International Telemetering Conference Proceedings / October 18-21, 2004 / Town & Country Resort, San Diego, California / M/A-COM, Inc. has developed a miniature Tactical Telemetry Module (TTM) for medium power (500 mW and 1 W) telemetry applications. The TTM demonstrates system integration of a multi-channel PCM encoder, lower S-band transmitter, and power regulation onto a single printed wiring board (PWB). The module is smaller than a standard business card and utilizes both COTS and M/A-COM proprietary technologies. The PCM encoder is designed for eight (8) analog inputs, eight (8) discrete inputs, and one (1) synchronous RS-422 serial interface. Data rates of 300 kbps to 6 Mbps are supported. The module incorporates a frequency programmable, phase-locked FM S-band transmitter. The transmitter utilizes M/A-COM’s new dual port VCO and high efficiency 500 mW and 1 W power amplifier MMIC’s. Additionally, switching power regulation circuits were implemented within the module to provide maximum operating efficiency. This paper reviews the design and manufacturing of the Tactical Telemetry Module (TTM) and its major components, and presents system performance data.

International Telemetering Conference Proceedings / October 18-21, 2004 / Town & Country Resort, San Diego, California / The function of a PCM telemetry encoder, installed in moving vehicles such as automobiles, aircraft, missiles, and artillery projectiles, is to transform many physical variables, such as velocity, shock, temperature, vibration and pressure, into digital data. Also, the encoder is required to make a data frame composed of digital input signals and frame synchronous data. The framed data is supplied to the input of a transmitter. There are three critical considerations in developing a PCM telemetry encoder to be installed in an artillery projectile. The first is the performance consideration, such as sampling rate, data receiving rate and data transmission rate. The second is the size consideration due to the severely limited installation space in an artillery projectile and the last is the power consumption consideration due to limitations of the munition’s power supply. To meet these three considerations, the best alternative is a one-chip solution. Using a commercially available TMS320F2812 DSP chip, we have implemented a 30-channel PCM telemetry encoder to process randomized data frames, composed of 16-channel analog data, 14-channel digital data and 2 frame synchronization data per data frame, at 10Mbps transmission baud rate. This paper describes the structure of the 30-channel PCM telemetry encoder and its performance.

International Telemetering Conference Proceedings / October 27-30, 1997 / Riviera Hotel and Convention Center, Las Vegas, Nevada / A target missile is a unique piece of test hardware. This test tool must be highly reliable, low cost and simple and must perform any task that the developing interceptor missile planners require. The target missile must have ample power and guidance resources to put the target in a specified place in the sky at a desired time. The telemetry and measurement system for the target missile must have the same requirements as its interceptor missile but must be flexible enough to accept new requirements as they are applied to the target and its interceptor. The United States Army has tasked Coleman Aerospace to design and build this type of target missile. This paper describes and analyzes the telemetry and instrumentation system that a Hera target missile carries. This system has been flying for the past two years, has completed seven out of seven successful test flights and has accomplished all test objectives to date. The telemetry and instrumentation system is an integral part of the missile self-test system. All preflight checks and flight simulations are made with the on-board three-link telemetry system through a radio frequency (RF) link directly through the missile antenna system to a ground station antenna. If an RF transmission path is not available due to test range restrictions, a fiber-optic cable links the pulse code modulator (PCM) encoder to the receiving ground stations which include the bitsync, decommutator and recorders. With this capability, alternative testing is not limited by RF test range availability. The ground stations include two mobile stations and a factory station for all testing including preflight testing of the missile system prior to flight test launches. These three ground stations are built in a single configuration with additional equipment in the mobile units for use at remote locations. The design, fabrication, testing and utilization of these ground stations are reviewed. The telemetry system is a modification of the classical PCM system and will operate with its interceptor missile at least into the first decade from the year 2000.

