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ALV NAVIGATION USING TERRAIN DATABASES

JOURNAL OF NAVIGATION 1991年第1期44卷 48-57页

作者： BLACKMAN, CP MACLACHLAN, IR (Royal Armament Research and Development Establishment) (Marconi Command and Control Systems Ltd. but currently seconded to the Royal Armament Research and Development Establishment as part of the Mobile Advanced Robotics Defence Initiative)

A navigation strategy for an autonomous land vehicle (ALV) based on the Defence Geographic Database is currently being developed under the auspices of the Mobile Advanced robotics Defence Initiative (MARDI). The database is hierarchically structured, and supports the storage of an unlimited number of attributes for each geographical feature. It also expressly identifies the interconnectivity of adjacent features, making it ideal for automatic route calculation. Tactical battlefield information is being combined with the database resulting in a composite link-node map which will be searched for optimum routes using standard algorithms. Both military and geographical criteria will be simultaneously optimized. Waypoints suitable for machine vision techniques will also be extracted and used to confirm the ALV location.

关键词： LAND NAVIGATION DIGITAL MAPS EXPERT systems

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A smooth variable structure position control of dc motor

A smooth variable structure position control of dc motor

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1991 IEEE Region 10 International Conference on EC3-Energy, Computer, Communication and control systems, TENCON 1991

作者： Paul, A.K. Bandyopadhyay, B. Srisailam, M.C. Div of Remote Handling and Robotics Bhabha Atomic Research Centre Bombay400085 India Systems and Control Engg Deptt. of Elec. Engg. Indian Institute of Technology Powal Bombay400 070. India

ISBN: (纸本)0780305388

Variable structure control using sliding mode technique has been widely used for different electrical motors in position loop. Its advantages are insensitivity to parametric variations and ability to reject disturbances like sudden load applied to the motor shaft. However, for a low inertia systems it exibibits more chattering. In this paper, a sliding mode controller for a very low inertia system (Printed circuit motor) is proposed. A new chattering reduction technique is also proposed here. controller structure is a hybrid one where analog circuit has been reduced to a minimum level. Computer simulation as well as experimented results are presented to verify the chattering reduction technique. © 1991 IEEE.

关键词： Printed circuit motors

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CAE Tools for Nonlinear systems Analysis and Design Based on Sinusoidal-Input Describing Functions

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IFAC Proceedings Volumes 1991年第4期24卷 89-94页

作者： J.R. O'Donnell J.H. Taylor Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA Control Systems Laboratory General Electric Corporate Research and Development P. O. Box 8 Schenectady NY 12301 USA

We report on recent progress in the development of a computer-aided engineering (CAE) environment for nonlinear control system analysis and design based on sinusoidal-input describing function (SIDF) methods. Several major additions have been made to our nonlinear controls CAE software: ACSL macros were developed to allow the generation of SIDF models of nonlinear plants in a manner analogous to that of the SIMNON-based software developed earlier, and MATLAB routines were developed for the analysis of these models and for the design of general nonlinear controllers based on them. This software provides an integrated tool set for treating very general nonlinear systems with no restrictions on system order, number of nonlinearities, configuration, or nonlinearity type. Based on the new software presented here, the use of SIDF-based nonlinear control system analysis and design methods is substantially easier to carry out and more powerful than before

关键词： Nonlinear control systems describing functions control system design computeraided design computer software

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AN OVERVIEW OF CURRENT AND CANDIDATE TITANIUM-ALLOY APPLICATIONS ON UNITED-STATES-NAVY SURFACE SHIPS

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NAVAL ENGINEERS JOURNAL 1991年第3期103卷 175-191页

作者： SCHUTZ, RW SCATURRO, MR Ronald W. Schutzis manager of industrial research and development for RMI Titanium Company in Niles Ohio. He has held his current position since September of 1989. Prior to this appointment Mr. Schutz was employed by TIMET Corporation in the Henderson Technical Laboratory for 14 years involved with corrosion research and development of titanium alloys for industrial applications. Mr. Schutz has authored more than 25 papers on the corrosion behavior and industrial applications of titanium alloys. He received his B.S. degree in chemistry and M.S. degree in inorganic electrochemistry from Rensselaer Polytechnic Institute in Troy N.Y. He was a recipient of the NACE A.B. Campbell Award in 1981 and is a member of NACE ASTM and ASNE. Milton R. Scaturrois a licensed engineer in both California and Canada with over 35 years experience in design and manufacturing. Since joining the Naval Ship Weapons Systems Engineering Station in Port Hueneme Calif in 1968 he has specialized in the development and application of corrosion control techniques on naval ships weapons systems and electronic ship systems. He studied mechanical engineering at City College of New York and is a Certified Manufacturing Engineer and a member of NACE and ASNE.

A significant number of current and candidate Navy surface ship applications for titanium alloys are identified and reviewed in this paper. These applications represent very viable, practical engineering solutions to current limitations and problems on current ships, and improvements proposed to address modern Navy aims. These fundamental aims include improved ship performance, availability, payload, mobility, and survivability. A thorough discussion of relevant mechanical, physical, and corrosion properties of candidate titanium alloys is made along with how these properties impact design, fabricability, and performance of specific ship structures and systems. An update of the status of these ship applications and corresponding Navy evaluation programs is also provided.

关键词： Titanium and Alloys

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Synthesis of Nonlinear controllers with Rate Feedback via Sinusoidal-Input Describing Function Methods

Synthesis of Nonlinear Controllers with Rate Feedback via Si...

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American control Conference (ACC)

作者： James H. Taylor James R. O'Donnell Control Systems Laboratory General Electric Corporate Research and Development Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.

