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19th Asilomar Conference on Circuits, systems and computers, ACSSC 1985

作者： Hsia, T.C. Lu, G.Z. Robotics Research Laboratory Department of Electrical and Computer Engineering University of California DavisCA95616 United States Department of Computer and System Science Nankai University Tianjin China

ISBN: (纸本)0818607297

The problem of simplifying the Lagrange dynamic equation of PUMA 600 robot manipulators is considered. By applying the numeric significance evaluation procedure to the symbolically expressed dynamic projection functions, a simplified PUMA arm model is obtained. This model is further optimized by adjusting the model parameters using a least squares error procedure. The simplified/optimized dynamic projection functions have approximation errors less than one percent. © 1985 IEEE.

关键词： Robot applications

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Topological realizability of single contact switching functions 19

Topological realizability of single contact switching functi...

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19th Asilomar Conference on Circuits, systems and computers, ACSSC 1985

作者： Hu, Chenmin Chan, Shu-Park Department of Electrical Engineering and Computer Science University of Santa Clara Santa ClaraCA95053 United States Analog Design Tools Menlo ParkCA94025 United States

A necessary and sufficient condition called Non-Series Connect (NSC) edge-pair condition is presented for the testing of the topological realizability of single-contact switching functions. It can also be used to test... 详细信息

ISBN: (纸本)0818607297

关键词： Switching functions

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On Simplification Of Robot Arm Dynamic Equation

On Simplification Of Robot Arm Dynamic Equation

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Asilomar Conference on Signals, systems & computers

作者： T.C. Hsia G.Z. Lu Robotics Research Laboratory Department of Electrical and computer Engineering University of California Davis CA USA Department of Computer and System Science Nankai University Tianjin China

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Suppression of Narrow-Band Interference in a Direct Sequence Spread Spectrum Receiver in the Absence of Carrier Synchronization

Suppression of Narrow-Band Interference in a Direct Sequence...

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MILCOM, Military Communications Conference

作者： Gary J. Saulnier Pankaj Das Laurence B. Milstein Corporate Research and Development General Electric Company Limited Schenectady NY USA Electrical Computer and System Engineering Department Rensselaer Polytechnic Institute Troy NY USA Department of Electrical Engineering and Computer Science University of California San Diego CA USA

Experimental and analytical results have shown that least-mean-squared (LMS) adaptive filtering greatly improves the performance of direct sequence spread spectrum receivers in the presence of narrow-band jammers [1,2,3]. Since the adaptive jammer suppression is, at times, performed at baseband, previous investigations have assumed that both carrier and chip synchronization have been achieved prior to the suppression of the jammer. However, the presence of the jammer can hinder both the acquisition and the maintenance of this synchronization. This paper discusses an LMS-based jammer suppression structure which does not require carrier synchronization. Monte Carlo simulation results are presented which show bit-error-rate (BER) performance for a receiver equipped with such a jammer suppressor.

关键词： Narrowband Interference suppression Spread spectrum communication Jamming Frequency synchronization Adaptive filters Baseband Signal processing Bit error rate Least squares approximation

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AUTOMATION OF PROPELLER INSPECTION AND FINISHING

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NAVAL ENGINEERS JOURNAL 1985年第4期97卷 124-131页

作者： STERN, H METZGER, R Howard K. Stern:is presently vice president of Robotic Vision Systems Inc. He received a bachelor of electrical engineering degree from College of the City of New York in 1960. Mr. Stern joined Dynell Electronics Corporation in 1971 and became part of the Robotic Vision Systems Inc. staff at the time of its spin-off from Dynell. He was program manager of the various three-dimensional sensing and replication systems constructed by Dynell and Robotic Vision Systems. As program manager his responsibilities encompassed technical administrative and operational areas. The first two portrait sculpture studio systems and the first three replication systems built by Robotic Vision Systems Inc. were designed manufactured and operated under his direction. Before joining Dynell Mr. Stern was a senior engineer at Instrument Systems Corporation and chief engineer of the Special Products Division of General Instrument Corporation. Prior to these positions Mr. Stern was chief engineer of Edo Commercial Corporation. At General Instrument and Edo Commercial he was responsible for the design and manufacture of military and commercial avionics equipment. Mr. Stern is presently responsible for directing the systems design and development for all of the company's programs. Robert J. Metzger:is currently engineering group leader at Robotic Vision Systems Inc. He graduated summa cum laude from the Cooper Union in 1972 with a bachelor of electrical engineering degree. Under sponsorship of a National Science Foundation graduate fellowship he graduated from the Massachusetts Institute of Technology in 1974 with the degrees of electrical engineer and master of science (electrical engineering). In 1979 Mr. Metzger graduated from Polytechnic Institute of New York with the degree of master of science (computer science). Since 1974 Mr. Metzger has been actively engaged in the design of systems and software for noncontact threedimensional optical measurement for both military and commercial applications. Of particular note are his c

Ship's propellers are currently measured by manual procedures using pitchometers, templates and gauges. This measurement process is extremely tedious, labor intensive and time consuming. In an effort to provide increased accuracy, repeatability and cost effectiveness in propeller manufacture, an automated propeller optical measurement system (APOMS) has been built which rapidly and automatically scans an entire ship's propeller using a 3-D vision sensor. This equipment is integrated with a propeller robotic automated templating system (PRATS) and the propeller optical finishing system (PROFS) which robotically template and grind the propeller to its final shape, using the APOMS-derived data for control feedback. The optical scanning and the final shape are both controlled by CAD/CAM data files describing the desired propeller shape. An automated propeller balancing system is incorporated into the PROFS equipment. The APOMS/PRATS/PROFS equipment is expected to provide lower propeller manufacturing costs.

