JPRS ID: 10273 USSR REPORT CYBERNETICS, COMPUTERS AND AUTOMATION TECHNOLOGY

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• Sequence Number: 42
• Content Type: REPORTS

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JPRS L/10273
22 January 1982
- U SSR R~ ort
p
a
CYBERNETICS, COMPUTERS AND
AUTOMATION TECHNOLOGY -
CFOUO 1 /82)
~
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JPRS L/10273
22 ,7anuary 1982
USSR REPORT
CYBERNETICS, COMPUTERS AND AUTOMATION TECHNOLOGY
~ (~'ou0 1/8 2 ~
i
CONTENTS
~t~w~tF
SM-2M Master Computer Complex 1
Selection of Structure of One Claas of Threshold Element Memories. 3
Device for Measuring Steady-State Parameters of MIS LSI-Circuit
Components 7
Pulse-~Sequence Phase-Shift Indicator 10
Special-Purpose Pi�~r_essor for Rapid Fourier Tran~rorm 13
Deaigning Special-Purpose Microprocessor Cotr~pute~s 16
Image-Comparison Processor 21
4K Memory Unit Based 1Jpon Plane Magnetic Domains 23
SOFTWAFiE
- F~KAL-1975 Algorithmic Language Interpreter for SARATOV-2 ~~mputer 76
APPLICATIONS
Automation of Scientific Research xn Geophyaics 31
Microproceasore in Control Systema ot Electric Traction Devices 47
- Regulating Subway Train Travel ?ime Usi.ng Microcomputers 49
Searching for Fragments of Section Mnemonic Circuit Uaing a
Microcalcul.ator 52
Reconatructing Hexapod Gaita 57
- a- [III - USSR - 27.C S&T FOUO]
F~R (1FFir?AT ifcF (1NT V
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FIIRLICATIONS
Modeling and Optimizing Complex Control Syetema 68
_ Deaign of Coxnputer Input/Output Syst~ms ......................e.o. 73
Hilbert Optics 76
Abatracts of Articles in Journal 'AUTOMATIC EQUIPMENT AND
COMPUTF,RS', September-October 1981 ..........................o.. 79
Abstracts of Articlea in 'ELECTRONIC MODRLING', November-
December 1981 85
~
- b -
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- HARDWARE
SM-2M MA~TER COMPiITER COMPLEX
Kiev ELEKTRONNOYE MODELIROVANIYE in RuSSian No 6, Nov-Dec 81 inside fronf ccver
_ "C 5'~' ~
_ bz' .
~
f~~
faq~
, ..A33: : /i
1;_
i d=~". z~ a.
~ p c'~+
~ kc- .
a
@ , _ M~Y;~s.
_ 1 r. ' ~ , y ~'s
y`
t ' ~
n ~ ~ ,
i ~ ,y}~~
7
1
i'
- 8� t

-a ~
_ pU ~~y ~~~41
~;>.L, N~>N), which contains
a set of L patterns divisible by one hypersurface into two classes in the presence
of any 2L combinations of unidimensional vectors of teacher statement e. It
. follows from this that the structure of a su~eroperational memory must always contain
a vector code converter traiisforming x into x~.
~'rom 4 to 16 information words are usually written fc,r a superoperational memory with _
ca~~acity L. Therefore we can always obtain a secondary space X~in which there are
I, vectors x~, divisible by one linear surface no matter what their distribution, as
we can see below. A superoperational memory wou~d best consist of a digit recogni-
~ tion system composed of one logical threshold element having the capacit1~ fo.r learning
in responsP to inputs during formation of the optimum hypersurface, which is a function
_ of the memory.
The output signal of the logical threshold element is defined as the sum of the
products of the unity digits of the code of vector x~ times the weight coefficients
ai of the corresponding inputs (1)--that is, by the size of the logical threshold
clement's input,
N'
~ a~z~,
t-= ~
where i= 1,2,...,N~. In this case the threshold ~ for a learning logi.cal threshold
clement must be chosen in reiation to the initial values of the weight factors a
~ i~i su~h a way as to satisfy the following conditions:
N'
Xk = 1~ li ~ u~X~ ~l e~
- l=1 .
N~
Xk = 0~ l~ ~ aixt n~pa: ator for comparing pulse durations, as a component of a direct--convers:ic;n
~~i~~~se n~et,~r ancl, given a channel-forming capability, for recording phase sYiifts in any
i ~~riu oC ~cri~~dic c~sci.llation.
7'h~~ autiiurs ttave fabricated a working model of the phase-shift indicator, which has been
tested on a YeS5012-01 MTS unit. It has been employed to make preventive checks and ad--
just r.he azimuth of a magnetic head unit and to test and compensate for phase shitt dur-
~ inc; "record" and "playback" operations. The experimentally established reso]ution of a
~l~~vice incorporaLiug series-15~i microcircuits does not exceed 40 ns, that is, less than
~.t a frequency of MTS timing-pulse sequence of 64 kHz.
- BIBLIOGRAPHY
1. GOS'f 14287-69. "Magnetic-Tape Storage for Computers. Test Methads."
~!} ,
Tt~us stored in memory is a rectangular matrix with dimensions M X n. The columns of
tt~is matrix are then rearranged in accordance with the rule of the double inversion of
tt~eir numbers, that is, to a mirror image with respect to the mean matrix vertical, and
n~w index values calculated as binary sums
n
J = ~ k~ ? ~ ,
~.r
- wf~ere kj i5 the value of the ~-th order of the number of the transformed matrix.
