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The industrial world of robotics requires leading-edge controllers to match the speed of new manipulators. At the University of Waterloo, a three degree-of-freedom ultra high-speed cable-based robot was created called Deltabot. In order to improve the performance of the Deltabot, a new controller called the QNX Multi-Axis Robotic Controller (QMARC) was developed. QMARC is a PC-based controller built for the replacement of the existing commercial controller called PMAC, manufactured by Delta Tau Data Systems. Although the PMAC has its own real-time processor, the rigid and complex internal structure of the PMAC makes it difficult to apply advanced control algorithms and interpolation methods. Adding unconventional hardware to PMAC, such as a camera and vision system is also quite challenging. With the development of QMARC, the flexibility issue of the controller is resolved. QMARC?s open-sourced object-oriented software structure allows the addition of new control and interpolation techniques as required. In addition, the software structure of the main Controller process is decoupled for the hardware, so that any hardware change does not affect the main controller, just the hardware drivers. QMARC is also equipped with a user-friendly graphical user interface, and many safety protocols to make it a safe and easy-to-use system. <br /><br /> Experimental tests has proven QMARC to be a safe and reliable controller. The stable software foundation created by the QMARC will allow for future development of the controller as research on the Deltabot progresses.

International Telemetering Conference Proceedings / October 30-November 02, 1995 / Riviera Hotel, Las Vegas, Nevada / The Telemetry Data Distribution System (TDDS) solves the need to record, archive, and distribute sounding rocket and satellite data on a compact, user-friendly medium, such as CD-Recordable discs. The TDDS also archives telemetry data on floppy disks, nine-track tapes, and magneto-optical disc cartridges. The PC-based, semi-automated, TDDS digitizes, time stamps, formats, and archives frequency modulated (FM) or pulse code modulated (PCM) telemetry data. An analog tape or a real-time signal may provide the telemetry data source. The TDDS accepts IRIG A, B, G, H, and NASA 36 analog code sources for time stamp data. The output time tag includes time, frame, and subframe status information. Telemetry data may be time stamped based upon a user-specified number of frames, subframes, or words. Once recorded, the TDDS performs data quality testing, formatting, and validation and logs the results automatically. Telemetry data is quality checked to ensure a good analog source track was selected. Raw telemetry data is formatted by dividing the data into records and appending header information. The formatted telemetry data is validated by checking consecutive time tags and subframe identification counter values (if applicable) to identify data drop-outs. After validation, the TDDS archives the formatted data to any of the following media types: CD-Recordable (CD-R) Disc (650 megabytes capacity); nine track tape (180 megabytes capacity); and erasable optical disc (499 megabytes capacity). Additionally, previously archived science data may be re-formatted and archived to a different output media.

The industrial world of robotics requires leading-edge controllers to match the speed of new manipulators. At the University of Waterloo, a three degree-of-freedom ultra high-speed cable-based robot was created called Deltabot. In order to improve the performance of the Deltabot, a new controller called the QNX Multi-Axis Robotic Controller (QMARC) was developed. QMARC is a PC-based controller built for the replacement of the existing commercial controller called PMAC, manufactured by Delta Tau Data Systems. Although the PMAC has its own real-time processor, the rigid and complex internal structure of the PMAC makes it difficult to apply advanced control algorithms and interpolation methods. Adding unconventional hardware to PMAC, such as a camera and vision system is also quite challenging. With the development of QMARC, the flexibility issue of the controller is resolved. QMARC?s open-sourced object-oriented software structure allows the addition of new control and interpolation techniques as required. In addition, the software structure of the main Controller process is decoupled for the hardware, so that any hardware change does not affect the main controller, just the hardware drivers. QMARC is also equipped with a user-friendly graphical user interface, and many safety protocols to make it a safe and easy-to-use system. <br /><br /> Experimental tests has proven QMARC to be a safe and reliable controller. The stable software foundation created by the QMARC will allow for future development of the controller as research on the Deltabot progresses.

International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, California / In this paper design and development of a PC- Based S- Band Down Converter/ FM Telemetry Receiver are discussed. With the advent of Direct Digital Synthesis (DDS) & Phase Locked Loop (PLL) technology, availability of GaAs & Silicon MMICs, Coaxial Resonator Oscillator (CRO), SAW Oscillator, SAW Filters and Ceramic Filters, realisation of single card PC- Based Down Converter and Telemetry Receiver has become a reality. With the availability of Direct Digital Synthesis and Phase Locked Loop devices having microprocessor bus compatibility, opens up many application in Telemetry and Telecommunications. In this paper design of local oscillator based on hybrid DDS & PLL technique, Coaxial Resonator Oscillator and Front-end are discussed in detail.

International Telemetering Conference Proceedings / October 26-29, 1998 / Town & Country Resort Hotel and Convention Center, San Diego, California / This paper discusses the evolution of the ground satellite communication systems and the efforts made by the Goddard Space Flight Center's (GSFC) Advanced Architectures and Automation (AAA) branch, Code 588 to bring satellite scientific data to the user’s desktop. Primarily, it describes the next generation desktop system, its architecture and processing capabilities, which provide autonomous high-performance telemetry acquisition at the lowest possible cost. It also discusses the planning processes and the applicability of new technologies for communication needs in the next century. The paper is presented in terms simple for those not very familiar with current space programs to understand.

International Telemetering Conference Proceedings / October 27-30, 1997 / Riviera Hotel and Convention Center, Las Vegas, Nevada / There is a wave of change coming. It started in the industrial automation community and it is slowly and surely working its way into aerospace, satellite and telemetry applications. It’s called the PC, and its not just for simple quick-look data anymore. Using state-of-the-art commercial hardware and software technologies, PC-based architectures can now be used to perform self contained, reliable and high performance telemetry data acquisition and processing functions – previously the domain of expensive, dedicated front end systems. This paper will discuss many of the key enabling technologies and will provide examples of their use in a truly next generation system architecture based on the Microsoft® Windows NT Operating System and related features.

International Telemetering Conference Proceedings / October 27-30, 1997 / Riviera Hotel and Convention Center, Las Vegas, Nevada / Caterpillar Inc. has over 25 years of experience using instrument vans equipped with telemetry to support product testing. These vans provide the capability to instrument the product, to acquire telemetered data, and to analyze the data. They are being used in tests performed on construction and mining equipment at Caterpillar's proving grounds and at customer job sites throughout North America. This paper presents a design summary of the newest generation vans. It starts with an overview of the major subsystems and concentrates on the Caterpillar developed software that tightly integrates the various hardware and software components. This software greatly enhances the productivity of the system and makes it possible for the van to perform a large variety and quantity of tests required by our internal customers.

International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, California / Satellite Control Systems require a front-end component which performs real-time telemetry acquisition and command output. This paper will describe a fully networked, PC-based telemetry and command front-end which supports multiple streams and is based on Commercial Off The Shelf (COTS) technology. The front-end system is a gateway that accepts multiple telemetry streams and outputs time-tagged frame or packet data over a network to workstations in a distributed satellite control and analysis system. The system also includes a command gateway that accepts input from a command processor and outputs serial commands to the uplink. The front-end can be controlled locally or remotely via the network using Simple Network Management Protocol. Key elements of the front-end system are the Avtec MONARCH-E™ PCI-based CCSDS/TDM Telemetry Processor/Simulator board, a network-based, distributed computing architecture, and the Windows NT operating system. The PC-based telemetry and command gateway is useful throughout the lifecycle of a satellite system. During development, integration, and test, the front-end system can be used as a test tool in a distributed test environment. During operations, the system is installed at remote ground stations, with network links back to operations center(s) for telemetry and command processing and analysis.