Automatic multi-banking of memory for microprocessors

A microprocessor system is provided with added memories to expand its address spaces beyond its address word length capacity by using indirect addressing instructions of a type having a detectable operations code and dedicating designated address spaces of memory to each of the added memories, one space to a memory. By decoding each operations code of instructions read from main memory into a decoder to identify indirect addressing instructions of the specified type, and then decoding the address that follows in a decoder to determine which added memory is associated therewith, the associated added memory is selectively enabled through a unit while the main memory is disabled to permit the instruction to be executed on the location to which the effective address of the indirect address instruction points, either before the indirect address is read from main memory or afterwards, depending on how the system is arranged by a switch

Timing Control System

A timing control system is disclosed which is particularly useful in connection with simulated mortar shells. Special circuitry is provided to assure that the shell does not over shoot, but rather detonates early in case of an improper condition; this ensures that ground personnel will not be harmed by a delayed detonation. The system responds to an externally applied frequency control code which is configured to avoid any confusion between different control modes. A premature detonation routine is entered in case an improper time-setting signal is entered, or if the shell is launched before completion of the time-setting sequence. Special provisions are also made for very early launch situations and improper detonator connections. An alternate abort mode is provided to discharge the internal power supply without a detonation in a manner that can be externally monitored, thereby providing a mechanism for non-destructive testing. The abort mode also accelerates the timing function for rapid testing

Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided

Amerikansk våpenhjelp til Norge 1949-1953

Oppbygningen av det norske forsvaret var i etterkrigstiden betydelig subsidiert av materiell hjelp fra USA. Utover på 1960-tallet ble støtten gradvis trappet ned, før den endelig ble avsluttet i 1971. I denne studien tar Paul Wiker for seg etableringen av de amerikanske støtteordningene, og beskriver det nære sikkerhetspolitiske samarbeidet mellom USA og Norge i perioden

Compact artificial hand

A relatively simple, compact artificial hand, is described which includes hooks pivotally mounted on first frame to move together and apart. The first frame is rotatably mounted on a second frame to enable "turning at the wrist" movement without limitation. The second frame is pivotally mounted on a third frame to permit 'flexing at the wrist' movement. A hook-driving motor is fixed to the second frame but has a shaft that drives a speed reducer on the first frame which, in turn, drives the hooks. A second motor mounted on the second frame, turns a gear on the first frame to rotate the first frame and the hooks thereon. A third motor mounted on the third frame, turns a gear on a second frame to pivot it

Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described

Sikkerhet i kommersielt friluftsliv : En kvalitativ studie av fjellføreres arbeid med sikkerhet og risiko før og under en føringstur

Vi vil gjennom denne oppgaven se på hvordan fjellførere arbeider med risiko og hvordan sikkerhet blir ivaretatt på føringsturer. De siste årene har man sett en økning både innen naturbasert turisme og nye friluftsaktiviteter. Fjellførere skal være eksperter på ferdsel i alpint terreng og det vil derfor være naturlig for oss å undersøke denne gruppen. For å begrense oppgavens omfang har vi kun valgt å forholde oss til føringsturer som krever klatring. Under innsamlingen av empiri har vi benyttet oss av en kvalitativ forskningsmetode. Vi har valgt å gjennomføre intervjuer med tre fjellførere fra forskjellige steder i landet. Som et hjelpemiddel under intervjuene utarbeidet vi en intervjuguide i forkant av intervjuene. Denne ble laget på bakgrunn av aktuell, innsamlet teori. I etterkant av intervjuene har vi sett på informasjon vi har fått gjennom de tre kvalitative intervjuene, for så å knytte dette opp mot relevant teori. Teorien vi har forholdt oss til består i hovedsak av tidligere forskning, både rundt temaet generell risiko innen friluftsliv og lederrollen i friluftsliv. I forbindelse med lederskap i friluftsliv så vi også på hvordan det er mest hensiktsmessig å kommunisere med gruppen. Dette ble også sett opp mot Produktkontrolloven (1976) og Internkontrollforskriften. På bakgrunn av dette har vi kommet frem til at våre respondenter hele tiden arbeider for å ivareta sikkerheten ved å minimalisere risiko. Vi har fått inntrykk av at fjellførerne er inneforstått med at det å arbeide i fjellet alltid vil innebære en viss grad av risiko. Ved å ha kjennskap til denne risikoen, kan førerne redusere risikonivået slik at det blir akseptabelt. Svarene vi fikk viste at dette ble gjort ved å ha god margin på det man arbeider med, inneha oppdatert kunnskap og opprettholde en god kommunikasjon med gjestene

Occurrences of \u3ci\u3eEumorpha Fasciata, Hyles Gallii, Sphinx Franckii\u3c/i\u3e and \u3ci\u3eS. Vashti\u3c/i\u3e (Lepidoptera: Sphingidae) in Illinois

A recent survey of private and institutional collections in Illinois and surrounding states has provided specific information on the occurrences of four species of sphingids within Illinois: Eumorpha fasciata, Hyles gallii, Sphinx franckii, and S. vashti. Geographical and phenological data for these species are provided

Comparison of force and tactile feedback for grasp force control in telemanipulation

The comparative efficacy of using direct force feedback or a simple vibrotactile display to convey changes in the intensity of remote grasp force relayed from a robotic end effector is examined. The findings show that a simple vibrotactile cue, in the absence of direct force feedback, is effective in signaling abrupt changes in remote grasp force regardless of magnitude, and when changes in force are not too slow or protracted in nature (i.e., ramp time less than 2 s). In cases where the operator must dynamically tract and respond to slow but large variations in grasp force, the comparatively crude vibrotactile display would prove helpful; but would not be as effective as that of a direct contact force display. Immediate applications and utility of current generation and near-term prototype tactile displays are discussed

Impact of inertia, friction, and backlash upon force control in telemanipulation

The mechanical behavior of master controllers of telemanipulators has been a concern of both designers and implementors of telerobotic systems. In general, the literature recommends that telemanipulator systems be constructed that minimize inertia, friction, and backlash in an effort to improve telemanipulative performance. For the most part, these recommendations are founded upon theoretical analysis or simply intuition. Although these recommendations are not challenged on their merit, the material results are measured of building and fielding telemanipulators that possess less than ideal mechanical behaviors. Experiments are described in which forces in a mechanical system with human input are evaluated as a function of mechanical characteristics such as inertia, friction, and backlash. Results indicate that the ability of the human to maintain gripping forces was relatively unaffected by dynamic characteristics in the range studied, suggesting that telemanipulator design in this range should be based on task level force control requirements rather than human factors