Acldresses are then, finally, assigned to the elements of the input block in accordance
with the principle of indirect addressing
~(i) = Z~~) , t = 1,2,... ~M ,
~ 13
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where 7- an unordered array of ?ourier coefficients,
an ordered array of these coefficients.
1'I~ i:~ a 1~;or. ithm suf fers the drawbacks of large memory consumption (both matr~ces occupy
a~~olume oF M X n cells each) and the extended time required to genera~.e ttiese matrices.
'..~e proposed method of ordering coefficients is free of these shortcomings; it req~~ires
Lh~:~ a secondary array of numbers be Lound of the dimensions M X 1. This permits a
s;t~at reduction in the storage required and an acceleration of the sortin~ process,
wl~ich cvntributes greatly to accelerating accomplishment of the taslc ~F determining
tiie sE~ectrum of a signal as a whole.
'i'lie al borii:hm f~r processor operation consists essentially in the follo~a~n~. A reference
block
x(1) = 0, x(2) =2, x(J) =1 , z(4)=3
is writ~en i.nto memory. The first four elements of the secondary block (ordinal numbers
u1- the ~lesired block) are determined as follows:
cn-z)
Z(f ) = x(i)2 ~
wlierr: t= I,2~3,4; n= tog= M (for a specific M) . The next element of ~he secendary b.loclc
i:~ ti~en analyzed:
Z~/7')r? ~ =P~n-3)
s
N;i;~~:-c m- number in sequence of the element of the secondary block ( m= St6,~..r~)9
j- t.he number of the secondary block element under analysis among the block elem:-.nts
!inder analysis.
Let us now look at two cases.
the remaining elements of the secondary bloclc aze obtained by ad-
ci:in~; ~o each preceding element of the secondary block, beginning with the second, the
uni_ts:
Z(m�l)=1(1; f)+l,t (m+7~= Z(3, f~+l,...,t(2m-2)=Z(m-!,~)+1 .
Ij Z(m,j)=Nf1 , then to each preceding element of the secondary block, beginning
with the second, we add the number N:
i(m+J)=Z(2,~)+N, I(m+2) = Z(J, j)+N,... ~ t(2m-2)= Z(m-l,?)~~
' ~ncl a~ain analyze the following element of the secondary block (its number among the
~~lc~~ucnts analyzed will be j+l, while among the elements of the secondary block fol].ow-
ing in order it will be 2in - 2+ I= 2 m- I.) .
'1'he Cormula used to analyze Chis element is as follows:
I(m,J) ~1~
I (2m -1, f+l) = 2 .
It tliis analyzed element equals 1, case a) is repeated and computation of tl~e elements
_ 14
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�
of the secondary block discontinued, fo].lowing which we make the next assignment
(ordering):
y(~) ==x(Z(~)) , ~2)
x-- initial block, y- the unknown block and I,2,3,,..,,~/~
If the analyzed element is not equal to 1, however, we repeat case b). The analyzed
element is then computed in accordance with formula 1. The analysis continues until
the analyzed element does not equal 1. We then repeat variant a) and assign in accor-
dance kith (2) .
- The figure is a structural diagram of the proces-
from rapid Fourier trans- sor performing these operations. Its_operation
form processor consists in the following. At a signal from the
control unit (1) the reference b~ock
YY Mn 3YS x~~)=0, x(2)=2 , z(3)=1 , z(~i)=3 � '
(1) (4) (3) is written into memory (2). The nonordered coef-
3v~ (2) ficients are transferred to the memory of the spe-
cial processor (3Y2) [as published; possi~ly (3)
- in diagramj from the processor realizing the rapid
Fourier transform of the signal. The control unit
transmits the signal to begin operation and controls
the operation of the microprocessor (4) in accordance with the algorithm presented above.
The Fourier coefficients are then ordered as follows:
- y~~)=~~Z(i)) ~ i =1,2,3,... , M . ,
COPYRIGHT: Izdatel'stvo Leningradskogo universiteta, 1981
~ ~3963
CSO: 1863/4'L
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-
UDC 681.3
s
DESIGNING SPECIAL-PURPOSE MICROPROCESSOR COMPUTERS
Moscow PROYEKTIROVANIYE SPETSIALIZIROVANNYKH MIKROPROTSESSORNYKH VYCHISLl'TEL~;I' in Rus-
sian 1931 (signed to press 13 Apr 81) pp 2-8, 160-161
[Annotation, introduction and table of contents from book "Special-Purpose Microproces-
sur Computer Design", by Yuriy Fedorovich Mukhopad, USSR Academy of Sciences,
~iberi.,.~n Divi.sion, ]:zdatel'stvo "Nauka", 45Q0 copies, 161 pages]
[Text] 'This work deals with theoretical and engineering problems associated with the
. design of computers with a specific functional algorithm. A unified LSI circuit or
IC micro-assemblies are the components of execution. The book establishes applicability
,
for processing information on high-speed processes, real-time production control, signal
filtering and erihancing the productivity of general-purpose computers.
- The book is intended for specialists in the fields of computer science and cybernetics
- and could also be useful to graduate students as well as students in upper-level courses.
