Robotic technology integration for army ground vehicles

This paper discusses the US Army Tank Automotive Research, Development and Engineering Center's (TARDEC's) four (4) axis strategy for integration of robotics into the legacy, interim, and objective forces. At the cornerstone of this strategy is the R&D effort concentrating on autonomous perception and navigation, intelligent tactical behavior, command and control, and man-robot interface entailed in the Demo III and Robotic Follower programs. Smart Manned Systems focuses on a systems engineering approach for robotic solutions into the interim force (Vetronics Technology Testbed and Crew Integration & Automation Testbed). In the near-term, application of robotics to the legacy force will be achieved through adapting commercial automation technologies, which address military requirements. Finally, Intelligent Mobility will investigate improving intrinsic platform mobility to lessen the burden on robotic sensing performance. The ultimate goal of this strategy is to advance the robotics technology state-of-the-art to achieve off-road full autonomous operations for military systems in support of the objective force     

机载嵌入式可重构信号处理系统设计

为使机载嵌入式信号处理系统性能更加均衡,更好地适应机载嵌入式环境,在比较三种传统的机栽信号处理系统架构的基础上,提出了一种系统可伸缩、功能可重构的信号处理系统架构,并分析了其系统特性和关键技术。从可编程能力、处理性能、通用性以及可扩展性等方面比较了三种信号处理系统架构,结果表明:可重构信号处理系统架构具有较强的综合性能,能更好地满足机载嵌入式应用的需求。     

Robotic Systems for Aircraft Servicing/Maintenance

This paper explores concepts which apply emerging ground support technology (GST) to the rapid turnaround of tactical aircraft. This technology has the potential to reduce manpower requirements for ground servicing, increase sortie generation rates and expose fewer ground personnel to the lethal agents anticipated during biochemical warfare. The near term approach examines automated systems for refueling and rearming tactical aircraft assuming the returning aircraft suffer no disabling malfunctions or battle damage. In the far term, it is proposed that additional maintenance and servicing functions be performed by GST systems. Consideration is given to linking diagnostic computers on tactical aircraft with future robotic systems for direct repair and maintenance. It is concluded that GST systems, including robotics, provide the opportunity for revolutionary changes in aircraft servicing and maintenance and provide a viable option for generating sorties during and immediately following biochemical attack.     

Modular ICNIA Packaging Technology

Significant size, weight, power and reliability improvements can be achieved in next generation avionics by the modular integration of similar functions into a fault tolerant reconfigurable architecture. The Integrated Communication Navigation Identification Avionics program (ICNIA), and ITT/TI Joint Venture, is accomplishing this task with a combination of modular circuit designs using VHSIC technology, improved packaging designs incorporating surface mount component technology and a modular two-level maintenance support concept for reduced life cycle cost. This article will concentrate on the modular packaging technology of the digital processor subsystem.     

空间机械臂视觉测量技术研究

空间机械臂技术是维护空间站、执行指定任务、保障航天员出舱作业的安全等必不可少的关键技术。视觉测量技术则是保证空间机械臂顺利完成空间遥操作任务的前提。基于此前提,首先对空间机械臂视觉测量技术进行了概述,并分别对手眼关系标定、标志器识别以及相对三维位姿测量等关键技术进行了阐述;然后,以加拿大机械臂为例提出了一种基于边缘特征的标志器识别算法,给出了具体的识别流程,并采用一种基于非迭代的相对位姿测量算法实现了位姿求解;最后,针对标志器识别算法和位姿测量算法给出了基于仿真图像的实验结果和机械臂原理样机集成实验结果。最终实验结果表明:提出的空间机械臂视觉测量方法合理可行,满足预期的技术指标要求,具有较强的工程应用价值。     

NASA research and development for space telerobotics

The goal of this research is to explore and prevent robust concepts for telerobotic support of space servicing, assembly, maintenance, and telescience tasks. This goal is being addressed through a program of coordinated work in artificial intelligence, robotics, and human factors. The general research objective is the fusion of robot sensing and manipulation, teleoperation, and human and machine cognitive skills into an effective architecture for supervised task automation. NASA is evaluating results of this research program in a ground laboratory telerobot testbed under development at the Jet Propulsion Laboratory. The testbed development activity includes integrated technology demonstrations. The demonstrations show telerobot capabilities to perform tasks of increasing complexity, and duration in increasingly unstructured environments. The first such demonstration is the ground-based grappling, docking, and servicing of a satellite taskboard. The author outlines this demonstration and briefly reports on some aspects of its implementation     

