JPRS ID: 9945 USSR REPORT CYBERNETICS, COMPUTERS AND AUTOMATION TECHNOLOGY

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JPRS L/9945
28 August 1981
USSR Re ort
p
- CYBERNETICS, COMPUTERS AND
AUTOM~TION TECHNQ! OGY
(FOUO 20/81)
FBIS FOREIGN BROADCAST INFORMATION SERVICE
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JPRS L/9945
28 August 1981
l
- USSR REPflRT
CYBERNETICS, COMPUTERS AND AUTOMATION TECHNOLOGY
(FOUO 20/81)
CONTENTS
OrTICAL PROCESSING
- Radioholography and Optical Information Processing in Microwave
Technology 1
Long�Wave Hologranhy in Real Time 7
Electronic Apparatus for Recording the Amplitude-Phase
Distributions of Acoustic Fields 27
- NETWORKS
Project for a Network Among the Countries Participating in the
International Institute of Applied Systems Analysis 40
~
SOFTWARE
Increasing the Degree of Nonproceduralness of Arithmetic
Expressions in Programming Languages 60
Automa.tion of Production of Application Program Packagea
(Automation of Production of Translators) 62
Scientific Research Seminar on Automation of Programming 66
Abstracts From the Journal 'PROGRAMNIING', March-April 1981........ 69
Main Elements of the R-Technique of Program Praduction 72
Principle of Nondeterministic Control of a W alking Robot.......... 95
- ~ - [III - USSR - 21C S&T FOUO]
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SIGNAL 1'RUCF.SSING
Abstracts From Collection 'Digital Signal Processi.ng and
Its Application' 105
Display Processor for Dialog Processing of Semitone Images...... 111
Specialized Micr~processors That Perform Fast Conversions....... 132
PUBLICAZ`~~.,5
Abs~tracts From the Journal 'TECHNICAL CYBERNETICS'
March~-April 1981 135
Annotation, Abstracts From Book 'Basic Elements of Underwater
_ Apparatus and Robots' . 144
Principles of Construction of Specialized Computers for
Positional Supervisory Control of Underwater Manipulators..... 15I
Automation of Scientific Research 152
Use of Some Additional OS Capabilities and Organization of
the Computing Process 154
Intermachine Data Exchange Sofcware in Computer Complexes....... 159
Structural Algorithmic Model of the Ratan-600 Collective-Use
System 162
'Elektronika K-200' Process Control Computer as a Dispatcher for
a Unified Bus Exchange System To Automate Experiments on
Emission Electronics 164
Use of 'Elektronika SS-11' Microcomputer in CAMAC Systems 166
CAMAC Module for Control of Step Motors ~69
Architecture of Hardware and Software of an Informatioa
Computing Complex for Research on Laser Spectroscopy 173
Multiplexor Distributed System of Automation (SAMUR) Based on
Data Transmission 180
System.for Automation of Structural Research of Crystals 186
Magnetic and Magnetic-Semiconductor Components for
Information Processing 193
Adaptive Coordinate-Parametric Control of Transient Objects 198
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OPTICAL PROCESSING
UDC 621.396
RADIOHOLOGRAPHY AND OPTICAL INFORMATION PROCESSING IN MICROWAVE TECHNOLOGY
Leningrad kADIOGOLOGRAFIYA 7 OPTICHESKAYA OBRABOTKA INFORMATSII V MIKROVOLNOVOY
TEKHNIKE in Russian 1980 (signed to press 24 Oct 80) pp 2=4, 181-183
/Annotation, foreword and abstracts from book "Radioholography and Optical
Information Processing in Microwave Technology", edited by L.D. Bakhrakh, corres-
- ponding member, USSR Academy of Sciences, and A.P. Kurochkin, candidate of tschni-
cal sciences, Izdatel'stvo "Nauka" (Len~ngrad Branch), 2,150 copies, 184 pages/
/Text/ ANNOTATION
In the articles in this collection, there is a discussion of the use of holography
and optical information processing in microwave technology: the methods and equip-
ment for visualizing microwave fields and obtaining images of objects; the holo-
graphic method for determining antenna parameters in the near zone; questions con-
cerning the construction and special operating features of acoustico-optical de-
vices for processing radio signals; an investigation of the correlational optical
identification of space images.
FOREWORD
The articles presented in this collection encompass the following themes: holo-
graphic methods and equipment for the visualization of microwave and acoustical
fields, as well as producing images of objects irradiated by waves in the microwave
band; different aspects of the holographic method of determining tha paxameters of
microwave antennas in the near zone; the optical processing of signals from antenna
arrays; questions concerning the construction of acoustico-optical devices for pro-
cessing radio signals.
Questions on the. construction of high-speed complexes of equigmEnt for. producing
microwave and acoustic }iolograms and images are the subject of the articles by A.V.
Avrorin and coauthors and L.I. Bayda and coauthors.
In their article, A.S. Y.lyucrnikov and P.D. Kukharchik investigate a new type of
display for holograms in the millimeter and submillimeter bands: films of differ-
ent liquids.
The article by O.V. Bazarskiy and Ya.L. Khlyavich is devoted to an analysis of the
generalized criterion for evaluating the resolution of radioholograms.
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~ A.I. Balabanov ar.d coauthc.:s present the results of experimental investigations of
the correlational optical identification of space objects.
The subject of the articles by A.G. Buday and coauthors and Yu.V. Sysoy, is tlir
development of a holograpt~ic melhod for determining antenna parameters in the near
zone.
The next group of articles encompasses various questions concerning the optical
- processirg of signals from antenna arrays and radio-frequency radiation sources.
In two theoretical articles, A.Yu. Grinev and coauthors analyze signal processing
algorithms and evaluate the parameters of radio-optical antennas with different
cotifigurations .
N.A. Yesepkina and coauthors propose and investigate a hybrid opticodigital system
for processing the signals received frnm pulsars.
Tl~e collection concludes with articles by Ye.T. Aksenov and coauthors and S.V.
Kulakov that are devoted to acoustico-optical devices for processing information on
tlie basis of. nonlinear acoustic interaction and an investigation ~f the effects of
elastic iaave attenuation and light modulator nonlinearity on the parameters of
acoustico-optical correlators.
'Tlle editors hope that the works presented in this collection will attract the at-
tention of specialists and contribute to a further impiovement in and practical use
oE tt~e methods of holography and optical information processing in microwave tech-
nology.
ABSTRt1CTS
UDC 778.4:534.6
LONG-i~AVE HOLOGRAPHY IN REAL TIME
/Abstract of article by Avrorin, A.V., Breytman, B.A., Volkov, Yu.K., Votentsev,
V.N., Gruznov, V.M., Kopylov, Ye.A., Korshever, I.I., Kotlyakov, M.I., Kuznetsov,
~'.V., and Remel', I.G.,/
/Text/ The authors discuss questions concerning the creation of high-speed devices
for recordino long-wave holograms and recovering images in the centimeter band of
radio and acoustical waves. 'rhe results of experimental investigations of discrete
holographic systems that they present show that with the use of certain methods for
the processing and digital recovery of images, practically maximum spatial resolu-
tion that is close to a single wavelength is achieved. They also discuss plans for
~ constructing matrix systems for the recording of acous~ical and superhigh-frequency
helo~rams, and give a description of a specialized computer system for controlling
multichannel infor_mation collection and image recovery d~vices. The authors also
point ~ut ways of increasing the operating speed of these systems. Figures 9; ref-
erences 23.
UDC 621.396.671
, LL~'CTRONIC EQUIP~IENT FOR RECORDING THE AMPLITUDE-PHASE DISTRIBUTIONS OF ACOUSTICAL
FIELDS
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/Abstract of article by Bayda, L.I., Belash, G.P., Valyayev, A.I., Kachanov, Ye.I.,
and Yurkov, Yu.V./
/Text/ The authors investigate the special features of the construction of ineasur-
ing devices operating under the conditions of the near field of acoustical antennas.
They aescribe the structures of electronic measuring devices that provide for the
processing of signals with a broad dynamic range and discuss the special features
of their operation and sources of errors that limit the accuracy of the measure-
ments. Some attention is given to the development of compatible devices that~make
it possible to connect a measuring unit to a computer and carry ~out machine pro-
cessing of the near field's measured amplitude-phase distributi~n. The authors
also present the results of experiments in producing unidimensional holograms of
different types of antennas. They show that such measurements of the near field
_ are of independent value for analyzing ~he special features of antenna character-
istics. Figures 6; references 8.
UDC 621.396
INTE;RFERENCE-HOLOGRAPHIC METHODS OF VISUALIZING MICROWAVE FIELDS
/Abstract of article by Klyuchnikov, A.S., and Kukharchik, P.D_/
/Text/ The authors discuss a method for visualizing superhigh-frequency fields in
the millimeter and submillimeter bands when using displays based on thin films of
liquid. The proposed displays do not require thermal stabilization and sensitizing,
make it possible to use the recording medium repeatedly, and expand the area of
utilization of microwave holography. On the basis of the display that has been de-
veloped, the authors propose a technique for v~sualizing the spatial polarization
structure of the emissions from diffraction radiators of differeat shapes. Figures
6; references 8.
. UDC 621.382.049.77
RADIOHOLOGRAM RESOLU'TION AND WAYS OF IMPROVING IT
/Abstract of article by Bazarskiy, O.V., and Khlyavich, Ya.L_/
/Text/ On the basis of statistical decision theory, the authors have constructed a
generalized Rayleigh resolution criterion that takes into consideration not only
the diffraction limitations of shaping apertures, but also the signal-to-noise ra-
tio in an image and the probability of making a correct decision about the number
of sources being resolved. They find conditions for the resolution of elongated
sources that insure both their individual observation and accurate reproduction of
their dimensions. They also analyze the possibility of improving the resolution of
forming apertures above the classic Rayleigh limit on the basis of an analytical
prolongation and compression of the spatial spectrum. Figures 6; references 14.
UDC ~21.396.671
REPRODUCING AN ANTENNA'S RADIATION PATTERN ON THE BASIS OF MEASUREMENTS OF THE NEAR
FIELD ON A CYLINDRICAL SURFACE
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- /Abstract of article by Buday, A.G., Bulkin, V.M., Kolosov, Yu.A., Kremenetskiy,
S.D., I~urochkin, A.P., and Litvinov, O.S./
/Te~t7 The authors discuss questions concerning the measurement of an antenna's
near field on the surface ~f a cylinder, as well as the realization of an algorithm
for converting the field from the near zone inta the distant zone. They discuss
the results of a numerical modeling of the ~roblem of recovering the radiation pat-
tern of an antenna with large electrical rlimensions and a low side lobe level.
Figures 10; references 12.
UDC 621.396.67.012.12
QUEST'IONS ON THE REALIZATION OF THE RADIOHOLOGRAPHIC METHOD OF DETERMINING ANTENNA
RAD?ATION PATTERNS
/Abstract of article by Sysoyev, Yu.V./
/Text/ The author proposes a technique for the quantitative evaluation of the re-
quired degree of orthogonality of the channels of correlation measuring circuits
for the radioholographic method of determining the radiation patterns of antennas.
He presents the results of an experimental investigation of the random errors oc-
curring during measurements by this method, and demonstrates the possibilities of a
:omplex of graphic FORTRAN (GRAFOR) programs for constructing plane projections of
:zntenna radiation patterns.' Figures 14; references 4.
UDC 621.396.677.49
PLANE RADIO-OPTICAL ANTENN~ ARRAYS
/Abstract of article by Grinev, A.Yu., Voronin, Ye.N., and Kurochkin, A.~'.,~
/Text/ The authors discuss the power, accuracy and dispersion characteristics of
linear and plane antenna arrays with cotierent optical processing in various spatio-
temporal light modulators. They propose a reduction of an ~ptical pxocessor that
_ has a number of advantages (in particular, elimination of bearing ambiguity in con-
nection with dipole signal input into the processor). They also evaluate the pro-
cessor's diffraction efficiency, the pupil effect of the modulator's channels, and
the mutual effect among them. Figures 10; references 17.
UDC 621.396.677.49
NOtiPLANE ANTENNA ARRAYS WITH FORPIATION OF THE RECEIVED BEAMS BY METHODS OF COHERENT
OPTICS
/:lbstract of article by Grinev, A.Yu., and Voronin, Ye.N./
/Text/ The at~~`hors describe methods f.or synthesizing coherent-optic processors of
nonplane antenna arrays operating in the parallel scanning mode. Along ~oith a gen-
eral approach, they also discuss special cases: piecewise plane, cylindrical and
annular antenna arrays. They also study effects causing the pattern-formirig prop-
erties of processors to deteriorate, as well as ~aays of eliminating these effects.
Fioures 10; references 14.
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UDC 523.84:534.535
A H`iSRID OPTICODIGITAL SYSTEM FOR PROCESSING PULSAR SIGNALS
/Abstract of article by Yesepkina, N.A., Bukharin, N.A., Kotov, B.A., Kotov, Yu.A.,
and Mikhaylov, A.V./
/Text/ The authors present the results of an experimental investigation of an ex-
, perimental model of an acosstico-optical correlator with temporal integration.
They show that the use of such a device for the processing of pulsar signals makes
it possible to eliminate the effect of the interstellar medium's dispersion and im-
prove the parameters of existing radiome~ers. In the investigated correlator, the
gauges of instruments with a charge coupling and an addition "Elektronika-100" com-
puter buffer memory are used as the multielement photoreceivers and storage capaci-
ty. Figures 2; references 11.
UDC 523.84
~1EASUREMENT OF THE COORDINATES OF REFERENCE POINTS IN AN AREA AND DETERMINATION OF
THE ~AGNITUDES OF CLOUD FORMATION DISPLACEMENTS WITH THE HELP OF AN OPTICAL
HETERODYNE CORRELATOR
/Abstract of article by Balabanov, A.I., Korbukov, G.Ye., Feoktistov, A.A., and
Tsvetov, Ye.R./
/Text/ The authors explain the resu?ts of experimental investigations of the pos-
sibility of using an optical heterodyne correJ.ator to measure the coordinates of
reference poincs in an area and cloud formation displacements in photographic space
images of the Earth's surface. They show that, providing there has been a prelim-
inary approximate correctian of the geometric distortions, fragments of images of
an area can be tied in by correlation identification, with a degree of error that
- is less than the size of an element of resolution. The displacement of cloud for-
mations is determined quite well by a correlation comparison of images obtained by
geostationary satellites at 30-minute intervals. Figures 15; references 5.
UDC 534/535.241:621.371
ACOUSTICO-OPTICAL INFORMATION PROCESSING DEVICES BASED ON NONLINEAR ACOUSTIC
INTERACTION
/Abstract of article by Aksenov, Ye.T., Yesepkina, N.A., and Shcherbakov, A.S_/
/Text/ The authors discuss the possibility of creating a new class of acoustico-
optical devices utilizing the nonlinear interaction of elastic waves. They present
the results of an experimental investigation of prototypes of such devices,based on
. lead molybdate and gallium phosphide crystals, that realize signal bias, convolu-
tion, correlation and controlled delay. The investigation was conduCte_ at fre-
quencies of 80-500 MHz, using both continuous and pulsed signals. For al input
electrical power of up to 0.5 W, the relative efficiency of the devices reached
several percent. Figures 5; references 3.
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UDC 621.317.757
EFFECT OF ELASTIC WAVE ATTENUATION ON THE OUTPUT SIGNAL OF AN ACOUSTICO-OPTICAL
CORRELt1TI0NAL ANALYSIS DEVICE
/Abstract of article by Kulakov, S.V./
/Text/ The author investigates the effect of attenuation on the shape of the shape
of the signal in an a^oustical light modulator and the output signal of an
acoustico-optical correlational analysis device. He presents relationships that
make it possible to select the acoustico-optical interaction medium according to
_ th` permissibl~ energy of the error. Figures 10; references 9.
UDC 621.317.757
' ~FFECT OF NONLINEARITY OF ACOUSTICAL LIGHT MODULATORS ON THE CORRELATIONAL
PROCESSING OF NARROW-BAND SIGNALS
/Abstract of article by Kulakov, S.V., and Bragina, L.P./
/Text/ The authors produce nonlinear, determinstic models of an acoustico-optical
correlational processing device for narrow-band input signals and Raman-(Nat) and
Bragg diffraction modes. References 3.
CUPYRIGHT: Izdatel'stvo "Nauka", 1980
11746
CSO: 1863/206
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UDC 778.4:534.6
LONG-WAVE HOLOGRAPHY IN REAL TIME
Leningrad RADIOGOLOGRAFIYA I OPTICHESKAYA OBRABOTKA INFORMATSII V MIKROVOL~TOVOY
TEKHNIKE in Russian 1980 (signed ta press 24 Oct $0) pp 5-26 .
/Article by A.V. Avrorin, B.A. Breytman, Yu.K. Volkov, V.N. Votentsev, V.M.
Gruznov, Ye.A. Kopylov, I.I. Korshever, M.I. Kotlyachkov, V.V. Kuznetsov and I.G.
Remel' from book "Radioholography and Optical Information Processing in Microwave
Technology", edited by L.D. Bakhrakh, corresponding member, USSR Academy of
Sciences, and A.P. Kurochkin, candidate of technical sciences, Izdatel'stvo "Nauka"
(Leningrad Branch), 2,150 copies, 184 pages/
/Text/ Introduction
The creation of high-~peed devices for recording holograms and reproducing
acoustic- and radio-wave images offers the prospect of numerous applications of the
principles of holography in different branches of science and technology /1-3/.
The ~authors of this article have conducted research for the purpose of creatiing
such devices that will operate in the centimeter wavelength band. Preliminarily,
we selected a version in which holograms are recorded by multichannel discrete de-
vices, while images are reproduced by a digital method. Despite their technical
complexity, such systems are capable to the highest degree of satisfying the
basic practical requirements for operating speed, resolution and the possibility of
processing input and output information.
During our research, we solved problems related to improving the quality of the im-
ages and testing the hologram and image processing algorithms, and al~o developed
equipment for the rapid recording of holograms and reproduction of images. The re-
sults of the experiments are presented in Section 1. A description of the high-
speed devices, the design of which is proposed on the basis of the research we per-
formed, is given in Sections 2 and 3.
1. Experimental Investigation of Discr~te Holographic Systems
The mathematical apparatus of linear scalar diffraction theory gives rather simple
expressions for calculating images and evaluating the resolving power c_ holograph-
ic systems in the absence of noise and interference / 4/. For image cal�ulations,
the expression most often used is Fresnel's approximation, presented in the form
~ oyu) - i~~ ~ tUi) P L ik ~ i-~- !/i)] ~C eY C Z = r dx d ~ 1~
U z - i~z U a ex zZ z p ( 0 1-~ Uoy~ i U~+
Q .
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~ ~ a s~ >
. r- �ai~~~~ . ~t?~ � .r.rr w~i~i~ ~ ~ iw
wi
�~rAw~ Rw� i1i -.,~r.
- tAl'... .n.' ' ~I[t y'/~' . ~ , .1, '
' ~ ~ ' ~F ~ N~
, . ' . ~ .A ' ~~M
1~+~:
, . ~ ~ ~y~.~ ~ r p
n. . r. .
~ 35~.,... ~ ��1F~ . ,.JF~,:_..f U ??'F ~w
' Y � = ^ L ~ � ' ~.'N~p~~~~fil~ ~
' L Li~'� ~ . . �.If~~~M
.Ji
`~m,~rL~'~. . ,I1.� � ' ~ . ~ . . �
r .
� ' . . . . ' .
i!'.T. ' . . _.....a.. .
~ . 'f ~ . w�: � . . . . . ?
7 " ~ ~,'p i~.�s.~
d(
i!~'~ ~ } `i~ ~Y
~f'.
R .
t,~
~ l a.�" .~,~ii"t~s~M y., .
a ~
Figure 1. SupPrhigh-frequency hologram images of objects, as re-
produced by digital and optical method.
_ where U(xlyl) is the hologram tran5mission function. Formula (1) was derived on
the condition of smallness of the ratio of the sizes of the receiving aperture and
tiie object (d) to the distance to the object (z). However, if we formally make use
of the condition of correctness of the approximation presented in / 4]~, for aper-
ture and object sizes d= 30]1 we obtain the following relationship:
> 4~, [(=o - si)2 ~yo - yi)zJZ~ a~ iaoa, Z j 4a. ( 2)
In this case, an estimate according to Rayleigh's formula limits the minimum re-
solvable interval to a value of 471. In most introscopy problems in centimeter
waves, such resolution is inadequate. As experiments have shown, however, formula
(1) can be used even in the case of d/z = 1 and spatial resolution no worse than
for op*_ical reproduction can be obtained. Under real conditions there inevitably
appear equipmer~t distortions of the information at the system's input and output
that can reduce its resolving power considerably. Within the framework of linear
diffraction theory, allowing for the set of factors resulting in information dis-
tortions is practically impossible. Therefore, the authors conducted a series of
experimental investigations with simple holographic devices that, during the course
of the investigations, were made more complicated in the direction of a maximum ap-
proximation to systems corresponding to the requirements formulated for resolution
and image production time.
The first holographic devices were built according to the traditional plan, with
mechanical scanning of a rectangular gratin~ by a single-channel receiver. In most
cases the experimental results were evaluated by visual comparison of the repro-
duced object images.
Various hologram recording systems /5-77 were tested during the experiments. The
optical and digital methods of reproducing images were compared. Different methods
for processing holograms and images for the purpose of improving their quality were
also investigated. ~
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Figure 1_stiows reproduced object images in the form of the wor~s "holography" and
"SVCt~" /superhigh frequency/. The holograms of these objects were synthesized by
mecnanical scanning of a grating by a combined source and receiver in the SVCh band,
on a wavelength of 3.2 cm. The field values were recorded on the basis of a syn-
_ chronous signal from a coordinate sensor, at 128 po~nts in the horizontal and on
128 lines in the vertical direction, with an identical spacing of 0.85 cm. Incli-
_ nation of the reference wave's plane was simulated by introducing phase-modulated
_ reference signals into the coherent receiver, w~~ich was based on a balanced circuit,
so that only the interference compotient of the signal was isolated. The signals
_ were then suppressed in the device in order to modulate the light flux, with subse-
quent recording of it on photographic film / 5/ or were converted into a di~ital 8-
bit binary code and entered in a computer memory for digital reproduction % 8/.
Tlie upper half of Figure 1 shows the images recovered by the digital method, while
in the lower tialf are those reproduced by the optical method, with the usual proce-
dure of optical reduction of the frame and reproduction in the light of a supermode
laser.
The digital images were computed according to a program that realizes the Fresnel
transformation. A certa~n amount of processing of the holograms and images was
performed during the computation process. The constant component was subtracted
_ fron the hologram; the addition of zeros to the hologram (the Fourier interpolation
method) doubled the number of readings in the reproduced image; by changing the in-
clination of the reproducing wave, the images were obtained in the center of the
grating. The centrast and density of the printed image were selected when they
were being reproduced by an alphanumerical printer.
The spatial resolution in the images presented is on the order of a single wave-
lenbth over the entire field of view. In the case of the digital reproduction, the
spatial resolution is a littler better. The letters were made from metal foil. In
the word "holography," the height of the letters is 31 and thc distance between

~ them is 0.5~. The distance between the letters "SVCh" is 1.ST and the width of the
strips is 2 cm.
In the optical image of the object "SVCh" (the lower row in Figure 1), we see obvi-
ous defects that are related to interference of the light scattered on the optical
- elements ~aith the reproducing beam and the imposition of a"zero" light beam on the
image. Because of the absence of these defects and the processing that was done,
. tt~e quaiity of the di.bital images is better than that of the optical ones.
Higll spatial r~solution can be obtained only by implementing specia~ measures to
eliminate interference during the registration of the holograms. Interference can
arise because of a connection between the receiver and the emitter, or striking of
- the receiver by radiation scattered by surrounding subjects and parts of struc-
tures, or as the result of direct striking of the receiver by radiation when the
hologram of an object is being registered in transient radiation. Interference can
be weakened considerably by equipment means: measures to isolate the receiver from
- the emitter, the use of echoless chambers, the use of receivers and emit:ers with
the narrowest possible radiation patterns. However, when recording weak'y scatter-
ing objects these measures can prove to be inadequate. As an additional means of
weakening interference, it is possible to use subtraction methods if the interfer-
ence is additive.
,
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p~ ~p ~ ~ `C~,!
~/~�-'er�~ ~g~"~~n.~h i:~g u i .n : E i.ru
~T~ L�SCyTS~r+~[~, s-ric~~gr i
.~r ~ r~.~ 3
' ~ . a ~~#e
~fYLt^ ii" ~ IIS 1r'~:AI�444M. L~
~'t~~ ~~~~~~~~;y~ ~ Ct:~6i..
Iet*~ni44 . u+en
ai0Y1LLCIL' ` 0pl6
r :SCG e x~,
t ~ a
t � ~_yca~~.q~~~ n T~~~~ ~ ~ tt..Ottai C~71~
~~L9~ .r- M . J~ .1'ii L~O~IEII~L~L~Y 'lAJt'
~~"y! " .^.~.~1~"Y .i~'L5~ ~ 'S
~ V.:1 t . ~ ~~~WC~2M. W~1
~ ~''G `~y~.r~'T'.[Sr'~S?A'~~
3~~"~+I~~+4~Z"~ .
.a~~l7rii~ex
C .j ~Mit L~~.d'.. rL ' ' ~M1~=K CJ~Sq~~.:
';~~~.`:':t~~~'~Tl�y .T.l::ll '14 ..~f::K~C.::"teP~:Tr'~
' It~ . I .
:~`iii;ii'. ~ . ~ ill::. 1 .Jy ' Z ,
n� f w:mi~�r I,. .~r'.
H�.1~:',
� ~ ~~r,~;:i~~.; � ; .......�t~~~.. ;
r3~.r7_.._n...:~
i,ni _~:~;-w..: c.ine'
, j.:~.~.~jrnviS!'..'",'i"'a..:.l"'t~^~it;"' . ' ~
. 6~~ t . nn' 7~c_.._.., .
~ rrrrt ~ ii 'i I ~M'w .~.IIIIII'IiM
..t. ~....'.SII 1 I{~1 T ~ ~ ~ ~ ~
ei ~r y, i~ �t , " w~.~.
~ ,~d" L B 4i ~t , t' i~inn yIti .3 , ~w~'e+.,, ~S?~
d'"~i.~ i
~ ~ ~
;'~!'""~'~,~,a ~4"`".!' n ~y1k~:: ~ T. , i '~~�y`. ~
�'�'........':w.. C i~,~~~~n~ r'~
..~~.r] a"~
: ~ _.~c.. ~ i p~~~~ . :
-^as4~:L~va.un~Wt t i t : .~.M.~'w'.~ ~,w ~ I
.~.~1YV ..7.~.��.~...~.......~.41~ ' j ~.~~~~~F'~ .
Figure 2. Subtraction of acoustic holograms: a. original holo-
gram; b. difference hologram; c. ir.iage obtained from original
hologram; d. from di~ference hologram. The width of the ele-
ments of the letter A is 2J~.
Figure 2 is a demonstration of the effectivetiess of one of the methods for weaken-
ing interference: digital subtraction of holograms / 9/. A textolite object in
the form. of a letter A was placed on a translucent barrier in an air medium. The
hologram of the object and the barrier was recorded by an acoL~stical device on a
wavelength of 2.1 cm, with identical quantification spacing of 1 cm along the x and
y axes at a distance of 70 cm from the object. The modulus of the barrier's re-
flection coefficient was 0.26 and the transmission coefficient's modulus was 0.83.
A second hologram, of the barrier alone, was made under the same conditions. The
holograms were entered successively in a computer memory, after which the operation
of element-by-element subtraction took place. In the image reproduced from the
difference hologram, the intensive interference caused by the barrier was almost
completely eliminated.
The use of the operation of digital subtraction of holograms makes it possible to
not have to work in echoless chambers. This is especially useful in the case of
hologram recording with a combined source and receiver if the direct striking of
the field from the source into the receiver is greater than the permissible level.
The me'thod demonstrated above, for eliminating the effect of barriers, can be modi-
fied in order to study mediums with a strongly reflecting boundary. For example,
when investigating dielectrics it is possible to subtract acoustical and SVCH holo-
grams recorded on the same wavelength. Acoustic waves do not penetrate a medium
and carry information only about the shape of the surface. Because of the reflec-
tion of the SVCh waves from the boundary, in this case the same information is in-
terference and can be weakened by hologram subtraction.
- 10
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1^tia
. ~ ~ ~~"'L
t f~
' ' ~t
Y 4 , 4;
tw I ~=`.~ir~i.
:r~ - � ~ S,a~....
. ;,'i.. .1~. ~
i
Figure 3. Phase object image reproduced by the optical method.
The operation of digital subtraction of holograms cannot be used when the interfer-
ence is very strong, because of the limited dynamic range of the recording devices.
In this case it is necessary to carry out analog subtraction at the system's input,
since the dynamic range of acoustical and SVCh receivers is greater than that of
photographic materials or analog-to-digital converters. In particular, analog sub-
traction was used to isolate only the interference component of the hologram in the
SVCh ~;evice. The squares of the amplitudes of the reference waves and those scat-
tered by the object were subtracted in the receiver, which was based on a balance
circuit.
The subtraction of additive interference can be accomplished if the distribution of
the compensating field created in the plane of the receiving aperture has the same
amplitudinal distribution as the interference field but is opposite in phase at ev-
e~ point in the aperture. Such fields will be subtracted when dedektirovaniye
/translation unknown7 is carried out in a coherent receiver. The compensating dis-
tribution of the field is created in a multichannel array by the introduction of
compensating signals into the channels if the interference is created because the
transmitting and receiving elements are interfering with each other.
