily implement application-specific functionality in microcode and they allow architecturally transparent variation of cost/performance by trading off application code, microcode, and hardware. In contrast, hardwired machines are intrinsically incapable of implementing scalability, because they only implement a single level of interpretation. Recent RISC designs have introduced architectural features which partly resolve the scalability issues. They implement architectural openendness to allow application-specific functionality to be added to the architecture (by means of coprocessors and special function units). Additionally they define functions which, depending on application, cost, and performance, can be implemented in hardware or, by means of emulation, in *** identical from an abstract point of view, scalability by means of microprogramming and by means of emulation on a hardwired machine is significantly different. This paper describes the emulation facility provided in SCARCE (SCalable architecture Experiment), a streamlined architecture specifically designed for a wide range of embedded applications, requiring high performance. While architecturally transparent, this emulation facility operates with little overhead (8 cycles), adds three control registers, and is always interruptible. By increasing the hardware investment, the overhead could be decreased to 4 cycles per trap.

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Experimental evaluation of a PUMA manipulator model-referenced adaptive controller

Experimental evaluation of a PUMA manipulator model-referenc...

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IEEE Conference on Decision and Control

作者： M. B. Leahy S. H. Murphy R. Al-Jarr G. N. Saridis Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Robotics and Automation Laboratories Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Rensselaer Polytechnic Institute Troy New York

The robotic manipulator control performance database has been expanded by experimental evaluation of a joint space model-reference adaptive control technique. The trajectory tracking accuracy of the evaluated Model-Reference Adaptive Control technique was insufficient for gross motion control of a six degree of freedom PUMA manipulator. The adaption mechanism did not force the manipulator joints to track the reference model output. The Model-Referenced Adaptive Controller demonstrated efficacy inferior to dynamics based control techniques. Velocity reference input and friction compensation have been identified as essential components of any adaptive PUMA controller. Evaluation results provide valuable insight into further development of adaptive manipulator control methods.

关键词： Programmable control Adaptive control Manipulator dynamics Orbital robotics Robot control Databases Trajectory Tracking Motion control Friction

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AIR-CUSHION LANDING CRAFT NAVIGATION

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NAVAL ENGINEERS JOURNAL 1985年第4期97卷 248-260页

作者： GRAHAM, HR KIM, JC BAND, EGU FOWLER, AW Herbert R. Graham:received his degrees of B.S. in 1951 and M.S. in 1958 in aeronautical engineering from the Massachusetts Institute of Technology and the California Institute of Technology respectively. He also attended the Harvard Graduate School of Business Administration. He is presently a task manager at TRW Inc. McLean Virginia responsible for landing craft air cushion (LCAC) engineering support. Since joining TRW in 1967 he has had several technical project management and system engineering responsibilities in amphibious ships transportation and energy. He was responsible for the preliminary engineering design and cost estimates for tracked air cushion vehicles (TACVs). He has been active in several professional societies including ASNE and served as vice-chairman Los Angeles Section American Institute of Aeronautics and Astronautics. John C. Kim:received his degrees of B.S. in electrical engineering Tri-State University 1959 M.S. in electrical engineering Michigan State University 1960 and Ph.D. in electrical engineering Michigan State University. He is presently a senior staff engineer with TRW Inc. McLean Virginia where his technical experience has included communications system engineering and navigation system analysis. Since joining TRW in 1969 he has held numerous positions including section head project manager and department manager. His previous employment includes E-Systems/Melpar Division and Honeywell. Dr. Kim has been active in the IEEE Washington Chapter activities which included secretary vice-chairman and chairman of Systems Science and Cybernetics Group. Edward G.U. Band:received a B.S. degree in mechnical engineering in 1946 and a D.I.C in aeronautical engineering in 1947 at the City and Guilds College of London University. In 1951 he received an M.S. degree from Stevens Institute of Technology in fluid dynamics. After a career in the aircraft industry in England Canada and the U.S.A. he spent several years teaching in Chile and at Webb Institute of Naval Archi

Air cushion vehicles (ACVs) have operated successfully on commercial routes for about twenty years. The routes are normally quite short; the craft are equipped with radar and radio navigation aids and maintain continuous contact with their terminals. Navigation of these craft, therefore, does not present any unusual difficulty. The introduction of air cushion vehicles into military service, however, can present a very different picture, especially when external navigation aids are not available and the craft must navigate by dead reckoning. This paper considers the problems involved when navigating a high-speed air cushion vehicle by dead reckoning in conditions of poor visibility. A method is presented to assess the ACV's navigational capability under these circumstances. A figure of merit is used to determine the sensitivity of factors which affect navigation such as the range of visibility, point-to-point distance, speed, turning radius and accuracy of onboard equipment. The method provides simplistic but adequate answers and can be used effectively to compare the-capability and cost of alternative navigation concepts.

