| Zman Program |
07-Nov-2008 |
173 pages |
| Authors:
David J Carter; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
 | This report details progress on the Zman program executed by Draper Laboratory. The goal of this program was to develop technology to aid a soldier in climbing, traversing and descending, without external aid, vertical walls at tactical speeds. Phase I of the program aimed to demonstrate adhesion of a 16 square inch patch to glass, aluminum, and brick adequate for static placement of a human climber. The technical approach is ... |
|
| Machine-Aided Design of an Air-Launched Missile Defense System |
Nov-2008 |
11 pages |
| Authors:
Mark Homer; Sungyung Lim; Jose Lopez; Michael Corbett; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The power of today's computers is altering design methodologies at the system level. Instead of manually comparing and contrasting a dozen or so options for configuring a system, machine aids can now quantitatively evaluate thousands of candidate configuration on the time scale of minutes. We apply a machine aid to improve the design of an air-launched missile defense system that intercepts ballistic targets during both their boost and terminal phases. ... |
|
| A Simulation-based Integration Approach for the First Trident MK6 Life Extension Guidance System |
Nov-2008 |
14 pages |
| Authors:
Michael Murphy; Todd Jackson; David Monti; Scott Berry; James Connelly; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Overview of MK6LE: Goal and Timeline of the MK6LE Life Extension * Guidance System Objectives and Concept of Operations * Guidance System in Context of Weapon System * Physical Decomposition of MK6LE * Architecture of MK6LE System. Role of Simulation in Support of MK6LE Development: Support Tools and Infrastructure * Evolution of Simulations in Support of MK6LE Goals * Simulation's Contributions * Lessons Learned. |
|
| Terahertz Fiber Laser for Explosives Detection |
JUN 2007 |
12 pages |
| Authors:
Antonije Radojevic; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The C.S. Draper Laboratory, with 30 years of experience in instrument and sensor research and development, and the University of Massachusetts Terahertz Laboratory, with 15 years of research in the development terahertz receivers and focal plane arrays, propose to develop and characterize a fundamentally new method for generating terahertz radiation. Our approach will enable the development of a class of high power (>=100 mW), portable, coherent, terahertz radiation source devices ... |
|
| Personal Navigation System |
31 OCT 2005 |
51 pages |
| Authors:
Peter Sherman; Steven Holmes; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The U.S. Army has a need to provide an affordable navigation system to meet the multi-mission needs of the warfighter. Recent advances in Micro-Electro Mechanical System (MEMS) inertial instruments, Global Positioning System (GPS) receivers, GPS anti-jam technologies and state-of-the-art processing allow the development of a low-cost, GPS/INS-based Personal Navigation System (PNS) that will meet the expected power, size, weight, cost, and performance needs of the Ground Soldier System (formerly Future ... |
|
| Aggressive Maneuvers |
MAR 2005 |
16 pages |
| Authors:
Leena Singh; Brent D. Appleby; Marc McConley; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Operation of future autonomous vehicles in high-stress mission environments, such as air combat, suppression of enemy air defenses, and urban warfare, requires high maneuverability and adaptation to uncertain dynamics and environmental conditions. Traditional control algorithms impose performance limitations that fall far short of what can be achieved by skilled human pilots. The main objective of this project was to develop and demonstrate the ability for aggressive on-line maneuver trajectory generation. ... |
|
| UUV On-Board Path Planning in a Dynamic Environment for the Manta Test Vehicle |
Sep-2003 |
9 pages |
| Authors:
Piero Miotto; John Wilde; Alberico Menozzi; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This paper presents recent work in the areas of simulation, mission planning, and mission execution for an unmanned undersea vehicle (UUV). The UUV we consider is the Manta Test Vehicle (MTV), operated by the Naval Undersea Warfare Center (NUWC) in Newport, RI. A 6-Dof Simulink model of the MTV vehicle dynamics augmented with an autopilot is used to test the algorithms. The on-board mission planner generates reference trajectories for the ... |
|
| Closed-Loop Hierarchical Control of Military Air Operations |
JUL 2002 |
174 pages |
| Authors:
Owen Deutsch; Milton B. Adams; Janet Lepanto; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Real-time, closed-loop optimization and control of enterprise -scale dynamic systems remains a challenging problem. Draper's approach combines the theories of decomposition of large-scale optimization problems and distributed control. The structure of the decomposed solution to the optimization problem forms a basis for our controller architecture. In contrast to ad hoc approaches to decomposing large-scale problems, our approach: (a) results in a distributed system in which situation assessment, problem solving and ... |