In the case where holograms of objects are recorded in transient radiation and in-
terference can be created as the resuYt of the source's field striking the receiver
directly, a compensatin~ distribution of the field can be created with the help of
a compensating source / 7 7. This method is e~pecially useful when investigating
thin phase objects. Figure 3 consists of photographs of images of a phase object
in the form of the letter E that were reproduced by the optical method. Z'he holo-
gram of the object was recorded by a single-channel device operating in the SVCh
band on a wavelength of 3.2 cm. The object was made of foam plastic and was 10 cm
thick. The transverse dimensions (in millimeters) are indicated in photograph a of
the object. Photograph b shows the object image that was recovered with compensa-
tion of the source's field, while photograph c shows the image that was recovered
when compensation was carried out. Despite the fact that it was not possible to
compensate the source's field completely during recording of the hologram, the
~ background created by the source's field striking the receiver directly was quite
- heavily weakened.
The results of experiments with single-channel holographic devices demonstrated the
possibility of obtaining spatial resolution close to the theoretical limit by using
additional facilities for eliminating additive interference. Multichannel devices
for recording holograms have their own specific shortcomings, such as mutual
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interfexence of the channels and nonidentity of their characteristics. Both fac-
tors lead to the appearance of multiplicative interference in a hologram, for the
elimination of which it is necessary to have more complicated signal processing
equipment than was previously used, as well as more processing time. In order to
avoid this, the magnitude of the multiplicative interference must not exceed some
tlireshold value determined by the requirements for the quality of the recovere~ im-
ages.
~ir) dy The effect of multiplicative interference
on image quality was investigated experi-
~ ~ mentally with a multichannel holographic
___I ~ device operating in the centimeter acous-
~ i ~ tic wave band in an air medium. Each of
! i~ the 64 channels consisted of an acoustic
i~ ~ ~ receiver, a band-pass amplifier and an
, ~ i i ~ amplitude-phase detector. The acoustic
, i receivers were arranged in a single line.
_ The interval between the receivers was 1.5
` s cm. A plane hologram was synthesized from
Figure 4. Bar diagram of normal dis- 64 x 64 readings by moving the receivers'
tribution law. straightedges in a directioz perpendicular
to the line in which they were arranged.
_ ;Jonidentity of the channels ~aas assigned with the help of the appropriate amplifi-
- cation adjustments b(x), fixed bias at the detectors' outputs V(x), and phase de-
lays in the channels y'g(x). Deviation of the values of these parameters from their
:zverage values was assigned according to the normal distribution law. In order to
do this, the normal distribution function (Figure 4) was approximated by a bar dia-
oram with spacing nx equal to 0.2x in the interval of parameter values from 0 to
2x, where x is the parameter's average value. Further, the number of channels ni
in cahich parameter x has the value xi was determined by rounding off to a whole
~n
number the value t;; . The random sequence of the channel numbers for all
1~=~
xi values of the parameter was then determined according to a table of uniformly
distributed random numbers /10/.
r~ - j-I ~ j-"~-T A quantitative evaluation of the effect of
~ 4--1_ ~ ~ the parameters listed above on image qual-
I,! 1 ity was then obtained by computing the av-
i~~ ~ erage value of the square of the differ-
1.6~- i-` ence of the intensities of distorted and
~ standard images: a2. The intensities
Q Z were first normalized, each to its own av-
C~ - erage value. The calculated depzndences
6 _ of dispersion c~ on the parameters of a
multichannel unit are presented in Figure
- ~ 2o 4U 60 BO ~00% 5 in the form of graphs with coordinate
Fibure 5. Re ults of calculation of axes a'2 and P. The relative root-mean-
di;;E~~~rsion a. as a function of square deviation of a variable parameter
I'f,; oE P~;l{; c. of P~; d. of D. was plotted, in percentages, along the P
axis. Its dependence on the dynamic range
i~ ~~f tli~~ signals at the output of the amplitude-pha~c uc~CCIUT~S was also plotted
12
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~ _ . -
. ' ; IC' 1 t .:;:ir'~ c
~I M ' .~Y~ ~ Itt~;,
YM - : NI ~ ~1 �M~FY~I t-0,.~ty ~l. r~r ..~'M 'iA~~~
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.~~~~:~~11j:YN~:~~~~: ..~Y~fY'. ~4~YY'.~. r�.~G~/ ".~!'~4~.'.~v..~'� ~~~Y~1'~4LM~
i~~ 7M: :Y~~ ~YYY~: �Y~YY'~ '~~i'A~~;jYY~ ri~::.;?W~~~- .i~'~.
~Y. ' V~ 'Y~. �Y~i. ~'N~~~:~ ~ 9!~ '..~M~~~. "A~Y'
~~~':~~~i'Y\O~.:Y~Y: ;YY~YY: ":L~hY:~. ~ tU'� '~Y� :~is.~.~.:~� :1.?\:
�~Y'~:~~I ~aY~~: 'Y\~11: '�"i: :K?\'.
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J~ .Y~u U:'.�.. � ~i.Y: �~~.v:' ~ ~y .r ''.t
. N~. ~Y~~ �W~� 'Y~~Y' . : i .
1~~~:~~ ~ :4~w~�. . ~~iN
� ~M:. �~~~~-.::\lM\
_ 'J~� . YY~Y' .M~~Y~. ~ .nr'~�. .YM.~..~~t � ~i41\~ ~
~/a{Y~Y� LYMY~~ �Y~:� 4~� :.i~' ' �[~h~'.
~/�'tl~: .~q� 'Y}.1. .w. u� '?a?~ ~
Y~�: .A: r�~' .r~/. ~~:Y~M~�~` �.K~`~a� ~.Y .4t ~ '.~~~I.'~, :.~N�
:Y. ..Y� , �YY~\.~~ �Y~NY['. . ~~Y:: Y~ .�M �
~a~ �:1.' 'Y~~L'. .o~MY: ~ .w~.�.:. �.~w~: �~u�.'~~rl~~r'
~~jL~ ~Y~ . Mi. ~~i~� , ~~~n~� ~ ! y~ .w: �
iN�.~~M U. .u� .~r..'1 1 ~ . . . �
IM: N~ !W~ YY\~ :Y~M~~:t . L. � L~' �Y~~:..''.~.~Y Y . ':\Y~.
~.~;�a~� ~r. �W/~�~ ~Y~M~' . .~~~Y~� �~tY�
~y~' ~?~j,~~q..~ W ~~11~~~i MY\~F ~ � ~ � M ~~IYY~
~r ~ W ~YYW . ' ?N~MM.. S~ � ' LM� �~w~: :~.~iY -
~~Y !Y~ '(~~Ai .YIIM4. '~M~~Y":~YWIIi.�~ : �M. ~.Y�' .
YN M ~~1~Yi ~IW~ SC/Y~r11Yi:~YWMi ( . . ~ ' ;3'
iM~~~ Y?~ �Hi~ r{I~ 'MYq~Y �NO~YY'~ t, , ~ ~ 7S' �
w' . �i .K -~r . . .
,'(~L 'i: .i. . . .t: ' . . .
~ . . . ~ a . _ . . _ . .
I8' . j ~ 4;; Z
~ .r . � . r.~ ~ ~ TfG{;i�~~~ ILiF ; FiiCiiPif~tl~~-x';
~ t .i t s~~{Efs{O�y~~~~F ~~r iSt:jEe ~ ~E~[K~ z4''{{' ~fL ;
~ .r~iM �1 N J ~Y'~ I 'f i.t1~L~} ~ -!i~'=j~~~~~,~ ~~C.t~~i ~~(-.t
w ~~~sfs.EEl~~~E~Cf~t~.~E~.(.~~~ ~4.;~.
t.' ��r.~. � j i [
~ ~M t~. ~ o ~u .~M. ~ yr ([[[[[[4`[ jF#( E rL t [ Lj~yrtLp}(~4[~Et~ �
f{ -N ~M ~~11. rY~4i~:M~/4 ~ ~�!~~i4Lii~'t~~itY~~E3~.i~~~ii'4~{~i~ y 1I
1' �M :M . M M. � . t e t ,Lt L J~,fL =
I : .w. ~ ~M� ~ ~V~ yM~ ~ ~li t. ii2 ~~1.'a~iS~'E i[ C~
' M ts � n~ i ~ Kt ~r~ ~ ~:~y~i'{^ }c~Cli~~l {~:s~~t~~~~~~~ ~ ~'s:,
-o? u~ N .~~i [ 'k ~
' . , ` i fE Er s~s ts~~f i's .
~ i k~ ~ ;;M�` : ' { i~4F c~~~i~LE,L {4~ ~ {~~r_.~�
~~�i.n ~ . ~.r� i r ~ `i~ Ft S ;Yt~Gf ~ ii'LEFiip~F E~,EC~Y~if
' ~~~Y.� lul t lw~' rM~r ~~IIY. 1 ' .
~:~Y.~~~' 'Mt fY .WMI ' rll~ Y.
:M'.~. .~M N~ '~ph ~M~ .SL~~~Y4 t fEEltit~~ rtr R.w .
'1 ~x ~n �~u~ ~ ~ � . s { i
~ y j` : :~�~u + 1 ti i. ~ 1r ( ~~~LES ~.'~~~~+~t~'t~:.
..u.u~ . ~7 ~ ~ma . r~~~. t }~r
w:~u:r s a .M~w u~r; R: ~tE~ J~,
M. � .'..ou~l~ ".~u� ~;~j3 { (.~Y,~+ Y~~
~ i _ . ~ _ . ~-w:~.
�~4~~~.Y~IWY � ~~M. ' i w.....w~i'~-~+..:
4.:'.N
� .
�1. �a�. .il, . . . �
~ p. , ~ .
� �
.a~ ' . ~~s ~zo ':30~.~
. . ~ ~,3 ,
~
~ a ~ t~�~1;1~~7l9~7l;~~1~} t '3~ :~t
~~~ii ' ~
~ ~ ~'~;~#~i;~~~l~~~. _
_
~ ~~~i~~;i: ' : '
_ ~ , l i
'V'j ,.~"sa.' V~c +?a' !f ~E 7~~i j~ii , z~ O~. f i" i.
y -y r i j L 0 i~ ~
`S; 7 8735 , ~ 4. .7 ~ Si ~ '
~y~~ 7 ~i ' t ~ ~ ~,L
_ ~ ~
~ ~ua ; a,1 ~e .
M~` '~.f~ t~S~.T'~, ~ 1 : r~. ~ �
."'q':y k+t. : n
~ 1,t~ , ~
t~.~~'*' Ya.Oq, Z~ s ~.4 i.: K~i`4 �
:e~~ts p ' = ~ ~ ,
"d ry y~ ~~'~.r 7' r{ i....,
~ ~ ~r � .a. g';.
~ Figure 6. Acoustical images of test objects: a. standard ima~e
of a mira /translation unknown/; b. mira image for P~H = 40 p~Y-
cent; c. mira image reproduced from phase hologram; . plate
with dimensions of 10 x 10 T; e. plate image reproduced from
phase hologram; f. dimensions of mira test object (in milli-
meters). ,
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(graph d). The difFerence in the phases of the reference signal i~/2 between adja-
cent channels was taken as the phase's average value, while the average value of D
was 30 dB. The dependence of dispersion Q2 on one of the parameters was determined
for fixed (minimal) root-mean-square deviations of the other parameters. Each val-
ue of Q2 in the graphs was calculated by averaging four or five values obtained for
different realizations of the uniform law of distribution of the variable parameter
by ctiannels. The area below the dotted line corresponds to an image quality level
tliat differs insignificantly from the standard ~ahen a visual evaluation is made.
The standard image of an object (Figure 6a) was recorded for Pb = 2 percent, P~H =
= 5 percent, Pv = 1 percent, D= D~. The object was made of plastic 0.1~. thick
= 2.1 cm). Its dimensions are shown in Figure 6f. Figure 6b shows the image
reproduced for P~H = 40 percent.
From the graphs in Figure 5 it follows that nonidentity of the channels with re-
spect to phase characteristics causes the strongest distortion of the distribution
of the intensity in the image.
The results that ~aere obtained make it possible to determine the permissible dif-
ferences in the parameters of a holographic system's channels for a given disper-
sion C~. For instance, if = 0.5, the conditions Pb < 20 percent, P~H r.n ttiat is convenient for input into a computer. The general structure of the
~1~ctronic measuring complex is shown in Figure 1.
L~~ Cxperimental investigations ot an acousLiu tield, in most cases the measurement
com~~lex and tlie computer do not form a unified system. In connection with this,
ti~cre arises the necessity of using intermediate carriers for the results of the
t~icasurement of tt~e near field's pa:ameters, such as a table, punched tape, punched
cards or magnetic tape. The production of general-purpose matching devices that
E2
To solve the problem on an electronic computer means to construct a program that
realizes mapping R. One must have the initial problem to construct this program
in practice and accordingly the subject areas must be divided into a ntunber of
simple subareas. In the general case individual mappings do not give clear con-
formity of the subareas and should be clearly identified by means of certain con-
ditions that take into account the relationship between individual subareas. When
converting from postulation of the problem to rEaliz~ation nf it, one may observe
a further divisior~ of mappings that reach the limit to thP operators of the lan-
guage in which the correspondi.ng algorithm is encoded. To realize mapping R, let
us consider the programming technique that fixes the level of detail based on the
use of the apparatus of loaded orie.zted columns. This apparatus gives mapping R
as a composite of certain elementart mappings F. In the general c:ase elementary
mapping F~ is written in the following manner on the arc of column R:
� A~ _ _
F! - S!! ~ SJ2 ~ . . . , S~q
- 85
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where P~ is the condition (predica:.e) of fulfilling mapping F~ given by the se-
quence of operators S~1, 5~2, SJ�n of some language. Both P~ and F~ may be
absent on the arc of column R. In the first case operators 5~1, 5~2, S~n are
fulfilled unconditionally and in the second case transition along the arc of the
column is accomplished without fulFillment of any operations. The arc nf column R
given above with all the commas on it is called the elementary instruction of the
R-computer.
Unlike an electronic computer, the instructions in a R-computer are combi.ned into
complexes. The ares emerging from one apex of column R correspond to the instruc-
tion oomplex of the R-computer:
Pif
'~i ki!
F~~ = S~~ , S 12 , . . . , S/n
pi2
~~O k~ 2
F~2 = S21 , SP2 , . . . , S2n
Pi m
~ ~ 0 Kim
F~m = S�~~ , . . . , smn
Zi it not specially stipulated, all the instructions (ares) in the complex have a
fixed order of review and analysis: top-down, left to right and the instruction
in which predicate P is absent is analyzed last. The current complex at each mo-
ment of time in a R-computer is a single complex Ki from which one instruction., the
first bv order of review, is fulfilled in which the condition of fulfillment
pi~(1
!1 ~ ~ k~I
; ~ = S~~ , . . . , Scm
The significance of this predicate is always "true." The RT designator does not
change after completion of this predicate and operators Fi are carried out after
emeraing from the R-module . Writi.~ of a cha:_n of R-modules is permissible:
executed sequentially ir. the crcier of writing (N > 1).
Opez-ators Fi are executed in this case after access to all R-modules.
Tne 1~-module is the part of the R-?rogram having a single input and one or several
outpt:ts denoted by fixed name RM (output from the R-module). The R-module can be
c:etermined b~~ other modules and recursively. For example, the R-program PO that
recursively gives the list of lists of integers of type
LIST (1, 2, 3)
LIST (1, ((2, 3), 4), (2, 456), 1); and so on
i~ written in the following manner with the prPdicate module.
88
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Tekyr~aAl ~xoMaHBa:
l
~s,;~ , . . . , nA;~~
yka~~2 ~nr~ F~K ' BfGI N'
~2)
ykasa~enb = PE~ ,f`l1 , . . � , SJn /7Ph1
(3)
Coaep.~cuMoe Q E ~ I N �
pezucrpa Pf/':
~'4)
R7 S~kIJ.?~IE~i~n dv Bbl/10/1HEHUH KOMQNCIO/ KlC ~5~
/leyr~
B E G I N C~}S 88odrt
RT ~ yao3arenb nOCne
BainonHe,vus (6)
KOMOHl~b~ RK
Figure 2.8. Diagram of Executing Instruction of R-Computer With Predicate
Chain and Indirect in Conditional Field
K,ey :
1. Current instruction 4. Designator to execution of RK instruc
2. RK designator instruction
3. Contents of register REG 5. Input txpe
6. Designator after execution of RK instruction
.
n0 s' Cl1NCOk ~ ~ Ml>
~v ~ O- ~ -~Y
Ml R~ M2 uR1p f u4~p RM
~ C ) .
J 7. The predicate key:
k~~ K
~ k
~
. . .
KEV :
_�k~.
K~ ~ Fi = Si> > Si p , . . . , S~m ~
ir~ linear notation
Ki KEY : K~~, K~~. K~~ F~ = Sji, Si2, Sr~� K~~
89
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(1)
Q> TEKlJl1(QA KOMO'NO'G7:
(2~
yKa3arenb Rk ! uqJp S~ Sn ~aM
,eT yka3o~enb do BeinonyeNUA
kOMON(~b~ Rk
5 2 9 ~ 4 1 + .
yKa3orena nocne Beinon- RT
(4~ NEH[/A KOh1QHl~b/ R/1
(5)
d'~ Tekyr~aA xoMaHda:
yka3aren6 RK ? 'BEGI N' S~ , . . . , Sn /1PM
RT ~J/~'Q30TPA6 C~0 Bbl/70/INEHlJA
KO~,"oH[~bl Rk
A � + 1 , B f G I N ~
~l
- y~o3a rena nocne BainonHeNUA k t
kor~oHae~ RK
Figure 2.9. Diagram of Executing Instruction of R-Computer With Predicate
Pattern in Conditional Field: a--predicate repetition of pat-
tern; b--predicate search of ~attern
Key:
1. a) Current instruction 4. Designator after execution of
2. RK designator RK instruction
3. Designator to execution of RK 5. b) Current instruction
instruction
whe~e KEY is a logic or arithmetic expression whose value is rounded off to the
near.est whole number. The values of the arithmetic expression in the range 0>
> KLY > n are assumed false, while those in the range 0< I~Y < n are considered
true. F,~~ = Sil, Si2, Sim is fulfilled at KEY = 0 and transition along the
arc on Ki~ is made as usual. Transition to complexes with the names Ki~, Ki]�, ���r
Kn�, respectively, is made at KEY = 1, 2, n and Fi is not fulfilled. Let
us note~that KEY may be a simple variable and a function of F(X1, Xk) that
assumes values from 1 to n. For example, according to the R-instruction
SEMAFOR:L1, L2, L3 C= C+ 1 I~0
y0
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if the contents of the cell SEMAFOR is equal to zero, the contents of co~riter C
are increased by one and transition to the instruction co~nplex LO is made. If
the contents of cell SEMAFOR is equal to 1, 2 or 3, control is transferred to L1,
L2 or L3, respectively, and counter C remains wnchanged. The indicated instruction
is not fulfilled at any other values of cell SEMAF'OR. .
If n= 0 or KEY is a logic expression, then the predicate key has the following
simple form: "I~Y". For example, "TRIGGER;", "3 > A> 1:", "T.2 � R1:" and so on.
Seven standard predicates which can be written in the conditional field of the in-
struction of the R-computer were considered above. However, the user may introduce
any of his own predicates into circulation. This is done most simply and ccsnven-
iently by using the predicate key. To do this, it is sufficient to introduce any
logic function or function assuming a whole value into the R-computer. To enter
such a function F(X1, Xm) into a R-computer means to write it in any language
of an instrument electronic computer and to translate and v~rite it in the corre-
sponding library. This functioni ay then be used in the predicate key in the stan-
dard manner--"F (X1, . . . , Xm) : K, . . . , ICi �
lj 7
If writing function F(X1, Xm) in general form is inconvenient (unclear), then
it can be standardized and entered in the language of the R-computer with any syn-
tax. In this sense the language of the R-computer is open to modification by the
user.
The field of operators of the R-instruction. This field serves to record the ele-
mentary mapping Fi = Sil? Sim ~m > 0). Several operators Si~ separated. by
commas may be located in a single instruction in the operator field. If the in-
struction contains no operators (m = 0), the metasymbol is placed in the oper-
ator field. The metasymbol may be omitted (assimted) during graphical writing
of the R-instruction. The operators of the R-computer can be divided into several
types by the form of writing them:
1) operators or operations of transmissions between memories P1 and P2 of
the R-computer, for example, P1 i P2t
2) confer operators of arithmetic or logic expressions~ for example, a=
_ =a+bXc, a= (aX (b-c)'~2)+dandsoon;
3) systems operators;
4) operators in functional write formate of type F(X1, Xk)�
Systems operators switch on and switch off the action of information transmission
operators from the input tape. The corre:sponding operators may not be written
(may be assumed) in the mapping field afte~r inclusion and will be executed by any
instruction of the R-computer which has access to the input tape. For example, the
systems operator "SISTVt�,(BF,PECh)" includes duplication of all the symbols in
registers BF (buffer) and PECh (print) reviewed on the input tape.
Operators of type F(X1, Xk) permit the user himself to expand the capabilities
of the R-computer si~nply and without limit. The programs corresponding to these
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operators should be pre-written in any programming language accessible to the
user, translated and included in tze libraries of the R-computer in the standard
manner. If writing of operator F(X1, Xk) in general form is not clear, it
can 'r,e standardized and entered in the language of the R-computer with any syntax.
The hopper field. The name (any identifier) of the instruction complex e xecuted
after a given R-?nstruction and the service words: RM--standard output from the
R-module and output--standard completion of the R-program and the instruction of
stopping the R-computer are written in the hopper field.
The structure of the program in R-language. The program in R-language is structur-
al]y divided into two parts. The descriptive part is written initially and then
t'r.e executive part is written. Th~ program begins with the word of the ~program
after which follows the name of the program and ends with the work end:
R-program

. end
'I'he programmer determines the configuration of the R-computer which is required to
solve t.heproblem in the descriptive part. He assigns the names and types of the
>~~~ract memories in it, the name of the abstract memory which will be used as the
_nput tape, determines the internal alphabet of the R-computer and so on. The
~lescriptive part of tne R-program consists of statements. Each statement is begun
tii~h a service word: register, table, synterm and so on. Each statement of the
descriptive part is begun with a new line. Examples of correct statements of the
descriptive part of the R-program are the following notations obvious in light of
the previously given definitions of abstract memories (see 2.2) and synterms (see
2.1).
counter C1, COUhTER
register BUFFER, BFl, R3
carriage LC*PC, b:AG*QUEUE.IDER.PR.RLR
table T, TAB.T_D.PRI.PR2.ADR, TBS
synterm tsfr: 0~ 1~ 2~ 3~ 4~ 5~ 6i 7~ 8~ 9
octal synterm: vtsfr: C~, 1, 2, 3, 4, 5, 6, 7
synterm vowels: gls: A, Ye, I, 0, U, Yu, Ya and so on,
where the equivalent notations are written between the colons upon definition of
the svnterms.
~,1'_ memories of the R-computer which are used in the user program should be d~-
scri~ed without fail. The description nf the synterms in the program may be as-
~t:me~ '.f the programMer uses the generally known,synterms from tne internal
alpnabet of the R-computer. Each new description of a synterm in any user program
e:cpands the aiphabet of the R-computer, i.e., it is s~ored in the system for sub-
s~quent use by all users.
Tne ex~rutive part or the R-program is begun with the name of the first instruction
com~lex. The work or the R-program is always begun witn the first complex;
- 92.
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therefore, its arranqement in the user program is always fixed at the beginning.of
the executive part of tr.e R-program. The arrangement af the remaining complexes
is not fixed and may be arbitrary. It is recommended that the entire program be
divided into R-modules so that each occupies no more than one sheet of the ATsPU
[Alphanumeric printer] and is always begun from the beginning of the sheet, +;q,en-
hance the clarity of the R-programs and also for the technological efficiency of
debugging and operating them.
Let us consider notation of a text file compression algorithm to illustrate writing
of a program in R-language. For simplicity let us consider only two fi7.2 compres-
~ sion procedur~s. First, each sequence of spaces following each other is r?placed
by a single space. Second, any word (a sequence of symbols between space:s~ in the
text may be replaced by a shorter corresponding equivalent. These words and their
equivalents are previously given in the table TINF. The table has two ~olumns:
the word is written in the first and its equivalent is written in the second.
~ According to the gi~en postulation of the problem, the structure (LSD) of the text
to be processed can be defined by the following R-program:
*
u
u
_ ~18ce K~-~
Key:
1. All
where kf is a synterm which denotes the end of writing on the input tape. The
unique, so-called internal symk~ol of the R-computer which is written (or which is
generated schematically) at the end of all notations on the i.nput tape corresponds
to this synterm. Having predetermined the LSD of the text to be processed to the
required algorithm, we find the next R-program
TNN~ 1 = 6~
BbIX THH~. 2
C6POC ~6~)
I ~
Bb/X ~--/6~
i
u
eeoa~rHH~~ 6~
- C6POC~6~A, Bb1X~
~ K~
Bce
6~
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NoLation of this program in linear form for entry into the R-computer has the fol-
lowing form: '
R-program COMPRESSION
register BF, VYKh
table TINF
BEGZNNING * ENTRY (TINF),
RESET ( BF ~ VYICh ) WORD
WORD BF~- CONiPRESSION
a 1 i BF>>e of ph sical subdivision of the t-represen-
tation, since for asymmetric models (~'lg 2b, d~ the ~Lransi�tions into'~-representa-
tions become more complex and therefor~ cannot be described by simple predica.tes.
The procedure of combining states close in a certain sense into certain consolida-
ted states, and those in turn into larger~ states, etc, permits substantially
reducing the number of states under consideration.
2. Dynamic economy of inemory to store the beha.vior generator. This is the frpedom
- of the memory from excessive specific information not algorithmically nPCessa,ry.
Tr.a use of various strategies of "forgetting" (from statistical tc semantic).
The transition to the inductive construction of b~havior generators does not at all
mean rejection of the nondeterministic principle of control of a walking robot. We
simply change to the region of potential feasibility of complete nondeterminism.
The grow+h of the behavior generator can proceed to completeness, until the time and
memory resources are exhausted.
3, Strategies. The presence of the beha,vior generator provides a walking robot .
~�rith the possibility of moving only over a def~r~ite "smooth" relief. The lower
level of control is insufficient for movement of a walking robot over a real, com-
?1:>x relief. A complex relief imposes d~namic limitations an the behavior,Uenera-
"or and makes it necessary to plan walking robot motion several steps in advance.
' ~;,e medium level of con~crol (strategies) also assures the plannin~ of motion several
at~as in advance in the direction of the patr. designated by the upper level. Start-
in:~ ~�rith full information about robot possibilities, the medium level takes into
consideration the assigned values of the external parameters of the motion mode (the
rate, the reserve of stability, the height of the platforir~ above the relief, ~tc~,
and also local features of the relief in the direction of motion. The assigned val-
~zes or tre control para.meters determine the correspond.ing "corridor," formed by the
aggregate of paths allowable under the given combination of external and internal
i:o;~ditions. Interesting tY:eoretica.l results have not oeen obtained for the formal
. description of strategies for planning the motion of a walking robot by several
s~teps in advar_ce. Only in some ca.ses, when the structure of the beha.vior generator
is simple, for example~ for some sub~enerators of the beha.vior of a symmetric three-
legged automa.ton, is analytical computation of dynamic l.imitations on a beha.vior
~enerator possible. The computation of limi-tations generally requires a large vol-
_ urn~ of. computational work. Therefor~ '.wo heuristic approaches were proposed for
cons :~^~ction of a"corridor" of walki~~g robot motion. Cfne of them is the "frame"
s+,-.~ate~y, the essence of which is as follows. During movement, N processes ~rhich
imil,ate tha motion of an automaton along a given relief are organized. Those pro-
C~:JJC%J can develop independently of one a.nother, constructing some specific paths
- a11o~,~ed by the relief. Havi.ng fallen in a dynamic dead-end, the process ends and
information about it enters the generator. In tha.t ca.se cleavage of one of the
stiJ_1 existing processes occurs i~ such a way that tne presence of N existing pro-
cesses is ma.intained. The paths realized by those processes fo-rm the "frame" of the
corridor within which the walking automaton also moves. The "corridor" of motion
t,~:us constructed does not always assure passability of a relief passable in prin-
;-;iple, but creates the prerequisites for effective work of dir.ect algorithms for
;;orting,
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~ .
Another heuristic approa.ch to construction of a"corridor" of motion of a walking
robot is the "s,tack" strategy. In the automaton memory a certain regior~ is dis-
- tinguished, a"staclc," in which is reco~ied a cha.in of allowable states qi' qi+l'
1 of some ga.it of a walking robot from the given state q.. The walking
automa.~on as it were "plays through" in advance several states in the depth o�~the
"~tack." If the next state qh is inaccessible, the automa,ton returns to the pre-
ceding state qh_1 and tries to find a continuation of the cha.in of allowable states
from if it is again unsuccessflzl, then in the preceding q_2, etc until the entire
stac,k is exhausted. Just as tha.t occurs the walking robo~ gives informa,~ion.about
the fact tha.t the path is irnpas5a,ble. If the next q2 is allowable~ the automaton
completes the cha.in of allowa.ble states in the depth of the stack. If the state
qk is allowable, we have a new state of the stack for analysis in the following
' steps: qi+l' qi+2~ 9.k� There is no sart of apriori information about the
selection of the stack depth and its volume is selected experimentally. In the
simulation of a plane a,symmetric three-legged walking automa.ton (Fig 2b) a stack
depth of 7 was selected (k = 7).
