NETEX UWB test results

The goal of the Defense Advanced Research Projects Agency's (DARPA) Networking in Extreme Environments (NETEX) program is to create a wireless networking technology for the military user that enables robust connectivity in harsh environments and support its integration into new and emerging sensor and communication systems. Phase 1, resulted in a thorough understanding of the effects of ultra wide band (UWB) system operation on existing military spectrum users based on modeling, simulation, and measurements. In order to accomplish this task, the DARPA Advanced Technology Office (ATO) procured a set of UWB emitters and broadband antennas to use as interference sources and contracted with the Naval Air Warfare Center Aircraft Division (NAWC AD) Electromagnetic Environmental Effects (E/sup 3/) Division to provide candidate victim systems from the existing (legacy) US naval aircraft and shipboard inventory for testing. Testing was conducted on seventeen legacy systems during October 2002 through March 2003. The purpose of this paper is to provide a brief overview of the results of these tests. This paper will provide a brief discussion of the UWB emissions as described by the US Federal Communications Commission (FCC) and describe the generic UWB emitter used for these tests. It will then provide a discussion of the results as they apply to the purpose of the NETEX program.     

Tetrahedral Robotics for Space Exploration

A reconfigurable space filling robotic architecture has a wide range of possible applications. One of the more intriguing possibilities is mobility in very irregular and otherwise impassable terrain. NASA Goddard Space Flight Center is developing the third generation of its addressable reconfigurable technology (ART) tetrahedral robotics architecture. An ART-based variable geometry truss consisting of 12 tetrahedral elements made from 26 smart struts on a wireless network has been developed. The primary goal of this development is the demonstration of a new kind of robotic mobility that can provide access and articulation that complement existing capabilities. An initial set of gaits and other behaviors are being tested, and accommodations for payloads such as sensor and telemetry packages are being studied. Herein, we describe our experience with the ART tetrahedral robotics architecture and the improvements implemented in the third generation of this technology. Applications of these robots to space exploration and the tradeoffs involved with this architecture will be discussed.     

Flight control of a large-scale flapping-wing flying robotic bird:System development and flight experiment

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks, such as military reconnaissance, environment exploring, disaster rescue and so on. In this paper, a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g mass. Different from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much lower. Therefore, the influence of transie...     

Year 2000 impact on automated testing

Both US military and industry rely on automatic testing to verify the quality of manufacture and repair. Many testers still rely on computers designed and manufactured in the early 1980's. This includes systems using embedded controllers. Year 2000 problems can surface in computer operating systems, compilers, test programs, and in embedded systems. Until the impact of the Y2K “bug” is addressed, the risk of test program failure is unknown in most legacy automatic test systems. Problems may include embedded controllers in proprietary designs, old operating systems, and unique test program code. This paper will address the potential problem areas in automatic testing, and suggest an approach for determining the best course of action. In order to evaluate the impact, a complete systems inventory must be done to identify all potential sources of problems. Little attention has been paid to the legacy automated test systems and the potential impact of the Y2K problem on such systems. Although newer systems are less likely to be affected, no one can be sure until a complete inventory and test has been accomplished     

A novel autonomous self-assembly distributed swarm flying robot

Swarm intelligence embodied by many species such as ants and bees has inspired scholars in swarm robotic researches. This paper presents a novel autonomous self-assembly distributed swarm flying robot-DSFR, which can drive on the ground, autonomously accomplish self-assembly and then fly in the air coordinately. Mechanical and electrical designs of a DSFR module, as well as the kinematics and dynamics analysis, are specifically investigated. Meanwhile, this paper brings forward a generalized adjacency matrix to describe configurations of DSFR structures. Also, the distributed flight control model is established for vertical taking-off and horizontal hovering, which can be applied to control of DSFR systems with arbitrary configurations. Finally, some experiments are carried out to testify and validate the DSFR design, the autonomous self-assembly strategy and the distributed flight control laws.     

Future Directions in Automation and Robotics for Manufacturing

The current emphasis on designing flexible manufacturing systems, particularly in the electronics manufacturing industry, is bringing automation and robotics technologies to the factory at increasing rates. The rate of advance in these technologies raises serious concerns among engineers and managers about how to proceed in building modern manufacturing systems. A large portion of this uncertainty results from the difficulty of fitting technological advances into the existing models of manufacturing. What is needed is a new framework within which to perceive automation and robotics which will permit the adoption of more encompassing design strategies and principles to be followed in the practice of modernizing and maintaining advanced electronics manufacturing systems. This paper provides a framework that might be adopted to structure new strategies for incorporating automation and robotics in manufacturing. The approach is one that we at SRI have found useful in considering automation and robotics issues for the NASA Space Station and other complex systems which need to incorporate new technologies throughout long lifetimes. These same issues are becoming increasingly important in electronics manufacturing system design and development.     

