Showing papers on "System integration published in 1989"

Design and implementation of a robot control system with traded and shared control capability

Abstract: Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner or combine the two. Such a system should have both traded and shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tired shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software. >

Integration of multiple sensors into a robotic system and its performance evaluation

Abstract: The author proposes a systematic approach to integrating multiple sensors into a robotic system. It is shown that the robot motion control mechanism has a hierarchical structure consisting of multiple layers. The integration of multiple sensors should not disturb the structure, but it should enhance the intelligence of each activity. Therefore, multiple sensors can be hierarchically integrated into an existing system. To make the integration feasible, the author adopts the concept of logical sensors and treats logical sensors as object modules. By using object-oriented programming, integration becomes a modular procedure and interobject communication becomes an effective method of data flow required by the integration. The authors also proposes an objective method for evaluating the performance of integration. The benefit of the integration is measured by how the intelligence of the robotic system is enhanced. The cost of the integration is measured by a cost function and a loss function. The former is related to the sensor time; the latter is affected by sensor uncertainty. >

Tool Integration in Software Engineering Environments.

Abstract: This paper has described the various types of tool integration with the goal of illustrating how diverse tools can be effectively integrated into CASE environments. Issues of data integration, control integration, and presentation integration may be viewed as orthogonal and defining a three-dimensional space in which tool integration occurs. The absence of standards has been shown to be a barrier to integration, as various tool developers remain unable to reach agreement on the appropriate point(s) in this space at which integration should occur. As a result, experience with tool integration has been largely at a tool-to-tool level, with little use of standard tool integration mechanisms.

LOCK trek: navigating uncharted space

Abstract: The design principles of the logical coprocessing kernel (LOCK) project are considered. LOCK is an advanced development of hardware-based computer security and cryptographic service modules. Much of the design and some of the implementation specifications are complete. The formal top level specification (FTLS) also is complete and the advanced noninterference proofs are beginning. This hardware-based approach has brought the LOCK project into many uncharted areas in the design, verification, and evaluation of an integrated information security system. System integration currently appears to be the single largest programatic problem. The authors examine two important design areas: design verification and porting Unix System V to a LOCK host. The verification tools seem able to verify design only and not implementation. >

Parallel Architectures and Parallel Algorithms for Integrated Vision Systems. Ph.D. Thesis

Abstract: Computer vision has been regarded as one of the most complex and computationally intensive problems. An integrated vision system (IVS) is a system that uses vision algorithms from all levels of processing to perform for a high level application (e.g, object recognition). This thesis addresses several issues in parallel architectures and parallel algorithms for integrated vision systems. First, a model of computation for IVSs is presented. The model captures computational requirements, defines spatial and temporal data dependencies between tasks, and shows what types of interactions may occur between tasks from different levels of processing. The model is used to develop features and capabilities of a parallel architecture suitable for IVSs. A multiprocessor architecture for IVSs (called NETRA) is presented. NETRA is highly flexible without the use of complex interconnection schemes. NETRA is recursively defined hierarchical architecture whose leaf nodes consist of clusters processors connected with a programmable crossbar with a selective broadcast capability. Hence, it is easily scalable from small to large systems. Homogeneity of NETRA permits fault tolerance and graceful degradation under faults. Several refinements in the architecture over the original design are also proposed. Performance of several vision algorithms when they are mapped on one cluster is presented. It is shown that SIMD, MIMD and systolic algorithms can be easily mapped onto processor clusters, and almost linear speedups are possible. An extensive analysis of inter-cluster communication strategies in NETRA is presented. A methodology to evaluate performance of algorithms on NETRA is described. Performance analysis of parallel algorithms when mapped across clusters is presented. The parameters are derived from the characteristics of the parallel algorithms, which are then, used to evaluate the alternative communication strategies in NETRA. The effects of communication interference on the performance of algorithms are studied. It is observed that if communication speeds are matched with the computation speeds, almost linear speedups are possible when algorithms are mapped across clusters. Finally, several techniques to perform data decomposition, and static and dynamic load balancing for IVS algorithms are described. These techniques can be used to perform load balancing for intermediate and high level, data dependent vision algorithms. They are shown to perform well, using them on an implementation of a motion estimation system on a hypercube multiprocessor. (Abstract shortened with permission of author.)

An Overview of KALI: a System to Program and Control Cooperative Manipulators

Abstract: A software and hardware system, called Kali, for programming and controlling cooperative manipulators is described. It has been designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. A set of programming primitives which permit a programmer. human or automated, to specify cooperative tasks are first outlined. In the context of cooperative robots, trajectory generation issues are discussed and our implementation briefly described. Software engineering for system integration is also discussed. Finally, the paper describes the allocation of various computational tasks among the elements of a multi-processor computer. Target applications presently envisioned include space robotics, power line maintenance, and other resource industry applications.

Space shuttle avionics system

Abstract: The Space Shuttle avionics system, which was conceived in the early 1970's and became operational in the 1980's represents a significant advancement of avionics system technology in the areas of systems and redundacy management, digital data base technology, flight software, flight control integration, digital fly-by-wire technology, crew display interface, and operational concepts. The origins and the evolution of the system are traced; the requirements, the constraints, and other factors which led to the final configuration are outlined; and the functional operation of the system is described. An overall system block diagram is included.