Below, two approa.ches which we consider promising are described~ approa,ches which
could be used for the realiza,tion of that level of control. One of them is con-
nected with tYae formulation of tha,t task as a game with the world. The,game ap-
proach to the planning task ha,s been very little investiga.ted, whereas extensive
class of algorithms for searching for solutions on a ga.me tree has been thoroughly
worked out and ca,reflzlly verified in practice (in chess programs, for example). The
use of game algorithms for the effective seaxch for a solution in non-game spaces,
which is properly a generator of the beha,vior of a walking auto!naton, appears pro-
mising. Anof.her approa,ch is connected with the use of various s+rategies of teach-
ing, for exa,mple, the type of procedure for generalization of plans in the planning
system STRIPS of the Standord Research Institute robot [13]. _
~I~. Routes. The upper level of control is planning the route of movement with con-
sideration of general chara,cteristics reflecting the ability of a walking automa.ton
to overcome given features of the relief~ and also its orientation on the loca,lity.
The task of planning the route in the static variant, when the r'obot has at his
disposal a detailed plan of the loca,lity, knows its own coordinates and those of
the target, is reduced to one of the extreme tasks on the graph, to solve which
the method of dynamic programming is used [4].
- In dynamic route programming the robot knows about the locality only, wha.t it "sees"
or has already "seen" from the moment of start of motion, and also his own coordin-
ates and those of the target. The flznctions of vision are not simulated and it is
considered that the robot ha,s "ideal" vision. For each given position of the robot
on the locality the zone of direct visibility is determined ar~d the corresponding
part of the plan is considered to be known to the robot. Since the relief is three-
dime;~sional, shadow (invisible) sections of localities.,form for the robots. The
ma,in problem in dynamic route planning is the prediction of sha.dow sections, ma.rk-
_ ing and evaluating them from the point of view of passa,bility. In simulation,
pre;iiction of ti~e relief in invisible zone,s by the spline-interpretatic . method ha,s
been used L14~,15~.
The system of static and dynamic route planning realized in the model works only
on "clean" relief without dangerous zones of the type of rock waste~ swamp, rivers~
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etc. In tha.t case the robot naturally, will ae equipped �rith some tactile system for
gathering information about the environment~ besides a visual system. In route
planning on a real relief the robot in practice deals with a multi-colored man of
the loca.lity. The transition from a three-colored to a multi-colored map seems to
be very complex.
To create a system ca,pable of laying out a route on a real relief it is necessary
to include in the upper level of control algorithms for the identification of ob-
stacles and cha,racteristic signs of the locality.
5. Relief. Let us examine a complex of auxiliary programs which serves for the
.;ynthesis of a complex three-dimensional relief. The synthesized relief is simu-
lated by a single-valued two-dimensional function repres~snted in the ma.chine by
uniform grid (matrix) of its val~.es. The relief is three-dimen~sional, and so the
accomplishing function is the sum of three functions, each of which represents its
owr~ level.
In relief synthesis the operator (.man~ assigns some of the parameters determining
it. On the basis of ~ha.t information the system genex~ates the relief, selecting
the rema,ining parameters randomly. In principle the process of relief generation
. on all three levels differs little and the simply linear dimensions of a secti~n of
the microrelief are sma,ller than the linear dimensions of a section of the ma.cro-
relief by a factor of hundreds.
After introduction of the determining elements of the relief a macrorelief is con-
structed with the use of a oombined method. of relief generation which consists of a
piecewise method (for counting on a preliminary grid) and the spline-interpretation
method (for counting on cor.:Y~etz grid~. There is a program for the distribution
of ra,ndom elements on the relief (pits, gullies~ rocks, etc). Further, on the basis
of a macrorelief section a mean relief is generated either by the combined method or
by the spline-interpretation method. For the mean relief, as for the macro~elief,
the random elements are distributed.
The microrelief is synthesized similarly to the construct.ion of the mean relief;
in tha.t ca.se a section of the mean relief is taken as a ba,sis.
Included in the same program complex are subroutines which permit obtaining on a
traph constructi.on lines of the level and isometric projections of the generated
relief.
. The further development of that program complex involves the use of a graphic dis-
play and interactive inode in the process of relief formation.
6. Film. It is advisa,ble to process algorithms for control of a walking automa.ton
by simulation on a computer with visualization on the display screen of the process
of movement of the automa,ton over the locality.
With the introduction of the '7CARAT" BESM-6 computer system into operation at the
USSR Academy of Sciences Siberian Department Computer Center ("KARAT" is a micro-
film device developed at the Instituie of Automation and Electrometry, USSR Academy
of Sciences, Siberi~n Department~ and the SMOG software system [16~ (SM~ is a
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system of graph constructor software developed in the USSR Acad.emy of Sciences,
Siberian Depertment Computer Center) an effective instrument was obtained for in-
vestigating the processes of control of c.omplex systems~ which undoubtedly include
a walking automa.ton [8].
With the BESM-6 computer "KARAT" system photographs were taken which illustrate the
process of static and dynamic route planning, and also the process of control of
the motion of plane models of a three-legged automaton, which in principle can be
rega,rded as three-dimensional if the operation of parallel transfor is performed.
In tha,t ca.se we ha,ve movement of the model of a walking automaton over a cylindri-
cal three-dimensional relief with a fixed gait of the ga.llop type. -
- That film is the first scientific ma.chine film of the USSR Aca.demy of Sciences
Siberian Department Computer Center and, as far as we know, the first ma,chine film
in the USSR taken in on an on-line mod.e (w9thout an intermediate ca.rrier).
The results of computer simulation of a walking automa.ton in the BESM-6 computer
"KARAT" system ha,ve enabled the designation of some new approa,ches to solution of
the problem of control of a walking robot which were examined above.
In conclusion, I would like to note that the principle of nondeterministic control
ha,s a clearly expressed methodologica,l cha,racter. It is possible to distinctly _
outline the class of control problems to khich the ideology of nondeterministic
control can be applied. They are problems which a11ow representation in the system
state-operator and which ha.ve many states (cycles are possible) and few operators.
Tr.ere ha,ve been possitive results in use of the principle of nondeterministic con-
_ trol in computer simulation of the process of control of a manipulator.
The author thanks V. N. Dement'yev and P. A. Kim for usef~zl discussion of the
results of this work.
BIBLIOGRAPHY
1. Vukobra.tovich, M. 5hagayushiye robot~ i a.ntropomorphnyye mekhanizmy (Walking
Robots and Anthropomorphic Mechanisms . Moscow, Mir, 1976.
2. Okhotsinskiy, D. Ye.~ Platonov, A. K., et al. "Computer Simulation of a Walk-
ing Apparatus." IZVESTIYA AN SuSR. TIICFINICHESKAYA KIBERN~'TIKA, 1972, No 3.
3. Okhotsinskiy~ D. Ye., and Platonov, A. K. "A Perceptive Robot Moving in a
Three-dimensional Environment." Trudy IV :+Iezhduna.rodnoy konferentsii po
iskustvennomy intellekty (Proceedings of the Fourth Internationa,l Conference
on Artificial Intelligence), Tbilisi, ~975.
4. Dement'yev, V. N., and Pyatkin~ V. P. "Bellman's Algorithm in the Task of
Planning the Route of a Robot." In the Collection: Vychislitel'na.ya ma.te-
ma.tika i programmirovaniye (Computational Mathema.tics and Programm._:~g), Novo-
sibirsk, 197~~
5. Kim ~ P. A., and Narin' yani ~ A. S. "A Simple Example of a Model of a Walking
Automa.ton." In the Collection: VychislitPl'na.ya ma.tema,tika i programmiro-
vaniye, Novosibirsk, 1974�
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6. Narin'yani, A. S., Pyatkin, V. P., et al. "A Walking Robot: a Model of Control
of a Nondeterministic Type." Trudy IV Mezhdunarodnoy konferentsii po iskusst-
vennomu intellektu, Tbilisi, 1975�
7. Dement'yev~ B. N.~ Kim, P. A., and Pyatkin, V. P. "Generator Mod.els of Con-
trol of a Walking Robot. Trudy I. Vsesoyuznoy konferentsii. Robototekhnika.
Sistemy upravleniya i ochuvstvleniya (Proceedings of the First All-Union
Conference. Robot Engineering. Systems of Control and Ser.sitization). Rau-
nas, 1977�
8. Pyatkin, V. P. "Use of the 'KARAT'-Computer System in the Investigation of
Walking Automa,tons." Trudy konferentsii "Avtoma.tizatsiya nauchnykh issledo-
vaniy na osnove primeneniye EVM (Proceedings of the Conference on "Automa.tion
of Scientific Research on the Basis of Use of Computers~. Novosibirsk, 1977�
9. Floyd, R. "Nondeterministic Algorithms." J ACM, 1.967, Vol 14, No 4.
~ 10. Manna.~ Z. "The Correctness of Nondeterministic Programs." ARTIFICIAL INTEL-
LIGENCE, 1970, Vol l, No l.
11. Fikes, R. "A 5ystem for Solving Problems Stated as Procedures." Reference
Article. ARTIFICIAL INTELLIGII~ICE, 1970, Vol l, No 1.
12. Hayes, P. I. "The Frame Problem and Related Problems on Artificial Intelli-
gence." Memo AIM-153. Stanford Artificial Intelligence Project, November,
1971.
13. Fikes, R., and Nilson, N. "The STRIPS System--a New Approa.ch to Applica,tion
of Method.s of Proving Theorems in Solving Problems." In the Collection:
Integral'nyye roboty (Integrated Robots). Moscow, Mir, 1973~
14~. Va silenko, V. A., and Perelomov, Ye. M. "Spline-interpreation of a Rectan-.
gular Region With Chaotically ArrangEd Nodes." In the Coilection: Mashinnaya
grafika i yeye primeneniye ~Machine Graphics and Its Applica,tion). Novosi-
birsk, USSR Aca,demy of Sciences, Siberian Department Computer Center, 1973~
15. Pyatkin, V. P., and Sirotenko, V. Ya. "Planning the Route of a Robot."
IZVESTIYA AN SSSR. TII{HNICHESKAYA KIBERNETIKA, 1978, No 6.
16. Matema.ticheskoye obespecheniye grafopostroiteley. I i II uroven' (Graph Con-
structor Software. First ana Seeond Levels). Yu. A. Kuznetsov, editor.
Novosibirst, 1976.
CGPYRIGHT: Izdatel'stvo "Nauka", "Izvestiya AN SSSR.
Tekhnicheskaya kibernetika", 1981
2174
- cso: 1863/186
lOl~
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SIGNAL PROCESSING
UDC 621.391
ABSTRACTS FROM COLLECTION 'DIGITAI~ SIGNAL PROCESSING AND ITS APPLICATION~
Moscow TSIFROVAYA OBRABOTRA SIGNALOV I YEYE PRIMENENIYE in Russian 1981 (signed to
press 28 Jan 81) pp 219-222
UDC 621.391.2
CONVOLUTION OF MULTIVALENT DISCRETE SIGNALS IN A RANDOM BASE
[Abstract of article by Ayzenberg, N. N., and Semirot, M. S.]
[Text] This article considers�multidimensional signals and spectral conversions
of multidimensional discrete signals. The suthors attempt to prove the theorem of
the convolution of multidimensional signals. It is demonstrated that the convolu-
tions given in the article exhaust all convolutions of multivalent discrete aignals
fox each of which the spectrum of convolution is equal to the product of the apec-
tra. The article has five bibliographic entries.
UDC 621.391.141
GENERALIZED FOURIER-HAAR CONVERSION ON A FINITE ABELIAN GRUUP
[Abstract of article bq Boyko, L. L.]
[Text] This article considers algorithms for fast or orthogonal conversions of
the fast Fourier and Aaar types from the group theory point of view. The author
demonstrates that the existence of fast algoritfims is based on the availability
of an extended composite series in a finite abelian group of a non-prime order.
A broad class of orthogonal nonsy~etrical conversions, a generalized Fourier-
Haar conversion, is defined. Each of this class of conversions has a fast eompu-
tational algorithm, and the number of essential operations depends significantly
on the length of the composite series of the group for the particular conversion.
Particular cases of the given class are the coaventional discrete Fourier conver-
sion, Walsh, Walsh-Adamar, and Walsh-Pailep.conversions,.number theory conversions,
the traditional Haar conversion, and the conversion by IIaar k-function~. The
article has 20 bibliographic entries.
l05
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UDC 621.391.141
NIIMBER THEORY FRENEL CONVERSION AI3D ITS APPLICATION IN DIGITAL PROCESSING OF
MULTIDIMENTIONAL DATA ARRAYS
[Abstract of article by Givental', A. B.~ and Krenkel', T. E.]
[Text] This article is devoted to a multidimensional generalization of the
Blyusteyn algoritfim, ~onstruction of number theory Frenel functions on a finite
commutative group above a commutative ring with a one,and to a description of pos--
sible applications of such functions in digital processing of multidimensional
daLa arrays. The article has 18 bibliographic entries.
UDC 535.3I7
SOME QUESTIONS OF THE THEORY OF DISCRETE ORTHOGONAL SIGNAL CONVERSIONS
~ [Abstract of article by Yaroslavskiq, L. P.)
[TextJ This article reviews questions of discrete representation of integral
Fourier and Frenel conversions and the theory of fast algorithms o~ orthogonal
conversions. The author introduces shifted discrete Fourier conversions and
_ ~iscrete Frenel couversions and analyzes their properties. On the basis of the
concept of staged Kronecker matrices, it is demonstrated how to construct a single
notation of orthogonal matrices that allow factorizatiati to produce weakly filled
matrices. The author formulates factorization theorems, shows the possibilities
of their application with examples, and gives factored representations of matrices
of orthogonal conversions known from the literature. ':.'he article has four tables
and 26 bibliographic entries.
UDC 519.240
SELECTING THE PARAMETRIC REPRESENTATION OF CURVES IN DIGITAL DESCRIPTION AND
_ PROCESSING OF FLAT FIGURES
[Abstract of article by Nasornov, V. S., and Polyakov, V. G.]
[Text] The article raises the question of seeking for a smoother, in a certain
sense, parametric description (whose spectrum has minimum wi~lth) relative to a
closed curve assigned on a surface. It is demonstrated that the criteria of
spectrum width are related to its fourth--order moment and lead to the problems of
seeking the lowest proper value (minimum spectrum width) and corresponding func-
tion proper (optimal speed uf movement along the curve) of the Shturm-Liuvill
operator with a periodic coefficient, which is the square of the curve as a func-
tior~ of arc length. Examples are given of optimizing the parametric representa-
tion and the authors briefly describe the possibilities of using this procedure.
The article has three illustrations and four bibliographic entries.
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UDC 621.391.172:621.397
COMPARISON OF LINEPR METHOD OF RESTORING DISTORTED IMAGES
[Abstract of article by Lebedev, D. S., and Milyukova, 0. P.J
[Text] The authors consider the prohlem of linear reconstruction of distorted
~ images in the absence of random noise, where the reconstruction algorithms are
3efined by various optimality criteria of the generalized Euclid~an distance type.
The article compares restored images for certain distances: the minimum norm
image, the smoothest image, and the image that deviates least on tfie average from
the original. The article has three illustrations and three bibliographic en-
tries.
UDC 621.391.172:621.397.681.518.2
SOME METHODS OF DIGI.TAL PREPARATION OF I:~tAGES
[Abstract of article by Belikova, T. P.]
[Text] The arttcle presents data from an experimental test using computers of
these metfiods of preparing images: (a) the method of adaptivc amplitude con-
versions (exponential intensification and hyperbolization of the histogram);
- (b) the method of optimal linear filtration and localization of ob~ects in
images. A mammogram of the maummary gland and an aerial photograph of a segment
of the earth's surface were used as objects of study. The author describes the
work of the corresponding algorithms for preparing images. T[ie article con-
siders tfie possi5ilities of generalization and further elaboration of the methods
of adaptive amplitude conversions. The article has six illustrations, two
tables, and 13 bibliographic entries.
UDC 681.325+621.379
AUTOMATIC PROCESSING OF INTERFEROGRAMS ON A DIGITAL COMPUTER
- [Abstract of article by Ushakov, A. N.]
[Text] This article considers the question of restoring the phase of an inter-
ferogram recorded on photographic film. The problem was solved bq stages:
(1) correction of nonlinear distortions of the photographic film; (2) filtration
of register noise; (3) filtration of low-frequency noise; (4) restoration of
the relative phase value; (5) reconstruction of the absolute phase value. The
article reviews the questions of automatic filtration of register noise for
narrow-band and broad-band interferograms and automatic filtration of low-
_ frequency noise. The author presents the results of experiments with formula-
tion of interferograms. There is an evaluation of the precision of restoration.
The article has 15 illustrations and 36 bibliographic entries.
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~
UDC 681.3.01:687.051.21
AUTOMATIC MEASUREMENT OF HUMAN SUBJECTS FOR MACHINE CUTTING OF CLOTHING
PRINCIPLES OF OBTAINING AND PROCESSING DATA
[Abstract of article by Aydu, E. A., Nagornov, V. S., and Polyakov, V. G.]
[TextJ This article gives a schematic lescription of the tangential tape method
of ineasuring the h~~man being. This method solves the technical--economic, estfietic,
dnd psychological problems that have hindered widespread automation of the process
of ineasuring the ~iuman figure for the needs of machine clotfiing design and
an~hropometric studies. The experimental device that accomplishes this method is
then viewed as a specific discrete source of two-dimensional signals whose computer
processing for the purpose of spa~ial reconstruction of the human figure neces-
sarily ~equires two-dimensional procedures of filtration and interpolation as
well as mar~y oth~r special operations. The article has 12 illustrations and two
bibiiographic entrips.
UDC 535.317.1~-681.141+772.99
MOVIE-TYPE DIGITAL HOLOGRAPHIC FIzM
~A~s~ract of article by Karnaukhov, V. N., and Merzlyakov, N. S.)
[TeYt) The article presents experimental results of a computer synthesis of
:~ovie-type holographic film. The object,two evenly colored spheres rotating at a
variable speed aroused an immobile third sphere, was modeled on the computer.
For visualization of the full cyc~e of the spheres 48 movie-type projections of
the oi~ject were synthesized on a surface, corresponding to 48 successive positions
of the object in space. Both the horizontal and the vertical parallaxes were
taken into account in transmitting the volume. The frequency of tracking the
angles of approach was variable. The film, which was a composite macro-cine-form
containing 1,152 elementary cine-forms, was secured to a circular metal frame
and illuminated with a laser light with a spherical wave front. With an im-~~~
mobile observer and rotating film the illusion arises of smooth rotation by the
spheres, and the direction of rotation can be clearly tracked. The article has
two illustrations and eight bibliographic entries.
UDC 535.2:317.1
- SYNTHESIS OF COLORED HOLOGRAMS OF THE DIGITAL COMPUTER
[Abstract of article by Merzlyakov, N. S.]
['~'ext] The author proposes a method of synthesizing colored macroholograms on the
digital computer. By contact copying three color--divided synthesized Fourier
holograms recorded on black-white photographic film are transferred in sequence
behind red, green, and blue light filters to the corresponding layers of reversed
color film. A three-color laser is used to restore the image. The proposed tech-
nique makes it possible to obtain colored macroholograms that contain up to 16�106
elements. They are also suitable for direct visual observation. The article has
eight bibliographic entries.
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UDC 535.317
DIGITAL MODEL OF RECORDING AND RECONSTRUCTING flOLOGRAMS
[Abstract of article by Popova, N. R.] ~
_ f^-'ext] The article describas a digital model for recording and reconstructing
r'ourier and Frenel holograms. The author considers the effect of distortion in
the hologram on the quality of reconstruction of diffuse objects. She derives
the characteristics of speckle contrast depending on tfie limitation o� dimensions,
the superimposing of random noise, the limit~tion of the dynamic range, and
quantization of the hologram, as well as for the case of an unfocused image. The
results obtained may be used in radio, acoustic, and seismic holography. The
article has 16 illustrations and seven bibliographic entries.
UDC 621.395.44
DIGITAL MODEL OF A COMMUNICATIONS CHANNEL BASED ON A POWER TRANSMISSION LINE
[Abstract of article by Andronov, A. A.]
[Text] This article considers the set of questions involved in the work of a
high-frequency communications channel for a power transmission line, especially
the basic type of interference in the channel - interference of the corona dis-
charge of the wires. The author constructs a digital model of a high-frequency
communications channel for a power tx~ansmission line on the basis of the physical
mechanism of formation of interference from the corona and experimental data on
its statistical characteristics. The article analyzes the question of the ade-
quacy of a digital model and a high-freQuency channel. It is showa that results
obtained on the digital model correspond to experimental data. The digital model
is used to obtain and analyze various statistical characteristics of the channel.
The article gives results from investigations which permit a deeper study of the
processes taking place in a high-frequency co~mmunications channel. The article
_ has five illustrations and 10 bibliographic entries.
UDC 528.9:631.362-506
~VVESTIGATION OF THE MUTUAL DEPENDENCE OF MICROPARAMETERS OF THE RELIEF BY THE
STATISTICAL MODELING METHOD
[Abstract of article by Lotov, V. N.]
[Text] This article considers the problem of determining the interrelationship
of the macroparameters of a surface by statistical modeling. These parameters
are the mean local number of horizontals per unit of area, the correlation inter-
val, and the mean quadratic elevation. A normal statistically homogeneous
isotropic random surface with a gaussian correlation function of ele ltions was
selected ae the mathematical model. The statistical digital model wa: obtained
on the digital computer by two-dimensional sliding summation on a set of nor-
mally distributed pseudorandom numbers. The fun.ctional relationship between the
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parameters of the reliefs that were studied was found by multifactor regression
analysis. The results can be used to form digital models of real surfaces for
topographical maps. The article has one illustration and eight bibliographtc
entries.
UDC 681.142.6:621.397.2
DISPLAY PROCESSOR FOR DIALOG PROCESSING OF SEMITONE IMAGES
[Abstract of article by Bokshteyn, I. M.]
iText) The article gives an analysis of the possibilities of constructing a dis-
play processor and the general requirements for its structure. The author re-
views in detail the primary block of the display processor, the arithmetic unit.
The article enumerates the basic operations which must be performed by the
"fast" and "slow" parts of this unit and discusses the possibilities of building
these blocks. A convenient method of building the device which insures high
speed and provides communicatian between the display processor and the central
computer is described. The author considers a device designed to contro]. the
work of the display processor and presents certain possibilities for organizing
dialog (interaction) between the operator and the processor. The article has 10
il~ustrations and nine bibliographic entries.
UDC 621.39~..24:681.325.650.21:621.391.25
SPECIALIZED MICROPROCESSORS THAT PERFORM FAST CONVERSIONS
[Abstract of article by Rakoshits, V. S., Kozlov, A. V., Mozhayev, I. A., and
Bel.yayev, A. A. ]
[Text] This article analyzes diagrams of fast conversions and the architecture
for constructing specialized microprocessors that perform fast conversions. It
is shown that where the fast conversion is accomplisYced on a general-purpose
m~croprocessor there is a scheme of fast conversion that makes it possible to re-
duce the necessary main memory volume in half. During development of the spe-
cialized microprocessor the choice of its architecture depends significantly on
the problem to be solved by the microprocessor, especially where it is necessary
to search for one or several maximum valuea of spectrum coefficients. When micro-
processors are developed in the form of large integrated circuits, a cire~ti.ar
structure is pref:erable for the microprocessor. The arti~:le has seven il l.;tra-
tions and 10 bibiiographic entries.
COPYRIGHT: Izdatel~stvo "Nauka", 1981
11,176
CSO: 1863/189
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UDC 681.142.6:621.397.2
- DISPLAY PROCESSOR FOR DIALOG PROCESSING OF SEMITONE IMAGES
Moscow TSIFROVAYA OBRABQTKA SIGNALOV I YEYE PRIMENENIYE in Russian 1981
(signed to press 28 Jan 81) pp 187-206
[Article by I. M. Bokshteyn from book "Digital Signal Processing and Its Appli-
catidn," edited by L. P. Yaroslavskiy, candidate of technical sciencesb USSR
Academy of Sciences, Izdatel'stvo "Nauka", 3,850 copies, 223 pages]
[Text] More and more information about the external world is being represented
- to people today in the form of various types of semitone images. The imper-
fections of systems for obtaining the images and the desire to extract as much
significant information as possible from the image make it necessary to con-
struct systems that provide better visual image quality and better preparation
f.or the purposes of identifying distinctive characteristics and classifica-
tion. Because the corresponding image processing is most conveniently done by
digital methods, most current processing systems are digital systems which con-
tain a central computer and a number of units for input-output and storage of
imagQS [1-3].
The ultimate goal of processing semitone images is to represent them in the most
convenient form for human study. For this reason any image processing system
must include a device that insures high-quality, operational reproduction of re-
sults during processing. This device is called the semitone 3isplay.
To build a semitone display it is essential to insure storage of the image for
the purpose of reproduction. Storage may be done at the analog level (using
memory CRT's) or at the digital level (using special digital magnetic disks,
LIS [large integrated circuit] digital memory with random access, or LIS shift
registers). The storage of images in a digital memory unit permits much better
quality in the reproduced image (lower interference levels and greater number of
gradations of brightness) than units with CRT memory. Moreover, when the
digital memory is correctly organized it is possible to read the image at the
speed of television scanning and form a television videosignal by means of a
code-analog convertor. In this case a standard television monitor c1n be used
to present the visual image. Therefore, a large majority of the devices for
operational reproduction of images are units with digital memory that scan at
tfie speed of television scanning. These are called raster displays. Because
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of the low reliability and intricacy of digital memory on magnetic disks, the
memory units of -raster displays are usually hased on large integrated circuits.
The necessity of visual evaluation of the results of processing semitone images
makes processing in principle a dialog process; the type and parameters of
processing must be determined by the operator during the work process itself, as
the results of the particular stage of processing (images or their character-
~stics) are reproduced on the display screen. For this reason, a digital image
processing system must include a number of ineans to insure dialog (operator-
machine interaction) oriented to working directly with the image that is repro-
duced.
Various standard processing algorithms are often used for "serial" homogeneous
processing of one type of images (for example aerial photographs); the operator
determines the specific algorithms, order of their use, and parameters of their
work. Their working time proves quite substantial (tens of minutes) in digital
image processing systems built on the basis of general-purpose computers that
are not oriented to handling such algorithms. Therefore, it is desirable to
" design a specialized unit oriented to dialog processing of semitone images. This
device, which we call the display processor, should contain a digital memory
unit as a basic element; the images stored in memory should be reproduced on the
screen of a television monitor. It is essential to insure broad opportunities
for operator interaction with the display processor using both conventional and
specialized means of interactior. and to insure that standard image processing
algorithms are run at high speed (from fractions of a second to a few dozen
seconds). The flexibility typical of digital image processing systems with a
_ central computer can be ma.intained by establishing a two-way communications
- channel between the display processor and the powerful central computer. A com-
munications channel with the computer is also necessary to feed the raw images
to the memory of the display processor and output results of processing for the
purpose of long-term storage.
The present article is devoted L-o a description of the structure of a display
processor with shift register memory and its individual units.
1. The Structure of the Display Processor
The structural diagram of the display processor (see Figure 1 below) meets the
requirements given above for the functions it performs.
r1 semitone display memory unit on shift registers was selected as the memory
device during development of the display processor. This memory unit provides
direct storage and reproduction on the television monitoring screen of 256 lines
with 512 six-bit readings of im2ge brightness apiece. A two-bit display super-
posi~ion memory unit was also used. A code coming from tfiis memory unit is
_ logically added to the brightness code, which makes it possible to display ser-
vice information on the screen in the form of bright white points and lines.
Information was written into me~ory by line. The buffer memory was used to co-
ordinate the low speed of the central computer that controls the input of raw
data with the high speed of the memory unit. The allocation of a line of the
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Figure 1. Structural Diagram of tiie Display Processor
Key: (1) From the Computer; (9) Main Memory;
(2) To the Computer; (10) Unit for ~5wo-Way Communication
(3) Input-Output Interface; with Central Comput_er;
(4) DIIai [differential pulse- (11) DIKM Decoder;
coded modulation] Encoder; (12) Arithmetic Unit;
(5Z Buffer Memory; (13) Code-Analog Convertor;
(6) Synchronization Unit; (14) TV Monitor;
(7) Control Unit; (15) Color TV Monitor.
(8) Superposition Unit;
image in the memory unit was determined by the coordinates of its initial element
received from the computer.
_ Because of the inadequate speed of existing LIS shift registers built on the
basis of MOS technology (up to 106 write/read cycles per second), the memory
unit used was designed for parallel work by a large number of large integrated
circuits. It consists of six independent plates, each of which stores one bit of
the code of image brightness. Each plate has the structure shown in Figure 2
below. Tt contains eight groups of registers working in parallel. Tfiep are
called sectors and each is designed to store 32 lines of the image. The 16
cyclical shift registers that make up the sectors are connected in parallel to
reduce the writing and reading frequency. Breaking the memory unit into sectors
makes it possible to write the lines of an image immediately in the necessary
sector and to reduce eight-fold (to an average of 1/800 of a second) the waiting
time for shifting the necessary cell of the register to the place where writing
is posaible. To insure that writing is done only in the necessary memory cells,
so-called write authorizations are fed to the inputs of the memory tog~:ther with
the data. After 16 sequential values of the data and write authorizations are
accumulated, they are fed in parallel to 16 shift registers of all the memory
sectors; the choice of a sector is done by a special circuit.