|
| A Palm Size Micron-gap ThermoPhoto Voltaic (MTPV) Energy Converter |
26 MAR 2002 |
9 pages |
| Authors:
Robert DiMatteo; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The goal of this project was to demonstrate that enhanced photovoltaic cell output can be achieved as a function of the physical gap between emitter and receiver in a Micron-gap ThermoPhotoVoltaic (MTPV) system. This was successfully demonstrated. Test specimen assemblies were first built for small gap MTPV testing. Tests were then performed with 0.2 micron gap heater chips on InGaAs photovoltaic cells provided by Dave Wilt of NASA Glenn. Small ... |
|
| Guidance Trades for Interceptors Not Constrained by Ground-Based Radar |
JUN 2000 |
11 pages |
| Authors:
Owen L. Deutsch; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Virtually all U.S. ballistic missile interceptor designs under development utilize terminal seekers that are cued by high-resolution, surface- based radars. The radar is used for target tracking leading to a fire-control solution, for midcourse target state updates and for end-game target discrimination. New space-based sensor systems such as SBIRS-low are seen as an adjunct that can be used to achieve range extension by cueing of ... |
|
| Integrated Communication Specification for the Reduced Ships-Crew by Virtual Presence (RSVP) Advanced Technology Demonstration (ATD) |
18 JAN 2000 |
92 pages |
| Authors:
Gary Schwartz; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This document describes data communication throughout the Reduced Crew by Virtual Presence (RSVP) system. |
|
| Smart Intrusion Sensor/Alarm |
Aug-1999 |
3 pages |
| Authors:
Kenneth Houston; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| These briefing charts describe the radiofrequency circuitry, sensors, power, digital electronics, signal processing, size, and other features of the Smart Intrusion Sensor/Alarm (SISA) manufactured by Draper Laboratory, Cambridge, Massachusetts. |
|
| MEMS Microphones at Draper |
Aug-1999 |
9 pages |
| Authors:
J Bernstein; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Draper has developed high sensitivity MEMS condenser microphones that have on-chip JFET amplifiers to reduce stray capacitance, single-crystal silicon diaphragms, and electroplated perforated bridge electrodes. A Si3N4 membrane fabrication process also was developed. Custom designs for ultrasound or infrasound are possible, and arrays can be built as easily as one sensor can. The technology is licensed to NCT, National Semiconductor, and Siemens (Munich). |
|
| Shipboard EMI/EMC Test Report for the Reduced Ships-Crew by Virtual Presence (RSVP) Advanced Technology Demonstration (ATD) |
JUL 1999 |
36 pages |
| Authors:
John Vytal; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| EMI/EMC testing was conducted on board the USS Normandy (CG-60), a Ticonderoga Class Aegis Cruiser in early April of 1999. The tests were made to determine a typical electromagnetic operating environment for the RSVP RF communications System and to perform propagation measurements in the proposed 2. 4 GHz ISM band. The scope of the testing included measurements of the electromagnetic environment from 10 KHz to 3 GHz in three different ... |
|
| RSVP Technical and Financial Status Report for September 1999 |
MAR 1999 |
34 pages |
| Authors:
Kenneth Fox; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This monthly Technical and Financial Status Report is submitted in compliance with CDRL AOOl of the referenced contract and covers the period of September 1999. |
|
| MICROMACHINED SEISMIC SENSOR, |
MAR 1999 |
|
| Authors:
J. BERNSTEIN; R. Miller; W. KELLEY; P. Ward; G. KIRKOS; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
 | (U) THIS PAPER EXPRESSES THE NEED FOR HIGH SENSITIVITY, LOW NOISE VIBRATION SENSORS FOR VARIOUS APPLICATIONS SUCH AS GEOPHYSICAL DATA COLLECTION, TRACKING VEHICLES, INTRUSION DETECTORS, AND UNDERWATER PRESSURE GRADIENT DETECTION, CITING THE DIFFERENCE FROM CLASSICAL ACCELEROMETERS IN THAT THEY REQUIRE NO DC RESPONSE, AND HAVING A VERY LOW NOISE FLOOR OVER A REQUIRED BANDWIDTH. THE PAPER GIVES A PRESENTATION OF THE THEORY BEHIND THE OPERATION OF THESE SENSORS, DISCUSSES THE ... |
|
| Contingency Munitions Logistics Planning and Control: A Framework for Analysis |
JUN 1998 |
156 pages |
| Authors:
Andrew E. Coop; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The importance of efficient logistics operations in military applications was made clear by the lessons of the Persian Gulf War. Although force application against Iraqi forces was deemed an overwhelming success, a lack of planning capability and real-time visibility over deploying cargo led to poor distribution control of sustainment assets and massive congestion at terminal facilities. Evolvements in force posture today dictate the need to support global power projection into ... |