Introduction
An orientation toward raising the qualitative level of the planned development of vari-
ous branches of socialist industry, increasing the degree of aut-omation and the achieve-
ment of higher levels of efficiency [1] dictates a comprehensive, integrated development
of computer technology, which is governed not only by the quantity of general-purpose
r_omputers and their accompanying software, but also by the availability of microproces-
sor systems for computer information input and output and by the development of special-
purpose computer equipment and systems.
PreSC~nt-day high-productivity computer systems incorporate 4-6 general-purpose proces-
_ :;c~r5 and 12-20 special-purpose processors [2] to control information input and output,
~~l.ottcr.s, displays, "automatic" text editors [3], automatic readers etc. On the ot]ier
I~c:ncl, tt~e clevelopment of powerful associative information-processing systems confronts
- cic~:;if;n~rs with the necessit~~ of creating an homogeneous optoelectronic system, each com-
ponent of which should essentially play the role of a special-purpose processor.
Tl~e em~~loyment of special-purpose computers and systems is also dictated by the need to
cleve.lc~~~ Systems ~or r~al-time control of Caciliti~s and proce.sses, where even with the
u5c e~~ 5pc~cial programs the use of general-purpose microprocessors would be impossible
because of the requirements for high operating speeds and, at times, for reliability,
size and availability as well. In these systems, microprocessors may play the auxil-
iary role of an advanced arithmetic-logic unit, although simultaneously with the in-
corporation of parallel systems for high-speed execution of special functions, high-
speed execution of multiplication operations, special interfaces and control devices [4].
16
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't'li~~ ,~vriilrihilicy c>f rnlcr~~c'.c~~~tr~~nLc I.S1 circuita for workinfi ~ncl permr~nent stora~e,
- ~~ro~;ranur~ecl .logtc matrices, ml.cr~processors, analog-digital converters `te. has made it
possibi.e to develop specialized computer hardware and systems with higl: levels of
~~.andardization, while at the same time maintaining an effectiv~ prob?em or.ientation
ris dictated by a particular sphere of application and requirements for specific fea-
~ tures (5].
Tl~e trend toward specialization has also emerged in consequence of the fact that the
increasing degree of component integration poses the problem of optimizing the correla-
tioi~ of SoLtware programs and hardware and permits a number of subsystems (emulators,
translators etc.) to be fabricated in the form of special-purpose LSI-circuits.
~ Many tasks in the sphe:es of management and control require no calculi*ions with accu-
racies greater than 0.1-0.5 per cent because of inaccurate raw information or error
characteristic of tre particular contr.ol servo components involved. A relay or analog-
digital system functionally equivaleiit to the program as compiled, the general-purpose
structure and its execution proves in this instance to be operationally faster and more
reliable (above a11 Uecause of the smaller number of components).
The need to search for a more generalized structure for computer hardware without lean-
inp, upon ~eneral-purpose digital-con.puter structure has also arisen with the development
ot analog-diRital devices and their incorporation of the sequential principle of opera-
t:ion. This trend has now made its appearance in the specialized sphere of. analog-to-
cl:i~ital information conversion, what with the fact that with coding comes the combina-
tion of the analog and digital noise-smoothing functi.ons, functional scaling, informa-
tion storage etc.
The use of functional converters (b oth a:~alog and digitaZ) in analog-digital and special-
purpose devices eliminates the necessity of indicating the operation code, it being in
this instance sufficient to indicate only the fact of access to the functional converter.
A Pundamental change is taking place in conception of the inter-relationship between
converters and memory. In place of the traditional sequence of AU-ZU-AU [arithmetical
iinit-memory-arithmetical unit] transfers, the system now under discussion requires only
tt~at we insure the proper transfer of information between functional converters with
storage of only a very limited num~~er of intermediate results.
Tt~e cunc~pt "~omputer system" today is probably as broad as that of "computer hardware."
As annl~ed to microel.ectror'.c equipment this term may be understood to re~er to multi-
processor compu~er. systems ~particularly those combining 4, 8, 16 or more microproces-
~~~r.s) witli parallel computers or a system of digital and analog hardware including
_ mi~r.oe.lectronic versions of analog-code and code-analog converters, a microprocessor,
working and permanent storage, an input/output control system and special units con-
trolling the operation of the system as a whole.
Aclvances in the field of microelectronics permit utilization of the primarily hardware
rc~alization by virtue of the low co st, small dimensions and reliability with a compara-
tive].y complex circuit in a single crystal. This book therefore deals primarily not
wilV~ ~~r.oblems in programming serial microprocessors in special-purpose ~ystems, but
rather with those involving the development of a system of devices employing a variety
of microelecLronic LSI-circuits, the principles governing optimum design of .functional
ex1>~.inclc~rs Cur microprucessor systems and with problems in the design of control devices
for special-purpose microprocessor systems.