ITC/USA 2005 Conference Proceedings / The Forty-First Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2005 / Riviera Hotel & Convention Center, Las Vegas, Nevada / A miniature 1 Watt Tactical Telemetry Module (TTM) has been developed for the Excalibur projectile program. The TTM incorporates a multi-channel PCM encoder, lower S-band transmitter, and power regulation onto a single printed wiring board (PWB). The PCM encoder is designed for eight (8) analog inputs, four (4) discrete inputs, and one (1) synchronous RS-422 serial interface, with a total data rate of 1 Mbps. The module incorporates a digitally programmable, phase-locked FM S-band transmitter. The transmitter utilizes M/A-COM’s new dual port VCO and a high efficiency 2 W power amplifier MMIC. Additionally, switching power regulation circuits were implemented within the module to provide maximum operating efficiency. This paper reviews the environmental requirements of Excalibur, the design of the Excalibur TTM, and presents electrical and air-gun test data.

As the demands of communication systems have become more complex and varied, software defined radios (SDR) have become increasingly popular. With behavior that can be modified in software, SDR's provide a highly flexible and configurable development environment. Despite its programmable behavior, the maximum performance of an SDR is still rooted in its hardware. This limitation and the desire for the use of SDRs in different applications have led to the rise of various pieces of hardware to serve as SDR platforms. These platforms vary in aspects such as their performance limitations, implementation details, and cost. In this way the choice of SDR platform is not solely based on the cost of the hardware and should be closely examined before making a final decision. This thesis examines the various SDR platform families available on the market today and compares the advantages and disadvantages present for each during development. As many different types of hardware can be considered an option to successfully implement an SDR, this thesis specifically focuses on general purpose processors, system on chip, and field-programmable gate array implementations. When examining these SDR families, the Freescale BSC9131 is chosen to represent the system on chip implementation, while the Nutaq PicoSDR 2x2 Embedded with Virtex6 SX315 is used for the remaining two options. In order to test each of these platforms, a Viterbi algorithm is implemented on each and the performance measured. This performance measurement considers both how quickly the platform is able to perform the decoding, as well as its bit error rate performance in order to ascertain the implementations' accuracy. Other factors considered when comparing each platform are its flexibility and the amount of options available for development. After testing, the details of each implementation are discussed and guidelines for choosing a platform are suggested.

Ingeniero Civil Mecánico / Dentro del campo de la ingeniería mecánica, una de las áreas que más crecimiento ha mostrado en los últimos años es la de la gestión de activos físicos y confiabilidad. Junto con la capacidad de construir máquinas y sistemas más complejos, el problema de la detección temprana de fallas en elementos mecánicos se vuelve de suma importancia. Al mismo tiempo, el incremento en la disponibilidad de tecnología sensitoria ha dado a los ingenieros la capacidad de medir una gran cantidad de variables operacionales, como por ejemplo presión, temperatura o emisiones acústicas, a frecuencias de muestreo altísimas. Es ese aspecto, se vuelve un desafío en sí mismo el poder procesar esa cantidad de datos de una manera eficiente, con tal de extrar información útil a partir de ellos. Una metodología para enfrentar este problema es el desarrollo de técnicas de reducción de dimensionalidad, las cuales, si son implementadas de forma correcta, pueden generar una mejor representación de los datos con el fin de mejorar el diagnóstico posterior de los modos de falla presentes. La motivación principal de este trabajo de título es la necesidad de desarrollar modelos confiables para el diagnóstico de modos de falla en elementos mecánicos utilizando técnicas de Aprendizaje de Máquinas. Estos modelos pueden resultar en grandes beneficios para los sectores industriales, tanto en términos de ahorros monetarios como seguridad operacional. El principal objetivo de esta tesis es desarrollar modelos para el diagnóstico de fallas en elementos mecánicos basados en una reducción de dimensionalidad usando un Auto Encoder Variacional (VAE), y luego evaluar y comparar los resultados obtenidos con un modelo similar que usa Análisis de Componentes Principales (PCA) como método de reducción de dimensionalidad y un tercer modelo que no genera una reducción. La metodología usada para este trabajo consiste principalmente de cinco etapas. Primero, una revisión del estado del arte respecto a metodologías existentes para el diagnóstico de fallas es desarrollada. Luego, la adquisición y preprocesamiento de datos operacionales que serán utilizados para entrenar y evaluar los modelos desarrollados. Tercero, el modelo que usa PCA y el modelo que no realiza reducción de dimensionalidad es implementado. Cuarto, el modelo que utiliza VAE es desarrollado e implementado. Por último, el modelo que usa VAE es comparado con los otros dos modelos para extraer conclusiones sobre su aplicabilidad. La principal conclusión de este trabajo es que el modelo que utiliza VAE es mejor en el diagnóstico de modos de falla que el que utiliza PCA para situaciones donde la cantidad de datos etiquetados es escasa, o para los casos cuando una reducción de dimensionalidad muy drástica es requerida. Tambien, el modelo que utiliza VAE casi siempre presenta mejores resultados que el modelo que no genera reducción en los datos, mostrando la importancia de reducir la dimensionalidad de los datos previo a una operación de diagnóstico o clasificación.