基于赋时可重构Petri网的可重构制造系统建模

系统建模是可重构制造系统生产管理控制技术的基础。分析了可重构制造系统的建模需求,提出基于赋时可重构Petri网的可重构制造系统建模的方法。该建模方法是先建立可重构制造系统当前系统的赋时可重构Petri网模型,再通过修改其建模元素得到可重构制造系统重构后系统的赋时可重构Petri网模型。实例研究表明基于赋时可重构Petri网的可重构制造系统建模方法能够满足可重构制造系统的建模需求,因此它是可重构制造系统的正确的形式化表示。     

基于组件技术的可重构数控系统研究和开发

提出了两级控制的可重构数控系统硬件结构。根据面向对象和基于组件技术的设计思想,构造了可重构数控系统的软件体系结构。该软件由核心支撑平台和功能组件组成。本文阐述了组件划分的方法和组件间的通信以及功能组件的设计方法。     

应用BP-ART混合神经网络的推进系统状态监控实时系统

应用ＢＰ－ＡＲＴ混合神经网络提出了一种供推进系统状态监控实时使用的系统,其拓扑结构为： 第一层处理单元由ＢＰ神经网络组成, 每个ＢＰ网络代表一个相应的推进系统组件; 第二层处理单元为一个ＡＲＴ神经网络, 网络的每一个输出代表推进系统的一种“健康状态”, 据此可对其故障进行“诊断”。该混合结构充分发挥了两类网络的优点, 给出的具体应用实例也显示出在推进系统实时状态监控与故障诊断应用中的有效性     

State of the art in adaptive control of robotic systems

An up-to-date assessment of adaptive control technology as applied to robotics is presented. Although the field is relatively new and does not yet represent a mature discipline, considerable attention for the design of sophisticated robot controllers has occurred. In this presentation, adaptive control methods are divided into model reference adaptive systems and self-tuning regulators with further definition of various approaches given in each class. The similarity and distinct features of the designed controllers are delineated and tabulated to enhance comparative review     

Space robotics in the '90s

This article describes the use of robots to perform work in space. In particular, telerobotics, which uses human operators to control the movement and operation of the robots, are explored. The relationship between the human operator and the robot is very complex but these systems are being used to explore planetary surfaces and will also be used in the construction of the space station. Research being conducted at NASA facilities is described, providing a picture of the future of space robotics.     

可重构芯片体系结构及其发展趋势

可重构芯片同时兼具通用处理器的灵活性和专用处理器的高效性,还具有高可靠性、低能耗、低成本等优点,在半导体产品中逐渐兴起。介绍了目前的一些典型可重构芯片的体系结构,从功能重构实现方式和可重构硬件类型角度分析了可重构芯片的体系结构,探讨了可重构芯片多核异构和可演化的发展趋势。     

基于FPGA内置RAM的抗辐射有限状态机设计

在现代卫星设计中广泛使用的可重构现场可编程门阵列(FPGA),在空间高能粒子的影响下很容易产生单粒子翻转(SEU),从而功能紊乱甚至失效。在面向航天应用的FPGA设计中,必须采用容错设计技术来弥补器件本身抗辐射能力的不足。本文首先分析了有限状态机(FSM)的内部结构,并指出由于自身电路结构的特点,传统的FPGA容错设计方法应用于FSM时有一定的局限性。然后,针对基于FPGA的FSM容错设计技术进行了研究,根据现代FPGA的结构特点,提出了一种基于FPGA内置双端口随机存取存储器(RAM)、具有周期校验功能的FSM设计方案。经过可靠性分析和实验可以看出,与采用传统容错设计方法的FSM相比,采用本文方案构建的FSM在太空辐射环境下具有更高的长期可靠性、更小的FPGA资源占用量和更低的功耗。     

The human/robot interface

The use of telerobotic technology in space exploration is examined. Early aspirations for anthropomorphic designs and advances in the field are reviewed. The application of human factors engineering to robotics design and the human-machine interface are examined. New strategies in design and automation are presented.     