We wi11 be using the term "computer" to refer to a physical device consisting of informa-
tion cc~nverters linked in a space-time relationship and realizing its functional purpose
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I~OR nb'b'1('IAL [l~H: ONI.Y
ul inlurwu~ic~u pruces5ln~; thruugh sec~uential m~vement of input information toward out-
,~ut ce~rmin~zis via converters with switching of coz~verter functions if part of them can
hc~ set to p~rform a certain set of elementary conversions.
c.:,uu~u~er must obviously consist of at least two basic units. A device consisting of
_ ocily a single unit would be simply an el~mentuM J
_ ~ ll ~
~ N
~
_ \
~ s
~ 4 ~;,~�~~~,~~a ~ cG,y.su ~ ~r
Oii.;i.~ucc~a /~duonam,ar~~o
co~nr.~yNN!% ~rui~~iy~n (6~
' ' h'a~vuc~turnc,anN,~n ' ' I ~
" I I Cu~://.'L'~'14 GsG.lb,~
~~t?-' ~
~8~ ~~~~b,x
A/~xu~1(7) ~ - ~ BHeu~~i�r. (9)
no~a.~a~lam.ou
_ (10)
~je.r.~;~~ra~u~ aud~,~daaie~'a
_ ~
Figure 4. Data Gathering and Display System
Key:
1. Sensors on satellites 6. Radio patrol
2. Ground sensors 7. Archives
3. MIM magnetometers 8. Data base computer system
4. Optical solar patrol 9. External users
5. Communications systems 10. Duty observer
programming language. The third computer is compatible in language and data for-
mats with the NOVA-1200 minicomputer, but has expanded arithmetic due to realiza-
tion of operations with floating decimal by the schematic method, higher speed,
larger internal storage and a large set of information display devices. This com-
" puter is designed �or organizing work by different users with the data base. It
is used to display information on displays, to print tables, to display informa-
tion in graphical form and also to print out information to remote users over
- communications channels. Communications with a large computer system based on
computers of CDC 6600 type are maintained through a third computer.
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The entire system functions in the following manner. Information on different
communications channels comes into the system in real time. After preliminary
processing, the information is fed to a data base (BD) and is simultaneously re-
corded on magnetic tape in the data archives. A specific lifetim~e of the data in
the data base, during which data can be obtained operationally both directly in the
forecasting center and over commurications channels, has been established for each
type of data. The one-minute values of data are usually stored for four days and
five-minute and higher values are stored for one calenda:r month. At the end of
this deadline, ~he data can be obtained only through the archiv~s with a time de-
lay. Fc~rmats for printing out data and methocis of data ciisplay on paper, teletype,
on a display screen and so on have been developed for all types of data.
Structure of the system for automation of scientific research at the Arctic Geo-
physical Tnstitute. Taking the specifics of geophysical research, the experience
of developing experimental and geophysical information gathering and processing
systems and recommendations of the Council on Automation attached to Presidium of
,k the USSR Academy of Sciences into account [17), a project for automation of scien-
tific research was developed at the Arctic GeophyGical Institute, Itola Branch, USSR
Academy of Sciences. Selection of the structure ~f the automation system for PGI
- [Arctic Geophysical Institute) is related to the configuration for location of
automatic facilities. The geophysical observatories and observation stations of
PGZ are located tens and hundreds of kilometers from each other and from the re-
gional center. A subsystem consisting of ineasuring-comput~r complex designed for
- gathering, preliminary processing and display of recorded information in real time,
has been established at each observatory and complex observation station due to
' the absences of special communications equipment between these stations to transmit
digital information at a high speed. Operational information is transmitted over a
standard telegraph subscriber channel (AT) to the regional geophysical data center
upon the initiative of the regional center. The main volume of geophysical data
comes into the data base of the subsystem on magnetic disks and is recorded on
magnetic tape. The entire volume of data is transmitted to the regional center by
transmission of magnetic tape during specific periods. Each informatidn gathering
subsystem can store all the data on magnetic tapes (the subsystem archive) and has
- operational access to the data base of the subsystem, the period of data storage
to which comprises one week (a di.fferent storage period can also be selected).
Thus, the researcher, being in the observatory or at the observation station, ha~
the capability ot analyzing the data coming in both in real time and all the data
received up to this moment of time. Any data stored in the subsystem can be trans-
mitteci operationally from the regional center when required and the amount of data
is limited only by the carrying capacity of the telegraph channel. Thus, for ex-
amPle, the telegraph channel must be occupied for one minute to transmit the minute
values of the hourly interval of a sinqle magnetic field component; the daily in-
terval is transmitted within 24 minutes and so on. Instructions to convert the
s~ibsystems to other information gathering modes and to transmit them to the re-
glonal center can be transmitted to the aubsystems over the same channel at the
initizti.ve of the regional center. There is also the capability of transmitting
i.nformation from a central data base upon the initiative of the subsystem, but the
pz~iority of communications remains with the regional center. A version of service
azid scientific information exchange is possible between subsystems over the same
subscri.ber telephone channel. It is desirable to have two subscriber telegraph
char~nels in each subsystem but this is not obligatory.
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The regional center is constructed on the basis of a multiprocessor complex joined
by means of a standardized information exchange mainline where all machines play
the part of equivalent partners. The regional cer.ter has minicomputers to provide
communications with subsystems over s ubscriber telegraph, ;ninicomputers with ex-
~ernal magnetic disk and magnetic tape storage for organization of the data ar-
chive and the central data base (TsB), minicomputers for deco ding and processing
of telemetry information coming from drifting ballaons and satellites and also to
digitize and enter information into the central data base from autonomous informa-
tion recording devices and other digit al devices (for example, digitizers or de-
vices for reading information from movie film) and medium- or high-productivity
computers to carry out calculating operations on data, for numerical modelling and
for working in a collective-use system and so on. The regional center should have
good information display equipment both in alphanumeric and in graphical displays,
on graph plotters and on digital printers.