关键词： PROPELLERS

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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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Convergence Analysis of Distributed Asynchronous Iterative Processes *

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IFAC Proceedings Volumes 1984年第2期17卷 1145-1146页

作者： D.P. Bertsekas Laboratory for Information and Decision System. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Cambridge MA 02139 USA

We consider a model of distributed iterative algorithms whereby several processors participate in the computation while collecting, possibly stochastic information from the environment or other processors via communication links. Several applications in distributed optimization, parameter estimation, and communication networks are described. Issues of asymptotic convergence and agreement are explored under very weak assumptions on the ordering of computations and the timing of information reception. Progress towards constructing a broadly applicable theory is surveyed.

关键词： Fixed Points Distributed Algorithm Optimization Shortest Path Dynamic Programming

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Efficient Modulation for Band-Limited Channels

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IEEE Journal on Selected Areas in Communications 1984年第5期2卷 632-647页

作者： Forney, G. David Gallager, Robert G. Lang, Gordon R. Longstaff, Fred M. Qureshi, Shahid U. Motorola Information Systems Group Mansfield MA 02048 United States Department of Electrical Engineering Computer Science Massachusetts Institute of Technology Cambridge MA 02139 United States Motorola Information System Ltd. Rexdale Ont. M9V 1C1 Canada Codex Corporation Canton MA 02021 United States

This paper attempts to present a comprehensive tutorial survey of the development of efficient modulation techniques for bandlimited channels, such as telephone channels. After a historoyf advances in commercial high-speed modems and a discussion of theoretical limits, it reviews efforts to optimize two-dimensional signal constellations and presents further elaborations of uncoded modulation. Its principal emphasis, however, is on coded modulation twhniques, in which there is an explosion of current interest, both for research and for practical application. Both block-coded and trellis-coded modulation are covered, in a common framework. A few new techniques are presented. Copyright © 1984 by The Institute of electrical and Electronics Engineers, Inc.

关键词： Modems Bandwidth Telephony Quadrature amplitude modulation Constellation diagram Modulation coding Signal to noise ratio History Explosions Layout

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A computer-MODEL FOR SHIPBOARD ENERGY ANALYSIS

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NAVAL ENGINEERS JOURNAL 1984年第5期96卷 33-45页

作者： DETOLLA, JP FLEMING, JR Joseph DeTolla:is a ship systems engineer in the Ship Systems Engineering Division SEA 56D5 at the Naval Sea Systems Command. His career with the Navy started in 1965 at the Philadelphia Naval Shipyard Design Division. In 1971 he transferred to the Naval Ship Engineering Center. He has held positions as a fluid systems design engineer and auxiliary systems design integration engineer. Mr. DeTolla has worked extensively in the synthesis and analysis of total energy systems notably the design development of the FFG-7 class waste heat recovery system. He is NA VSEA's machinery group computer supported design project coordinator and is managing the development of a machinery systems data base load forecasting algorithms and design analysis computer programs. Mr. DeTolla has a bachelor of science degree in mechanical engineering from Drexel University and a master of engineering administration degree from George Washington University. He is a registered professional engineer in the District of Columbia and has written several technical papers on waste heat recovery and energy conservation. Jeffrey Fleming:is a senior project engineer in the Energy R&D Office at the David Taylor Naval Ship R&D Center. In his current position as group leader for the future fleet energy conservation portion of the Navy's energy R&D program he is responsible for the identification and development of advanced components and subsystems which will lead to reductions in the fossil fuel consumption of future ships. Over the past several years he has also directed the development and application of total energy computer analysis techniques for the assessment of conventional and advanced shipboard machinery concepts. Mr. Fleming is a 1971 graduate electrical engineer of Virginia Polytechnic Institute and received his MS in electrical engineering from Johns Hopkins University in 1975. Mr. Fleming has authored various technical publications and was the recipient of the Severn Technical Society's “Best Technical Paper of the Year” award in 1

In support of the Navy's efforts to improve the energy usage of future ships and thereby to reduce fleet operating costs, a large scale computer model has been developed by the David Taylor Naval Ship Research and Development Center (DTNSRDC) to analyze the performance of shipboard energy systems for applications other than nuclear or oil-fired steam propulsion plants. This paper discusses the applications and utility of this computer program as a performance analysis tool for design of ship machinery systems. The program is a simulation model that performs a complete thermodynamic analysis of a user-specified energy system. It offers considerable flexibility in analyzing a variety of propulsion, electrical, and auxiliary plant configurations through a component building block structure. Component subroutines that model the performance of shipboard equipment such as engines, boilers, generators, and compressors are available from the program library. Component subroutines are selected and linked in the program to model the desired machinery plant functional configurations. The operation of the defined shipboard energy system may then be simulated over a user-specified scenario of temperature, time, and load profiles. The program output furnishes information on component operating characteristics and fuel demands, which allows evaluation of the total system performance.

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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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