Application of novel force control strategies to enhance robotic abrasive belt grinding quality of aero-engine blades

Robotic belt grinding has emerged as a finishing process in recent years for machining components with high surface finish and flexibility.The surface machining consistency, however,is difficult to be guaranteed in such a process.To overcome this problem, a method of hybrid force-position control combined with PI/PD control is proposed to be applied in robotic abrasive belt grinding of complex geometries.Voltage signals are firstly obtained and transformed to force information with signal conditioning methods.Secondly, zero drift and gravity compensation algorithms are presented to calibrate the F/T transducer which is installed on the robot end-effector.Next, a force control strategy combining hybrid force-position control with PI/PD control is introduced to be employed in robotic abrasive belt grinding operations where the force control law is applied to the Z direction of the tool frame and the positon control law is used in the X direction of the tool frame.Then, the accuracy of the F/T transducer and the robotic force control system is analyzed to ensure the stability and reliability of force control in the robotic grinding process.Finally, two typical cases on robotic belt grinding of a test workpiece and an aero-engine blade are conducted to validate the practicality and effectiveness of the force control technology proposed.     

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.     

Replacement strategy for aging avionics computers

With decreasing defense dollars available to purchase new military aircraft, the inventory of existing aircraft will have to last many more years than originally anticipated. As the avionics computers on these aging aircraft get older, they become more expensive to maintain due to parts obsolescence. In addition, expanding missions and changing requirements lead to growth in the embedded software which, in turn, requires additional processing and memory capacity. Both factors, parts obsolescence and new processing capacity, result in the need to replace the old computer hardware with newer, more capable microprocessor technology. New microprocessors, however, are not compatible with the older computer instruction set architectures. This generally requires the embedded software in these computers to be rewritten. A significant savings-estimated in the billions of dollars-could be achieved in these upgrades if the new computers could execute the old embedded code along with any new code to be added. This paper describes a commercial-off-the-shelf (COTS)-based form, fit, function, and interface (F³I) replacement strategy for legacy avionics computers that can reuse existing avionics code “as is” while providing a flexible framework for incremental upgrades and managed change. It is based on a real-time embedded software technology that executes legacy binary code on the latest generation COTS microprocessors. This technology promises performance improvements of 5-10 times that of the legacy avionics computer that it replaces. It also promises a 4× decrease in cost and schedule over rewriting the code and provides a “known good” starting point for incremental upgrades of the embedded flight software. Code revalidation cost and risk are minimized since the structure of the embedded code is not changed, allowing the replacement computer to be retested at the “blackbox” level using existing qualification tests     

Programmable ultrawideband signal generator for electromagnetic susceptibility testing

Under Phase I of the Defense Advanced Research Projects Agency (DARPA) Networking in Extreme Environments (NETEX) initiative, Multispectral Solutions, Inc. (MSSI) was tasked with the development of a general-purpose, ultrawideband hardware simulator capable of reproducing a wide variety of ultrawideband (UWB) waveforms. The simulator, with UWB outputs from baseband through millimeter wave, was to be used for the purpose of electromagnetic susceptibility testing of legacy military radio, radar, and positioning systems. The ultimate goal of this portion of the Phase I program was the quantitative determination of those UWB parameters (e.g., frequency, power, pulse rate, pulse shape, dithering, etc.) which had the least impact on the operational performance of legacy designs. This describes the development of the MSSI NETEX UWB simulator (BFP1000).     

一种无人直升机自动起降控制策略

无人直升机起降的关键是纵横向姿态保持和滑移控制,以及垂向升降速度的平稳性控制,避免纵横向滑移时受地面约束而引起倾翻和垂向近地颠簸。提出一种无人直升机自动起降控制策略,纵横向利用地面支撑力、姿态和滑移构成反馈控制,垂向利用地面支撑力判断离地和着陆,并通过高度指令牵引控制升降速度。引入地面支撑力反馈控制确保离地瞬时纵横向力和力矩平衡,使无人直升机离地时失去地面约束后能够垂直起飞,引入姿态和滑移反馈抑制无人直升机起降过程中姿态变化和滑移,两者本质上构成并联控制。该策略在某无人直升机试飞试验中获得了成功应用,为无人直升机自动起降技术发展提供有益的借鉴经验。     

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.      

Successful deployment of commercial ATE to an Air Force I-level (back-shop) repair facility

In today's world of constrained budgets, one of the problems the military faces is the challenge of trying to maintain organic maintenance capabilities. Historically, the US Air Force has desired to achieve an autonomous capability to maintain the equipment it uses. This has been achieved, traditionally, by setting-up three levels of maintenance: organizational; intermediate (back-shop); and depot. The I-level back-shops often utilize militarized automatic test equipment (ATE) and test program sets (TPSs) to test today's complex aircraft line replaceable units (LRUs). And even though this is still a cost-effective maintenance philosophy, it has become costly to develop militarized ATE. The Department of Defense (DoD) has been very active in trying to reduce the total ownership cost of ATE in the government inventory. One approach is to utilize commercial, instead of Mil-Spec, ATE. However, utilizing commercial ATE at an USAF back-shop is not without its tradeoffs and challenges as it represents a significant deviation from the way the USAF maintenance squadrons are accustomed to "doing business." This paper documents the current success story of replacing the legacy C-17 I-level ATE with a commercial ATE.     