径向基函数在三维Euler方程数值计算中的应用

基于三维Euler方程,对非结构四面体网格给出了一种基于紧支径向基函数重构的ENO型有限体积格式,方法的主要思想是先对每一个四面体单元构造插值径向基函数,而在计算交界面的流通量采用高斯积分公式以保证格式的整体精度,时间离散采用三阶TVD Runge-Kutta方法。最后用该格式对一些典型算例进行了数值模拟,结果表明该方法计算速度快,对间断有很好的分辨能力。     

空间在轨装配技术综述

代表国家科技实力的空间站、空间望远镜、大型通信天线、空间太阳能电站、在轨燃料补给站、深空探测中转站及地外基地等空间大型平台和基础设施的建设需求日益迫切,如何对此进行智能自主建造是当前的巨大技术挑战。鉴于大型平台与基础设施在未来空间探索中的重要性,国内外航天研究机构均提出并发展了在轨装配的系列技术方案。本文主要对在轨装配研究现状和技术发展情况进行系统地综述。首先分析了有人与无人在轨装配的国内外技术进展,总结了在轨装配技术的发展路线、装配层次与方法;然后在此基础上,详细梳理了在轨装配的技术需求和应用前景,并得出在轨装配的使能关键技术——模块化技术、机器人技术和地面模拟装配技术,预期为中国未来的空间在轨装配研究提供有益的参考。     

军用航空发动机PHM发展策略及关键技术

提出了军用航空发动机预测与健康管理(prognostics and health management,简称PHM)系统的发展策略和关键技术.首先回顾了国外航空发动机PHM技术的发展历史,简要分析了各个阶段具有代表性的技术特点;其次,详细论述了航空发动机PHM技术发展应当妥善处理的关系和重要问题,主要包括PHM技术发展与空军军事需求、PHM技术发展与技术成熟度体系、立足三代机平台发展PHM技术、在发动机全寿命管理体系引入PHM系统、建议的航空发动机PHM功能和结构等;接着,结合国内技术发展水平,给出了应当重点优先发展关键技术的建议;最后,简要总结了制约国内PHM技术发展的因素,展望了瞄准的技术发展目标.      

The Need for a Wholistic Design Approach when using Gallium Arsenide Technology

The emerging Gallium Arsenide digital integrated circuit technology is rapidly becoming well enough established that designers of signal and data processors are planning its incorporation into advanced computational engines of all types. An examination of the characteristics of present and future generation GaAs integrated circuits indicates that they will emphasize moderate on-chip gate counts and high gate speeds. Complete advantage can be taken of GaAs digital technology only if traditional signal processor architectures are completely recast at the memory layout, logic design, arithmetic implementation, and system architecture levels, and if these issues are considered in combination with system, logic board, and chip layout and packaging constraints in a single integrated approach.     

小卫星/小运载可重构多核计算机设计

通过共用小卫星与小运载的电子系统,能够降低卫星发射成本、实现卫星与运载的快速集成及测试、减少卫星的发射与入轨时间,从而达到快速响应自然灾害等突发事件的目的。传统航天器电子系统难以兼顾运载段任务的高实时性和在轨段任务的高可靠性要求,因此本文将多核处理器技术、可重构技术和航天器电子系统设计相结合,提出了基于可重构技术的小卫星/小运载多核计算机设计方案。该设计方案分为运载和在轨两种工作模式,通过现场可编程门阵列(FPGA)的快速重构来实现计算机两种工作模式的快速切换。其中运载模式将FPGA配置成并行构架的三核处理器,通过3个处理器并行计算来提升计算机的处理能力;在轨模式将FPGA配置成冗余构架的三核处理器,通过3个处理器互为冗余备份来提升计算机的长期可靠性。经过基于Markov过程理论的系统可靠性分析,表明系统在轨段的长期可靠性得到显著提升。同时经过地面半物理仿真系统仿真测试,运载段的控制周期可以达到10ms,满足运载段任务的实时性要求。     

临近空间飞行器信息系统一体化载荷平台

介绍了临近空间日趋受到各国的关注和研究、临近空间的概念以及临近空间飞行器的概况。从高超声速临近空间飞行器设计层面分析了临近空间飞行器信息系统多任务需求和现有设计的矛盾,指出研究临近空间飞行器一体化综合电子系统信号交链和多任务一体化协同技术是解决此矛盾的有效途径。通过对临近空间飞行器信息系统一体化载荷平台的研究,构建了采用冗余备份技术的包括信号处理模块、控制模块的统一开放的柔性系统平台架构。