- The hardware of the system. A survey o f existing systems for automation of exper-
imental information gathering showed tYiat apparatus in the CAMAC standard is most
promising and simplest to use for these purposes. Taking the reqnirements pZaced
on the experimental information gathe r ing and processing system into account, ser-
ially standardized measuring-compute r complexes (IVK-1 and IVK-2), which contain
_ a full set of minicomputers of the SM- 3 or SM-4 type and appa ratus in CAMAC stan-
dard already integrated with computers , were developed and produced [18]. Soft-
ware which consists of the following parts is delivered together with the complex:
papertape operating system (PLOS) ;
disk operating system (DOS) with r^ortran-IV, Assembler and Macroassembler
programming languages;
real-time disk operatin.g system (DOS RV) with program preparation in Assem-
bler, Macroassembler, Fortran-IV and real-time Fortran and so on;
s~ftware for access to CAMAC modul es.
A typical CAMAC crate contains the fol lowing functional modules:
input register (type 305) that pe rmits entry of digital information in paral-
' lel code;
~utput register (type 350) that permits output of digital information to any
device;
analog-digital converter (type 71 1) for entry of analog information into the
complex;
digital-analog converter 2TsAP10 for output of information in analog farm,
for example, on a graph plotter or automatic recorder;
teletype interface (type 500A) wh i ch can be used to transmit information over
- subscriber telegraph lines;
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relay multiplxer (type 750) for connection of several analog signals to the
analog-digital converter;
pulse counter (type 401) ;
timing pulse generator or timer and s~ on.
Moreover, several hundred different modules which can be used in any system have al-
ready been developed in the C'.AMAC standard.
The given set of modules satisfies most requirements on information converters to
digital form in geophysical investigations. Thus, an infoxmation-computer complex
af type IVK-1 or IVK-2 is selected at observatories and observation stations as the
basis of the data qathering subsystems. The difference of these two complexes in-
Cludes different productivity of the processors.
The structure of the information gathering, preliminary processing and display sub-
system is shown in Figure 5. The geophysical information sensors are connected
through CAMAC models. The additional external devices not contained in the IVK set
are connected by special modules. The subsystem is joined to the subscriber tele-
graph ch~nn~l by an integration module. Two magnetic tape stoYas (I~Il~+IL) and an ad-
diti~nal magnetic disk store are connected to the complex in addition to the mag-
netic disk store (NMD). One (or several) microcomputez of the Elektronika-60
type, us ed as a specialprocessor to calculate statistical and spectral characteris-
tics of geophysical processes, is connected by the CAMAC apparatus to expand the
calculating capabilities of the complex. Incoming data are recorded on magnetic
tape fo r subsequent transmission to the regional center and on magnetic disk for
transmi ssion to the data base of the subsystem (BD). The data stored on aisk are
access ible for operational ~eview. The data storage ti.me in the data base com-
prises no more than one week. The subsystem has the capability of reviewing the
information data available in the base simultaneously with information gathering
and also of displaying the information in the form of graphs on a graph plotter or
graph display (if it is available). Moreover, information about current time and
the state Qf the system is shown on the duty operator's display and instructions
to the operator can essentially be issued.
A block diagram of a regional center is shown in Figure 6. According to the se-
lected structure, the regional center consists of four subsystems joined to each
other by a machine-independent standardized mainline exchange system (UMSO) con-
trolle d by a communications processor KP. The first subsystem based on the IVK-1
is used to organize communications and information reception from the information
gathe ring and preliminary processing subsystems. It also exchanges information
- with all remote users. The second subsystem based on the IVK-2 is used for entry
and preliminary processing of telemetry information through the telemetry informa-
tion decoder (URTI), for processing geophysical information recorded on a slow
analog tape recorder, to digitize ONCh signals, for digitization ar~d preliminary
proces sing of information presented on movie film and so on. The second subsystem
has a d irect communications channel with the telemetry information receiving sta-
tion from satellites in order to process the signal during reception of the in-
format ion. Installation of a minicomputer directly at the satellite information
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- !lr~iiivi~~u(i)
~ /~R~~~
3 60 - ~3
d~eu
l(AMAI( (4)
AT
NMA ~ 5I .
~eyama 6~
HMA 5) CM_3 ,QuG- ( ) .
_ n~ev 3
_ (7)
- Hl'1~1 NMQ
Figure 5. Structure of Real-Time Data Gathering Subsystem
Key:
1. Sensors 5. Magnetic tape store
2. Graph 6. Printout
3. Display 7. Magnetic disk store
4. CAMAC
receiving station is plannec3 in the future. The third subsystem based on a mini-
_ computer of type SM-1 and graph display (SIGDA) permits the investigator to work
with data presented in graph form. As shown ~y practice, the effectiveness of
analyzing the resul.ts increases when it is displayed in graph form. Historical
data obtained as a result of information processing was initially presented on a
digital printer and was then constructed manually and then evaluated. Graph plot-
ters then appeared. Graph displays which in combination with a computer with suf-
ficiently high speed display graphical information are now used extensively and
they can be controlled by the operator by means of a keyboard and light pen. The
required information is fixed on the graph plotters after review and correction of
the data received. The fourth subsystem is based on the M-4030 ASVT and is the
main computer equipment of the regional geophysical information gathering, proces-
sing, storaqe and display center.