|
| The Silicon Oscillating Accelerometer: A MEMS Inertial Instrument for Strategic Missile Guidance |
1998 |
13 pages |
| Authors:
R. Hopkins; J. Borenstein; B. Antkowiak; P. Ward; R. Elliott; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The intercontinental ballistic missile (ICBM) and submarine-launched ballistic missiles (SLBM) developed over the past 50 years have employed successive generations of increasingly accurate inertial guidance systems. The comparatively short time of guided flight and high acceleration levels characteristic of the ballistic missile application place a premium on accelerometer performance to achieve desired weapon system accuracy. To date, the accelerometer design of choice for strategic missiles has been the Pendulous Integrating ... |
|
| Midcourse Guidance Strategies for Exoatmospheric Intercept |
1998 |
|
| Authors:
Paul Zarchan; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This paper considers the interception of an exoatmospheric target with a ship-based interceptor which employs both midcourse and terminal guidance. Before and during the midcourse phase of flight the target is tracked with a ship-based radar. With target state estimates derived from the radar measurements, the interceptor is launched at the expected intercept point. The inevitable intercept point prediction errors are reduced during the ... |
|
| Feature Base Assembly Modeling (ALOG-18) (Videorecording). |
08 JAN 1996 |
|
| Authors:
CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Physical description: 1 VHS video; 1/2 in.; col.; 18 mins; standard playback sp. The application of feature analysis contrasted to geometric construction in Computer-Aided Design (CAD). The particular software package is SDRC I.D.E.A.S. Mentions relational database management system and object-oriented assembly. |
|
| Investigation of Drive-Reinforcement Learning and Application of Learning to Flight Control |
AUG 93 |
503 pages |
| Authors:
Walter L. Baker; Stephen C. Atkins; Leemon C. Baird III; Mark A. Koenig; Peter J. Millington; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This report describes results obtained during a multiphase research program having the broad aim of investigating the application of learning systems to automatic control in general, and to flight control in particular. The first phase analyzed the drive-reinforcement learning paradigm and examined its application to automatic control, with mixed results. The second phase compared a number of alternative strategies for learning augmented control, and resulted in the conception of a ... |
|
| Lunar Gravitational Field Estimation and the Effects of Mismodeling Upon Lunar Satellite Orbit Prediction |
JUN 93 |
160 pages |
| Authors:
John H. Davis; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Lunar spherical harmonic gravity coefficients are estimated from simulated observations of a near-circular low altitude polar orbiter disturbed by lunar mascons. Lunar gravity sensing missions using earth-based near-side observations with and without satellite-based far-side observations are simulated and least squares maximum likelihood estimates are developed for spherical harmonic expansion fit models. Simulations and parameter estimations are performed by a modified version of the Smithsonian Astrophysical Observatory's Planetary Ephemeris Program. Two ... |
|
| Analysis of Prolate Spheroidal Shell Under Undex Load |
01 DEC 92 |
|
| Authors:
David S. Nokes; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This effort was an attempt to verify a newly developed closed-formed solution to the transient response of a submerged prolate spheroidal shell structure due to underwater explosive shock loading. Numerical solutions were attempted for three test cases ranging from a sphere to an elongated spheroidal shell approximating the shape of a submarine. Results for the spherical case were exactly the same as for the previously reported theory which is restricted ... |
|
| An Implementation of a Fault-Tolerant, Multidirectional, Digital Interpolation Beamformer |
JUN 92 |
120 pages |
| Authors:
W. B. Bogan; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| In recent years, methods of incorporating fault-tolerance in computer architectures have shifted from the exclusive focus on traditional modular redundancy techniques to include more efficient, analytical means of achieving the same result. Song and Musicus (1990) describe such a method of analytic fault-tolerance by using a statistical test and minimal redundancy to protect linear operations. Aliphas, Wei, and Musicus (1991) in turn developed a hardware prototype to test this method ... |
|
| Last Hurdle for Autonomous Vehicles. |
OCT 1991 |
|
| Authors:
M.a B. Adams; R. J. Hansman; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
|
| Characterization and Modelling of Thin-Film Ferroelectric Capacitors Using C-V Analysis |