关键词： AIR CUSHION VEHICLES

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ARCTIC TRAFFICABILITY PROGRAM - A REVIEW

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NAVAL ENGINEERS JOURNAL 1984年第3期96卷 169-175页

作者： VOELKER, R GLEN, IF SEIBOLD, F BAYLY, I Richard Voelker:is Vice President of ARCTEC Incorporated a firm specializing in cold regions technology. He has been responsible for the management of thePolarClass Traffic-ability Program since its inception and annually participates in the field data collection in the Arctic. His prior experience includes positions with the U.S. Coast Guard in the icebreaker design project the Military Sealift Command and at Newport News Shipbuilding. He is a graduate of N. Y.S. Maritime College and has a MS degree from the University of Michigan. I.F. Glen:received his professional degrees in naval architecture from the Royal Naval Engineering College Manadon Plymouth and RN College Greenwich London entering the Royal Corps of Naval Constructors in 1967. After serving as a Constructor Lieutenant in the Royal Navy's Far East Fleet for a short period he joined the Polaris submarine project team in Bath England in 1968. In 1971 he was seconded to the Canadian Department of National Defense in Ottawa as a Constructor Lieutenant Commander under NATO exchange arrangements where he had responsibilities initially for conventional submarines and latterly for computer aided conceptual design. He ventured to Bath England in 1974 and joined Forward Design Group. In 1975 he took a position as a civilian engineer in the Canadian Defense Department and was Head of Hull Systems Engineering from 1977 to 1979. He joined ARCTEC CANADA LIMITED in 1980 and in addition to managing ice model testing projects and full scale trials has specialized in structural response of ships to ice impact. He headed ARCTEC's Kanata Laboratory from 1981 to 1983 when he was promoted to president. Frederick Seibold:is a research program manager with the Maritime Administration's Office of Advanced Ship Development and Technology. He is responsible for the marine science program which includes research in the areas of ship powering structures and propeller performance and Arctic technology. Mr. Seibold has been employed by Mar Ad since 1961 having hel

This paper describes a multiyear program to make an operational assessment on the feasibility of a year-round Arctic marine transportation system to serve Alaska. Specifically, the three objectives were to: collect meteorological and ice data along potential marine routes; instrument the hull and propulsion machinery to improve design critera for ice-worthy ships; and demonstrate that ships can operate in midwinter Alaskan Arctic ice conditions. The U.S. Coast Guard's Polar class icebreakers were used to make the operational assessment by annually extending the route northward and by operating throughout the winter season. This paper reviews some of the operational and technical achievements to date, as well as plans for future Arctic deployments.

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RETROFITTING OF BULBOUS BOWS ON UNITED-STATES NAVY AUXILIARY AND AMPHIBIOUS WARSHIPS

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NAVAL ENGINEERS JOURNAL 1984年第6期96卷 40-51页

作者： CHUN, SK HOUGH, JJ ENGLE, AH FUNG, SC Stephen K. Chunis a graduate of the Maritime College of the State University of New York class of 1981 from which he received a B.E. degree in naval architecture and his license as a Third Assistant Engineer from the U.S. Coast Guard. Since graduation he has worked for the U.S. Navy as a naval architect with the Hull Form and Hydrodynamics Performance Division (SEA 55W3) of the Naval Sea Systems Command. Currently he is the task leader for hydrodynamic design for the DDG-51. He is also responsible for bulbous bow and appendage design for surf ace ships. Mr. Chun is a member of ASNE SNAME and ASE. Jeffrey J. Hough:is currently a naval architect with the Hull Form and Hydrodynamic Performance Division (SEA 55VV3) of the Naval Sea Systems Command (NA VSEA). In his current capacity he is a member of the Surface Ship Hydrodynamics Branch and is the divisional coordinator for computer supported design (CSD) technical director for the hull form design system (HFDS) Hull Engineering Group (SEA 55) assistant coordinator for CSD SEA 55 CSD coordinator for the DDG-51 contract design and SEA 55W3 project engineer for aircraft carrier/aviation support ship hydrodynamics. Mr. Hough received his B.S.E. degree in naval architecture and marine engineering in 1978 and his M.S.E. degree in naval architecture and marine engineering in 1979 from the University of Michigan. He began his career with the U.S. Navy in 1979 as an Engineer-in-Training in the Ship Design and Integration Directorate of NAVSEA. Prior to his current assignment Mr. Hough was the technical director responsible for the hull form and hydrodynamics energy conservation program and technical specialist for design practices for resistance and powering margins and hull form geometry. A member of ASNE since 1979 Mr. Hough is also a member of SNAME ASE and the U.S. Naval Institute. Allen H. Engleis a naval architect with the Hull Form Design and Performance Division of the Naval Sea Systems Command. He received his B.S. degree in engineering science from th