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e
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~
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i i i i �
~ ~ 0by ~ I ~ ~ ~
bp~o ~ � � � � � � � � � � � ~ ~
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aca
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c F Fc td6uzaBa~r pezucmyoB 0 ~ ~ Q~~~
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~ d Co ~ e,rmop 7 SeCtOr ~y~
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Figure 2. Structure of a Memory Unit Plate
Key: (1) From Synchronization Unit; (7) 16 Cyclical Shift Registers;
(2) Write Authorization; (8) Selection of Read Sector;
(3) Data to Memory Unit; (9) Convertor of Parallel Code
(4) Selection of Write Sector; to Sequential Code;
(5) Convertor of Sequential Code (10) Data from Memory Unit.
to Parallel Code;
During the process of reading data to reproduce an image on the screen, the
memory sectors are chosen in sequence and the brightness values of the 16 ele-
ments of the image are read from the shift registers and then reproduced in
turn on the screen.
The available volume of the memory unit is inadequate to support efficient work
by the display processor with direct storage of brightness readings. For this
reason, a system [4, 5J was devised that consists of a coding unit that codes
data by line before writing in memory and a decoding unit that restores the
values of the videosignal during the process of writing the coding results.
The so-called differential pulse-coded modulation (DIKM) technique was used in
designing encoding and decoding units; the values of the codes of the error of
predicting the value of the video signal by the preceding element of tha 1ine,
quantized on seven levels, is written into memory. This makes it possible t4
reduce the memory volume needed to store one image from eight to three bists per
reading while maintaining reproduction quality corresponding to 256 gradations
of brightness. With the existing six-bit memory unit this makes it possible to
store information on two images at the same time, so that they can be processed
together. An analog coding system [6] was used to reproduce a color image cor-
responding to an image with 224 colors (24 bits per reading) in the display
processor (with a six-bit memory unit).
11~.
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As noted atiove, ~he device to insure two-way co~unication with the centraT
computer is needed to feed the raw image to the display processor and output
the results of processing it. Section 2 below describea the realization of this
device, which makes effective use of the characteristics of inemory etructure.
The arithmetic unit of the display processor is designed to perform the basic
operations of image processing in real time. Section 3 below givea a possible
structure for it.
The control device (see Section 4 below), based on a microprocessor, should
serve to coordinate the work of all the units of the displaq processor and to
coatrol the various means of interaction.
2. Realization of Interaction Between the Display Processor and the Central
Computer
During development of the display processor it is essential to insure that it
has two-way communication with the central computer. Because the speed of the
display processor is very great, the time of data exchange with the computer
may be a considerable part of total processing time. Therefore, it is desirabl'e
to maximize exchange speed.
Intelligent organization of the memory unit being used and the availability of
buffer memory (see Section 1 above) produced a situation where the time re-
quired to feed a line of the image to the display processor was determined en-
tirely by the speed of the computer, while waiting time for the initiation of
feeding a line did not exceed the time required for a complete shift of one
sector, that is 1/400 of a second. Unfortunately, reading data from memory dur-
ing reproduction is done from all sectors in order. For this reason, when the
existing read circuit is used directly to output processing results from the
display processor the maximum waiting time for initiation of output is 1/50 of
a second, that is, equal to the scanning time for a11 sectors of inemory. An at-
tempt to construct a special read circuit oriented to data output significantly
increases the volume and complicatea the structure of the device to provide
communication with the computer.
The use of simulation of writing during reading for outputting data from the
memory of the displaced processor makes it possible to greatly simplify the dia-
gram of tfiis device. In fact, if the r_omputer simulates the write regime when
it is necessary to read data (of course, blocking off the actual process of
writing data), then it will take no more than 1/400 of a second for the write
authorization signals corresponding to the possibilities of writing data in the
necessary places of the necessary sector of inemory and the signal for selection
of the necessary write sector to appear at Che output of the write circuit.
If the signal for selection of the write sector is used as a signal for selec-
tion of the read sector and the write authorizations are delayed for the
necessary number of cycles, the moments of arrival of the latter wi?" correspoad
to the moments of appearance of the necessary data at the output of '~he
arithmetic unit and it will be possible to strobe these data.
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Figure 3 below shows the simplified atructural diagram of the device to output
data to the computer with simulation of writing during reading. Data is read in
two passages with the help of the buffer memory. At the moment that the process
of data output begins the read control circuit is triggered and simulates the
write regime for that part of the line that correspon~s to the length of the
part of the line being read. This circuit blocks the arrival of write authori-
zations to the ingut of the memory unit (that is, actual writing) and connects
' the circuit for selection of the read sector. After a certain time, not greater
than 1/400 of a second, the write circuit generates write authorization signals.
After delay for a certain number of cycles the signals are used to write the
data arriving from the output of the arithmetic unit to the code-analog con-
vertor through an intermediate r~gister in the buffer memory. The writing
process ceatinues until the necessary part of the line has been read because
the number of pulses of the write authorization corresponds to the length of
this part of the line.
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63J1 ~y Ay K n~A (14 )
- ~2~ ti ~ 5)
h Qayyaie K 39
3)
~1~BM � ynpaBneNUa
I cvumeiOaHUeM 13
4V
Cre,N� Jadeparau
Figure 3. Simplified S~ructural Diagram of the Unit for
Output of Data to the Computer with Simulation of Writing
During Reading.
Key: (1) To Computer; (9) Delay Circuj.t;
(2) Buffer Memory; (10) Read Sector Selection;
(3) Write Circuit; (11) Commutator;
(4) Write Authorizations; (12) Arithmetic Unit;
_ (5) Data to Memory; (13) Register;
(6) Write Sector Selection; (14) To Code-Analog Convertor.
(7) Memory Unit;
(8) Read Control Circuit;
116
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After tfie data is read into buffer memory its output is connected to tIie input
of the central computer, and during the second passage the contents of the
buffer memory unit are transmitted asynchronously to the computer. The time of
this transmissinn is determined entirely by the speed of the computer. When out-
piitting of the necessary volume of data is completed, the read regime is cleared
and the normal structure of the write circuit is restored.
Realization of this scheme in the delay processor made it possible to insure
rapid (0.5 seconds per image) output to the computer of an image obtained by
processing or a random segment of it with a very slight (about 20 microcircuits)
increase in the volume of available write and read circuits.
3. The Arithmetic Unit of the Display Processor
The operations of image proceseing which it is wiae to accomplish in the display
processor can be broken into two groups:
1. Operations that do not require complex or cumbersome computations and the
use of inemory (point and certain local conversions of one or several images).
In order to be able to perform these operations a number of times to select the
parameters of conversion and for maximizing the speed of the display processor
as a whole, it is natural to perform these operations directly during the process
of mak.ing the image visible (that is, at the speed of television scanning),
writing only the final result of processing in the main memory unit;
2. Operations involving significant computation volume with simultaneous use of
information on the brightness of many elements of the image or multiple data
shifts (geometric conversion, convolution type conversion, operations of com-
puting the statistical parameters of the image, and the like). The result of
the performance of these operationa must be written in main memory, superposition
memory, or buffer memory. In this case the speed of processor work is less
(image processing may take from fractions of a second to several dozen seconds
depending on the complexity of the algorithm), but still it is adequate for con-
venient work.
The processing of images in the display processor shauld be done in conformity
with the breakdown of operations in these two groups by two arithmetic units
(see Figure 4 below): a"fast" arithmetic unit that includes a DIKM decoder be-
tween the output and the code-analog convertor, and a"slow" arithmetic unit
whose input is connected with the fast arithmetic unit through the buffer memory
and whose output are connected to the DIKM encoder of the memory unit, the buf-
fer memory, and the superposition memory. Both units can be controlled par-
tially by commands from the control unit and partially by means of special
switches, buttons, and keys on the control panel.
The fast arithmetic unit of the display processor is designed to perform the
following point and local operations of processing one or two semiton images
in the dialog regime:
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~3~ MAy
( j ~ 3 y no.HCenun
(2) ^
~ 63y Y y ~
ay~ OcnvByoe~3y 6Ay K n$~
5 F ~ `O ao
~ a (5) Q~~
)
Figure 4. Structure of the Arithmetic Unit and Its Inter-
relationships with the Memory Units of the Display Processes.
Key: (1) DIKM Encoder; (5) Main Memory;
(2) Buffer Memory; (5) DIKM Decoder;
(3) Slow Arithmetic Unit; (7) Fast Arithmetic Unit;
(4) Superposition Memory; (8) To Code-Analog Convertor.
1. Operations of Processing and Individual Image:
a. Identity conversion
b. Line-segment conversion of the amplitude of the videosignal,
which serves to increase the contrast in different brightuess
ranges;
c. Obtaining a negative image;
d. Identifying levels and zones of a given brightness;
e. Quantization of the image;
f. Random-type point conversion;
g. One-dimensional identiftcatfon of contours in the image (determi-
nation of the estimation of the brightness gradient);
h. Evaluation of the modulus of the brightness gradient;
i. Increasing the sharpness of the image by superposing identi-
fied contours;
2. Operations of Combined Processing of Two Images:
a. Addition and subtraction of images;
b. Logical operations with images;
118
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3. Operatioas of Processin~ an Image Obtained as the Result of Joint
Processing of Tb~o Images:
a. Modification of brightness (adding a constant to brightness valu~s);
b. Masking the image;
c. Superposing graphic and symbolic fnformation;
d. "Zeroing" ["obnuleniye"] the bits of the brightness code;
e. Pseudocoloring of the image; '
f. Increasing the sector of the image for easier review of the image.
Figure 5 below gives a structural diagram of the arithmetic unii:. The pr~,mary
block for processing a single image, whose structural diagram is shawn in Figure 6
below, is a memory with variable-length field random access which performs point
conversion of the original eignal. The number of cells of the variable-~eagth
field is equal to the number of poseible code combinations (256), while the size
of a cell is tfie length of a code combination (eight bit positions). The video
.
.
o~
ad~
~4 ~
o d ,y y d ~ ~
~1~ EE�~ ll~
bZ ,
?~~~p ~ C! e'o 0 O~ K
~QOb o~, ~b a~ b
b~V 4O ~ ~ b o~~ ~~4 R
e~ ~o~ ~y~o o~, i~~ ~Y~
n~r~~q)
~y ~ ~ ~e y7~~r~u o a
~,oa K MAy ~6~ eqoaoa ~
~2 v ~ a~~
~ ~C
Figure 5. Structure of the Fast Arithmetic Unit
Rey: (1) Arithmetic Unit for Processing Image 1;
(2) Arithmetic Unit for Processing Image 2;
(3) Arithmetic Unit for Joint Processing of Two Images;
~ (4) Block for Proceasing the Results of Joint Processing;
(5) Block for Enlarging a Sector of the Image;
(6) To Slow Arithmetic Unit;
- (7) To Code-Analog Convertor;
(8) Block for Shaping Pseudocolor Image;
(9) To Code-Analog Convertor of Color TV Monitor.
signal code arriving from the decoder is used as the address of the variable-
length field, and the contenta of the corresponding cell of the field ~oes to
the output. In this case the form of the conversion characteristic (tne de-
pendence of the output code on the input code) is determined entirel~ by the
contents of the cells of the variable-length field, and performance of the
necessary operation involves filling the field with definite numbers.
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~ l,r/aHNeie am 3y a
E
~
( 2 .~ep cmpoxu (adpec IIOp) ~ ~t~
~ ~15 E 6~
~A ~
- Toa~caec~seNxoe y
npeo6pa~oBaHUe aM3 ~e
~4 /Ipou~BoneNap ~ a~
c~nKmepucmuKa am 63y E
~
~~~yy o�o ~ ~
ti
~
i
b BeideneHUe ~on~aB-
e ti ari ApKOCmu u KBaN-
oOaMUe ~8~
~
E a KycavMO-auNeunne
~ npeo6pQ~a~anu~9~
`e
~ 7 , XapaKmepucmuea npea6paaoBaNUa
K 39 nano~ntsNUA ~10~ . ,
Figure 6. Block for Processing a Single Image
Key: (1) Data from Memory;
(2) Number of Line (Address of Variable-Length Field);
(3) Identity Conversion;
(4) Random Characteristics from Buffer Memory;
(5) From Control Unit;
(6) Graphics Generator;
(7) Vector Generator;
(8) Identification of Zones of Equal Brightness and Quantization;
(9) Line-Segment Conversion;
(10) Characteristic of Conversion to Superposition Memory;
- (11) Commutator;
(12) Address;
(13) Data;
(14) Commutator;
(15) Variable-Length Field;
(16) Register.
~ In the digitai image processing systems that exist today [7], the process of
filling the variable-length field of the display processor usually amounts to
writing information in each cell in turn using a control program. This makes it
necessary to construct a special program to fill the variable-length field for
each operation and causes considerable computational hardships. It is much more
convenient to use "standard" cont~ersion characteristics, which correspond to op-
erations ~~la-- le" and special characteristic generators for recording.
To record data in a variable-length field it is convenient to use the numbers of
the current scanning line which change in order from 0 to 255 as addresses. In
this case the characteristic generators should be synchronized witfi the scanning
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generator. It will take 1/50 of a second to fill the variable-length field by
this procedure. Construction of the cfiaracteristic of identity connersion in-
volves using the line numbers both as addresses of the variable-length field
and as stored codes.
The line segment conversion generator has the most complex structure. It con-
structs the conversion characteristic by the coordinates of its breakingroff
points. It is convenient to use a vector generator to build this generator. The
vector generator, which uses the given coordinates of the beginning and end of
the vector to determine tfie values of the coordinates of the points of its inter-
sectfon with each of the intermediate lines, is necessarq to reproduce graphic
' information in any case. When the coordinates of two neighboring breaking-off
points are given and the line numbers are used as variable-length field addresses,
the numl:~~s produced by the vector generator are the coordinates of the points of
the cor~esp~nding segment of the conversion characteristic. At the same time as
it records L:~e characteristic in the nariable-length field it can be reproduced
on the screen, which makes visua]. monitoring of the process easier.
Obtaining a negative image, identifying levels and zones of a given brightness,
and quantization of tlie image can be done in principle bq the line--segment char-
acteristic generator; but it is wiser to use the graphics generator included in
the display processor set in the last two cases.
To give the fast arithmetic unit working flexibility it is essential to provide
for the possibility of recording a random conversion characteristic from the
buffer memory in the variable-length field. This possibility is essential, for
example, for gamma-correction or equalization [8] of the image (in the latter
case buffer memory should contain quantities proportional to tfie values of the
stored fiistogram of brightnesa distribution).
The type of point conversion is selected by switching the appropriate conversion
characteri3tic generator or buffer memory to tfie input of the variable-length
field.
Because the display processor's memory unit stores the quantized values of
errors of prediction based on the preceding element, that is, the differences of
adjacent elements of the reproduced image, it is easy to perform local by-line
image conversions. Thus, for one-dimensional identification of contours it is
sufficient to feec: to the output of the fast aritfimetic unit the values of pre-
diction errocs reconstructed in the decoding process, and not the signal from the
output of the decoding unit. The use of a yariable-field lengtfi field makes it
possible to determine, and when necessary quantize~ the value of the modulus of
prediction error (estimation of the modulus of the brightness gradient). The

~ gradient image can be superposed on the initial image by feeding the signal from
the output of tlie memory unit simultaneously to the inputs of both decoding units,
determining the gradient values, multiplying the gradient by the desired coeffi-
cient in the block for processing the corresponding image of the fast ~.rithmetic
unit, and adding the result to the initial image by means of the joint image
processing block.
121
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The primarq block for joint processing of images is an arithmetic-logical unit
tIiat performs a number of arithmetic ar.d logical operations sucfi as addition,
subt~action, logical addition, and multiplication of images (see Figure 7 belowl.
/Iepeno~Heyue ~b~
~a~ Hlabpa.rceHUe
1
Peaynema~ c ~
AOy �~pa6omn~t Z
2 (d)
~d5
e~~
~e) ~Cb
�O � C
~
Figure 7. Block for Joint Processing of Images
Key: (a) Image;
{b) Overflow;
(c) Result of Processing E;
(d) Arithmetic-Logical Unit;
(e) Op Code from Control Console.
The operation is selected by a four-bit code coming from the control console of
the display processor. Signals from the output of the block goes to the input
of the block for processing the result of joint processing; information on the
occurrence of an overflow during addition or subtraction of the successive ele-
ments of the image in the arithmetic-logical unit is also sent to this input.
The blocks for processing images obtained as the result of joint processing must
provide for modification of the brightness of the image, that is, adding a con-
stant to its value, masking the image, superposing alphabetic-symbolic and
graphic information on it, and zeroing the bits of the image code. Figure 8 be-
low shows a structural diagram of the block. The basic element of the block is
the arithmetic-logical unit, which is analogous to the arithmetic-logical unit
of the block for joint image processing. A signal from the output of the ~oint
_ processing block goes to one group of inputs uf the arithmetic-logical units,
whiZe the code of the constant, modified from the control console, or one of the
signals of the superposition memory unit goes to the other group of inputs.
After the work of the arithmetic-logical unit an algebraic or logical sum of
tne image and constant or the logical function of the image and signal of the
superposition memory occurs at its output; in other words, the brightness is
modified or the image is masked. The result of the work of the arithmetic-
logical unit goes to the "truncation" circuit, which is essential to eliminate
122
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- (a) /Ie~enonNer+ue
npu coB,+~e.cmyad o6ko6nmKe
(b~/Iepenonner+ue
~
~
~
E v b i . di~o�
KnNCmaHma q �j u ~ C ~ i~
(C)cn n ma
yn~a~~,ey~A o ti b o C
F h
(d) CuzNOnom ~ )
Ho~a~+reyua ~
~ .
- Cz
~Qdep~rKa
CUtNQ./!b/ O~N~/nCNUA
~)OJP~4BOB C /J pDII7Q
ynpaBnen~.
Figure 8. Block for Processing Images Obtained as the Result
of Joint Processing
Key: (a) Overflow During Joint Processing;
(b) Overflow;
(c) Constant from Control Console;
(d) Signal from Superposition Memorq;
(e) Co~nutator;
(f) Arithmetic-Logical Unit;
(g) Delay Circuit;
(h) Truncation Circuit;
(i) Superposition Circuit;
(3) Signals for Zeroing Bits from Control Console;
(k) Bit Zeroing Circuit.
_ overflows. Where there is no overflow this circuit leaves the code of the video
signal unchanged, but when an overflow occurs above or below it replaces this
code wit~h code 255 (which corresponds to maximum brightness) or code 0. The
truncation circuit is controlled by overflow signals that come from both
arithmetic-logical units. If logical operations are being performed in the
arithmetic-logical unit, the truncation circuit is lockeci out.
The signal from the output of the truncation circuit is logicallp added to the
signal from the superposition memory which is delayed for several cycles to
compensate for delay in the fast arithmetic unit. This allows superimposing
graphic or symbolic information on the image. The result ef logical addition
- is fed to the bit zeroing circuit and logicallq multiplied by the masking code,
which is determined by the state of the keys on the control console. This makes
it possible to perform the operation known as "slicing," a conversion of the
image that invol~ves zeroing the bits of the video signal code, and also, when
necessary, permits suppression of reproduction of the contents of the superposi-
tion memory.
The code of the video signal corresponding to the image processed goes from the
- bit zeroing circuit through the block to enlarge the image sector to t&e code-
analog convertor and then through f.he integrated emitter follower to the input
123
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of the television monitor for reproduction of the image on the screen. The five
higher-order Tiits of the code of the video signal are also fed to the input of
tfie block for forming a pseudocoior image.
The block for forming a pseudocoior image is a code convertor whicfi ~uxtaposes
three eight-bit codes that deter~ine the appropriate pseudocolor to each of the
- 32 possible brightness values. In all the systems existing today reproduction of
the pseudocolors is accomplished either by directly forming two-level color sig-
nals depending on the state of t~zree higher-order bits of the brightness code or
by using a memory unit with random access to a large memory volume, in which the
user is allowed to enter the codes of the pseudocolors [7]. The first method
~11ows only eight fixed pseudocolors, which is often not enough; the second
method involve some uncertainty in the selection of pseudocolors. Therefore, it
is desirable to optimize the set of pseudocolors used by thefr mutual arrange-
ment in color space (maximize th~ distances between pseudocolors) and use a
diode logical matrix to form the corresponding code.
Realization of a real-time block to enlarge the image sector requires a fairly
large additional memory unit, because only sequential access is possible to the
data coming from the main memory built on shift registers (random access to the
memory is also impossible because it stores the codes of prediction errors, not
brightness codes). It is usually desirable to use a considerable enlargement
or tne sectors ~f the image for studying its details, and enlargement of a part
of the image by factors of 9, 17, and 33 can be accomplished witfi a supple-
mentary unit with a volume of 255 eight-bit cells. For 33-fold enlargement the
first line of the fragment (15 elements) is first written into supplementary
memory, and then each of its elements is reproduced 33 times during the scanning
of one line and this process is repeated for 33 lines. Access to the second
line of the fragment becomes possible during this time (Section 1 above); it is
written into supplementary memory and reproduced like the previous one. The
elements of the third and subsequent lines of the fragment are reproduced in a
similar fashion. For 17-fold enlargement it is necessary to store two lines of
the fragment of 31 elements apiece in the supplementary memory units and re-
- ~roduce them in order, while for nine-fold enlargement �our lines of 63 elements
apiece must be stored (which requires the use of 252 memory cells).
The "slow" arithmetic unit. The set of operations performed by the slow
arithmetic unit may be very bro2d in conformity with the multiplicity of con-
crete requirements for image processing job'~. The availa'oility of communica-
tion between the display processor and the powerful central computer makes it
possible to limit this set to the most frequently used operations, which are the
~ollowing:
1. line processing operatsons (reading a line of the image, processing
it, and writing the results);
2. fragment processing operations (when they are performed the fragment
of ~he image is read, processed, and the results obtained are re-
corded};
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3. operations of shifting the image or part of it from one place
in memory to anotfier;
4. geometric conversions of the image:
a. shifting the image upward, do~Ward, or to the left or right;
b. compensation for "cutting off" the image in tfie line direction;
c. transposition of the image;
d. turning the image to an assigned angle;
e. arbitrary alteration of the scale of the image;
5. calculation of the statistical parameters of the image:
- a. determination of the average brightness of a sector of the image;
b. constructing a histogram of the distribution of bri,ghtness;
c. constructing a stored histogram;
d. calculating local average values and the local dispersion of
brightness for each fragment of the image;
6. constructing a profile of the brightness of the image:
a. along the line;
b. along a random line;
7. calculating the number of elements of a random sector of the image;
8. determining and individualizing the local brightness value;
9. shaping standard images;
10. synthesizing graphs, vectors, and symbols.
Figure 9 below shows a structural diagram of the slo~ arithmetic unit. The
ba~ic element of the unit is the microprocessor. It must be fast enougfi.to
provide acceptable image processing time, for example a unit such as the INTEL-
3000, whose cycle time is 100 nanoseconds. The slow arithmetic unit must be
connected to a large buffer memory; the slow arithmetic unit must also include
a number of devices to perform concrete processing operations.
The two principal working modes of the slow arithmetic unit are the line and
fragment processing modes. With these two types of processing it is easily
possible to perform fairly complex nonlocal image conversions, various fragment
conversions, computation of local image parameters, and certain geometric con-
versions. In the line processing mode the next line of the image is read into
buffer memory on a command from the control unit and processed there by means of
the microprocessor. When necessary the result of processing is written into
main memory through the DIKM,~encoder. If the result of processing.i^ a set of
image characteristics, when necessary they are written into superpos3.*.ion mem-
ory by graphics, vector, or symbol generators and reproduced on the sc:reen.
~.25
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K ,raaupyroweMy(7 ~ K 3y~ 2 ~
ycmpadcmB~AN~%~`' Hano~reNUa
Om3y~~8~
a 4 Nana~viceNUa
i ~ o 0 0
00 ~~myya o o e k o� Om 6Ay~1~.~
a�d y y~ a~ ~
i~o~ Z~ iC i~ ,t
LF ~ `0 ia~
~ Q b ~m~E
0
t v i $.de .
bbb O~y
' ga, 63f1 i E
~1.2~ ~e�m
3 eE~
~ o
~e~ ~ ~4
n~
5
iy
.
n
. Muxp(~~yeccaP ~ ~
) L~ ~ 6,
Ka.uanad`c~de~aomJly ~1$~ Kych~p9'Z~mBycdnzpaHU~ayua
6naK peanu~ayur~ cd&rroB
~
Figure 9. Structure of the Slow Arithmetic Unit
Key; (1) To DIKM Encoder; (11) From Fast Arithmetic Unit;
(2) To Superposition Memory; (12) Buffer Memory;
(3) Test Image Generator; (13) Block for Writing a Line;
(4) Command from Memory; (14) Microprocessor;
(5) Vector Generator; (15) Block for Reading a Fragment;
(6) Graphics Generator; (16) Block for Reading a Line;
(7) Symbol Generator; (17) Shift Command from Control Unit;
~ cro~ S~petpusition i~emory; (18) 3locic to Re~lize Shift;
(9) Block for Determining (19) To Synchronization Unit.
Statistical Characteristics;
(10) Block �or Writing Fragments;
Fragment processing is done in a similar manner. Several sectors of tfi.e lines
tteat make up the fragment are read into buffer memory in order. The sequential
nature of the process of reading line sectors causes only a slight decrease in
speed compared to the line processing mode because in both cases one need not
wait for a read opportunity more than once for processing the next line or
fragment.
Because main memory contains the codes of prediction errors for the image, not
brightness value, the processing and recopying of the entire fragment with
changed brightness values for its points may lead to sharp distortion of the frag-
ments adjacent to it on the right because the codes of predicted errors for them
remain unchanged and decoding is done in sequence for all the points of the line
126
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of the image. Therefore, images should be processed hy fragments tha~~~~liave a
common domain, wfiich somewhat increases processing time.
Lines and fragments are read from main memory by the line and fragment read
- blocks, while the results are written by the corresponding write blocks:~ Line
reading is done by the same circuit that realizes the first stage of the process
of outputting data to the central comq~uter (see Section 2 above). In connection
with the need to encode processing results located in the buffer memory, tfiey are
written into main memory in two passes of buffer memory. First the output Q� the
_ buffer memory is connected to the input of the DIKM encoder and the output of
this device is connected to the input of buffer memory; then data writing is simu-
- lated. The work of the encoder causes the code of the prediction errors ~or-
responding to tfie brightness values of line elements located in it earlier to be
recopied into buffer memory. During the second paes of '~buffer memory the codes
- contained in it are recopied into the necessary places in main memory.
Fragments are read and written by similar circuits that read or write the neces-
sary number of line sectors in sequence. The necessity of two passes of buffer
memory when writing each line of the fragment has no effect on writing time be-
cause there is always a sufficient time interval between completion of writing
the present line sector in memory and receiving the opportunity to write a sector
of the next line.
It is easy to shift an image from one part of main memory to another or to move
any fragment of the image by using line and fragment processing operations.
Access to either of the two images stored in memory is provided by introduction
of a special command to switch the blocks of the memorp unit.
Processing operations can be used for geometric conversions of images. ~.'hus, line
processing can be used to compensate for "cutting off" an image, and fragment
processing can Tie used to transpose the image, that is, to turn it on the diag-
onal. By combining compensation for "cutting off" with transposition, it is
possible to turn the image to any angle [9].
-1 The use of processing operations makes it possible to enlarge an arbitrary sec-
tor of the image by the necessary factor and to shift the image i.n any direc-
tion. In a display processor with shift register memory, however, it is much
more natural to do shifts using a special block. To shift the image to the
right, for example, it is sufficient to allow several pulses that trigger the
shift registers to pass, and to shift to the left one need only form a few ad-
ditional pulses. The image can be shifted up or down in a similar fashion.
Some problems with shifts occur because the snain memory is not one, but eight
independent shift registers; these difficulties can be overcome by using a cir-
cuit that determines which register corresponds to the present element after
performing the shift. Because the data from the registers are read in groups
of 16 numbers, it is essential to perform a shift along the line within a
group by delaying the synchrontzed pulses that control reading elemen*~ of the
group from an auxiliary memory register.
The shift block affects only the synchronization unit of the display processor;
therefore, it is a separate block which has no connection with the otfier blocks
127
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of the slow arithmetic unit. The work of the block is controlled by commands
from the control unit. It is possible to shift either of tfie two images inde-
pendently of tfie other.
The slow arithmetic unit should provide for perfo nning a series of statietical
analysis operattons on images. Because some of these operations such as
construction of a histogram of brightness distribution and determination of the
average brightness value for the given sector of the image, are very commonly
used in image proces~ing, ft makes sense to do these operations by a special
block that works at maximum speed.
The sector of the image that is used to calculate statistical parameters may be
of fairly random form. For this reason, the only realistic way to assign such a
sector is to construct its contour directly in the superposition memory by means
of a light pen, courser, or other means of interaction (dialog). Because the
memory unit of the display processor has fairly high reliability, it is possible
to use the intersection of the contour constructed during the process of scan-
ning the superposition memory as a sign that subsequent elements of the image
(until the next intersection of the contour) belong to the sector under study.
Figur.e 10 gives the structural diagrams of the sub-blocks for compucing average
b~i;ntness value and calculating the histogram of brightness distribution.
Simultaneously with computation of the average brightness value, in the time be-
tween intersections of the left and rig~~ '~oundaries of the image sector tfie
brightnesses are added and the number of elements of the image is counted. When
scanning of the sector is complete, the ratio of the quantities obtained is com-
puced by the microprocessor of the slow arithmetic unit; in other words, the
average brightness value is determined. When necessary it is possible to use the
number of elements of the sector as a measure of its area.