Navstar Global Positioning System: Progress Report

All three segments of the GPS, space, control, and user equipment, are now in production. Extensive testing during Phase I and II of the program has proven that the GPS provides a quantum improvement over the capabilities of existing navigational systems and significant mission enhancement in a broad range of military operations. Production of the Block II satellites is progressing on schedule, but the space shuttle accident will delay completion of the full constellation by about two years. The Control Segment is fully operational and will transition to Space Command in 1987. The user equipment will enter production and undergo further testing during the LRIP period to ensure that service operational effectiveness and suitability requirements are met before commencing full-rate production. The GPS should be fully operational in the early 1990's and will provide a powerful force enhancer for all the military services for many years to come.     

基于CORBA实现专业领域软件在网络环境下的集成

如何有效地将已有系统集成或移植到新系统中 ,是集成系统开发中提出的一个重要问题。本文基于CORBA技术探讨如何实现遗留系统集成的方法 ,并通过实例重点阐述如何将已有的系统封装成CORBA对象的步骤。     

无人机自主控制等级及其系统结构研究

正确制定无人机(UAV)自主控制等级,有利于了解中国无人机所处的自主控制水平,也有利于为中国无人机自主控制技术的发展提供正确的指导方向.鉴于无人机自主控制等级应该是由无人机代替有人驾驶飞机所能完成的驾驶员的智能行为等级这一认识,从人类智能活动的机理分析,给出了人类的智能控制行为等级.然后,在深入分析美国无人机自主控制等...     

基于均匀设计的小生境遗传算法及其在飞控系统中的应用

将小生境遗传算法(NGA)应用于飞行控制系统(FCS)的优化设计中,需要解决两个问题:如何选择目标函数及如何确定初始种群和算法运行参数。针对这两个问题,分别提出了基于参考模型的飞行控制系统优化策略及基于均匀设计的小生境遗传算法初始种群和运行参数的选择方法,根据规范要求将飞行控制系统的性能指标要求转化到参考模型中,利用均匀设计方法优选出合适的初始种群和算法运行参数。仿真结果表明,所提出的优化策略能够有效地解决飞行控制系统的优化设计问题,小生境遗传算法初始种群分布均匀,收敛速度快。     

Ultra wideband technology for aircraft wireless intercommunications systems (AWICS) design

Current intercommunications system (ICS) designs for military, multicrew aircraft utilize lengthy, encumbering cords to physically attach the crewmember's helmet or headset to a distributed audio intercom system. Typical ICS long-cords are approximately 100 feet in length and allow crewmembers to maintain communications as they move about the aircraft while performing their mission duties. These cords also allow crewmembers to maintain communications with the aircraft when disembarked, as when they are controlling aircraft during engine start-up. Unfortunately, the current wired topology significantly reduces mission effectiveness, impedes crewmember movement, and greatly increases the crewmember's risk of injury. These drawbacks are more pronounced onboard military rotary winged aircraft (helicopters) where several crewmembers have been injured or killed during emergencies requiring the aircraft to ditch at sea. During ditching, crewmembers often became entangled in their lengthy ICS cord, preventing or delaying aircraft egress. This paper discusses the development of an aircraft wireless intercommunications system (AWICS) which utilizes ultra wideband (UWB) technology to address mission requirements for these multicrew, military aircraft. UWB offers unique advantages in this application - multipath mitigation, low probability of detection, low probability of interference to onboard legacy systems, and high throughput in a multiuser environment.     

机器人自动换刀系统刀夹受力及排布

机器人制孔系统因其低成本、高效率、高柔性的优势,在飞机壁板装配中得到了广泛应用。机器人自动换刀系统作为飞机壁板机器人制孔系统的重要组成部分,极大地影响着制孔的效率和柔性。本文对机器人自动换刀系统进行分析,着重对刀夹稳定夹持力、换刀过程刀夹阻力和盘式刀库刀夹双环排布进行了深入研究。通过分析刀夹结构和夹紧原理,计算稳定夹持力;通过构建换刀过程中刀具轮廓与刀夹轮廓的几何位置关系,结合受力分析,计算换刀过程刀夹阻力;通过简化刀夹组件轮廓及惯量计算,分别对4种刀夹双环排布方案进行分析研究,以圆形刀盘上的总惯量最小为目标,得到了最优的刀夹排布方式。最后根据实际工程需求,给出了容量为24把刀具的盘式刀库设计实例。