Software Concept for Checking Engineering Designs for Conformance with Codes and Standards

Abstract: As we progress toward formalizing models for the knowledge used in the design process, we must also consider the structure of systems that can utilize and operate on the knowledge models. Engineering systems of the future will be comprised of many separate but integrated components. In the systems of the 1970s tightly coupled system integration was achieved through hand coding and through the introduction of data base management. In the next generation of systems it will not be possible to express easily the interaction between systems in the form of handwritten codes. A rule-based approach may be a better way to achieve loose coupling of complex systems. A prototype system for checking designed components for conformance with applicable standards is described in this paper. The integrated system consists of a code conformance checking package, a structural analysis package, an engineering data base management system, a production rule processing system, and an appropriate user interface. The system structure and the representation of the knowledge is emphasized.

In-Process Quality Control for Manufacturing

Abstract: 1. Introduction 2. Statistical Descriptions of Process Quality 3. Deterministic Manufacturing 4. Statistical Control of Manufacturing Processes 5. Sensors 6. Process Monitoring 7. Computer-Controlled Manufacturing 8. Computer Networks 9. System Software 10. System Integration 11. Factory of the Future

A cost analysis of the software dilemma: to maintain or to replace

Abstract: The authors develop an analytical model for determining the optimal rewriting time. They consider two rewriting strategies involving two different technologies. Several interesting propositions with managerial implications emerge from the analysis. These include the impacts of increasing maintenance requirements and unstructuredness of the technology on the optimal rewriting time, the differences in replacement times for the two technologies, and the effects of system integration requirements on replacement decisions. >

Wafer level system integration: a review

Abstract: Highlights the major trends and issues affecting monolithic wafer-scale circuits and hybrid wafer-scale circuits, i.e. pretested chips mounted on silicon wafer circuit boards. An extensive set of references is provided to avoid repeating detailed discussions available in the cited literature. Instead, a broad overview of the objectives and motivations of the considerable work on wafer-level system components is provided. It is emphasized that wafer-scale integration provides a foundation on which future systems, perhaps including advanced semiconductor technologies for high-performance components, can achieve evolutionary increases in performance and decreases in system size. >

Configuration methods and tools for manufacturing systems integration

Abstract: The discussion is based on the work of the Systems Integration (SI) group at Loughborough University which has identified features of a framework or infrastructure for systems integration. The provision of such a framework can form a basis for the specification of integration projects and sub-components in order to permit the interchange, reconfiguration, expansion and transferability of the whole or part solutions so generated. The overall aim is to enable a logical mapping of integration tools, implementations and solutions to physical resources at all phases from manufacturing system inception to operation.

PACS -- Is There Light At The End Of The Tunnel?

Abstract: PACS has represented an unfulfilled vision for many years, although many groups have now begun to implement and test system elements (I -3). To realize a complete PACS requires a dedicated effort between real users of PACS and technology providers. This paper presents the details of a joint effort between the Mallinckrodt Institute of Radiology, Washington University in St. Louis, and Digital Equipment Corporation to establish a PACS Testbed with the goals of (I) identifying the key deficiencies in the critical componenttechnologies, and (2) understanding the significant system integration issues of an operational PALS. This Imaging Testlied will strive to advance the "state -of -the -art" in the areas of network systems, large file databasestorage systems, high- resolution grey scale display workstations, integrated heterogeneous network applications,and international standards. 1. INTRODUCTION Three converging trends in computer systems have created an unprecedented opportunity to visualize imagesfrom digital data.

Integrating expert systems into an operational environment

Abstract: The Communications Link Expert Assistance Resource Expert System is introduced. The experience gained in implementing this expert system is used to discuss solutions to the major problems encountered during the development of an expert system to be realized in an operational environment. Knowledge acquisition is discussed as well as user involvement, interfacing the system to the user, choosing a development environment, prototyping for success, and overcoming the transition.

Tool Integration in an Open Environment

Abstract: The prime aspect of the integration of tools is the data they share or communicate to each other. The use of a complex object management system for realizing this integration is described. Tool integration is also concerned with the composition of tools. An applicative command language interpreter allowing the application of tools on objects at different levels of granularity in the database is presented. Besides supporting a typed language, the command language interpreter enforces rules on tool usage.

Machine Intelligence and Autonomy for Aerospace Systems

Abstract: The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

Crew System Dynamics: Combining Humans and Automation

Abstract: Some of the human factor issues involved in effectively combining human and automated systems are examined with particular reference to spaceflights. The concepts of the crew system and crew systems dynamics are defined, and the present status of crew systems is summarized. The possibilities and potential problems aasociated with the use of automated systems are discussed, as are unique capabilities and possible errors introduced by human participants. It is emphasized that the true integration of human and automated systems must allow for the characteristics of both.