To construct a histogram of brightness distribution the 512 cells of the buffer
memory are combined by pairs and set at zero; data from the output of the buffer
memory is fed to its input through the summator, which adds one to the stored
values. In the process of scanning the sector the brightness value of the next
element serves as the address for a pair of buffer memory cells and its content
is increased by one. Upon completion of the scanning, cells 2i and 2i+1 of
buffer memory contain a number eeual to the number of elements with a brightness
of i. The quantities obtained are then used furtfier by the microprocessor of
the slow arithmetic unit.
The culculation of iocal average values and dispersion, and calculations of
local brightness values for quadratic fragments of the image, may be done in the
processing mode for fragments of the necessary size.
It is desirable to use the slow arithmetic unit also for determining the bright-
ness characteristics of the image, above all the distribution of brightness
along a line or random curve. In the first case the line processing mode can
be used; in the second it is possible to assign an appropriate curve in the super-
position memory by means of, for example, light pen and to read the brightness
valu..~ of the elements of the image into buffer memory when one appears at the
output of the superposition memory.
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ra ~ .
yuC~o,~e,weNmaByvacmKa ( 3 ~
ToKmaBe2 uMnynetei Cvemvux �
_ ~2~
Pacvema
uA ( 4 ~
Cut(an 3y ~a o
anaarenuA i ti
F ti CyM.MapNaA qpKOCme ~rmaB
,e, a Cvemvax
~F 2
, ) Nu~cv~ema
' Odi~~y
P~rucmp Csa~.wmnp Peeucmp
~~prmeNUa (10 11) 10~
eanucu
6
~5) :h ~
c~tna~av ~ ~ ~16)
.vanaxt~+ue ~ E
Qo yat
~1~ TaKmaCe~t u,wnyexw b,p Pa ewenu E
czo41 L o nucu 63y .
~ 4 paroBl e ~ Adpec ~18 a
x~o ~ (17) ~
9)
Om 6Ab 8 Rnd 1(COde 1~
Figure 10. ~lock for Determining the Statistical Characteristics
of the Image: (a) Computation of the Average Bright-
ness Value; (b) Calculation of the Histogram of
Distribution of Brightness.
Key: (1) Cycle Pulses; (11) Su~ator;
(2) Counter; (12) Calculator Trigger;
(3) Number of Elements of the (13) Task 1;
Sector; (14) Task 2;
(4) Read Authorization; (15) Task Commutator;
(5) Signal of Superposition (16) Data;
Memory; (17) Address;
(6) Calculator Trigger; (18) Fast Arithmetic Unit;
(7) Total Brightness of Elements; (19) Delay.
(8) From Fast Arithmetic Unit;
" (9) Write Authorization;
(10) Register;
To insure effective display of the results of the work of the slow arithmetic
unit, it should include devices to present graphic and symbolic information in
visual form: vector, graphics, and symbol generators. It is possibl to ob-
tain additional possibilities of work with images in the display proce sor by
envisioning the possibility of setting up test images using the slow arithmetic
unit, for example an even background, an optical wedge, and the like.
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4. Device To Control the Display Processor and Means of Interaction
Because tfie display processor is an autonomous unit, it should include a control
unit that provides coordination and selection of the work regime of the
arithmetic units, control of data exchange with the central computer, and effi-
cient work by available means of interaction.
Since the arithmetic unit of the display processor includes two blocks with sig-
nificant functional differences, the fast and slow arithmetic units, the control
- unit should also consist of two blocks. The first, wfiich controls the work of
most of the elements of the fast arithmetic unit, is a control panel with keys
%_nd buttons that directly affect the circuit of the Fast arithmetic unit (for
example, pre~sing the key to set a bit position at zero triggers tfie corre-
sponding element of the bit zeroing circuit). The nature of the operation being
performed is displayed on a light diode panel and changes when the next button
or key is pressed. The presence of the control panel makes it possible to change
operations quickly, lessens requirements for special operator training, and in-
creases the speed of interaction.
The second block of the control unit controls the work of several elements of
the fast arithmetic unit (for example, filling the variable-length field) and
the work of the slow arithmetic unit. It is also used to organize interaction
with the central computer. This block is based on a microprocessor (the same one
used in the work of the slow arithmetic unit). A number of devices designed for
control and support of interaction must be connected to the input of the micro-
processor. The image processing operation may be selected by briefly typing the
name of the appropriate operation on tlie alphanumeric keyboard. The most fre-
quently used processing program can be called up by pressing a certain button on
the functional keyboard.
The display processor should have several specialized devices to support the
interactive mode of work by the slow arithmetic unit. Specifically, these are
a set of buttons queried by the ~i.croprocessor, a lever (joystick), and a light
pen. The set of 5uttons, whose state is known to the microprocessor at every
moment, and the joystick may be used to shift various specialized markers on the
screen: a courser, a horizontal line, a figure of a certain shape, and so on.
The light pen, which generates tne coordinates of the point on the image close
to it when it is held up to the screen, may be used to identify the sector of the
image being processed and to construct the graphics necessary for further
processing.
When constructing the display processor, an effort should be made to maximize
the use of special means of interaction because this makes the work more conveni-
ent and reduces time expenditures for interaction, which are a significant part
of total time expenditures for image processing because of the high speed of the
processor.
FOOTNOTES
1. T, P. Belikova, M. A. Kronrod, P. A. Chochia, and L. P. Yaroslavskiy, "Digital
Processing of Photographs from the Surface of Mars Transmitted from the
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Mars-4 and Mars-5 Automatic Space Stations," "Kosmicheskiye Issledovaniya"
[Space Research], 1975, Vol 13, Vyp. 6.
2. COI~UTER, 1974, Vol 7, No 5.
3. E. Person, K. S. Fu, "A Minicomputer Facility for Picture Processing~and
Pattern Recognition Researcfi," COMPUTER, 1976, Vol 9, No. 5.
4. L. P. Yaroslavskiy, and I. M. Bokshteyn, "Author's Certificate 633043 (USSR).
Device for Displaying Informa.tion on a Television Screen," published in
BYULLETEN` INFORMATSII, 1978, No 42.
5. I. M. Bokshteyn, "The Use of Differential Pulse-Coded Modulation to Reduce
the Volume of the Memory Unit of a Display Processor," in "Voprosy
Kibernetiki: Ikonika. Tsifrovaya Obrabotka i Fil'tratsiya Izobrazheniy"
[Issues of Cybernetics. Ikonics. Digital Processing and Image Filtration].
I~bscow, VINITI, 1978, Vyp 38.
6. I. M. Bokshteyn, "The Use of Differential Coding To Reproduce Colored
Images in a Display Processor," in "Vsesoyuz. Nauch.-Tekhn. Konf.
Avtomatizatsiya Eksperimental`nykh Issledovaniy" [All-Union Scientific-
Technical Conference Automation of Experimental Research], Kuybyshev,
1978 (abstracts of reports).
7. DIGITAL DESIGN, 1977, No 7.
8. T. P. Belikova, and L. P. Yaroslavskiy, "The Use of Adaptive Amplitude
Conversions to Prepare Images, " VOPROSY RADIOELEKTRONIKI. SER.
OBSHCHETEKFINICHESKAYA, 1974, V`yp 14.
9. M. A. Kronrod, "Some Image Processing Problems," in "Voprosy Ribernetiki..."
op cit, fn 5.
COPYRIGHT: Izdatel'stvo "Nauka", 1981
11,176
CSO: 1863/189
131
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UDC 621.391,23:68I.325.650.21:621.391.25
SPECIALIZED MICROPROCESSORS THAT PERFORM FAST CONVERSIONS
Moscow TSIFROVAYA OBRABOTKA SIGNALOV I YEYE PRIMENENIYE in Russian 1981 (signed
to press 28 Jan 81) pp 206-217
[Article by V. S. Rakoshits, A. V. Kozlov, I. A. Mozhayev, and A. A. Belyayev
from the book "Digital Signal Processing and Its Application," USSR Academy of
Sciences, Izdatel~stvo "Nauka", 3,850 copies, 223 pages]
[Excerpts] The possible range of applications of orthogonal systems of discrete
functions is steadily broadening [1-6]. The Walsh functions[7, 8], which haue
found greatest application in recent times, play a special role among them. The
Walsh functions stand out among other orthogonal discrete systems of functions by
their simplicity of generation [9, 10] and the simplicity of practical realiza-
tion of spectrum analysis in them. It is very important that conversions in the
Walsh base can be done on the basis of fast algorithms [1, 5, 6, 8, 10] that
permit a significant reduction in the number of operations necessary to compute
expansion coefficients.
There are many possible diagrams of fast conversions and, therefore, many pos-
sible alternatives for constructing specialized microprocessors that realize
these conversions in a Walsh base. This article analyzes the sequential,
parallel, and sequential-parallel versions of constructing such microprocessors.
This makes it possible, within the framework of existing constraints on the com-
_ plexity and speed of hardware, to select the necessary structure for designing
microprocessors. Because the applications (noise-resistant encoding, digital
filtration, synchronization, and the like) quite often require a searcfi for one
or several maximum coefficients upon completion of spectrum analysis in the base
selected, the article also analyzes devices that seek the maximum. The hardware
that realizes this device is usua.lly dependent on the diagram of conversion
chosen and the structure of the microprocessor that carries out this diagram.
Comparative analysis of the algorithms of the microprocessors and devices that
seek the maximum. As can be seen from the above analysis, selection of the type
of diagram for fast conversion significantly influences the structure and
principle of design of the specialized microprocessor. In general, the con-
venience of using the particular schemes differs for a general-purpose micro-
processor with address-type main memory. In this case it is obviously preferable
132
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~1
to select schemes that correspond to factorization of tppes (5~ and (8~. This
conclusion follows from the fact tfiat the results of processing at eacfi step
(outputs of tfie summators) can be written in the same addresses of main memory
from which data were sent to the summators, and in this case main memorq~needa to
be only half as large.
In Figure 7 below for cases where V1 = 10 gates, V2 = 16 gates, and V3 = 2 gates,
fine lines show the dependences ofV(N) (the dotted lines show k= 3 and the solid
lines k= 4) of the logical complexity of the device to search for tiie maximum
coefficient at the output of the microprocessor on the length of tfie vector N
which is being processed. As the graphs show, to process in�ormation by blocks
W, l/ w+ ~
~t ` ' ~j
!0 4 /
/ ~
j
~ 5~~0~ ~ �
~ % 2
~ ' ~ ~i � j %
~ ~
~
/ / / ~
10'~ ~ % % ' ~ /
~i i
~ Z / ~i ~i~ %
s�~OZ - / ~ /~i Z /~~i ~ //1
/ f' ' ~
~
/ ~ J ~
~ / i~ - ~
~
~
i ~
. / ~
,
.
1U? ~
4 8 !6 JZ 64 2 4 8 /6 J2 N
Figure 7
(dependences 2 and 3), the device to seek the maximum coefficient is much simpler
than for the case of seeking the ma~dmum when processing in real time (dependence
1). But expenditures for block data processing (computation of spectrum~coeffi-
cients) are larger in this case.
Figure 7 shows the dependences W(N) + V(N) of the logical complexity oi rnicro-
processors together ~ith the devices to seek maximum coefficients. As ,`~e graphs
show, where N is equal to or greater tfian eight, tfie microprocessor that performs
parallel crossing of information blocks (dependents 2) has t~ie smallest number of
gates. However, th:ts alternative does not allow building up the capacity of the
133
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device to process large N by interconnecting identical microprocessors. For this
purpose the sequential processing version is more convenient. This convenience
is especially notable wfien developing the base large integrated circuit for
microprocessors with a broad range of N and k. Sucfi a large integrated circuit
must contain a register main memory and two summators. In this case constructing
a specialized microprocessor of any capacity that per`orms the fast Wa7:sh conver-
sion is possible in the form of a set of uniform base large integrated circuits
with fairly simple control.
FOOTNOTES
1. V. P. Loginov, "Walsh Functions and Their Areas of Application (Survey),"
ZARUBEZHNAYA ELEKTRONIKA, 1973, No 4.
2. V. S. Rakoshits, A. V. Kozlov, and I. T. Kartyushov, "Microprocessors Based on
Fast Algorithms and their Application in Communications Channels," ELEKTRONNAYA
TEKHNIKA, Series II, 1975, Vyp. 4.
3. V. S. Rakoshits, and I. T. Kartyushov, "Consolidating Information from Asyn-
chronous Sources," Ibid., 1977, Vyp. 5.
4. V. S. Rakoshits, "Block Codes Based on Vilenkin-Krestenson Functions," Ibid.,
Byp. 4.
S. I. A. Bol'shakov, and V. S. Rakoshits, "Application of Orthogonal Systems of
Discrete Functions to Problems of Microprocessor Data Processing, I,"
IZV. AN SSSR, TK, 1977, No. 5.
6. I. A. $ol'shakov, and V. S. Rakoshits, "Application of Orthogonal Systems of
Discrete Functions to Problems of Microprocessor Data Processing, Il~rr
Ibid., 1978, No. 2.
7. Harmut, H. F., "Perdacha Informatsii Ortogonal'nymi Funktsiyami" [Data
_ Transmission by Orthogonal Functions], Moscow, "Svyaz'," 1975.
8. A. M. Trakhtman, and V. A. Trakhtman, "Osnovy Teorii Diskretnykh Signalov
na Konechnykh Intervalakh" [Fundamentals of the Theory of Discrete Signa.ls in
Finite Intervals], Moscow, "Sovetskoye Radio," 1975.
9. Bestvetter, "Generation of Walsh Functions," ZARUBEZHNAYA RADIOELEKTRONIKA,
1972, No. 11.
10. Yen, "Walsh Functions and Gre~ Cod~," ZARUBEZHNAYA RADIOELEKTRONIKA, 1972,
No. 7.
COPYRIGHT: Izdatel'stvo "Nauka", 1981
11,176
CSO: 1863/189
134
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PUBLICATIONS
ABSTRACTS FROM THE JOURNAL 'TECHNICAL CYBERNETICS' MARCH-APRIL 1981
Moscow IZVESTIYA AKADEMII NAUK SSSR: TEKHNICHESKAYA KIBERNETIKA in Russian
No 2, Mar-Apr 81 pp 233-239
unc 6z-5o6:~r8-5
SOME STOCHASTIC TASKS OF OPTIMUM CONTROL WITH LIMITED PHASE COORDINATES
[Abstract of article by Kolosov, G. Ye
[Text] Examples are presented for solving some model tasks in the synthesis of
stocha,stic optimum systems while taking into considera,tion limitations on control
~ and pha,se coordina,tes. In ca.ses where an exa,ct solution ca.nnot be obtained, an
approxima.te method. is used.
unc 681.3zz.o6:5i
ASYMPTOTICALLY OPTIMUM AIGORITHM FOR SOLVING A GENERALIZED PROBLEM IN THE
CONNECTION OF CITIES
[Abstract of article by Yudin, A. D.]
[Text] The article examines a multi-index mod.el of the transport type, of interest
in planning various communica,tion networks. An approximate method of solution is
presented for tha.t model, which is an extremal combi,natory problem, and it is
demonstra.ted tha.t the method works better, on the average, the higher the dimen-
siona.lity of the problem. Examined as an example is the.problem of approxima,te
construction of a combined distribution f~a.riction of a multi-dimensional random
value on limited statistica.l ma.terial.
uDC 6z-5o.
INTERACTIVE SEARCH FOR THE EXTREMUM OF A FUNCTION WITH AN UNDETERMINID GRADIENT
[Abstract of article by Rabinovich, Ya. I.]
[Text] Within the framework of a guaranteed approa,ch the task of optimizing a
function~ the gradient of which is imprecisely ca.lculated, is examined; this is
especially characteristic of procedures of extremum search in a man-ma,chine
135
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interaction mod.e. Determination of the best possible direction~ guaranteeing a
maximum increment of the function, is reduced to search for a minimum of convex
quadratic form at the intersection of the positive ortant with the hyperplane.
For the particular case of practical interest the best guaranteeing direction was
found analytica.lly.
UDC 62-50
TASKS IN FtESOURCE DISTRIBUTION ON MIXDD SCALES
rAbstract of article by Larin~ V. Ya.]
~Text~ The article examines tasks in resource d.istribution ~in the ca.se where a
portion of the information used for selection of the best plan is quantitative an
a portion is given on ordinal scales. Under certain assumptions such resource
distribution tasks are reduced to a certain class of tasks of mathema.tical pro-
gramming. An algorithm for solving the latter for the linear case is given.
vDC 6z-5o
SGN~ QUESTIONS OF THE THEORY OF THE L-PROBLEM OF MOMENTS
IAbstract of article by Ringo, N. I.~
~Text~ The article examines some questions regarding the theor.y of the L-problem
of moments for asymmetric limitations and limitations of the simplex type. A
theorem of the number of switchings of solution of the problem of moments with
complex limitation is demonstrated which permits analyzing the solution of a cer-
tain class of problems of control and in a number of ca.ses reduces the task of
search for optimum ordering to the task on the conditional extremum of a~nction
of many variables. An epsilon-solution of the task of moments is constructed
which guarantees as small an error as desired.
uDC ~9.z83
OPTIMUM INTERACTION OF TWO PURSUERS IN A GAME PROBLEM
IAbstract of article by Milikyan, A. A.]
;Text~ The article examines the task of simple pursuit by two points with equal
velocities of a third point with a lower velocity. A game price is constructed
in the task of pursuit f'rom a nominal point and the region in which the presence
of two pursuers is essential is designated. On the assumption tha.t the pursuing
points ca.n move only during one time interval of a given length (for example, as
a result of resource limitedness)~ an investigation was made of the possibility
of the evading point to intersect the segment connecting the pursuers at the in-
itiial moment and evading capture.
136
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uDC 62-50:531.3
PLANNING THE OPERATIONS OF AN INTDGRATID ROBOT
[Abstract of article by Yerokhin~ Ye. A.~ and Sudeykin~ M. I.]
[Text] In the control system of an integrated robot an important place is occupied
by the decision-making system, which provides planning of its activity. The devel-
oped system for planning operations of an integrated robot (SPRINT) represents a
symbiosis of three models of sea,rch, memory and training, the interaction of which
assures the accumula.tion and use of knowledge in decision-making. The forma,l de-
scription of SPRINT is based on complex use of inethods of semiotic simulation and
methods of heuristic search. The representation of information in SPRINT is based
on a developed pseudo-physical language of a relationa.l type. SPRINT ha,s been
realized in the form of a package of prograans and has been experimentally used in
a number of tasks of the robot "world."
tmc 62-50
THE TASK OF EVADING MANY PURSUERS WITH CONTROLLID VELOCITY
~Abstract of article by Zak~ V. L.~
[Text] Control is constructed which assures evasion of an arbitrary number of pur-
suers. The evading object rema,ins in the close vicinity of the assigned trajec-
tory. An estima.te of the distance between the evaders and pursuers~ ca,lculated
from the initial data, was obtained.
unc 6z 6iz . 014 .4~z: 33i . 0l5 . i
EXPERIMENTAL DATA ON USE OF A PIDAL ANALYZER IN BIOTECHNICAL CONTROL SYSTEMS
[Abstract of article by Yaroshenko, A. A.]
[Text] The article examines a space-time method of forming input sensory signals
which permits ca.using a tactile sensa.tion of motion in an operator. The article
presents results of investigations of boundary conditions of the ca,used rate of
motion, the resolution of the sensory system and also the operator's performance
of the control task of return of the system to a prescribed state, determined by
the range of the reference velocity. It is concluded that it is advisable to use
the investigated method to solve control tasks where it is necessary to simultane-
ously transmit to the operator information about two variables of the state of the
system.
53i:6z-5
PRINCIPLE OF NONDETERMINISTIC CONTROL OF A WAIKING ROBOT
[Abstract of article by Pyatkin, V. P.~
137
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[Text~ The article examines the states and problems of an original approach to the
process of control of a walking automaton, the principle of nondeterministic con-
trol, which provides a walking robot with a breadth of tactics in the selection of
a gait within the framework of the limitations natural for the given design.
unc 51g.z83
OPTIMUM CONTROL OF A MULTI-STORY QUEUEING SYSTEM
[Abstract of article by Dubin, A. N.]
~Text~] The article examines the task of selecting the optimum strategy for desig-
nating the rate of servicing requirements in a multi-velocity unilinear queueing
system. For the class of multi-threshold strategies, recurrent formulas are pre-
sented for determining the stationary probabilities of the number of requirements
in the queue and the type of generating function of those probabilities and the
queue length is indicated. A numerical example is presented.
unc 6z-5o:519�95
T;~!0-STA~~E SUCCESSIVE SELECTION IN A SYSTEM OF RELATIONS. I. POLYNOMIAL COMPLETE-
NESS OF THE TASK
i~Abstract of an article by Sholomov, L. A.~
[Text~ The article examines a method of multi-stage successive selection in which
each stage is realized on the ba.sis of some relation reflecting a certain group of
~ preferences. The task consists in constructing in accordance with a given (ob-
served) set a system of relations realizing it or establishing tha.t it cannot be
done. It is demonstrated tha.t even during two-stage selection the task of synthe-
sis belongs in the class of very complex combinatory problems.
UDC 519.2
RELIABILITY OF A PERIODICALLY CONTROLLID 5YSTEM WITH PREVENTIVE MAINTENANCE
[Abstract of article by Titenko, I. M.~
[Text~ The author solves the problem of constructing a re].iability model used in
the continuous regime of a system~ failures of which can be detected only during
monitoring or preventive maintenance. The model is constructed without any sub-
stantial limitation on the properties of control or on the characteristics of no-
failure operation and ma.intainability of the system. The use in the work of the
coneept of a monitoring error of the third kind: made possible use of the construc-
tnd model also under other possi~ble assumptions.
138
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unc 5i9.2
SELECTION OF OPTIMUM SWITCHING MOMIIJTS IN QUEUEIPfG SYSTEMS
[Abstract of a.rticle by Pechinkin~ V. V.~
[Text] The author examines the task of selectin~ the sw~tching moments of th~
working conditions of Ma.rkov queueing systems in the.p~esence of limitations on the
total number of switchings. An exaanple is presented..
uDC 62-50
METHODS OF APPROXIMATELY SOLVING TASKS OF DYNANBC RIDUNDANCY
[Abstract of article by Ushakin~ I. A.]
[Text] The author gives a classifica.tion of ve~:y simple tasks of dynamic redun-
dancy. Approxima,te solution algorithms are proposed. In some particular cases a
solution is success~zlly obtained in simple form.
t~nc 5ig . z
INCREASE OF THE EFFECTIVENESS OF CONFIDEN.CE ESTIMATION OF' SYSTEM RELIABILITY
[Abstract of article by Groysbert, L. B.]
[Text] The author compares the efficiency of the heuristic method and the plane
- and substitution method.s for con~'idence estima.tion of the indicator of system
reliability from data obtained in tests of its elements. The advantage of the
heuristic method for structural reliability circuits of the series type is shown.
The conditions were formulated,~'by types of structural reliability circuits and
the results of tests of elements, for preferential applica,tion of the plane and
substitution methods. To enhance the efficienc;y of the interval reliability es-
tima.tion of redundant systems a combined method of confidence estima,tion is pro-
posed, one constructed on joint use of the procedures of the heuristic and sub-
stitution methods. Recommenda.tions are given on selection of the most effective
method of estima.ting as a function of the results of tests of elements and the type
of structural reliability circuit system.
UDC 681.142.2
PLANNING PARALLEL COMPUTATIONS IN A REAL-TIME MULTIPROCESSOR SYSTEM
[Abstract of article by Vayradyan, A. S., Korovin, A. V., and Udalov, V. N.]
[Text] The article proposes a complex of algorithms of variaus comple ity,
intended for organiza.tion of the processing of information-dependent t~ ;ks in
multiprocessor control computer systems of different ca.pe,city. Estimates of the
quality of the obtained decisions, the labor-intensiveness and the efficiency of
the algorithms are presented. The article contains the results of experimental
investigations, obtained for axbitrary sets of graph-diagrams.
139
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UDC 007~52
CHARACTERIZATION OF LOGICAL CIRCUITS IN UNCONNECTID BASES
[Abstract of article by G orba.tov, V. A., and Fedorov, N. V.~
~Text] The article examines the task of realizing Boolean functions in specific
unconnected~ bases such as Webb, Scheffer and implicative bases, etc. The con-
ditions are formulate3 for realization of a homogeneous Boolean function of a non-
repetitive dendritic logical circuit. An example is presented.
unc 62-50
N~THOD OF INVESTIGATING COMPLEX LINEAR SYSTEMS
[Abstract of article by Star.~.kov, V. F.]
rText~ The author examines the case of arbitrary disposition in space of external
effects of regions of values of an unexcited operator and an operator of excitation
which participate in the description of a complex linear system. Necessary and
sufficient conditions of existence and unity of the response of the complex linear
system to external effect are presented and in the case of existence it was con-
str~:cted. The article describes "free movements" of complex linear systems--
responses during zero external effect, notes the inadequate efficiency of the pro-
pos~d method for investigation of a single class of distributed systems and pre-
sents an example.
unc 62-50
INDUCED MOTION IN AUTOMATID CONTROL SYSTEMS WITH A VARIABLE STRUCTURE AND MAJORITY
COMPONENTS
LAbstract of article by Zhil'tsov~ K. K., and Rabinovich, I. I.~
[mext~ The article examines the induced motion of automa.ted control systems with
ma,jority devices. An analysis is ma,de of some methods of stabilizing systems on
the basis of the principle of combined control during simultaneous variation of
the parameters of equations of switching hypersurfaces. The use of majority de-
vices assures qualitative work of systems in the absence of discharges of the first
kind in the control signal.
uDC 629.13
CdNSTRUC'I'ION OF FLIGHT CONTROL ALGORITHMS BASED ON SOLUTION OF INVERSE PROBLEMS OF
DYNAMICS. PITCHING
[Abstract of article by Petrov, B. N. (deceased~, and Krut'ko, P. D.~
~Text~ The article presents a procedure for the construction of flight control
al~orithms based on the solution of inverse problems of dynamics. Nonlinear
1l~0
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equations of motion are used without lineariza.tion to synthesize the algorithms.
The authors e~.mine the main tasks in the automa,ted control of pitching: the equa,-
tion of ~;he angular rotationa,l velocity~ stabiliza.tion of pitching components and
of the slope of trajectory, and also the equa,tion of the height of flight. Struc-
tural diagrams are presented for the synthesized control circuits.
tmc 62-5os 5~9.2~
ESTIMATING THE PROBABILISTIC CHARACTERISTICS OF SYSTEM5 FROM TI~ RESULTS OF TESTS
AND SIMULATION
[Abstract of article by Barlashov, N. I., and Gal'chenko, M. V.]
[Text] The authors examine combined estima,tes of the characteristics of systems
from results of tests and simulation. It is shown that the applica,tion of para-
metric methods of ma.thema.tica.l statistics permits increasing the precision of es-
tima.tion in comparison with existing combined methods. The ca.se of polynomial
output d.istributions of the system and model is analyzed in detail.
vnc 6z-5o5
THEORY AND APPLICATION OF GAUSS-REYDER TRANSFORMS
[Abstract of article by Beloglazova, 0. V., and La,bunets, V. G.]
[Text] For spectral analysis and filtration of complex signals the theoretical-
numerica,l Gauss-Reyder transform is introduced, generated as the ba.sis of ortho-
gonal f~znctions given on a cyclic brou or on a whole-number segment [0. T-1])
and assuming the value in the ring Z� ~i~ of cla.sses of remainders of whole com-
plex numbers with respect to the who~e complex number m= p+ iq, where p and q
are mutually simple whole numbers. The given transform has a simple ma,trix con-
nection (a not well filled ma.trix) or with a Fourier and also with a Reyder trans-
form, which permits substantially increasing the speed of digital algorithms for
filtration, spectral analysis and correlation ana,lysis of signals.
unc 6z-5o5
SUCCESSIVE METHOD OF CHECKING MULTIALTERNATIVE CONIPLEX HYPOTHESES
[Abstract of article by Tonoma.renko, V. Yu.]
[Text] In ta.sks of image recognition in tracking systems, etc~ the situa,tion is
typica,l in which information arrives from an observed object in portions in pro-
portion to the observations. In tha.t ca,se one of several possible solutions must
be selected and the observations cea.se during decision making. The su~cessive
method of selection from several complex hypotheses for multidimenaional random
normally distributed values is presented. The efficiency of the methoa is computed
and it is compared with the optimal Val'dovskiy method. in the particula.r ca.se of
two hypotheses. Substantiation of the method flows from two statements ma.de in the
article which permit substantially computing the proba.bility of a,n erroneous de-
cision and the mean number of observations required for decision making.
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uDC 62-60: 007.65
FORMATION OF A PREFERENCE RATIO BASID ON DIFF[1SE DESCRIPTIONS
[Abstract of article by Blishun~ A. F.]
[Text] The author presents an algorithm for determining the preference ratio for
a ~et of alternatives according to information obtained in comparing a certain ac-
cessible subset. The alt.ernatives are cha,racterized by difflxse estimates formed
by means of indistinct sets.
vnc 68i.532
EXPERIMENTAL INVESTIGATIONS OF THE PRECISION OF POSITIONING OF A MANIPULATOR ROBOT
[Abstract of article by Kuzetenko, A. S., Lomaka, M. V., and Fedorov, V. P.]