关键词： Feedback control system synthesis Nonlinear control systems Signal synthesis Three-term control Load modeling Nonlinear systems control systems Laboratories research and development

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Computer-aided control Engineering Environments: Architecture, User Interface, Data-base Management, and Expert Aiding

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IFAC Proceedings Volumes 1990年第8期23卷 337-348页

作者： J.H. Taylor D.K. Frederick C.M. Rimvall H.A. Sutherland Control systems Laboratory GE Corporate Research and Development P.O. Box 8 Schenfctady NY 12301 USA Dept. of Electrical Computer andd Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180 USA

Modern CAD environments for control systems engineering have begun to support substantial functionality beyond modeling, numerical analysis, and simulation. Three major areas that have emerged in the last five years are advanced user interfaces, data-base management, and expert-systems support ("expert aiding"), In addition, there has been a steady thrust to integrate more completely the various functionalities and software that comprise computer-aided control engineering (CACE). These trends have produced CACE environments which have relatively modest improvements in numerical quality but a vastly different "feel" in terms of integration, support, and "user friendliness. The basic considerations and requirements for a CACE user interface (UI), data-base manager (DBM), and expert aicling are discussed in detail. In many cases, these will be illustrated by examples based on various CACE software suites including the new GE MEAD CACE environment; the basic thrust will be to define needs and show how these can be met. The GE MEAD Project involves the integration of powerful CACE packages under a supervisor which coordinates the execution of these packages with a modern UI, a CACE-oriented DBM, and an expert system. The user interface is designed to facilitate access to the CACE package capabilities by users with widely different levels of familiarity with the environment. The data-base manager keeps track of system models that evolve over time and associates each analysis or design result with the correct model instance. The expert system supplies the machinery for expert aiding complicated or heuristic procedures to free the user from low-level detail and tedium. This system thus exemplifies the trends mentioned above

关键词： Computer-aided system design computer interfaces for CAD control engineering applications of computers data-base management systems expert systems software tools

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Performance analysis of automated manufacturing systems with blocking and deadlock

Performance analysis of automated manufacturing systems with...

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International Conference on Computer Integrated Manufacturing

作者： N. Viswanadham T.L. Johnson Y. Narahari Department of Computer Science and Automation Indian Institute of Science Bangalore India GE Corporate Research & Development Control Systems Laboratory Schenectady NY USA

Petri net and Markov chain models are developed for manufacturing systems with blocking and deadlock. The authors compute the probability that the system in an absorbing (deadlocked) state, the mean time to deadlock, and the throughput before deadlock, etc., which can be used to compare the performance of various prevention and avoidance strategies. A systematic method for designing locks and interlocks for deadlock avoidance using the reachability graph of the Petri net model is presented.< >

关键词： Performance analysis Manufacturing systems System recovery Throughput Machining control systems

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National institute of Standards and Technology's Automated Manufacturing research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： Computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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A PRACTICAL APPROACH TO THE DESIGN, OPERATION, AND MONITORING OF INSITU SOIL-VENTING systems

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GROUND WATER MONITORING AND REMEDIATION 1990年第2期10卷 159-178页

作者： JOHNSON, PC STANLEY, CC KEMBLOWSKI, MW BYERS, DL COLTHART, JD Paul C. Johnson Ph.D. joined Shell Development Co.'s (Westhollow Research Center Room EC-649 P.O. Bo 1380 Houston TX 77251–1380) Environmental Science Department in 1987 after earning his B.S. in chemical engineering from the University of California Davis and his Ph.D. in chemical engineering from Princeton University. His current areas of research include the development and evaluation of soil treatment processes modeling and measuring transport phenomena in porous media and the development of transport models for predicting emissions and exposures used in envvironmental risk assessments. Curtis C Stanley received his degree in geology with an engineering minor from North Carolina State University in 1979. He is currently a senior hydrogeologist for Shell Oil Co. (Westhollow Research Center 2236 Two Shell Plaza Houston TX 77082) and is responsible for hydrogeologic response at Shell's retail facilities. Stanley is a Certified Professional Geological Scientist and also a Certified Ground Water Professional with the NWWA's Association of Ground Water Scientists and Engineers. He is also a member of API's Ground Water Technology Taskforce and is an EPA Peer Reviewer. Marian W. Kemblowski Ph.D. is a senior research engineer in the Environmental Science Department at Shell Development Co. (Westhollow Research Center Houston TX 77082) where he has worked since 1985. He obtained his M.S. degree in civil engineering from the Technical University of Warsaw Poland in 1973 and his Ph.D. in ground water hydrology from the Institute for Land Reclamation in Warsaw Poland in 1978. In 1980–1981 he was a visiting hydrologist in the New Mexico School of Mining and Technology. From 1981 to 1985 he worked as an assistant scientist at the University of Kansas. His principal research interests are in the areas of numerical analysis transport in porous media and ground water monitoring systems. Dallas L. Byers is a technical associate in the Environmental Science Department at Shell Development. After receivin

When operated properly, in situ soil venting or vapor extraction can be one of the most cost-effective remediation processes for soils contaminated with gasoline, solvents, or other relatively, volatile compounds. The components of soil-venting systems are typically off-the-shelf items, and the installation of wells and trenches can be done by reputable environmental firms. However, the design, operation, and monitoring of soil-venting systems are not trivial. In fact, choosing whether or not venting should be applied at a given site is a difficult decision in itself. If one decides to utilize venting, design criteria involving the number of wells, well spacing, well location, well construction, and vapor treatment systems must be addressed. A series of questions must be addressed to decide if venting is appropriate at a given site and to design cost-effective in situ soil-venting systems. This series of steps and questions forms a “decision tree” process. The development of this approach is an attempt to identify the limitations of in situ soil venting, and subjects or behavior that are currently difficult to quantify and for which future study is needed.

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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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