Simulation model-building procedure for dynamic systems integration

Abstract: A procedure for building simulation models that are useful in aircraft dynamic systems integration is described. The objective of the procedure is increased simulation model fidelity while reducing the time required to develop and modify these models. The equations of motion for an elastic aircraft and their impact on the procedure are discussed in broad terms. A software tool that automatically generates FORTRAN code to perform tabular data lookups, the language used to develop a simulation model, and the requirements for passing information into a simulation are described. A simulation-variable nomenclature is presented. The procedure has been applied to build an open-loop F/A-18 simulation model. This example model is used to illustrate model-reduction issues.

The Need for a Generic Framework for Systems Integration

Abstract: This paper outlines the need for a widely accepted generic framework for systems integration within manufacturing enterprises. The provisions of this framework would form a basis for the specification of integration projects and sub-components such as software packages in order to permit the interchange, reconfiguration, expansion and transferability of the whole or part solutions so generated. The overall aim is to allow a logical mapping of integration tools, implementations and solutions to physical resources at all phases from manufacturing system inception to operation so enabling rapid and cost-effective response to changes in products, markets, enabling technologies and manufacturing methodologies.

A prototype, integrated, CAD-based robotic assembly system

Abstract: An integrated system which is part of a larger project in robotic assembly is described in terms first of its separate components and then of its integrated form and performance. The parts to be assembled are previously designed by CAD, and therefore geometrical models of the parts are available in a solid modeler which is incorporated in the system. In the integrated system presented, simplified versions of the component parts of an aircraft equipment tray are recognized and located by vision from an arbitrary initial state and moved to a final state appropriate to assembly. The components of the system described are: low-level vision processing using a transputer array; an intelligent vision system integrated with a solid modeler for part recognition and location; a path planner using 2/sup n/-array tree search; and the control of a PUMA robot. The integration of the components and the performance of the prototype system are described. >

In-circuit-emulation in ASIC architectural core designs

Abstract: Software development and system integration in designs with microprocessors and microcontrollers is often accomplished with the aid of an in-circuit-emulator (ICE). Designs incorporating an architectural microcontroller core cell and peripheral cells embedded in an application-specific integrated circuit (ASIC) present additional challenges in software development and system integration. A description is given of the ASIC UCS51 family and a fully functional ICE that supports it. The core and peripheral cells are emulated with multiple ICs, and the user logic is emulated with programmable logic devices. Results of the first customer application and use are included. >

A knowledge-based system design/information tool for aircraft flight control systems

Abstract: Research aircraft have become increasingly dependent on advanced control systems to accomplish program goals. These aircraft are integrating multiple disciplines to improve performance and satisfy research objectives. This integration is being accomplished through electronic control systems. Because of the number of systems involved and the variety of engineering disciplines, systems design methods and information management have become essential to program success. The primary objective of the system design/information tool for aircraft flight control system is to help transfer flight control system design knowledge to the flight test community. By providing all of the design information and covering multiple disciplines in a structured, graphical manner, flight control systems can more easily be understood by the test engineers. This will provide the engineers with the information needed to thoroughly ground test the system and thereby reduce the likelihood of serious design errors surfacing in flight. The secondary objective is to apply structured design techniques to all of the design domains. By using the techniques in the top level system design down through the detailed hardware and software designs, it is hoped that fewer design anomalies will result. The flight test experiences of three highly complex, integrated aircraft programs are reviewed: the X-29 forward-swept wing, the advanced fighter technology integration (AFTI) F-16, and the highly maneuverable aircraft technology (HiMAT) program. Significant operating anomalies and the design errors which cause them, are examined to help identify what functions a system design/information tool should provide to assist designers in avoiding errors.

Development of real-time software environments for NASA's modern telemetry systems

Abstract: An effort has been made to maintain maximum performance and flexibility for NASA-Goddard's VLSI telemetry system elements through the development of two real-time systems: (1) the Base System Environment, which supports generic system integration and furnishes the basic porting of various manufacturers' cards, and (2) the Modular Environment for Data Systems, which supports application-specific developments and furnishes designers with a set of tested generic library functions that can be employed to speed up the development of such application-specific real-time codes The performance goals and design rationale for these two systems are discussed

Data link communications in the National Airspace System

Abstract: In the near future, conventional radio communications, currently the primary medium for the transfer of information between aircraft and ground stations, will be replaced by digital data link. This paper briefly describes this technology and summarizes what are believed to be the principal human factor issues associated with data link implementation in the airspace system. Integration of data link communications with existing systems on the flight deck and in the Air Traffic Control system is discussed with regard for both near term implementation and longer term operational issues.

CLOPPE - educational software integration for effective classroom instruction

Abstract: The utilization of microcomputers in the public schools has increased the growth and development of computer-assisted instruction software. Educational software is improving in quality and quantity, but teachers and administrators continue to question the applicability and use of software, and its relationship to the objectives of the textbook, teacher’s lesson, and designed curriculum. A review of the literature reveals needed attention to effective software use in the classroom. CLOPPE is a software integration tool that enables the school official to align the objectives of the software with the objectives of the school curriculum. Cost-effectiveness for school officials and enhanced learning experiences for students and teachers will result from pre-assessment of the educational software through CLOPPE.