- ~Text~ The article describes a procedure for conducting an automa,ted experiment to
investigate the precision of positioning of a manipulation robot. Possible ways to
increase the precision of work of the manipulation robot are discussed, ways ba,sed
on use of informa,tion feedback on the position of the robot drives in the computer
when control signals form on the drives.
unc 519.152
CONDITION OF ERGODICITY OF A SYSTEM WITH DEPENDENCE BETWEEN THE SERVICING TIME AND
TH~ WAITING TIME FOR A REQUIREMENT IN A QUEUE
[Abstract of article by Morozov, Ye. V.~
[Text~ The author examines a single-channel queueing system in which the require-
ment servicing time is determined by the time of waiting for it in a queue. The
,:,ufficient condition of ergodicity of such a system is found with use of inethods
of the theory.
UDC 519.283
CARRYING CAPACITY OF A QUEUEING 5YSTEM WITH PERIODIC WORK INTERRUPTIONS
[Abstract of article by Voroshilov, V. A., and Shishov, Yu. A.~
[mext] The article presents an analysis of the qua,lity cha.racteristics of a queue-
in~ system with peri alic work interuptions, intolerable claims and erors in servic-
ing. Analytica,l expressions are obtained for the relative carrying ca,pacity and
the ma.ximum and minimum queue lengths for stationary working conditions of the
queueing system,
llt2
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APPLICATI~N OF THE TEST FUNCTIONS METHOD IN THE TA~K OF SELECTING THE OPTIMUM
SERVICING DISCIPLINE _ ,
[Abstract of article by Perlov, Yu. M.]
[Text] The author discusses a system consisting of two elements with exponential
distributions of time of failure-free work with the parameters al and a2 a,nd a.
single repa.ir device. The repair time d.istribu~tions of element are A1(t) and
A2(t) respectively. The criteria for selection of optimum repair discipline are
determined for various reliability indicatars.
unc 6z-5o
ANALYSIS OF A PHASE AUTOMATID n TH ORDER SYSTEM WITH DISCONTTNUCy[1S DI5CRIMINATOR
CHARACTERISTICS
[Abstract of article by Belousova, T. S., and Shakhta.rin, B. I.]
[Text] The article exami.nes a pha.se automa.ted n-th order system with rectangular
and sa.w-tooth discrimina.tor characteristics. The transition from an equa.tion in
opera.tor form to a system of differential equa.tions not containing derivatives of
d.iscontinuous fl~nctions is completed in a.dvance. The frequency chaxacteristic of
the pha.se automated system in the form of a system of transcendental equa.tions is
found in the ca.se of a rectangular chaxacteristic, and an explicit dependence in
the ca,se of a sa.w-tooth dependence.
_ COPYRIGHT: Izda,tel'stvo "Nauka", "Izvestiya AN SSSR.
Tekhnicheskaya kibernetika", 1981
2174~
cso: 1863/186
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UDC 629.127.066
ANNOTATION, ABSTRACTS FROM BOOK 'BASIC ELEMENTS OF UNDERWATER APPARATUS AND ROBOTS'
Moscow ELEMENTNAYA BAZA PODVODNYKH APPARATOV I ROBOTOV in Russian 1980 (signed to
press 31 Oct 80) pp 2, 141-144
[Annotation of book "Basic Elements of Underwater Apparatus and Rohots" edited by
Professor V. S. Yastrebov, doctor of technical sciences,Izdatel'stvo "Nauka",
1,000 copies, 144 pages~
[Text] The present collection contains reports given at the second Plenum of the
section on "Underwater Apparatus and Robots" of the Oceanographic Commission of
the USSR Academy of Sciences. The plenum was devoted to the problems and chal-
lenges of developing the basic elements of these new technical means of ocean re-
search. The concept of basic elements [literally "element base"] includes not
only the actual elements and systems of underwater apparatus and robots, but also
the elements of their theory. It should be noted that the theory of underwater
robots is in the very initial stage of development. Many of the fundamental
issues are being decided at tfie present time on the basis of theoretical prin-
ciples that relate t~ manned underwater vehicles.
The articles in this collection consider the state of the basic elements for
these devices and propose some successful solutions. The book is intended for
scientific workers and engineers engaged in designing technical means of de-
veloping the world ocean.
The book was ratified for printing by the Scientific Council on the Theory and
Principles of the Design of Robots and Manipulators of the USSR Academy of
Sciences and the Institute of Oceanology imeni P. P. Shirshov
UDC 629.127.065
INTERACTIVE SYSTEMS FOR CONTROLLING UNDERWATER ROBOTS
[Abstract of article by Popov, Ye. P., and Kuleshov, V. S.]
[TextJ This article considers the basic principles of building interactive sys-
tems to control the movements of underwater manipulating robots which function
purposefully in the ocean environment under conditions of high hydrostatic
pressure. The article has one illustration and three bibliographic entries.
~
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c~ .
UDC 629.127.066
PURPOSEFUL MECHANICS AS A STANDARDIZED APPARATIIS FOR THEORETICAL SUBSTANTIATION
OF MANIPULATOR DESIGNS
; .
[Abstract of article by Korenev, G. V.]
[Text] This article reviewa the basic principles of purposeful
[tselenapravlennaya] mechanics for manipulators and techniques of using~this
knowledge for effective design of systems to coatrol the navement of manipn-
lators operating in an extreme ocean environment. The article has one illustr~-
tion for bibliographic entries.
UDC 629.127.066
BASIC ELEMENTS OF THE SOFTWARE OF AN ALGORITHNI TO CONTROL THE I~OVEMENTS OF AN
UNDERWATER CARRYING ROBOT IN A. MARINE ENVIRONMLNT STRATIFIED BY DENSITY
[Abstract of article by Chirskov, S. N.]
[Text] This article reviews the principles of formation of the file structure of
an algorithm to control the movements of undera~ater robots. tt discusses tfie
elementary command of the file to accomplish vertical mnvemeats bq an underwater
robot in a stratified environment. Tiie article has four bibliographic enEries.
UDC 629.127.066
EQUATIONS OF THE MOVII~NT OF A SOLID flODY IN A MARINE ENVIRONr'IENT STRATIFIED BY
DENSITY
[Abstract of article by Chirskov, S. N.]
[Text] This article reviews the principles of the dynamics o~ motioa by a solid
body in a stratified environment. The suthor investigates the cha.racteristic
phenomena that occur when a solid body moves in a stratified liquid. The article
has two bibliographic entries.
UDC 629.127.066
A LINEAR MODEL OF A RESTRICTED UNDERWATER APPARATUS MANIPULATOR SYSTEM
[Abstract of article by Krylov, G. K.]
[Text] This article considers an underwater apparatus, secured in a current by a
line and receiving disturbances from the work of a manipu:.ator. By analysis of
the dynamics of the apparatus a system of three scalar differential.:equations was
derived for planar disturbed motion. By excluding the binding reactio , a linear
system of two heterogeneous differeatial equations is shown, and then ttiey are
represented in generalized form. The system of equations permits study of the
_ motion of a restricted underwater apparatus. The article has one illustration
and three bibliographic entries.
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UDC 629.127.066
METHOD OF CONSTRUCTION AND STRUCT'JRE OF AUTONOMOUS SYSTEMS FOR CONTROL OF THE
MOTION OF UNDERWATER APPARATUSES
[Abstract of article by Popov, 0. S.]
[Text] Underwater apparatuses can be highly efficient only when control of their
movement is automated. The distinctive problems are tracking the bottom and hold-
ing the apparatus at an assigned depth. This article proposes a combined method
ta synthesize autonomous control systems. The method is based on combined use of
tfie techniques of optimal control and autonomous regulation.
UDC 629.127.066
PRINCIPLES OF CONSTRUCTION OF SPECIALIZED COMPUTERS FOR POSITIONAL SUPERVISORY
CONTROL OF UNDERWATER MANIPULATORS
[Abstract of article by Vereshchagin, A. F., and Minayev, L. N.]
[Text] Control of contemporary manipulating robots involves the use of new sources
of command data: coordinating handles, light pens, and displays. With tbe com-
puter they convert supervisory ir.formation into signals to control the actuating
units. This article reviews the theoretical foundation, control algorithms, and
trinciples of construction of specialized computers which perform these conver-
sions for positional (static) control systems. The job of these systems is to
switch the gripping device of the manipulator automatically. The article has
two illustrations and five bibliagraphic entries.
UDC 629.127.066
COMBINED CONTROL OF REMOTE-CONTROLLED UNDERWATER APPARATUSES SN THE DYNAMIC
POSITIONING REGIME
[Abstract of article by Lomonosov, Yu. I.]
[Text] This article is devoted to the questions of automatic stabilization of
an underwater apparatus near the work site in the presence of disturbances by
the manipulator that affect the apparatus. The author considers the possi-
bility of building devices to me~sure the disturbances created by the working
manipulator. He demonstrates the poasibility of devising a combined system to
stabilize the position of the apparatus relative to the work site when the ap-
- paratus has a device to analyze disturbing forces and moments created by the
working manipulator. The article has one illustration and two bibliographic
entries.
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UDC 6~9.127:'~b6
SOME QUESTIONS OF STUDYING SYSTII?iS TO CONTROL SECOND--GENERATION APPARATUSES AND
ROBOTS
:
[Abstract of article by Vasil'yev, V. A.)
~ [Text] This article considers characteristics of the process qf solving problems
related to devising systems to control uaderwater apparatuses and rob'ots. The
author gives a block diagram of their hierarchy and analyzes the constituent ele-
ments. This analysis makes it possible to propose regimes and methods o~ ex- .
amining an assigned region using underwater robots. The article has one illus-
tration and five bibliographic entries.
UDC 629.127.066
DETERMINATION OF THE DYNAMIC CHARACTERISTICS OF A REMOTE-CONTRO~,LED APPARATUS IN
THE STAGE OF ROUGH DESIGN
[Abstract of article by Stefanov, G. A.]
[Text] This article reviews the possibility of determining the dynamic charac-
teristics of a remote-controlled apparatus based on the ci~aracteristics of the
actuating, receiving, and transmitting devices of a television system, the per-
sistence of the operator's visual analyzer, and the xate of updating of the
information content of the television image. Based on the persistence of the
transmitting tubes, the author derives equations for maximum rates of the most
typical movement of remote-coatrolled underwater apparatuaes (forward and
rotating) around the axis of symmetry. Tt~.ese equations are recom~ended for
rough calculations when determining the maximum tolerable speeds of movement of
remote-controlled underwater apparatuses and, therefore, fo,r determining the
parameters of the propelling unit and selecting the electrical drive of the pro-
peller aggregates when studying the work regimes of remote-coatrolled underwater
apparatuses near the bottom, wl~en the operator ~.s making observations or search-
ing for an object using a television co~unications channel. The article has
three illustrations and four bibliographic entries.
UDC 629.127.066
HYDROACOUSTIC SYSTEMS OF A DEEP-WATER COMPLEX
[Abstract of article by Lomonosov, Yu. I., and Syctuev, V. A.]
[Text] This article presents a classification of the problems.solved by the
hydroacoustic systems of a deep-water complex. The authors review the systems
used to solve these problems and give their basic parameters. The article has
four bibliographic entries.
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UDC 629.127.066
SECTOR SURVEILLANCE SONAR FOR REMOTE-CONTROLLED UNDERWATER APPARATUSES
[Abstract of article by Zhavoronkov, S. V., Lomonosov, Yu. I., Rimskiy-Korsakov,
M. A., Stefanov, G. A., and Sychev, V. A.]
[Text] This article gives a description of a sector surveillance sonar unit de-
signed for use in remote controlled underwater apparatuses. The authors set forth
its operating principles and describe the interaction of the primary assemblies of
the unit. Tfie article has one illustration and two bibliographic entries.
UDC 629.127.066
THE POSSIBILITY OF USING THE STEREO METHOD FOR SURVEYING THE BOTTOM WITH A SIDE-
LOOKING SONAR
[Abstract of article by Lomonosov, Yu. I., and Sychev, V. A.]
[TextJ This article considers the possibiYities of using the stereo method to
obtain an image of the sector of the bottom being investigated with a side-
looking sonar unit. Expressions are given for determining the magnitude of
displacement beyond the topography owing to the conditions of surveying. The
authors consider two alternatives for obtaining a stereo image and analyze the
images obtained using them. The article has five illustrations and four bibli-
ographic entries.
UDC 62.52
SOME CHARACTERISTICS OF CONSTRUCTING CONTROL SYSTEMS FOR REMOTE-CONTROLLED
UNDERWATER APPARATUSES
[Abstract of article by Stefanov, G. A.]
~TextJ This article reviewa the functions of the human operator as an element
of the control system for remote-controlled underwater apparatuses, charac-
teristics of the operator, and the working conditions. Recommendations are
given for reducing the operator's workload and fatigue by means of automatic
elements and computers that make it possible to use internal potential operator
reserves to solve more complex problems that require fast, operational action.
The article has one illustration and 14 biblicgraphic entries.
UDC 62.514.5
COMMAND AND ACTUATING ELEMENTS OF SYSTEMS TO CONTROL THE MOVEMENT OF REMOTE-
CONTROLLED UNDERWATER APPARATUSES AND SOFTWARE FOR OPERATORS
[Abstract of article by Stafanov, G. A.J
[TextJ This article reviews the development of control systems depending on the
complexity of the problems which the particular remote-controlled underwater
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apparatus is to solve. The broadening range of ~o~s done by sucfi.apparatuses,
the increasing complexity of t~eir design and equipment~ and the growing number
of degrees of freedom of the apparatus and its manipulating devices fiave made it
much more difficult to control them. It is suggested that ways to increase.the
efficiencq of tfie operator's multifunctional activity should be sought not so
mucfi in improvements of data display equipment as in identifying new principles
- of control wtiich also contain new forms of information. The article considers
a fundamentally new information-controlling biotechnical system that has beea de-
veloped. This system involves creating a multistep suspension system for the
operator's console which simulates the spatial movement of the apparatus and
also has a television image. The article has 19 bibliographic entries.
UDC 629.127.066
PRINCIPLES OF CONSTRUCTION OF PASSIVE DIVING SYSTEMS FOR UNDERWATER APPARATUSES
[Ahstract of article by Smimov, A. V., and Yastrebov, V. S.j
[Text] Passive diving systems include oil-filled electrical drive systems, con-
_ trol systems, and systems for electrical power supply. This article presents
the results of the study of their characteristics under conditions of high
hydrostatic pressure and reviews the interrelationship and mutual dependence of
_ these systems and of their individual elements within a diving complex. The
authors f~rmulate 10 principles for the construction of passive diving systems.
The article has three illustrations and one bibliographic entry.
UDC 629.127.066
PRINCIPLES OF CONSTRUCTING HYDRAULIC DIVING SYSTEMS FOR UNDERWATER APPARATUSES
[Abstract of article by Smirnov, A. V., and Yastrebov, V. S.]
[Text] This article presents the results of studies of all the basic elements of
a hydraulic diving system under conditions of high hydrostatic pressure. The
mutual influence of particular elements is also investigated. As a result, the
authors propose basic principles for designing a deep-water hydraulic drive
system. The "Skat" robot, which was desigaed on the basis of a hydraulic diving
system, is given as an example. The article has three illustrations and two
bibliographic entries.
UDC 629.127.066
PHOTOGRAPHIC COMPLEXES OF UNDERWATER ROBOT-APPARATUSES AND THEIR BASIC ELEMENTS
[Abstract of article by Kalinin, Yu. S.]
[Text] This article considers the working conditions and requirement~ of photo-
graphic complexes in underwater apparatuses. The author gives diff~re.~t alter-
natives of optical systems and also a number of types of light sources and their
characteristics in a marine environment with different optical properties.
149
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- ANALY~IS OF THE CHARACTERISTICS OF THE POT~TER PLANTS Ok' UNDERWATER APPARATUSES
[Abstract of article by Gorlov, A. A., and Siminskiy, V. V.)
[Text] This article reviews the structural elements of the energy complex of an
underwater apparatus: the engine installation, the onboard energy unit, the
power supply installation, and the ship support system. The authors give a sys-
tem of equations that determine the weight and dimension characteristics of the
sources of various types of energy for the general case wfiere they are arranged
in the solid, spfierical body of an underwater apparatus. The article has two
bibliographic entries.
UDC 629.129:620:91
SOUh~ES OF ENERGY FOR DEEP-WAT~R APPARATUSES
[Abstrsct of article by Brilliantov, A. N.]
[Text] This article considers storage batteries, fuel cells, thermal energy
systems, and atomic and radioisotope energy sources. Their energy and weight-
dimension characteristics, strong and weak points, feasibility, and promise for
use as energy sources for deep-water apparatuses are compared. The article has
two illustrations and five bibliographic entries.
- UDC 629.1.075
SOME CHARACTERISTICS OF THE MOVEMENT OF A TOWED BODY
[Abstract of article by Yagodzinskiy, V. A.]
[Text) This article investigates change in the resulting hydrodynamic force oF
interaction between liquid and a body traveling close to the bottom. The author
establishes the relationship between the magnitude of the Kelvin force that
arises and the dimensions of the dome and distance from tfie ocean floor when a
carrier of scientific-technical apparatus is towed in the vertical plane. The
article has two illustrations and two bibliographic entries.
- COPYRIGHT: Izdatel'stvo "Nauka", 1980
11,176
CSO: 1863/181
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UDC G29.127.066
PRINCIPLES OF CONSTRUCTION OF SPECTALIZID COMI'UTERS FOR POSITIONAL SUYERVISORY
CONTROL OF UNDERi~ATER MANIPULATORS
Moscow ELEMENTNAYA BAZA PODVODNYI~i APPARATOV I ROBOTQV in Russian 1980
(signed to press 21 Oct 80~ pp 42-~49
[Article bp A. F. Vereshchagin and L. N. Minayev from book "Basic Elements of
Underwater Apparatus and Robots", edited bp Professor V. S. Yastrebov, doctor
of technical sciences, Izdatel~stvo "Nauka", 1000 copies, 144 pages]
[Excerpts] The developers of equipment for science and industry face important
challenges: build machines designed for full automation of production and for
work in extreme environments during the conquest of space and tE~e ocean degths.
One of tfie most important of these machines is the manipulating robot, which
reproduces and amplifies the movement capabilities of human hands and is able
to replace people in many sectors of contemporary production and to perform
mechanical work in environments which are inaccessihle to human beings.
At the present time control systems for manipulating robots are developing on
the basis of using new sources of co~nand information: coordinating handles,
light pens, displaqs, and other a~eans of dfaglog between the human being and
the robot, in addition to specialized computers, microcomputers, and mini-
computers that convert supervisory information into actuating control signals.
This article reviews the theoretical principles and algorithms of control, as
well as the principles of constructing specialized computers to perform this
conversion for positional control systems whose ~ob is to automatically switch
the gripping unit of the manipulator from anq current poaition t.o an assigned
target position taking account of basic constraints.
To obtain automatic systems that work in the supervisory mode, the practical
precision of computation does not have to be greater than 1-2 percent. Based
on these considerations, we investigated supervisorq control of a manipulating
robot with a computing unit based on the IrIId-I4 analog computer.
COPYRIGHT: Izdatel'stvo "Nauka", 1980
11,176
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AUTOMATION OF SCIENTIFIC RESEARCH
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYKH ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 146-147
[Table of contents from book "Automation of Scientific Research: Materials of the
13th School on Automation of Scientific Research, USSR Academy of Sciences", edited
by S. S. Kuznetskiy, candidate of engineering science, Institute of Physics,
Siberian Department, USSR Academy of Sciences, 500 copies, 156 pages]
[Text] Contents Page
V. Ivanov, V. V. Zel'nik, Yu. N. Barchenko and S. V. Sokolov
Use of Some Additional OS Capabilities and Organization of the Computing
Process on a Medium Model of the YeS Computers 3
G. A. Branova and Yu. Ya. Ivanov
Intermachine Data Exchange Software in Computer Complexes 9
E. V. Zinov'yev, G. A. Baranova and G. A. Brikman
Logic Interface Level in a Multimachine Complex for Automation of
Scientific Research 12
S. B. Rudnev, S. B. Khazov and D. M. Frumin
Terminal Data Processing System Based on the M-4030 Computer 16
I. M. Ivanchenko
Software for Electronic Experiments in High Energy Physics 19
A. A. Akhrem, I. A. Mikhaylopulo and A. S. Fridman
Complex of Programs for Full Conformational Analysis of Nucleosides and
Nucleotides 25
N. N. Govorun and N. D. Dikusar
Software for a System of Measurements and Automatic Processing of Images
on Photographs from a Magnetic Spark Spectrometer 33
V. V. Vitkovskiy and V. N. Mansurov
Structural Algorithmic Model of the Ratan-600 Collective-Use System 37
V. D. Mayboroda, Ye. P. Petryayev
Complex of Programs and Algorithms for Mathematical Modeling of
Radiation-Chemical Processes 44
L. G. Brazhnik, D. K. Buslov and R. G. Zhbankov
Some Possibilities of Computer Application in Infrared Spectroscopy 48
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B. I. Borde
Optimization of Distributed Subsystems for Conversion and
Processing of Signals 56
V. L. Kuznetsov
Modification of Algorithms for Syntactic Analysis for LR (0) Class Grammars 63
- Ye. D. Bulatov, A. A. Danilenko, Ye. A. Otlivanchik, M. A. Otlivanchik and
I. N. Sisakyan. Automation of Experiments in a Phqsics Institute 67
T. A. Zakirov and A. Nazirov
The "Elektronika K-200" Process Control Computer as a Dispatcher for a
Unified Bus Exchange System to Automate Experiments on Emission Electronics 75
V. V. Belosh, V. V. Grechnev and V. A. Putilov
Use of the "Elektronika SS-11" in CAMAC Systems 83
V. V. Belosh, V. V. Grechnev and V. A. Putilov
A CAMAC Module for Control of Step Motors 87
Yu. I. Protasov, V. I. Shishlov and N. Ye. Yakolev
Architecture of Hardware and Software of an Information Computing Complex
for Research on Laser Spectroscopy 91
V. M. Zavadskiy
Multiplexor Distributed System of Automation (SAM[1R) Based on Data
Transmission 100
Ya. Ya. Tomsons
Inverse Problems of Spectral Analysis of Stationary Bandom Processes 108
B. N. Borzenko, V. G. Gasenko, V. M. Gorbachev, N. A. Medvedkin,
E. L. Nekhanevich and Ya. Ya. Tomsons
Bilevel System of Automation of a Thermal Experiment 117
A. I. Petrenko, V. K. Yermolayev, Yu. P. Medvedev, Yu. S. Sinekop,
A. P. Kots and Yu. V. Logvinov
Microelectronic Production Monitoring and Control System 121
G. P. Aparin and V. N. Samuylova
Automated Subsystem for Computer Input of Complex Forms of Graphic Data 130
V. A. Mel'nikov
System for Automation of Structural Research of Crystals 137
COPYRIGHT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
8545
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UDC 681.326
USE OF SOME ADDITIONAL OS CAPABILITIES AND ORGANIZATION OF THE COMPUTING PROCESS
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYIQi ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 3-9
_ [Article by V. V. Ivanov, V. V. Zel'nik, Yu. N. Barchenko and S. V. Sokolov, from
book "Automation of Scientific Research: Materials of the 13th School on AuComation
of Scientific Research, USSR Academy of Sciences", edited by S. S. Kuznetskiy, can-
didate of engineering science, Institute of Physics, Siberian Department, USSR
Academy of Sciences, 500 copies, 156 pagesJ
[~'eat] This report is aimed at describing usable additio;nal components of an opera-
~-~ng system [OS] and some aspects of organization of the computing process that we
'~elieve are of interest to other YeS computer users too.
We have the medium YeS computer model, the YeS-1030, with a small amount of main
storage (256K bytes), but are rather well equipped with disk storage (four 7.25M-
byte disk storage units and six 29M-byte units). We have a YeS-7906 unit with five
YeS-7066 terminals and the standard set of the other devices. The computer operates
under the control of OS version 4.1, generated by us, in the MFT mode. Batch pro-
cessing is actively used, but the computer is also used in the interactive mode for
a considerable portion of the time (YeS-7066's are used as terminals). About 60 to
- 80 jobs with an average length of 7 to 10 minutes each are processed daily through
the computer.
General Organization and File Management
We believe computer efficiency should be increased through maximum utilization of
batched processing along with interactive facilities. The presence of several OS
versions and the difficulties in managing user disk files are the main organizational
barriers to introducing both efficient batched processing and the interactive mode.
The situation of having several incompatible versions of operating systems, both OS
and DOS, is very widespread in the computing centers. In such cases, usually almost
every user has his own resident volumes mounted before starting his work. And
actually, operation with a third-generation computer differs little from operating
behind the console of a second-generation computer of the M-20 type with the corres-
ponding level of efficiency.
In our computing center, all user programs operate under the control of just OS ver-
sion 4.1. The exception is a small group of users who operate with DOS for about
one hour a day.
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The availability of one main OS version is a necessary, but sufficient condition
when organizing batched processing or combining it with interactive systems in the
time-sharing mode. Just as important, though as a rule an aspect getting less atten-
tion, is the method of managing user data sets on disks (jobs using tape storage
are usually encountered more rarely).
Similar to the situation with OS versions, the two extreme strategies for operating
with files, being used in practice when the system is organized, are:
a-- the user has one or more personal volumes mounted before starting his work; or
b-- all user files are located on permanently mounted general-purpose volumes, and
in some systems, the user as a matter of principle may not even know which volume
holds his information.
Strategy "a" in essence has one positive aspect--a minimum of organizational efforts.
A consequence of implementing it is the necessity of breakdown in batched processing,
to say nothing of more complicated modes. And it is understandable why this is so:
only several disk volumes may be mounted simultaneously, and therefore the job for
each successive user leads to the need of mounting a new volume.
Using for all (or almost all) jobs fixed, mounted general-purpose disk volumes allows
- a large number of jobs to be processed with no conflict between them due to external
storage. In the process, both for the programmer and the nonprogrammer-user, the
system appears simpler, since it is easier for them to manage their files and the
system is always ready for expeditious maintenance, etc.
From the viewpoint of the system, this approach simplifies the process of storing
information, eases the work of operators be keeping volume mounting and dismounting
to a minimum, and simplifies organization of the computing process; but the main
thing is that throughput is increased.
In organizing operations in our computer center, we tried to follow strategy "b."
Almost all volumes needed to operate the computing system are permanently mounted.
External storage is distributed the following way: two resident volumes (25M bytes)
and ~ne volume for storage of about 10 application program packages (PNP PL/1, OKA,
SSN etc.), and some PNP's are located on resident volumes. Remaining storag~e is
allocated for common disk volumes and when required--for personal. To prevent over-
flow, unneeded data sets are systematically removed. Every week the general-purpose
volume is dumped to magnetic tape, which is used to restore the contents of the
erased pack when required.
Components of the Operating System and Distribution of Main Storage
Since spring of 1978, the computer has been operating under OS version 4.1 with a
fixed range of 86K. A number of additional capabilities have been realized, in par-
ticular a composite console that allows initiaring OS now within 1.5 to 2 minutes
with p/k [punched cards]. Included in OS are the subsystem for planning, KROS, the
SUBD [data base management system = DBMS] "OKA" and a number of other c,ponents
which we ~ill cover later.
A substantial part of the job stream in our computer center consists of debugging
- problems and problems involving little calculating time. To select the most
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efficient operating mode, we made a number of tests with the same batch of short
jobs. It turned out that shifting from operating in one partition to simultaneous
computing in two partitions increased throughput 20 percent. And using KROS leads
to a 30 to 40 percent increase in throughput.
We use mainly PL/1 and Fortran which also determines the size of the partitions for
computing. The standard Fortran compiler needs 80K, and the PL/1 at least 44K.
Several test jobs showed that when the partition size was increased from 50-60 to
80K, compilation time for a 200-card PL/1 program was cut in half. But further in-
crease of the partition produced no noticeable speedup in compilation. Usually, at
least 60-80K of main storage is needed in the execution step with PL/1. For these
reasons, we use at least 80K partitions for compilation and execution. An addition-
al 50K partition is needed for KROS. For these reasons, in the batch processing
mode, using KROS and one 120K partition is preferable to operating with two 80-90K
partitions without the KROS subsystem.
In addition to raising throughput, KROS considerably simplifies management of the
system through automation of some operator functions. In particular, KROS plans and
starts system input programs, system output programs and initiators. KROS provides
the convenience of system restart in event of failure. The functional checkpoint
program periodically stores all the information needed for restart in KROS internal
storage and the input job batch is preserved and does not require reinput.
_here are additional operator commands in KROS facilities to control devices; he
nas the capability to reset, to duplicate, to cancel and delay printing and to con-
trol the nwnber of skips between pages.
FCROS allows the programmer to determine the number of printout copies needed.
Software for Interactive Modes
The YeS-7066 displays are used actively in the computer center. To operate them, we
use a substantial complex of both standard YeS OS software and that which we deve-
lop~d in-house.
T'r~e five YeS-7066 displays are positioned as follows. One sits next to the computer
control console and is used as a console display. The other four have been installed
in the work areas in three different offices about 50 to 100 meters away from the
computer.
k'hen we generated OS 4.1, we included in the operating system the mode that supports
_ operation of the YeS-7906 complex and the conversational remote job entry (DUVZ)
system ~CRJEJ. To operate the CRJE system with the YeS-7096 complex, the modules
- supporting the AP-70 were replaced by those that support the YeS-709b operation.
Including CRJE in the OS gave the users a convenient means of preparing, editing and
inputting jobs from a terminal for computer execution. Results may be output
directly to the terminal or on the ATsPU [printer].
When the CRJE system is used, main s~orage is allocated as follows: 86K for the
.-.-~xed region, 80K to partition 1 for operation of CRJE proper, and 90K to partition
2 for job starting.