05 APR 1991 |
10 pages |
| Authors:
Ciaran J. Brennan; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Advances have been made in the electronic characterization and analysis of thinfilm ferroelectric (FE) memory capacitors using capacitance vs. voltage (C-V) measurements. A mathematical model of the small-signal electrical behavior of the FE capacitor has been developed. This analysis shows that the small-signal characteristics of the FE capacitor are largely determined by the space charge concentrations at the ferroelectric to contact interface. These space charge regions have an adverse effect ... |
|
| Concepts for the Use of Three-Dimensional Depth Maps in Underwater Mine Classification |
JAN 91 |
51 pages |
| Authors:
M. Bello; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This report is an examination of concepts for the utilization of three dimensional depth map information for the construction of features to be employed by neural network based classifiers in the classification of underwater mines. The evaluation of the discriminatory power of a subset of the identified three dimensional features for mine detection/classification, in the context of actual or simulated data, will be reported separately. The context that forms the ... |
|
| Techno-Economic Automated Composite Manufacturing Techniques, |
1991 |
|
| Authors:
Michael F. Foley; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| A number of factors influence the selection of a composite manufacturing process, including cost, part geometry, volume of parts required, and other process-related technical considerations. Some general guidelines are established for selecting the optimal manufacturing process given a certain part geometry and manufacturing scenario. Numerous automated techniques using thermoplastic materials are considered (including automated tape layer, press formers, and filament winders). Resin transfer molding is included as well. Geometries analyzed ... |
|
| Redundant Single Gimbal Control Moment Gyroscope Singularity Analysis. |
NOV 1990 |
|
| Authors:
N. S. Bedrossian; J. Paradiso; E. V. Bergmann; D. Rowell; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
|
| Steering Law Design for Redundant Single-Gimbal Control Moment Gyroscopes. |
NOV 1990 |
|
| Authors:
N. S. Bedrossian; J. Paradiso; E. V. Bergmann; D. Rowell; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
|
| S.P.M.: A Connection from Product to Assembly System. Version 1.1 |
90 |
|
| Authors:
CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| A major thrust of our (consulting and research) work in concurrent design of products and processes has been to create a direct link between product specifications and the required methods for assembly. Using the totally- assembled geometry and component mate data as the basis, we can now establish an exploded view, the assembly Sequence, the assembly process Plan, and the assembly system task/resource Matrix (which is required input for assembly ... |
|
| Findings of the U.S. Department of Defense Technology Assessment Team on Japanese Manufacturing Technology |
JUN 89 |
|
| Authors:
CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The TAT concludes that Japanese excellence in manufacturing as manifested in the rapid commercialization of new technologies, superior productivity and high quality is not due to access to better automation or manufacturing technology, but to a pervasive and deep belief in the strategic importance of manufacturing excellence, better exploitation of advanced process technologies, and to smarter management and organization. While Japanese cultural factors and government policies play a role, the ... |
|
| High Fidelity Low Pass Finite Impulse Response Filters. |
JUN 1989 |
|
| Authors:
R. H. Wilkinson; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The paper describes a method of designing a low-pass finite-impulse response (moving-average) filter having a flat passband and an arbitrarily contoured stopband. The method effectively separates the design of the passband and the stophand, with independent control over the properties of each. The filter causes a controllably small amount of distortion when applied to a smooth input and is especially useful in connection with data rate conversion in those cases ... |
|
| An Option for Mechanizing Integrated GPS/INS Solutions. |
1989 |
|
| Authors:
J. A. Soltz; J. I. Donna; R. L. Greenspan; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The GPS Joint Program Office has directed the delivery of GPS user equipment incorporating standard hardware and software. The resulting package, RCVR-3A, is designed to provide specified navigation performance under a wide range of alternative avionics interface requirements and aircraft mission scenarios. However, various integration studies have demonstrated that some of the RCVR-3A's potential performance is not realized because of the software design compromises made to accommodate standardization requirements. This ... |
