The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has been developing a generic reference model architecture, known as the Real-time Control System (RCS), for the last two decades. This paper demonstrates the application of RCS to the automation of submarine operations, which requires an enormous amount of intelligence be built into its control system. A summary of the reference model is given, followed by a description of the implementation process. The long term goal is to establish a generic development methodology for intelligent control systems.
The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has been developing a generic reference model architecture for intelligent control, known as the Real-time Control System (RCS), for the last two decades. Much of the previous work has been in the of area industrial robots and autonomous vehicles, which led to the understanding that simulation and animation are an integral part of control system design. This paper illustrates the use of simulation and animation in an RCS design for submarine automation. The automation of submarine operations involves complex system functionalities and requires an enormous amount of intelligence to be built into the software to enable a submarine to operate in an unstructured and often hostile environment semi-autonomously. Visualization provides the designer immediate feedback of his or her design. This paper describes an example of fusing simulation and animation with RCS.
Background 5 3.2. Mission 5 3.3. Maneuvering Mechanisms 6 3.4. Scenario 7 3.5. Depth Control 3.6. Ice Avoidance Maneuvering 12 3.7. Salinity Problem and Reaction 12 4. RCS REPRESENTATION FOR THE SHIP MANEUVER SYSTEM 13 4.1. Control Hierarchy, Task Tree, and RCS plans Represented by State Graphs/Tables 14 4.2. The Course and the Ship Maneuver Controller Modules 16 4.3. Propulsion Control 18 4.4. Helm Control 4.5. Depth Control 5. COMPUTER ENVIRONMENT 5.1. Background 5.2. Hardware 5.3. Software 5.3.1. Development Software 5.3.2. RCS Software 6. SYSTEM IMPLEMENTATION 6.1.
: A Linear Feedback Shift Register (LFSR) considers a linear function typically an XOR operation of the previous state as an input to the current state. This paper describes in detail the recent Wireless Communication Systems (WCS) and techniques related to LFSR. Cryptographic methods and reconfigurable computing are two different applications used in the proposed shift register with improved speed and decreased power consumption. Comparing with the existing individual applications, the proposed shift register obtained >15 to <=45% of decreased power consumption with 30% of reduced coverage area. Hence this proposed low power high speed LFSR design suits for various low power high speed applications, for example wireless communication. The entire design architecture is simulated and verified in VHDL language. To synthesis a standard cell library of 0.7um CMOS is used. A custom design tool has been developed for measuring the power. From the results, it is obtained that the cryptographic efficiency is improved regarding time and complexity comparing with the existing algorithms. Hence, the proposed LFSR architecture can be used for any wireless applications due to parallel processing, multiple access and cryptographic methods.
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