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The CRJE partition size is the minimum for realizatior_ of the main CRJE capabilities
and supporting the operation of three displays. Unfortunatelt, as we mentioned
earlier, we need at least an 80K partition for job starting. Therefore, we had to
forego a very useful CRJE capability--the facilities for line-by-line operator con-
trol of PL/1 and Fortran syntax in the interactive mode. (Syntax control facilities
require at least another 20K of storage for partition 1 with CRJE.)
Partition 2 is used mainly for ~t~rting jobs initiated by using the CRJE system.
As a rule, the programmers editing and starting programs from the three terminals do
not fully load partition 2. In prin~iple, it could be used for running through 3obs
from p/k [punchcards] and terminal jobs, but this would require more operator
intervention to:
query the status of partition 2;
if this partition is free, then start the system p/k [card] input program in
this partition; and
upon completion of the job input, cancel the system input program to free the
partition for CRJE system jobs.
To raise overall system efficiency, only two hours are allotted daily now for CRJE
- operation.
Despite the shortcomings and operating difficulties caused by insufficient OP [main
storage], the CRJE system is very popular with our computer center users.
For handling jobs that do not involve editing and job input, for example, develop-
ment of application interactive systems, CRJE is not very advantageous. Very useful
in this case are the facilities that expand the programming languages through inclu-
sion of statements supporting message exchange with terminals. For this purpose,
we have modules, developed in-house, written in Assembler that support communication
from PL/1 with the YeS-7906 displays. The modules are called in as subroutines by
using the standsrd CALL statement. These facilities have proved very convenient
because of their extreme simplicity and compactness. They have been used to write
several interactive subsystems of an ASU [automated management system], in particu-
lar a small information retrieval system to manage office paperwork. The system is
designed to operate exclusively in the interactive mode. All input of information,
editing and removal of data is handled only from the display. Retrieval and proces-
sing of information is handled from the same display using the commands of the
special language. Retrieval or processing results are output to the display or
printer. An 86K partition is required to operate the system.
The system is now in use on a trial basis. An 86R partition and four hours of ma-
chine time are allocated daily for operation of this system. Parallel with opera-
tion of this system, jobs are processed in the batch mode in the second partition
with a size of 84K.
Collection of Statistics
Collection of statistics has been organized to obtain a precise descript~~n of the
computing process and status of the hardware. Included in OS during generation for
this purpose is the mode for recording machine errors and collection of statistics
by the system monitor program (SMF).
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Analysis of the statistics obtained on device malfunctions permits anticipating
equipment failures and maintaining more stable hardware operation.
The automated statistic collection system for jobs processed with YeS OS on the YeS
computer was developed in-house and had been operating since the second half of 1978.
, System programs were written in PL/1 and allow processing files obtained by using
the SMP. The system operates like this. The names of all jobs put through the sys-
tem must be recorded in a special index-sequential file-directory, where for each
job, the programmer, subject, office, etc. are indicated. In a second file, a sum-
mary file also organized index-seqsentially for each name of a job passing through
the system, the following information is gathered: how many times the job has been
run, total central processor time used by the job, number of abnormal job ends,
number of cards put in by the job, etc. The summary file is supplemented with
processing of records formed by the SMP. The summary file is processed monthly and
summary data is output by each programmer, office, subject, etc.
COPYRIGHT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
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UDC 6&1.326
INTERMACHINE DATA EXCHANGE S0~'PWARE IN COMPUTER COMPLERES
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYKH ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 9-12
[Article by G. A. Baranova and Yu. Ya. Ivanov, from book "Automation of Scientific
Research: Materials of the 13th School on Automation of Scientific Research, USSR
Academy of Sciences", edited by S. S. Kuznetskiy, candidate of engineering science,
Institute of Physics, Siberian Department, U:iSR Academy of Sciences, 500 copies,
156 pages] ~
[Text] For exchange of data between computers making up a complex, hardware that
differs from the nomenclature of devices supported by the YeS OS operating sqstem
(OS) is often used. In the experimental computer system (EVS) of the Latvian SSR
Academy of Sciences, this device is a channel-to-channel adapter (AI~). To support
the capability of data exchange through the channel-to-channel adapter at the level
of user programs executing in the YeS OS environment, the systems method of access
(SI~ID) [SMA] was developed at the IEVT [Institute of Electronics and Computer Tech-
nology] of the Latvian SSR Academy of Sciences.
The SMA is a basic method of access permitting the user to operate with an input-
output device (channel-to-channel adapter) at a logical level, which does not re-
quire knowledge of the physical features of the device and details of programming on
the physical level. But, as required by a basic access method, the functions of
record blocking, bufferization of data and synchronization of events are the user's
responsibility. At the same time, the SMA realizes certain functions of a higher
level, which is determined by the assignment of the adapter as a computer complexing
device. Thus, for example, the SMA effects time monitoring of input-output opera-
tions so that they do not get "hung up" in the device.
The physical level of operation with the device is handled by the real-time super-
visor (SRV) [RTS], which is used as a means of complexing during operation with the
adapter. The SMA includes a set of macroinstructions, the macro definitions of
which are stored in one of the system libraries, an access method module, loadable
into the user's main storage, and the real-time supervisor as the basic means of com-
plexing. Thus, the YeS OS version, the problems of which use the SMA, m~ist include
in one of the libraries the generated version of the RTS loadable into main storage
as a user program and taking up from 16 to 30K.
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The real-time supervisor is a package of application programs offering the user the
following services for operation with nonstandard input-output devices:
a means of expeditious operation with the input-output [IO] devices at the level
of execution of channel programs written by the user;
_ a means of assigning user programs for expeditious processing of IO device
interrupts;
a means of assigning user programs for expeditious processing of interrupts
occurring upon expiration of specified time intervals;
a means of multiprcgram data processing with use of the most efficient disci-
plines for program dispatching for real-time (RV) systems;
presentation to user programs in the real-time m~de of a higher, relative to the
~ YPS OS, priority for use of the central processor and IO channels;
providing a high degree of interruptibility of the YeS OS operating system with
regard to IO devices and external interrupts serviced in tl~e real-time mode; and
a means of user program communication, executing in the real-time mode, with the
computer operator.
The SMA macro definition library contains a group of macroinstructions for opening
and closing data sets, -l.nitiating IO definitions and the basic method of processing
"attention" signals.
The access method module is located in the system link library and takes up to 4K of
storage. When the appropriate macroinstruction is issued by the SMA for opening a
data set, the module is loaded into the user partition, receives control and initi-
~~lizes itself in RTS, thereby forming an interface between the user and RTS and ob-
taing the right to burst mode operation with the IO device. From this time on, the
user may use all SMA services, but the user program is actually broken into two in-
dependent parts, one of which uses the services of YeS OS, and the other--SMA.
This situation is illustrated by the figure.
Key:
l. YeS OS (1) ~ ~
2. R- user program part~tion "~p ,,~,~,~,~a
j~ n
IIOAbJO~IT~N
3. user program
4. OS services ~''�r~"""' y~'''") �C
IIO11~70MTA�
5. services of systems method of
access ~ ~Yc~yn c~~n ~
6. Rt - real-time supervisor g� _ r,,,.,~( ~ ~
partition ~ ISAMIOCR ~P~O~~ ~
7. real-time supervisor ~ _ _ _ _ .J
The access method module has several
entry points to which control is passed
when IO macroinstructions are executed,
when adapter interrupts occur and when interrupts occur from the timer monitoring
execution of IO operations.
The universality of the SMA and the efficiency of the facilities provided by it are
achieved thanks ~:o the availability of ineans of generation. The generation facili- ~
= ties allow obtaining specific versions of the SMA taking into account the hardware
confi~uration used. The SMA generation facilities permit adjusting the SMA for
operation in the system of the corresponding configuration.
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The systems method of access is basic, meets the principle of modularity~and allaws
expansion of capabilities. `The available versions of the SMA allor~ processing of
attention signals both in the real-time mode and with use of the asynchronous
planning facilities in YeS OS.
Compared to the existing software for comp~exing facilities in YeS OS, SMA provides
greater flexibility and adaptation to the various protocols for computer inter-
action. The value of SMA is the realization of it as a package of application pro-
grams, which allo~rs use of it in any version of YeS OS without regeneration. The
relatively small size and capabil.ity for release of storage taken up by the SMA
when the computer system operation ends give the SMA an advantage over standard
complexing facilities and permit switching from one operating mode to another
without overloading the system.
The SMA is a convenient means for realization on its basis of programs to control a
network and of transport stations.
COPYRIGHT: Institut fiziki SO AN SSSR, Rrasaoyarsk, 1980
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UDC 681.326
STZUCTURAL ALGORITHMIC MODEL OF THE RATAN-600 COLLECTIVE-USE SYSTEM
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYKH ISSLIDOVANIY in Russian I980 (sign~d to press
21 Sep 80) pp 37-38
[Article by V. V. Vitkovskiy and V. N. Mansurov, from book "Automation of Scien-
tific Research: Materials of the 13th School on Automation of Scientific Research,
USSR Academy of Sciences", edited by S. S. Kuznetskiy, candidate of engineering
science, Institute of Physics, Siberian Department, USSR Academy of Sciences, 500
copies 156 pages]
~Excerpt] In developing large systems for automation of scientific research at
major experimental complexes, and especially systems for collective use of these
complexes, the structure and functions of the future system are as a rule not de-
scribed in detail or exhaustively in the technical specifications and draft plan.
These systems are generally built by the evolutionary model method [1], wherein the
latest model takes into account not only the internal deficiencies of the previous
one, but also the change in the experimental situation (statements of the problems,
~ methods, apparatus, etc.). To avoid radical alteration of the entire system at each
stage, the systems are buil~ by the building block principle; however, reprogramming
~ ~~f' individual blocks or developing new ones remains an extremely labor-intensive
task requiring the enlistment of a collective of professional programmers.
The method used in developing tl~e system for collective use (SKP) of the RATAN-600
complex consists in creating an initial model capable of learning and evolution
(including self-change and adaptation to external conditions). In doing so, only
some base of the system is programmed; all remaining work on reprogramming and pro-
gramming is performed by the system i,tself in the process of learning and function-
ing. The system "teachers" are the users who must gain a good understanding of the
statement of their problems and may not have any idea of programming in general and �
the system structure in particular. In other words, system programming is done in
the "language of the problem." The most important feature here is discarding a
rigid algorithmic description of the system and shifting from algorithms of function-
ing to the p~ocesses of functioning and development.
Realization of the method is based on a number of theoretical studies: introduction
and study of "szlf-changing" algorithms, consideration of the process as the general-
iza*_ion of the algorithm, development of inethods of inetalinguistic programming
(:~IIJP), development of structures and methods for constructing linguistic models (LM)
and formalization of the concepts of learning and development.
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The model for the RATAN-600 collective-use system consists of quasi-autonomous sub-
systems constructed according to the overall initial algorithmic scheme. For each
subsystem, an initial model of the world (MM) is built which is supplemented and.
changed in the process of learning and operation. Each subsystem may be considered
a system of artificial intelligence (II) oriented to operation with its own world
model. Intercourse between the subsystems is carried out in the form of question-
answer or assignment-report in a"quasi-natural" langnage that the operator and sys-
tems engineer can understand without directories and dictionaries. In the process,
any subsystem may be the initiator of the intercourse. The prototype of the inter-
nal system dialog may be the dialog in the DILOS system [2]. A special role in the
model is played by the "Coordinator" subsystem that organizes joint operation of
all'subsystems and maintains a dialog with the system operator, users and service
personnel in a natural language with a restricted subject field (multilanguage
dialog is possible).
The RATAN-600 collective-use system is based on a multimachine complex with a tri-
level hierarchical structure. The subsystems are realized either with individual
computers or as programs executing in their awri program partitions in the time
slicing mode.
COPYRIGHT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
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UDC 681.323
'Ei,EKTRONIKA K-200' PKOCESS CONTROL COMPUTER AS A DISPATCHER FOR A UNIFIED BUS
EXCHANGE SYSTEM TO AUTOMATE EXPERZ~NTS ON EMISSION ELECTRONICS
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYI~i ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 75-76, 81-82
[Article by T. A. Zakirov and A. Nazirov, from book "Automation of Sc~_entific Re-
search: Materials of the 13th School on Automation of Scientific Research, USSR
Academy of Sciences", edited by S. S. Kuznetskiy, candidate of engineering science,
Institute of Physics, Siberian Department, USSR Academy of Sciences, 500 copies,
156 pages]
[Excerpts] In conducting experiments on emission electronics, the values of the
~actors of secondary emission are usually determined, as well as their dependencies
on mass, energyy ionization potential, angle of incidence of primary particles, on
the nature and state of the surface, and on the temperature of the target. The com-
position, charge state, and angular and energy distribution of the stream of second-
ary particles are studied as well. In estimating the number of ineasurem~nts for the
study of just the basic parameters of secondary emission at about 1020 and the num-
ber of operations that a researcher may perform "manually" as about 1010, one can
see that there are just not enough people. This inconsistency is now resolved by
liu,iting the number of objects subjected to research, the number of parameters
studied and by speeding up the operation of the experiment. Automation is one way
to intensify the research.
A considerable part of the early work, in which secondary emission with a target
was studied, was done on tazgets noc pure, but covered with adsorbed films of vary-
ing nature, composition and thickness and accordingly of varying properties. There-
f.ore, it is very important to bring out the nature of the effect of the films them-
selves on the secondary emission properties of solids and the conditions under
which this effect may be disregarded. Experiments [1] shaw that for the study of
pure sur�aces, the experiemnt has to be performed in a time less than the time of
emergence of the adsorbed films from the atoms of the residual gas and the primary
beam proper of the bombarding particles.
To solve this problem and many others, an oscillographic method of ineasurements
that is an importaz:t step in automating the experiment was developed at the Insti-
tute of Electronics of the UzSSR F.^ademy of Sciences. The method of double modula-
tion was proposed to develop the oscillographic method [1]. But this method too is
incapable in the complex of resolving questions such as precision, rate, reliabili-
ty and the capability of expeditiously intervening in the course of the experiment
- which may be solved b,~ introducing a computer into the experiment.
16?~
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Since all experimental facilities for studying emission phenomena have the vacuum
instrument as the basis, the preparatory part of the experiment takes up consider-
ably more time than the measurements proper. Therefore, to raise the efficiency of
- computer operation, it has to be used in the time sharing mode, i.e. used by many
users. Statistical analysis of a number of experimental facilities has sliawn that
the law of distribution of time of readiness of the facility for the experiment is
most accurately approximated by the normal law. Based on a given probability of
failure satisfying the experimenters and considering the capabilities of the �
"Elektronika K-200" UVM [process control computer], we developed a structural
scheme for the system of automation that combines 15 facilities.
In connection with the need for larger main storage for mathematical proce8sing, in- ~
cluding interpretation of results, at the UzSSR Academy of Sciences' Institute of
Electronics imeni U. A. Afimov, which has the YeS-1022 computer in addition to the
"Elektronika K-200" process control computer, the problem arose of effecting commun-
ication between these machines.
Key:
1. YeS-1022
2. Elektronika K-200 ~ (la ~ ~ne;~~~~e
F~1 22 K-200
3. Adapter ~ ~
4. AK [channel adapterJ ~ ~ ~-T---~
5. Controller ~
6. Storage ~ s
Y ~
Figure 2 shows the structural diagram of ~ Y
the system. In this system, the YeS-1022 (3)(4) (5)
acts as a subscriber to the unified bus
exchange system, while the "Elektronika 3Y ~
- K-200" process control computer is the
dispatcher, indicating the direction of
the exchange of information between the
two computers. Information from the Fig. 2.
experimental facilities goes into the
process control computer, undergoes primary processing and then, ~ahen necessary, is
sent to the YeS-1022 computer.
Facilities needing access to one or the other computer may be equipped ~ith the
appropriate adapters and subscriber controllers. Then these facilities will be
subscribers to the UMSO [unified bus exchange sqstem] which will allow them to ex-
change data with each other.
COPYRIGHT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
8545 �
CSO: 1863/183
165
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UDC 681.323
USI: OF 'ELEKTRONIKA SS-11' MICROCOMPUTER IN CAMAC SYSTEMS
' Krasnoyarsk AVTOMATIZATSIYA NAUCHNYICH ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 83-87
[Article by V. V. Belosh, V. V. Grechnev and V. A. Putilov, from book "Automation
of Scientific Research: Materials of the 13th School on Automation of Scientific
Research, USSR Academy of Sciences", edited by S. S. Kuznetskiy, candidate of engi-
neering science, Institute of Physics, Siberian Department, USSR Academy of Sciences,
500 copies, 156 pages]
~Text] In devel.oping systems to automate physical experiments, the following prob-
l.ems have to be solved:
acquisition of information;
monitoring the functioning of the v2rious systems;
control of the systems participating in the experiment;
expeditious display of results of observations;
real-time information processing; and
information transmission over communication lines.
As a rule, the complex for automation must provide simultaneous solution of the
problems posed. These and many other reasons have led to the development of multi-
machine measuring computer systems using the program-controlled structure of KAMAK
(computer automated measurement and control systems = CAMAC] [1].
[dith the emergence of microcomputers built with LSI circuits, possibilities have
been opened for successful use of them in various complexes to automate scientific
research. The "Elektronika SS-11" belongs to this class of computers [2]. This
microcomputer has the microprogram principle of control. Main storage size is 128
16-bit words with the capability of expanding to 32K words. Access time from main
storage is no more than 2.5 microseconds. The processor performs operations on
bytes and 16-bit words, and the time for a short operation is on the order of 150
microseconds. For microcomputer communication with external devices, there are:
four 8-bit digital inputs; and
four 8-bit digital outputs.
Relatively low speed limits the possibility of using the microcomputer to control
CAI~IAC crate~. However, the "Elektronika 55-11" may be successfully used as a con-
troller of "slow" peripherals. I.n doing so, main storage size has to be increased.
The microcomputer main storage may be expanded by adding a standard CAMAC module,
access to which is available from both the microcomputer side and the dataway si_de.
Ttius, the microcomputer communicates with the crate dataway through its main storage.
166
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Key:
1. address counter ~1) 2
2. main storage of 12 c..*~~ 12 oar
- 4096 x 18 with "w"� 12 �ose"lg le
~o
refresh circuit ia a~~�M�w_ .
3. data register
4. from the CAMAC ~ ie .
P~r~otp ia
dataway ,,,,,,,,,u ,
5. command decoder
6. control unit ~4~ ~ (6)
7. control signals : ~7) '
8. to the dataway ~ ' *on Y�'�0'' ~ (8)
9. service register S s ~a.~, C
10. interrupt request ~ o
11. main storage ~ ~
request
qr~crp
12. exchange register
13. from the SS-11 a~~ is ~ ie
computer ~li~ . . le oa.....
14. address bus ~ �0Y
15. address register ,
16. bus shapers ~ ~ P�n~
17. data bus '�P'�' "'D"'
18. interrupt ~13~ ' w.,~~.
19. to computer ~ `~�P"'~ '
M7'~A .
w�~17~.~u� . 18 ~ ~ ~(19)
~
Fig. 1. Structural diagram of ma.in storage expansion
module
The main storage expansion module consists of (fig. 1.):
main storage with 4K 18-bit words with refresh circuit;
address counter and data register for access to main storage from dataway;
address register and exchange register (with bus shapers) for access to ma.in
storage through the two way bus from the microcomputer;
command decoder and service register for communica~ion with crate dataway; and
control unit for sqnchronization of main storage during access from both the
microcomputer and the dataway.
The module has the following list.of co~ands:
A(1) F(16) -~rite storage cell addresses;
A(0) F(16) - Frrite data in storage cell at specified address;
A(0) F(0) - read data from storage;
A(9) F(19) - selective setting of bits of service register;
A(9) F(23) - selective clearing of service register bits;
A(9) F(1) - read service register
A(0) F(8) - check request; and
A(0) F (25) - start microcomputer.
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, Key:
1. computer ' `
2. controller aeM Ka�po,~n.P Me3c,9.,v
3. CAIrIAC dataway I KAMAK
_ 4. microcomputer main storage
expansion module M,Qy,o ~n
5. "Elektronika S5-11" v~~~. o3r
microcomputer .+.~vo_aarH ~
6. peripheral ~
_ 7. peripheral interface module ~
~
5 ~
Assignment of service register bits: M~~po-38M
Z- exchange of files (mode of a"�"p�"��
~ cs- ii�
scanning of addresses) ; ~__~J ; .
9- request from microcomputer; i '
13 - permission to issue request; and ~
17 - masked request. 6 7
A11aUMN MOqrn� COi1PA- ~
yCYpO~ MYMH/ iMMU
With the main storage expansion module, ~�o ~a ,~,mp~,a.
the "Elektronika S5-11" may be used to
cont~ol low-grade computer peripherals or
to organize data transmission between
remote machines over communication lines.
Tne version of using the microcomputer Fig. 2. Use of the "Elektronika SS-11"
in CAMAC systems is shown in fig. 2. microcomputer as a peripheral
A simple interface module that is controller
connected to the digital i.nputs and
outputs of the microcomputer is
required for peripheral control. The peripheral control program is entered into
mair. storage through the crate dataway from the central machine. A peripheral con-
troller using the "Elektronika S5-11" microcomputer provides flexibility of control:
changing the interface module and control program suffices for connection of any
device.
Using the microcomputer main storage expansion module with program access from the
central computer is a universal solution and allows satisfying various requirements,
that arise in the process of building systems to automate scientific research.
BIBLIOGRAPIiY
1. Vinogra3ov, V. I., "Diskretnyye informatsionnyye sistemy v nauchnykh
issledovaniyakh (Programmno-upravlyayemyye modul'nyye struktury)" jDiscrete
Information Systems in Scientific Research (Program Controlled Modular Struc-
tures)], Moscow, Atomizdat, 1976.
2. "The 'Elektronika S5-11' Microc~mputer," Technical Description IUZ.035.253 T0,
1976.
COPYRIGHT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
8545
CSO: 18b3~183
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UDC 681.325
CAMAC MODULE FOR CONTROL OF STEP MOTORS
v Krasnoyarsk AVTOMATIZATSIYA NAUCfIIVYKEi ISSLIDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 87-91
[Article by V. V. Belosh, V. V. Grechnev and V. A. Putilov, from book "Automation
- of Scientific Research: Materials of the 13th School on Automat3,on of Scientific
Research, USSR Academy of Sciences", edited by S. S. Kuznetskiy, candidate of engi-
neering science, Institute of Physics, Siberian department, USSR Academy of
Sciences, 500 copies 156 pages]
[Text] A module has been developed to control the antennas of the Siberian solar
radio telescope (SSRT) that is now under construction [lJ. The radio telescope is
intended for study of solar radio images in the centimeter band and is a
256-antenna interferometer. The antennas are controlled with a servo tracking sys-
tem [2]. System actuating elements are ShDM-7F step motors. The group principle
is used to organize tracking: the sqstem contains 16 units of the same type to
control groups of 16 antennas. Each unit consists of a module to cont,rol (MU) the
step motors and power amplifiers loaded directly to the motors of the 16 antennas.
The control module is installed ~n a crate connected through a serial branch to the
central computer, and is connected to the 16 power amplifier modules.
The control module maintains independent control in two coordinates .(hour angle and
declination) of arbitrarily selected antenna groups A and B at four different rates
in forGrard and reverse directions. These capabilities fully meet the requirements
laid on the system for tracking in the various modes of antenna movement (regular
tracking mode, stop, run, internal group phasing). The control modu~.e receives
signals from limit switches (KV) installed in each antenna for the t~ro coordinates
to fix its boundary (extreme) positions. When the limit switches.are tri
motor operating mode is changed (for example, the corresponding motors arePsto
or rotated in the opposite direction). pped
The module is built on the base of the series R589 microprocessor.set using series
K155 [3] and is a microprogrammable automaton without OZiT�Emain storage]. All
modes are supported by microprograms in the read-only memory. Microprogram calls
for the mode needed are made by its initial address (number) that is inptit through
the crate dataway. The algorithm for the microprogram for the general mo4e is
shown in fig. 1 and the module flowchart in fig. 2.
169
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. (1)
~ R,w
~ 2~ M~n?rmn~ooy OG , ~ 3~ M~runnneacvp ~
or KBS P~n
~4~ ~re ~w~~P (1Ke~
aaroeeiac L1R3d llI13d ~f13~ llf13 ~ coMnasaa
unmos~rwl / Q A , e suumi~�1w1
(12) ~ (13) (14) (15)
.~bow
rp.,= P~~'cry . ^~Pa~.Rv P~+-ro,y d`
�vpx-r~ Psme~ua ~aiGop~ ?uamca
(16) ~ (17) (18) ' (19
P.rxtp .a...p. E"O~ ~
~ n..urti cepeacoa
+~~Y~~+~ ~ v.apnoporpa~u P~'~TP
~ ~ Z O~ M.r'aciS++~ K A M A K
Fig, l. Structure of the module that controls the step motors
Key:
1, to power amplifier 10. register ~ for limit switches
2. multiplexor e~ 11. from RV jlimit switchesJ
3. multiplexor 6' 12. register d for mode selectinu
4. from xv fii~~t switches] d 13. register for rate
5. register ot for limit switches 14. register for direction
6. TsPEd?A [processor elements] 15. register d'for mode selection
7. TsPEot [processor elements] 16. microprogram number register
B 17. microprogram control unit
8. TsPE $ A[processor elementsj 18. microprogram memory
- 9. TsPE6' jprocessor elements] 19. service register
B 20. CAMAC dataway
During operation of the microprogram, its initial address (number) is loaded into
tne microprogram control unit (BMU) with the frequency specified by the highly
stable crystal oscillator (64 Hz). The microprogram control unit controls the
fetching of microcommands from the PZU [ROM] of the microprograms with a capacity
of 256 x 24 bits. The motor control codes are shaped by four processor elements
(TsPE), each of which supports one of the modes in one coordinate. mhe initial

~ data is enterec~ into the processor elements from the 16-bit rate register and the
8-bit direction register, to urhich access is available from the crate dataway.
Modes are specified by the mode selection registers for each coordinate. The con-
tents of these registers are subject to conjunction with the position codes of the
status of the limit switches contained in the corresponding 16-bit registers.
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Key: 1 .
1. start l n r c x
2. SChT [counter] = 0
3. no
4. yes ~3~
5. 12 microinstructions cwr-o
6. :ate code input to counter ~5) ~
7. new control code generation 1~ o (4)
8. counter = counter - 1 ~6 e~osCyT
9. control code input to
multiplexor ~~~P~`TM
10. stop
~ 11. Total: 48 microinstructions ro~.~.
1S - � - Moeoro Row
y11~67MNNA
Using the multiplexor, the motor control
codes generated by the processor elements
are issued to the corresponding antenna s-�- c~r - cv~r _ i
stations. The multiplexor is made up of ~
output registers, a decoder and circuits . ~5 ~�~.eso,,,�,,,,~`~
for mode switching, made as multiphase 18 ~~**n^~~~
AND circuits. ,
N~ll~a 10
The availability of the service register o c T k x o a
allor~s modification of the modes without '8
the use of special microprograms.
Realized in addition are:
transfer of all motors of the Fig. 2. Structure of algorithm for micro-
selected coordinate to mode A program for general mode
(i.e. masking of the corresponding
register for limiting s~ritches);
transfer of all motors of the selected coordinate to mode B; and
disabling write to the selected register for the limiting s~ritches.
- The module includes a generator that specifies the synchroservos needed for opera-
tion of the control module and synchronization of antenna movement.
The control module has an internal common bus through which data is exchanged
between thk inidiwdal elements of the module. This bus has an outlet to the buses
for reading the crate.
This structure supports high reliability and flexibility of control. The function-
al capabilities of the module allo~ use of it in various control systems that make
use of step drive.
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BIBLIOGRAPh'Y
1. Gel'freykh, G. B.; Korol'kov, D. V.: Smol'kov, G. Ya. and Treslcov, T. A.,
"K voprosu o sozdanii radiogeliografa s vysokoy razreshayushchey sposobnost'yu.
- Rezul'taty nablyudeniy i issledovaniy v period MGSS" [Problem of Creating a
Radioheliograph with High Resolvi.ng Capability: Results of Observations and
Research during the International Year of the Quiet Sun], Moscow, Nauka, No 4,
1967.
2. Belosh, V. V.; Grechnev, V. V.: Zaytsev, N. I. and Putilov, V. A.,
"Organizatsiya distantsionnogo upravleniya antennoy sistemoy Sibirskogo
solnechnogo radioteleskopa. - Mater. XI Vsesoyuznoy radioastronimicheskoy
konferentsii po apparature, antennam i metodam" [Organization of Remote Control
of the Antenna System of the Siberian Solar Radiotelescope: Materials of the
llth All-Union Radioastronomical Conference on Apparatus, Antennas and MethodsJ,
Yerevan, izd-vo AN Arm. SSR, I978.
3. Yakubovskiy, S. V. et al., "Analogovyye tsifrovyye integral'nyye skhemy"
[Analog Digital Integrated Circuits], Moscow, Sovetskoye radio, 1979.
COPYRIGHT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
8545
CSO: 1863/183
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UDC 681.323
ARCHITECTURE OF HARDWARE AND SOFTWARE OF AN INFORMATION COMPUTING COMPLER FOR
RESEARCH ON LASER SPECTROSCOPY
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYKH ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 91-99
[Article by Yu. I. Protasov, V. I. Shishlov and N. Ye. Yakolev, from book "Automa-
tion of Scientific Research: Materials of the 13th School on Automation of
Scientific Research, IISSR Academy of Sciences", edited by S..S. Kuznetskiy, candi-
date of engineering science, Institute of Physics, Siberian D'epartment, USSR
Academy of Sciences, 500 copies, 156 pages]
[Text] Solving a whole number of national economic problems oit environmental pro-
tection and the study of natural resources involves the problems of spectroscopy of
atmospheric gases [1]. Recently, in spectroscopy of atmospheric gases, methods o~
laser spectroscopy have made considerable progress. This is due to the fact that .
many applications of lasers (detection and ranging, distance measurement, transmis-
sion of information and atmospheric parameter sounding) involve passing laser radia-
tion through the atmosphere. Th'e main problems of laser spectroscopy of atmospheric
gases are:
study of the intermolecular interaction of molecules;
study of the interaction of laser radiation with the gaseous atmosphere and the
effect of gaseous components of the atmosphere on the propagation in it of weak
and strong radiation;
measuring concentrations of the basic and polluting gaseous components of the
atmosphere; and
development of inethods and means of laser gas analysis.