Besides stationary observation stations and observatories, geophysical observa-
tions ar~ also made under temporary field and expeditionary conditions and also in
- difficultly accessible locations where there is no possibility of installing auto-
mated information gathering subsystem. Autonomous magnetic tape geophysical infor-
mation recorders have been developed for these purposes jointly with the Institu~e
of Physics of the Earth, USSR Academy of Sciences [2]. There are two essentially
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different methods of recording information on magnetic tape. These are recording
an analog signal directly and using different methods of modulation without time
quantification and recording information in digital form. Both these methods have
their advantages and disadvantages. The greatest density of information recordirig
is achieved when an analog signal is recorded on magnetic tape and as a result
longer recording is possible. The accuracy of recording and time resolution can
be regulated during digitization and processing of the information. The record-
ing tape recorder is simpler in mechanical design and electronic circuits and is
. more reliable. The disadvantage is that a rather complex information digitizing
and computer entry device is required. Digital recording of information has the
advantage that it is easier to enter into the computer for processing and no spe-
_ cial input devices are required when information is recorded on magnetic tape in a
computer standard= a magnetic tape cassette need only be installed on a standard
magnetic disk store contained in the computer. The disadvantage of digital tape
recorders is the great complexity of the mechanical and electronic units and the
fact that accuracy and time resolution are limited by the selected quantification
during recording. Both directions are used at PGI in developing autonomous geo-
physical information recorders. A description of a slow analog tape recorder (MAM)
and digital step tape recorder (TsShNML) is given in [2].
AT!
NBK-I CN-1 Guzd~ (1)
AT? l11 (3 )
yMCO '
OHy NBlf 3 -60 3-60
f11
p ~ MAM AGBT
T M - 4U30
N ~
Tcnenc
pua
/ '
/1Pae~~a~iV ny~,rm
i7c~eryempuu ~ 3 ~
Figure 6. Structure of Regional Center
Key .
_ 1. SIGDA 3. Telemetry receiving station
Telemetry
A ~roject to automate the geophysical research of PGI is in the realizatio n stage.
A real-time data gathering and processing sys~em based on the Nairi computer, on
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which geoptiysical data processing algorithms are being completed, is undergoing
experimental operation. A gathering subsystem based on the measuring-computer
complex IVK-1 is now being developed. An M-4030 ASVT--the main computer device of
the future regional center--was installed in 1978. A telemetry information decod-
ing device (URTI) operatES in combination with the M-4030 ASVT [19]. Methodical
investigations are being conducted on digitization and spectral-time analysis of
oNCh-signals [20]. A new camera has been developed for photographing the aurora
borealis with regard to further processing of information from movie film in an
information digitization and input system to a computer (21].
Development and introduction of automation systems in planned in stages by the de-
gree of readiness of the type of observation for entry and processing of data in
real time in the gathering subsystem. Existing systems wRll be modernized by evo-
lution, parallel with the new system being developed prior to its being put into
operation and information will be processed in the old system.
BIBLIOGRAPHY
1. Ostapenko, A. A. and V. S. Smirnov, "M~odelling of Electromagnetic Processes in
the Auroral Ionosphere by t}ie Numerical Modelling Method," this collection.
2. Deryabin, V. M., B. N. Kazak, V. I. Makarov et al, "Autonomous Geophysical
Information Recorders Based on Magnetic Carrier," this collection.
3. Yakubaytis, E. A., "Collective-Use Computer Centers," in "Struktura, tekhni-
cheskiye sredstva i organizatsiya sistem avtomatizatsii nauchnykh issledovaniy"
[The Structure, Hardware and Organization of Systems for Automation of Scien-
tific ResearchJ, Proceedings of the lOth All-Union School for Automation of
Scientific Research, Lenlr.gra, Izd-vo LIYaF, 1977.
4. Ryabov, Yu. F., "Multimachine Systems of the L~eninqrad Institute of Nuclear
Physics imeni B. P. Konstantinov, USSR Academy of Sciences," in "Struktura,
tekhnicheskiye sredstva i organizatsiya ~istem avtamatizatsii nauchnykh issled-
ovaniy , Proceedings of the lOth All-Union School for Automation of Scientific
Research, Leningrad, Izd-vo LIYaF, 1977.
5. Kutsenko, A. V., Phases in Development of the Minicomputer Network of the
Physics Institute�imeni O. Yu. Schmidt, USSR Academy of Sciences" in "Struk-
tura, tekhnicheskiye sredstva i organizatsiya sistem avtomatizatsii nauchnykh
issledovaniy", Proceedings of the lOth All-Union School for Automation of
Scientific Research, Leningrad, Izd-vo LIYaF, 1977.
6. Kutsenko, A. V., "MOdel of System for Complex Automation of Large Research In-
stallations Based on a Minicomputer Network;" in "Sistemy avtomatizatsii
nauchnykh issledovaniy i ikh programmnoye obespecheniye" [Systems for Automa-
tion of Scientific Research and Their SoftwareJ (Transactions of FIAN, Vol 112),
Moscow, Nauka, 1979.
7. Basov, N. G., O. N. Krokhin, A. V. Kutsenko et al, "Multimachine System for
Automation of Powerful Laser Installation Del'fin to Investigate Th~rmonuclear
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Fusion (Draft)," in "Sistemy avtomatizatsii nauchnykh issledovaniy i ikh pro-
grammnoye obespecheniye" (Transactions of FIAN, Vol 112), Moscow, Nauka, 1979.
e. Bobko, V. D., Yu. M. Zolotukhin, Yu. M. Krenzel' et al, "Mainline Information
Exchange System," AVTOMETRIYA, No 4, 1974.