|
| DARPA Concurrent Design/Concurrent Engineering Workshop Held in Key West, Florida on December 6-8, 1988 |
DEC 88 |
|
| Authors:
CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Two themes emerged at last year's workshop that were reinforced this year. These are short-term and long-term approaches to CD/CE. DoD efforts in CD/ CE are mainly directed at the short-term approach, while DARPA is pursuing the long-term. DoD representatives feel that CD/CE is the way to focus and implement the department's Total Quality Management objective. The short term issue is to implement the team approach to product development as ... |
|
| New Insights into Minimum-Variance Reduced-Order Filters. |
DEC 1988 |
|
| Authors:
R. H. Setterlund; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The minimum-variance reduced-order (MVRO) filter is an algorithm that has become popular in the guidance and navigation community as a tool for designing and evaluating the performance of candidate reduced-order filters. Its utility rests on the assumption that the MVRO algorithm yields the optimum (in a minimum-variance sense) performance possible with a given reduced-order filter. The analysis and examples in this paper show that this is not the case and ... |
|
| RCS/Piezoelectric Distributed Actuator Study |
AUG 88 |
|
| Authors:
Thomas Bailey; Alexander Gruzen; Paul Madden; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The objective of the program was to develop the technology of piezoelectric distributed actuators, and to test the effectiveness and performance of the actuators when used to augment the damping of a simulated large flexible space structure. The CSDL/AFAL experimental test facility located at CSDL, Inc. was used to test and demonstrate the technology. Keywords include: Piezoelectric distributed actuators, Flexible structure vibration control, and Low-authority actuators.(rh) |
|
| RCS/Linear Discrete Actuator Study |
AUG 88 |
|
| Authors:
Thomas Bailey; Alexander Gruzen; Paul Madden; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The objective of the program was to develop the technology and demonstrate the use of linear discrete actuators combined with a rocket control system (RCS) to control the large angle slew and fine pointing/tracking of a simulated large flexible space structure. The linear actuators included proof- mass actuators, and a hub torquer to simulate a control moment gyro or reaction wheel actuator. The demonstration used the CSDL/AFAL ground test facility ... |
|
| Intelligent Robot Grinding: Planning, Optimization, and Control. |
MAY 1988 |
|
| Authors:
M. L. Brown; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
|
| Computer-Aided Design of Flexible Assembly Systems. |
1988 |
|
| Authors:
D. E. Whitney; T. L. De Fagio; R. E. Gustavson; S. C. Graves; K. Cooprider; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The goal of the project is to better understand product and system design issues associated with flexible assembly. As a result of prior research and extensive work with industry on these topics, researchers identified the following knowledge gaps for study: (1) development of a systematic methodology for coordinated design of products and processes, especially assembly; (2) determination, enumeration, and evaluation of alternate assembly sequence; (3) economic analysis methods for assembly ... |
|
| Tools for Strategic Product Design. |
1988 |
|
| Authors:
D. E. Whitney; T. L. De Fazio; R. E. Gustavson; S. C. Graves; T. Abell; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The goal of the project is to enhance those aspects of product design that affect a product's manufacturability, assembleability, and field use and repair. Researchers study three basic manufacturing design issues for which tools are either lacking or just now emerging. They are: (1) developing algorithms for determining 'good' alternate assembly sequences; (2) developing analytic approaches to design of testing strategies to carry our during assembly; and (3) extending the ... |
|
| Satellite Autonomous Navigation with SHAD (Stellar Horizon Atmospheric Dispersion) |
APR 87 |
|
| Authors:
R. L. White; R. B. Gounley; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The primary objective of this study was to generate some indication of the autonomous navigation accuracy that can be achieved with the SHAD concept for various representative satellite orbits. This was accomplished by conducting a covariance analysis utilizing a Kalman filter to sequentially process the measurements as they occur during orbit operation. |
|
| Intelligent Robot Grinding System, |
FEB 1987 |
|
| Authors:
D. E. Whitney; T. L. DeFazio; A. C. Edsall; D. S. Seltzer; T. M. Stepien; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| An ongoing attempt at developing a robotic system with real time force feedback while performing a task is the development of an intelligent robotic weld bead removal system. The task of such a system is as follows: after two surfaces have been welded together, a weld bead is left. The weld bead is simply weld material that is protruding above the welded surface after welding. The bead must be removed ... |