To solve these problems, optical spectral characteristics of molecular media are
being studied and experimental research is being conducted on the spectra of absorp-
tion of atmospheric gases and the parameters of individual lines (in the visible and
infrared regions of the spectrum as a function of the type of molecules, macropara-
meters of the mediinn and parameters of laser radiation.
Obtaining the final results of spectral research (spectral factors of absorption,
models of interaction, cross-sections of collision, molecular constants, etc.)
entails complicated processing of experimental data and integrations of �esults,
~hich requires considerable computing resources and a sophisticated sqstem of soft-
ware with packages of application programs and a data bank.
173
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Key: M-a.o3o
1. M-4030 MK ~multiplexor channel] MK
2. BSI [expansion unknown]
3. group adapter
4. SS [expansion unknown] scN
S. UO [expansion unknown] iAr~+~o�~~ ~~*�p�)
6. BW [expansion unknown] ( cc cc cc ~
7. MIR-2
8. EPM SPMK PL (expansion unknown]
9. EPM SP PL [expansion unknown] gy 3f1M ~ snni
lO. SAR.ATOV-1 yo C~~n+K
1I . D[ expans ion unknown J M H P-~ , nn cn nn
12. T [expansion unknown]
13. K [expansion unknown]
14. ATsP [analog-to-digital -9+ ~ ~
converter] ~ c~N~ro ~i
15. D MIR-2 12 14 ~
16. BZU [buffer storage] _
17. PK [expansion unknownJ A T~C ~un a ssv ~un n?c Kc xx
11 1 MNP-2
18. KS (expansion unknown] )
19. KK [expansion unknownJ ~
20. OAP [optoacoustical receiver] ~
- 21. DM [e~pansion unknown] o~n qM ~op
22. optoacoustical spectrometer ~T~o-~y~~~~~' 24 ~~rpr~~
23. television meter of spectrum ~ o,,,~
24. Intraresonator spectrometer .
Fig. l. Structure of information
computing complex
The complex of diverse problems on automation of spectrometric research can be ex-
pediently solved within the bounds of a multilevel measuring and computing system
witil appropriate distribution by levels of the functions of control, data processing
and storage of results. The system hardware (fig. 1) includes:
the M-4030 computer as the bas~c computer for the collective-use system (SKP)
with time sharing;
group adapter;
the r1IR-2 computer, as one of the intelligent terminals for the collective-use
system;
the SARATOV-1 mini control computer; and
a crate with a set of CAMAC system, measuring and interface modules.
The collective-use system terminals are connected to the M-4030 computer channel
through the group adapter. One of the collective-use system termi.nals is the MIR-2
computer located in the laboratory for laser spectroscopy. The MIR-Z computer is
- connected to the M-4030 computer by cable communication line through the interface
unit and the circuits for matching to the bus of the adapter. The system allows
the user at the MIR-2 computer console to operate in the interactive mode with both
the MIR-2 and the M-4030 computers, to debug programs on the MIR-2 computer devices
and to start jobs.
17L~
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The MZR-2 is linked to the experiment automation system through the interface module
for the MIR-2 driver in the standard CAMAC. The module is an interface to the com-
puter program channel and is connected to the system of its internal buses. The
main parts of the driver are: the computer control function decoder, the buffered
transmission register, the buffered receiving register, the CAMAC command decoder,
the status register and the univibrators. Modifications associated with connecting
an additional peripheral have been made to the computer.
The lower-level system includes the SARATOV-1 minicomputer with a set of periph8rals
(EPM, SP, PL), the Videoton-340 displaq, which is the main terminal for the ex-
perimenter and the device for displaying the experi.ment results, and the crate with
the CAMAC apparatus. The CAMAC appar~fius includes system modules, interfaee modules
(display driver, MIR-2 driver) and measuring modules that support communication
w:ith the experiment. The system services two experiments. Connected to the crate
are the optoacoustical sprectrometer and the intraresonator spectrometer.
In experiments on the laser spectrometer with the optoacoustical receiver (OAP), th.
spectra of absorption of gases and mixtures in the visible range of the spectrum are
studied. The spectrometer (fig. 2) includes the laser with a control unit and sweep
frequency marker sensor, an optical modulator (M), a container with the substance
being studied, apparatus for measuring wavelength ) and an optoacoustical
receiver with a capacitor microphone.
The main measuring channels of the system are:
the cha~el for measuring the spectral factor of absorption of the studied sub-
substance, which contains the optoacoustical receiver and selective amplifier
(IU);
the channel for measuring the output power of the laser, consisting of a sensor
(calibrated photodiode) and amplifier (U);
the channel for measuring wavelength based on an interferometer and the DFS8-3
instrument; and
the channel for measuring macroparameters of the medium under study (pressure,
temperature, humidity).
r._ . . _ . .
Key: ~1) ~2) ~3) ~4)
l. OKG [laser]
'--1 r - -
2. M [optical modulator] ,�"'/l-~=';~:'_'~-'-- ~*a N ,
3. container ~
4. I [expansion unknown] ~5 ~ ~
5. D [expansion unknown] " ~ O1~'
6. OAP [optoacoustical receiver]
7. U [amplifier] ~
Y NY
8. IU [selective amplifier]
9. to switch ~9~
IL rOMMYTtlTOP;~
Fig. 2. Block diagram of optoacoustical
spectrometer
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/ 1n (4~ crr : i._.7o ~5~ nH 2ts
\2~'
Jlexp lJ U 1 F--
V
~3) BP ,
~8~ ner moc
" ABfI K H4 ~ BY 6P 6~
6KC ~ BI:Y
IOMMN,
xuHn. ONY C~
6CC ~
~'~i) ~23~ ~
ALlfl IC A M A K Fi3Y A6;iY KK 3BA1
~ ~
Fig. 3. Structural diagram of television meter of spectrum
Key;
1. laser 15. BZU [buffer storage]
2. ML [ground lens] 16. DBZU [expansion unknown]
3. VR [rotating polydispersion 17. KK [expansion unknown]
diffuser] 18. EVM [computer]
~ 4. IT 51-30 19. storage oscilloscope
5. G[expansion unknown] 20. FIU [control pulse shaper]
6. F [expansion ~snknown] 21. start
7. LI 213 22. BKS [vertical sync unit]
8. PVU [expansion unknown] 23. BSS [horizontal sync unit]
9. W[video amplifier] 24. SG [sync generator]
10. FNCh [low-pass filter] 25. VKU [video control unit]
11. K[analog s~rit~n] 26. BR [sweep circuit]
12. AVP [analog time converter] 27. FOS [focusing-deflecting system]
13. ATsP [analog-to-digital converter]
14. CAMAC
When the modulated radiation passes ttirough the cell of the aptoacoustical receiver,
pulsations of pressureof the studied gas occur in it thar are sensed by the capaci-
tor microphone diaphragm installed in the side of the cell. The signals received
are detected, amplified and sent for recording. The reference signal for the sync
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:
detector is fed frvm the sensor installed in the disk interrupter. The opto-
acoustical receiver signal, proportional in the ca,e of poor absorption to the pro-
duct of the gas absorption factor and its concentration and the power of the laser
source, is digitized simultaneously with the signal, proportional to the power of
the radiation. The derived arrays go to the computer for processing.
In experiments on the intraresonator laser spectrometer, spectra of absorption of
gases and water vapor are studied. The range o~ application of the intraresonator
spectrometers is the analysis of weak lines of absorption o.f atoms and molecules in
the short-wave region of the spectrum and the study of fast-fJ.owing processes. The
substance to be studied is placed in the laser resonator. Absorption of radiation
in individual lines in the spectrum of generation of the laser results in ~formation
of gaps beraing information on the studied spectrum. The absorption factor is de-
termined as a result of computer scaling of the spectrum of gener,ation according to
specific algorithms.
To record the pulsed laser spectrum, the television method of recording the inter-
ference pattern is used. Fig. 3 shows the structural diagram of the system. The
pulsed laser radiation passes through the ground lens (ML), the rotati..g polydisper-
sion diffuser (VR), the interferometer and is focused by the objective lens (F) on
the target of th~: television tube (LI-213 image orthicon). When the interference
rings are projected on the photocathode of the transmitting tube, a charge pattern
is formed on the target that is stored and then serially read and converted. From
~ the video amplifier (W) output, the video signal goes to the analog switch (K),
the operation of which is synchronized by vertical and horizontal pulses. In the
process of horizontal scanning, a part of the videosignal is isolated from the line.
The gate signal is stored in the analog-to-time converter (AVP) and then converted
into digital code. The digital values of the video signal are written into buffer
storage (BZU). Control of the main assemblies of the television unit: the scan
unit (BR), the horizontal sync unit (BSS), the vertical sync unit (BKS) as well as
the units in the measuring and conversion section is provided by the sync generator
(SG) and the control pulse shaper (FIU).
~ The software for the computing complex includes system and problem-oriented facili-
ties in a.~rcordance with the function and capabilities of each of its levels (fig. 4).
The softwaie for the lo~er level subsystem is a complex, ytnited-by~sn interactive
monitor, of autonomous programs, each of which realizes one cf the standard func-
tions of the system: equipment control, data recording and input, display, documen-
tation, data exchange with the upper level, express processing, etc.
The most common parts of these programs have been sepa:rated into individual programs
and used jointly by them. All autonomous programs of ~the lower level system have
heen given names. Recognition of the names relevant to execution of programs and
start of them is handled by the monitor. Starting from a specific address in MOZU
EVM [computer mat~netic core storage] is possible with programs for debugging and
initiating. ~here ar.e facilities to send to the higher level not only _~ta, but
even specific prncessing programs.
The MIR-2 software includes programs for expeditious statistical and subject proces-
sing of experimental data, determination of parameters of lines of absorption, con-
siderarion of the effect of parameters of laser radiation on the value of the ab-
sorption factor, and graphic display facilities.
177
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Key: (2 ?c,c-~ (1)
1. M-4030 A~BT n1_ aa~o
2. DUS-2 ASVT [modular sys-
tem of computer equipment
3. exchange facilities
4. SKP [collective-use
~ CpeatTUe CpepcTee 6u~~x Cp~ucTOe
SySteIIl~ ; ~N~Me Chfl OTMpI{N anxxeia ~~++~nx-
5. debugging facilities ~ `"��""'W
6. data bank
7, modeling facilities
Cprncrne o6pn6oTKn
facilities for proces- ~~nbP~~MeNTa~~,d=
ueNNda
sing experimental data
9. MIR-2 - - - - - - -
10. configuration and f',..ac7ea (10) (9)
control facilities aoMnoNOeKH n ynpeenrM~w M N P- 2
11, control and input -
facilities
12. statistics package
13. special PO [softwareJ ~3 (12) (I3)
14. SARATOV-1 CPE~ttea n~aT cn~~~~,~eNa
o6~~~N~ ' c~e~rcTroce ' Il O
15. system interactive ,
monitor ~ _ _
16. initiating program ~15 ~14~G A P A T O B- 1
" IIMnnoroeu0
17. interactive correction NO:INT9p
. CY.CT'B/.:Y
and debugging program ~.Pe~Me 4Menoroean(17
18. data display facil~ties MMMIUINPOE4LLIIp ~r~~~�
[opprrKUHM x ornetixx
19. processing facilities
20, output of results
21. nonstandard so~:tware
(3 (11 (18) (19 (2 ) (21
The software fOY' the basic ~~++~T*+ C~AC" Gar�CT�� Cpeacrse Ba~soa Hecre~�.
ynpaeradrn o~ro6peaceN aeprwoe
M-4030 computer includes the I o6ieN' � eeoas asNhdx ~Pe~TRp ~~Y~T~?- f1U
roe
standard facilities plus
specialized packages of
programs that operate under
control of DOS ASVT:
collective-use system program Fig. 4. Software structure
pack,age;
pack,sge of programs to manage the
bank of :;pecl:ral characteristics of atmospheric: molecules; and
package of pi-ograms for processing spectrometric clata.
Tne collective-use system software is a specialized package of programs operating
under control of DOS ASVT. The resident program, an expansion of DOS ASVT for oper-
ating with the collective-use system terminals, is loaded into a separate program
partition with a higher priority. The program per:Eorms the following functions:
organizes terminal input of subscriber requests and jobs;
maintains subscrioer job queue for using main si:orage;
initiates execution of subscriber jobs; and
supports data exchange and interaction with sub:;cribers.
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The package of processing programs contains:
programs for calculation of absorption, width of absorption line, form of con-
tour, determining parameters of overlapping lines of a'osorption, and programs
for eliminating equipment distortion;
programs that account for the effect of parameters of laser radiation on the
- value of the factor of absorption of spectral lines with optoacoustical
measurements;
programs to determine the parameters of lines of absorption in the intraresona-
tor sprectrometer by the parametric method;
programs to approximate the experimental dependencies of the absorption factor
line width on the pressure of the absorbing and buffer gases by the theoretical
medels of (Foygt, Rautian, Galater)
programs to approximate the contours of lines of absorption by the theoretical
models of contours of lines of absorption of: Lorentz, Doppler, (Foygt,
Rautian and Sobel'man).
For theoretical calculations and solving the problems of molecular spectroscopy,
software is being developed to restore the parameters of spectral lines based on
data from experimental measurements, and to determine spectroscopic constants,
- structural molecular constants, electrical and magentic properties of molecules
by spectroscopic data.
A file of spectroscopic data is being created on magnetic tape. A file on spectral
factors and a file on absorption line parameters are being maintained. The data
for each experiment are given an identifying log of 10 digits (index of the user,
date of the experiment, number of the experiment). The parameter file holds infor-
mation f~r each line (width, intensiveness, absorption factor at the center of the
line, position of the center).
Complexing of the hardware and programs for control, processing and facilities for
interaction with the computer will allow making a closed automated cycle of analy-
sis ~f results. Use of these complexes is expanding the capability of researchers
to conduct complicated experiments.
BIBLIOGRAPHY
1. Zuyev, V. Ye., "Rasprostraneniye vidimykh i infrakrasnykh voln v atmosfere"
[Propagation of Visible and Infrared Waves in the Atmosphere], Mosco~r,
Sov. rad:~o, 1970, 496 pages,.
COPYRIGHT: Institut fiziki SO E~N SSSR, Krasnoyarsk, 1980
8545
CSO: 1863/183
179
~
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- UDC 681.323
MUTTIPLEXOR DISTRIBUTED SYSTEM OF AUTOMATION (SAMUR) BASID ON DATA TRANSMISSION
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYKFi ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 100-107
[Article by V. M. Zavadskiy, from ~ook "Automation of Scientific Research: Materials
of the 13th School on Automation of Scientific Research, USSR Academy of Sciences",
edited by S. S. Kuznetskiy, candidate of engineering science, Institute of Physics,
Siberian Department, USSR Academy of Sciences,~500 copies, 156 pages]
~Text] Described are the principles of building a data transmission (PD) network
f~r collective use with a cyclical discipline of service that supports simultaneous
~aeration of many computers with a common storage area and peripherals in the multi-
processor mode. The network has a loop structure. Transmission is effected serial-
ly over one cable at the rate of lOM baud. The line protocol of the packet switch-
ing models referencing storage with direct access. Operations on the network are
an extension of operations on a cammon computer bus.
The need to develop the SAMUR system emerged in the process of automating experi-
ments on controlled thermonuclear synthesis (UTS) at the Leningrad FTI [Physicotech-
nical InstituteJ of the USSR Academy of Sciences. In the plasma phqsics laboratory,
there are several major facilities located up to 300 m away from the laboratory VTs
(computing centerJ. There may be several experiments going on simultaneously at
eacn facility. Assessing the information flows shows that with a good level of
automation at the facility, about 100 sensors are used. The time for recording the
process with an ATsP [analog-to-digital converterJ at a rate up to 1 MHz reache~ to
10-100 ms, and the volume of information being accumulated per pulse up to 1M byte.
This poses the problem of organizing storage of raw data in a central operative
buffer with large capacity and of flexibly using the buffer for various experiments.
Fast data tranmission networks to deliver the raw data to the buffer and theri from
the buffer to the processing processors are needed. Among the features of work on
the problem of controlleci thermonuclear synthesis are continual changes in expe:ri-
ment plans. Automation of control of plasma and the facility is an experiment :it-
seli. The problem comes to automating individual processes, the nature, number and
importance of which change with time an order faster than the composition and struc-
ture of the basic hardware for systems of automation. A series of experiments are
conducted with long interruptions associated with adjusting the facilities. The
quantity ot. computer equipment is limited by the shortage of service personnel.
Flexibility in accumulating and d~stributing system resources is needed as is con-
stant readiness for operation. Ir: the foregrosnd are questions of hardware sim-
plicity and ease of system operation.
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The basic engineering ideas of the laboratory computing and measuring complex (LVIK)
that a1loFrs solving the problems posed consists in the following. The LVIR as a
- whole, like any other computer network, is on the one hand a hard~are network of
processors and functional peripherals, and on the other, a network of processoi~.
At the lower level are local automated systems (LAS) connected to the facility. A
LAS has the minimum required apparatus, for example, the CAMAC crate oriented to a
specific experiment, and a display with a console--the work place for the physicist
operator. At the upper level in the laboratory computing center (LVTs) are concen-
trated the resources of the computer hardware operatively connectable to the LAS.
These are the compatible processors (SM3, SM4, E60, M400), main storage buffers
and the common machine peripherals. Concentration of resources allows simplifying
maintenance and increasing system flexibility. The territorially distributed LAS,
processors, and hardware in the LVTs are connected by a single general laboratory
system of co~unications through which proceeds bufferization of raw data and input
and o~~tput of programs and data. The communication system maintains efficiency �in
~ disconnecting subscribers by using an automatic and controllable configuration.
When experiments are planned, LAS and other LVTs resources are assigned to proces-
sors. A processor, engaged in a specific experimental process, is formed that is
distributed through the network. The communication system solves the problem of
hardware organization of an arbitrary n~ber of processes. The multiprocessor mode
is organized by using collective access to the network with cyclical servicing of
requests. A"relay baton" special signal is circulated in the network through loop
coupling. A device ready for transmission catches the baton and seizes the network.
After executing the operation, it issues a baton, releasing the network. Each mas-
ter, after seizing the network, may execute a read or write operation at the address
or even transmit a data file at the rate of 1 megabyte/second. The entire LVIK
functions as a"pure" multiprocessor--the Syetem of Automation, Multiprocessor Dis-
tributed (SAMUR).
. Logically, the entire data transmission network is a field of storage with direct
access. The size of directly addressable storage is 128K words. The storage is
broken down into pages of 8K words each. The OSh EVM [computer common bus] is con-
nected to the SAMUR network and the two independent loop systems for data transmis-
sion are coupled to each other through two-way symmetrical "windaw" type adapters.
The adapters allow building a heirarchical multilevel structure with a liaiited size
of storage and autonomous simultaneous operation of sections of the network. The
adapters translate commands from one bus to the other, replacing the physical page
numbers after preliminary adjustment. It can be said that switching of fields of
storage occurs in the system. The network with direct access and switching of
storage assumes new properties. A computer connected to the loop coupler may per-
form expeditious processing of data simultaneously with other compaters. The usual
processor commands operate with the storage, distributed through the network.
Organization of transmission of inessages through the network requiring special soft-
ware and additional time outlays is not necessary. Properties of storage protection
emerge since the hardware reacts to addresses within the bounds of the windows. An
incorrect address from a computer is not sent to the network and is noi ~ropagated
further. Planning of experiments, distribution of resources and assigni.~rt of
addresses under the conditions of automation of experiments ma.y be done administra-
tively and manually since the system is still not large and rearrangment is
required relatively rarely. After distribution of addresses, each process is
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programmed as unique, urith its oum virtual storage. All these properties of the
network allow substantial simplification of programming of specific problems in the
system for automation of experiments. SAMUR allows operation with any type of com-
puter and the interface to the computer takes on the form of a direct access chan-
nel. However, the system is especially suited to a computer with a common bus.
The loop system of communication zllows using powerful monitoring of data transmis-
sion--information feedback, since the message issued through the loop is returned
to the master. To sir~~lify the logic of peripherals, monitoring during reading is
done by repetition of the output of data. The master compares the message for co-
incidence. For technical servicing of the network, we are introducing a system of
mclitoring, indication and control (KIUS) consisting of a console for manual con-
trol, a processor and additional address registers for checkpoints in the network
modules. The KIUS uses the network equally with the other modules, organizing yet
another independent process. The KNS allows reading the detailed status of regis-
ters and triggers, makes technical diagnostics and issues monitoring signals to
the network module.
Le~ us examine in more detail the technical questions of organization of the SAMUR
ne.twork. Three types of inessages are used in the network:
tae address 1 0 K(A00 - A16~P,
*_h~ ~3ata 1 1 0(D00 - D17}, and
~h~ batun 1 1 1 E S1 Z2 Z3,
~,~~zere K is the command bit for read (0) or write (1),
P is tiie confirmation signal set by the receiver upon receiving its command
when it can execute it,
E is the signal of the baton designating that the network is free (0) or
busy (1), and
Z is the signal of the request from the devices to the processors and their
number may be extended.
Simple terminals set requests to the network by which the computer starts a program
- roll of statuses. In the rr~ultiprocessor mode, bits for requests are assigned to
t:~eir own computers. "Intelligent" terminals can reference the processor, sending
vector of interrupts according to the register address for interrupt of the com-
pur_er adapter, The packet of inessages in the network starts with an address, and
tiien follows one or more data words. In read operations, data is Tssued by the
executor. The packet ends with a baton message sent by the master with a zero in
the baton bit. In the closed coupling loop, messages proceed asynchronously and
have ~o be cancelled. This is dore by the masters, opening the network for infor-
~aL:'_on after seizure of the network which is done by replacing the E bit with a"0"
or "1" when tne baton passes thro~.glz the master demodulator. After detecting a
ba~~~n with a"1", the master remains in the passive state or assumes it after com--
- pl~~ion or the operation, closing the network. Physically, the loop structure uf
ri~:~ commur.ication line is organized in the form of a radial tree cable network
- ~i.i,;. ij using panels-switches, to which are connected the branches containing a
Forw~lrci or reverse cable. The sw~tches automatically disconnect a branch upon loss
of syncnropulses fror~ it, restorir.g the integrity of the rest oi the network. A
hranch may also be disconnected to function separately from the netw~rk, establish-
in ; commiinica:-ion upon call according to the prir.cip.le of switching of channels.
S'.;own in the table are the comparative cnaracteri.stics of the SAMUR system, the in-
s~r~L,~ent bus of the MEK [Internat_onal Elec~trotechnical Commission] emulating the
~
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K US AP subscriber station
HI^C
KNS monitoring,
AP ~n ~n AP indication and
control system
AP AP
'w""~" /Wn�p
~n switch ~ ~n ~n ~
xm.wn...~ ~
~n ~n
AP
Ap ~n ~n
~ ~n
Fig. 1. Structure of the SAMUR loop network
operations of the CAMAC system, and of two types of serial CAMAC branches. In the
column "signal delay," the time for signal propagation through the cable, the relay
time for a system of 10 subscribers and the time for execution of an operation in
the crate--1 microsecond--have been taken into account. The "efficiency" column
shows the number indicating by haw many fold the SAMUR exceeds the given system in
throughput. The convenient discipline of operation and high transmission rate al-
low the SAMUR system to compete successfully ~ith multiwire trunks. Execution time
for one oper.ation in the SAMLTR ranges from 7 to 12 microseconds ~ith a trunk length
up to 1 l~n. The time for switching the network by baton from one request to
another ranges from 1 to 6 microseconds. Replacing masters in the MEK and CAMAC
net~rorks is no simple task and cannot be done so quickly. And without this, the
multiprocessor mode is inefficient. Processor wait time for a response from the
~ neL-work with cyclical servicing does not exceed the execution time for one opera-
- tion multiplied by the number of active masters using the network.
Data is transmitted through the RK-50 and RK-75 cables by phase-frequency code
(FChK); ones are coded by the entire 10 MHz frequency period, and zeros by the 5
MHz half-period. This code has a number of exceptional features. It contains the
edges of the signal in the clock frequency which simplifies the task of sqnchroni-
zation by bits. Clock pulses of one generator are propagated throughout the entire
network. There is a common reference frequency in the system. The signal does not
contain a direct component; its spectrum lies witliin the 2 to 20 MHz band, and this
allo~s eliminating low-frequencq noise (less than 0.5 MFiz) by using a resistor-
capacitor filter, restoring the direct component at the level of the operation of
the input logic element and partially compensating for phase disCortions. All this
allows transmitting information with a frequency of 10 MHz at a distance of up to
300 m without refresh through the RK75-4-11 cable. In the netwvzk, the P is a sim-
ple device for phase synchronization that automatically closes the coup7'ng loop
when the length of the cammunication line is changed. Fig. 2.sho~s the circuit for
- the modem of the code 4rith the receiving register. The modem circuit takes 6.5
- packages of series 131 TTL IC's, and the rest of the circuit is made with 1~5 series.
The input matching filter decouples all network.devices by grounds and direct level.
183
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~~c~k c~N't~ic'In~, ttsN, o~i.v
~ o ~ ,a~ o
x~~ s ~YYV-vYr r~rult~
r~c~s 1~ ~ , ~~SRK75
&
r x
$
i~ iio .
5
~ a+ D D
~ ~
100
' (1) _
1
YI 2 ~ . .
C 1
~
,
~_.-_~J
'i;. Phase-frequency code modem circui.t
y :
l. SI ~expansion unknown]
The signal passes through the IrIDM [modem] and the additional delay introduced into
ttie network by the modem is 130 ns. Hardware outlays for network modules are not
Iarge. The adapter circuit for the M4Q0 computer that fully implements the algo-
rithin shown takes about 120 IC packages. The simplest stations, for example, the
Ts~.? [digital-to-analog converter] control circuit--about 30 packages. Hardware
outlriys essentially depend on the discipline of network operation. The serial data
tr~nsmission method allows building very simple LAS [local automated systems]. For
example, the system that just transmits commands from the M400 computer has a trans-
mitter from tne computer the size of 16 IC paclcages and the receiver for the TsAP--
?0 packages.
In ~~oi:;Iusi.on, a very important problem should be mentioned that occurs when two
S;~t3 typ~> i~;,-chines are joined through adapters with direct access. This is the
~~c,~urc�nce ~~F a clinch at the outlet of the computer to the network when a command
ret~~reilcin~; this computer has started in the network. In the process, the command
cro;n tiie network is waiting for the computer bus to be free, but the bus is busy
snd is waiting for the network to be free. The situation is resolved the following
way. The operation with the common bus is ended fictitiously, and then the common
bus, as usual, is released for the request for direct access for the network opera-
tion. After this, a special interrupt goes from the adapter to the computer. The
simpl.est reaction, adequate in the majority of cases, will be a repetition of the
~~ntire preceding computer command, one of the cycles of which was executed
- ~.~4
,
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Table. Comparative characteristics of data transmission networks
Parameter SAMUR~ CAMAC CAMAC MEK
number of signal wires 1 9 2 16
trunk length, km 1 0.02 1 0.02 1 0.02 1 0.02
signal delay, microseconds 7.5 2.7 9 4.2 9 4.2 1 1
byte transmission time,
microseconds 0.8 0.8 0.2 0.2 l.b 1.6 12 1
number of bytes for CAMAC
operation 6 6 17 17 17 17 8 8
operation execution time,
microseconds 12.3 7.5 12.4 7.6 36.2 31.4 97 9
efficiency 1 1 1 1 3 4 8 1.2
incorrectly when the network was referenced. The waiting time for the synchroniza-
tion signal of the executor to the computer must also be extended since the opera-
tion time for reading from the network to the common bus may extend beyond 10 micro-
seconds.
BIBLIOGRAPHY
1. Myachev, A. A. and Filinov, Ye. N., "Interfaces for Control Gomputer Complexes:
Review Information," in "Technical Specifications - 2," "Computer Hardware and
Office Equipment," Moscow, TsNIITEIpriborostroyeniya, 1978, 59 pages.
COPYRIGrIT: Institut fiziki SO AN SSSR, Krasnoyarsk, 1980
~ 8545
CSO: 1863/183
185
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UDC 681.323
SY~:TEM FOR AUTOMATION OF STRUCTURAL RESEARCH OF CRYSTALS
Krasnoyarsk AVTOMATIZATSIYA NAUCHNYKH ISSLEDOVANIY in Russian 1980 (signed to press
21 Sep 80) pp 137-145
[Article by V. A. Mel'nikov, from book "Automation of Scientific Research: Materi-
als of the 13th School on Automation of Scientific Research, USSR Academy of
Sciences", edited by S. S. Kuznetskiy, candidate of engineering science, Institute
of Physics, Siberian Department, USSR Academy of Sciences, 500 copies, 156 pages]
[Te:ct] Structural crystallography is currently the main method of studying the
~:~omic and molecular of solid~ of a varying nature. Mineralogy, materials technol-
.~s;y, structural chemij;,,:,