9. Vas'kov, S. T., "Systems for Autcrmation of Scientific Research Based on the
CAMAC Standard Developed at the Siberian Department, USSR Academy of Sciences,"
in "Struktura, tekhnicheskiye sredstva i organizatsiya sistem avtomatizatsii
nauchnykh issledovaniy", Proceedings of the lOth All-Union School for Automa-
tion of Scientific Research, Leningrad, Izd-vo LIYaF, 1977.
10. Ivanov, I. I., A. F. Lagovskiy, Yu. S. Sayenko et al, "Ionospheric Diagnostic
Canplex of KMIO, IZMIRAN," in "Diagnostika i modelirovaniya ionosfernykh voz-
mushcheniy" [Diagnosis and Modelling of Ionospheric Disturbances], Moscow,
' Nauka, 1978.
11. Lagovskiy, A. F, and Yu. S. Sayenko, "Methods of Processing Geophysical Data
in Real Time," in "Avtomatizatsiya nauchnykh issledovaniy" [Automation o`
Scientific Research], Proceedings of Second All-Union School for Automation
of Scientific Research, Minsk, Izd-vo Instituta tekhnicheskoy kibernetiki AN
BSSR, 1978.
12. Vetrina, M. A., V. P. Yelistratov, I. A. Kuz'min et al, "Geophysical Informa-
tion Gathering and Processing System LANI-1," in "Struktura, tekhnicheskiye
sredstva i organizatsiya sistem avtomatizatsii nauchnykh issledovaniy",
Proceedings of the lOth All-Union School for Automation of Scientific R,esearch,
Leningrad, Izd-vo LIYaF, 1977.
13. Yelistratov, V. P., I. A. Kuz'min and A. A. I~rushchinskiy, "Real-Time Geo-
physical Data Gathering and Processing System," in "Polyarnyye siyaniya i
vtorzheniya avroral'nykh chastits" (The Aurora Borealis and Irruption of
Auroral ParticlesJ, Leningrad, Nauka.
14. Yelistratov, V. P., I. A. Kuz'min, L. L. Lazutin et al, "Experience of Oper-
ating Automated Real-Time Geophysical Data Gathering and Processing System
During SAMBO Experiment," in "Magnitosfernyye vozmushcheniya i protsessy zony
polyarnykh siyaniy" [Magnetospheric Disturbances and Process of the Aurora
Borealis ZoneJ , Apatity, Izd-vo Kol' skogo filiala AN SSSR, 1976.
15. Yelistratov, V. P. and A. A. Negrebetskiy, "Real-Time Recording and Processing
- of Geomagnetic Fluctuations," this collection.
16. Williams, D. J., "SELDADS--An Operational Real-Time Solar-Terrestiral Environ-
ment Monitoring System," NOAA Technical Report ERL 357-SEL37, 1976.
17. Kuklin, G. N., "Future Trends for Automation of Scientific Research," in
"Struktura, tekhnicheskige sredstva i organizatsiya sistem avtomatizatsii
nauchnykh issledovaniy", Proceedings of the lOth All-~Union School for Auto-
mation of Scientific Research, Leningrad, Izd-vo LIYaF, 1977. ,
1
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18. Tsvetkov, E. I., "Development of Investigations to Create Measuring-Computer
Complexes," PRIBORY I SISTEMY UPRAVLENIYA, No 1, 1980.
19. Radkevich, V. A. and A. M. Perlikov, "Apparatua Complex for Processing Analog
and Telemetry Information Obtained During Geophysical Experiment," this
collection.
20. Perlikov, A. M. and A. A. Ostapenko, "Analysis of ONCh-Signals by Digital
~ Methods," this collection.
21. Solov'yev, V. M., G. V. Starkov and V. F. Yushchenko, "An AutomatEd Complex
for Recording the Nighttime Sky Glow and Processing of the Information Ob~
tained," this collection.
COPYRIGHT: ICpl'skiy filial AN SSSR, 1980
6521
- CSO: 1863/18
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MICROPROCESSORS IN CONTROL SYSTEMS OF ELECTRIC TRACTION DEVICES
Moscow TRUDY VSESOYUZNOGO ORDEAiA TRUDOVOGO IQtASNOGO ZNAMENI NAUCHNO-ISSLEDOVATEL'-
SKOGO INSTITUTA ZHELEZNODOROZHNOGO TRANSPORTA: MIKROPROTSESSORY V SISTEMAKH
UPRAVLENIYA ELEKTROTYAGOVYKH USTROY5TV in Russian No 643, 1981 (signed to press
19 Mar 81) pp 3, 76
(Preface by Deputy Director of Institute, Doctor of Technical Sciences V. G.
Inozemtsev and Head of Railway Electrification Division, Candidate of Technical
Sciences A. L. Lisitsyn and table of contents from the collection "Transactions
of All-Union Order of Red Banner of Labor Scientific Research Institute of Railway
Transport: Microprocessors in Control Systems for Electric Traction Devices", ed-
_ ited by Candidate of Technical Sciences G. V. Faminskiy, Izdatel'stvo "Transport",
820 copies, 80 pages ]
- [Text] Microprocessors and microcomputers make it possible to automate the con-
trol of those processes in electric traction devices which were previously impos-
sible to automate due to the extremely high cost of the equipment, its ctunbersome-
ness and the comparatively low reliability for continuous operation. The results
of investigations in this field, conducted ai: the All-Union Scientific Research
Institute of Railway Transport (VNIIZhT) are outl~ned in the given collection.