To meet energy conservation goals of the U.S. Navy, its attention has been focused on ways to reduce individual ship total resistance and powering requirements. One possible method of improving ship powering characteristics is by modifying existing individual ship hulls with the addition of bulbous bows. This paper will identify the merits of retrofitting bow bulbs on selected U.S. Navy auxiliary and amphibious warfare ships. A procedure for performing a cost-benefit analysis will be shown for candidate ship classes. An example of this technique for an amphibious warfare ship will also be provided. A brief discussion of future methods to be used for bulbous bow design such as application of systematic model test data and numerical hydrodynamic techniques will be given.

关键词： NAVAL VESSELS

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AN ADVANCED METHODOLOGY FOR PRELIMINARY HULL FORM DEVELOPMENT

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NAVAL ENGINEERS JOURNAL 1984年第4期96卷 147-161页

作者： LIN, WC DAY, WG HOUGH, JJ KEANE, RG WALDEN, DA KOH, IY Wen-Chin Lin:heads the Ship Powering Division at the David Taylor Naval Ship R&D Center (DTNSRDC). Dr. Lin received his B.S. degree in mechanical engineering from the National Taiwan University in 1957. He was awarded his M.S. degree in naval architecture and Ph.D. in engineering science from the University of California at Berkeley in 1963 and 1966 respectively. From 1966 to 1969 he was employed by ESSO Research and Engineering Company to conduct marine hydrodynamic research for oil tankers and offshore structures. Since joining DTNSRDC in 1969 he has actively conducted and directed hydrodynamic research to advance naval ship design technology and improve ship performance. Active in national and international symposia on ship hydrodynamic research he is recognized for contributions to the ship research community. For the past six years he has been a member of the Performance Committee of the ITTC and currently serves as secretary of the committee. He is a member of SNAME and the Society of Naval Architects of Japan. William G. Day Jr:. has been employed as a naval architect at the David Taylor Naval Ship R&D Center since receiving a B.E.S. degree from the Johns Hopkins University in 1966. He obtained an M.S. E. degree from George Washington University in 1971. As Head Design Evaluation Branch of the Ship Performance Department he is responsible for model experiments to evaluate the hydrodynamic performance of ships and propulsors. He is a member of ASNE and SNAME. In-Young Koh:received his B.S. and M.S. degrees in electrical engineering from Lowell University in 1969 and 1971 respectively and his Ph.D. in applied mechanics from Rensselaer Polytechnic Institute in 1976. Dr. Koh joined DTNSRDC as an electronic engineer specializing in the application of advanced instrumentation and computer techniques to ship research and design. He is currently engaged in research and development of active control systems for naval ship applications. Dr. Koh is a member of ASNE SNAME and IEEE. David Andrew Walden:is

A ship design methodology is presented for developing hull forms that attain improved performance in both seakeeping and resistance. Contrary to traditional practice, the methodology starts with developing a seakeeping-optimized hull form without making concessions to other performance considerations, such as resistance. The seakeeping-optimized hull is then modified to improve other performance characteristics without degrading the seakeeping. Presented is a point-design example produced by this methodology. Merits of the methodology and the point design are assessed on the basis of theoretical calculations and model experiments. This methodology is an integral part of the Hull Form Design System (HFDS) being developed for computer-supported naval ship design. The modularized character of HFDS and its application to hull form development are discussed.

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