<p>In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. </p><p>Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory. </p><p>Results from tests with the realistic robot modell shows that disturbance rejection was improved a factor 2 to 5 while tracking performance was improved a factor 4 to 5 according to maximum deviation from the reference path. At the same time good re-sults are achieved regarding oscillation damping and robustness.</p>

<p>Optical encoders are being widely suggested for precise mobile navigation. Combining such sensor information with Global Positioning System (GPS) is a practical solution for reducing the accumulated errors from encoders and moving the navigational base into global coordinates with high accuracy.</p><p>This thesis presents integration methods of GPS and optical encoders for a mobile vehicle that is controlled by microcontroller. The system analyzed includes a commercial GPS receiver, dsPIC microcontroller and mobile vehicle with optical encoders. Extended kalman filtering (EKF), real time curve matching, GPS filtering methods are compared and contrasted which are used for integrating sensors data. Moreover, computer interface, encoder interface and motor control module of dsPIC microprocessor have been used and explained.</p><p>Navigation quality on low speeds highly depends greatly upon the processing of GPS data. Integration of sensor data is simulated for both EKF and real time curve matching technique and different behaviors are observed. Both methods have significantly improved the accuracy of the navigation. However, EKF has more advantages on solving the localization problem where it is also dealing with the uncertainties of the systems.</p>

We present novel architectures for parallel-node low-density parity-check convolutional code (PN-LDPC-CC) encoders and decoders. Based on a recently introduced implementation-aware class of LDPC-CCs, these encoders and decoders take advantage of increased node-parallelization to simultaneously decrease the energy-per-bit and increase the decoded information throughput. A series of progressively improved encoder and decoder designs are presented and characterized using synthesis results with respect to power, area and throughput. The best of the encoder and decoder designs significantly advance the state-of-the-art in terms of both the energy-per-bit and throughput/area metrics. One of the presented decoders, for an Eb /N0 of 2.5 dB has a bit-error-rate of 106, takes 4.5 mm2 in a CMOS 90-nm process, and achieves an energy-per-decoded-information-bit of 65 pJ and a decoded information throughput of 4.8 Gbits/s. We implement an earlier non-parallel node LDPC-CC encoder, decoder and a channel emulator in silicon. We provide readers, via two sets of tables, the ability to look up our decoder hardware metrics, across four different process technologies, for over 1000 variations of our PN-LDPC-CC decoders. By imposing practical decoder implementation constraints on power or area, which in turn drives trade-offs in code size versus the number of decoder processors, we compare the code BER performance. An extensive comparison to known LDPC-BC/CC decoder implementations is provided.

Remote experimentation and control have led researchers to develop new technologies as well as implement existing techniques. The multidisciplinary nature of research in electromechanical systems has led to the synergy of mechanical engineering, electrical engineering and computer science. This work describes the design of a model of a Gantry Mechanism, which maneuvers a web-cam. The user controls virtually the position of end-effecter of the Gantry Mechanism using a Graphical User Interface. The GUI is accessed over the Internet. In order to reduce the unbalanced vibrations of the Gantry Mechanism, we investigate the development of an algorithm of input shaping. A model of the Gantry Mechanism is built, and it is controlled over the Internet to view experimentation of the SCARA Robot. The system performance is studied by comparing the inputs such as distances and angles with outputs, and methods to improve the performance are suggested.