|
| Intelligent Robot Grinding System. |
1987 |
|
| Authors:
D. E. Whitney; T. L. De Fazio; A. C. Edsall; D. S. Selter; T. M. Stepien; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| The goals of the project were to determine the research issues and engineering requirements for constructing and operating intelligent automated systems. The first part of the project developed a grinding system that was used to test the model derived. The second part of the project refined the mathematical model of the system. Included in the report are the following chapters: the theoretical derivation of the grinding model and the associate ... |
|
| Measurement Errors in GPS Observables. |
1987 |
|
| Authors:
R. L. Greenspan; J. I. Donna; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Airborne users of GPS may benefit from differential (relative) navigation to the extent that the errors in their measurement of pseudorange and/or delta range to each satellite are correlated with observation errors for the same satellite signals received at a reference site. This paper describes some results of an experiment to characterize the measurement errors of one airborne GPS user equipment. The results suggest that pseudorange errors are dominated by ... |
|
| Adaptive Control, Learning and Cost Effective Sensor Systems for Robotics or Advanced Automation Systems. |
SEP 1986 |
|
| Authors:
J. L. Nevins; A. C. Edsall; T. M. Stepien; D. S. Seltzer; D. E. Whitney; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| Applications of robotic and automation technology to complex manufacturing processes and to remote or hostile environments such as space or underwater require the performance of complicated but somewhat unspecified tasks. These tasks, traditionally performed by humans, are unspecified in the sense that they are goal-oriented but without detailed algorithms or methodologies. Furthermore, automated systems capable of performing these tasks must operate with incomplete or inexact process models, noisy sensor data, ... |
|
| Computer-Aided Design of Flexible Assembly Systems. |
14 AUG 1986 |
|
| Authors:
D. E. Whitney; T. L. Defazio; R. E. Gustavson; S. C. Graves; C. A. Holmes; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| This is the first year report on a two-year project entitled 'Computer-Aided Design of Flexible Assembly Systems.' The goal of this project is to better understand product and system design issues associated with flexible assembly. As a result of prior research and extensive work with industry on these topics, we identified the following key knowledge gaps: 1) Determination, enumeration, and evaluation of alternate assembly sequences; 2) Economic analysis methods for ... |
|
| Flexible Manufacturing Systems Software Issues and Guidelines. |
AUG 1986 |
|
| Authors:
I. S. C. Johnson; K. J. Sharp; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| A study of FMS software has been conducted, drawing on a wide variety of FMS experts in both the supplier and user communities. The study assesses the issues and elements of FMS software and makes recommendations for potential users for FMS on how to write specifications for obtaining this software from commercial sources. The functional aspects of FMS software have been addressed, covering the software required for successful design, evaluation, ... |
|
| Extension of the Midvalue Selection Technique for Redundancy Management of Inertial Sensors. |
FEB 1986 |
|
| Authors:
J. E. Potter; M. C. Suman; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| In many redundant inertial sensor applications, the primaryu goal is absolute tolerance to some specified number of failures. To achieve this tolerance, a sufficient performance margin must be provided to cover the worst-case degradation that can occur. The worst-case degradation depends upon the particular algorithm used. An optimal algorithm can be defined implicitly by taking that value which minimizes an appropriately chosen worst-case performance index as the estimate. In the ... |
|
| Extension of the Midvalue Selection Technique for Redundancy Management of Inertial Sensors. |
FEB 1986 |
|
| Authors:
J. E. Potter; M. C. Suman; CHARLES STARK DRAPER LAB INC CAMBRIDGE MA
|
| In many redundant inertial sensor applications, the primaryu goal is absolute tolerance to some specified number of failures. To achieve this tolerance, a sufficient performance margin must be provided to cover the worst-case degradation that can occur. The worst-case degradation depends upon the particular algorithm used. An optimal algorithm can be defined implicitly by taking that value which minimizes an appropriately chosen worst-case performance index as the estimate. In the ... |
|
Reports by Corporate Author