The advantages of using microprocessors and microcomputers for automatic control
are most obvious. Therefore, basic attention is devoted in the collection to de-
velopments in this field. At the same time some possible directions �or using
microprocessors and microcalculators to automate the simpler production processes
in electrical supply devices are investigated.
_ We request that comments and remarks on the materials of the collection be sent to
the address: 129851, Moscow, Third Mytishchinskaya ulitsa, 10, Editorial-Publish-
ing Department, VNIIZhT.
Contents Page
Preface 3
1. Faminskiy, G. V. and N. D. Sukhoprudskiy, Use of Microprocessors
in Automation of Electric Traction Devir.es 4
2. Astrakhan, V. I., Use of Micro- and Minicomputers for Centralized
Traffic Control of Subway Trains 11
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3. Astrakhan, V. I. and Ye. G. Faminskaya, Regulating the Travel 17
Time of Subway Trains by Using Microcomputers
4. Astrakhan, V. I. and Ye. V. IGomkov, Controlling the Braking of 2~
Subway Trains by Means of Microprocessors
5. Malinov, V. M., Analyzing Passenger Traffic Volumes of a Subway 26
by Means of Microcomputers
6. Faminskiy, G. V., Controlling a Train on a Section by Using 31
Microprocessors
7. Bushnenko, Yu. V. and N. B. Nikiforova, Principles of Designing
a Universal Train Control System and Realization of it by Means 38
of a Microcalculator
S. Sukhoprudskiy, N. D. and V. P. Molchanov, Finding the Fragmenta
of a Mnemonic Circuit af an Energy Section Using a Microcalculator 45
g, Ic,~gan, Yu. L. and V. M. Malinov, Using Microprocessors and Micro- 49
computers to Control Train Traffic Abroad
10. Tatarnikov, V. A., Improving the Automatic Machine Operator of
the Central Scientific Research Institute on the Basis of Large 56
Integrated Circuits (BIS)
11. Faminskiy, G. V., Prospects for Use of Mxcroprocessors for Remote 65
Control of Locomotives
12. Nikiforov, B. D., A. Ye. Pyrov, B. I. Vetlugin and A. A. Drobyshev, 68
Principles of Mc~nitoring Fail-Safe Electronic Devices
COPYRIGHT: Vsesoyuznyy nauchno-issledovatel'skiy institut zheleznodorozhnogo
tzansporta (VNIIZhT), 1981
6521
CSO: 1863/17
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REGULATING SUBWAY TRAIN TRAVEL TIME USING MICROCOMPUTERS
Moscow TRUDY VSESOYUZNOGO ORUENA TRUDOVOGO KRASNOGO ZNAMENI NAUCHNO-ISSLIDOVATEL'-
SKOGO INSTITUTA ZHELEZNODOROZ~INOGO TRANSPORTA: MIKROPROTSESSdRY V SISTEMAKH
- UPRAVLENIYA ELEKTROTYAGOVYKH USTROYSTV in Russian No 643, 1981 (signed to press
19 Mar 81) pp 17-26
[Article by Candidate of Technical Sciences V. I. Astrakhan and Engineer Ye. G.
Faminskaya from the collection "Transactions of All-Union Order of Red Banner of
Labor Scientific Research Institute of Railway Transport: Microprocessars in
Control Systems for Electric Traction Devices", edited by Candidate of Technical
Sciences G. V. Faminskiy, Izdatel'stvo "Transport", 820 copies, SO pages]
[Excerpt) Bringing actual train speed closer to the permissible speed increases
~ the acceleration reserve compared to existing conditions. To evaluate this re-
serve, comparative traction calculations were made for one of the Moscow subway
lines. The calculations were made on a YeS-1030 computer from a program developed
at VZIIT [All-Union Correspondence Institute of Railroad Transportation Engineers]
- [1). The calculated acceleration reserve time found when one-time and multiple
connection of traction motors was compared in the case of,fulfilling li.mitations
on the permissible traffic speed comprises an average of 4-6 seconds per wayside.
The time expended for train traffic on the deceleration track of the station de-
pends on the rate of the beginning of braking. Time stability for braking should
be provided under intensive traffic condition.s during "peak" hours by maintaining
a given train speed upon coming into the station by using the ASR [Automatic
speed control] subsystem. The stability of the length of deceleration does not
play such an important role during hours of a load decrease. Therefore, the
speed of the beginni.ng of deceleration rnay be different.
Monitor~ng fulfillment of the train traffic schedule is easy by using microcom-
puters which will calculate the required train travel time under traction on a
given block section, obtaining~information about the time the train passes the
ends of the block sections. If the length of the sections is sufficiently short
~ahen the difference in travel time with and without current is less than the per-
missible deviation, a microcomputer will determine the �~rain traffic conditions
over the entire section by the sign of deviation alone, i.e., it can determine
only whether the train on the section is under current or is coasting in order ~o
fulfill the programmed time of arrival at the next section. ,
49
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One or several (without reger.d to redundancy) microcomputers, specifically micro-
computers constructed on a microprocessor of series K589, can be used to control
wayside travel time [2]. Z'his microcomputer is similar in output to universal
computers of type M6000 and realizes expanded arithmetic instructions and special
instructions introduced by the user so that two control memory files are. provided
in it. The microcomputers (overall dimensions of 450 X 482 X 220 mm) contain, in
addition to the processor, an interface block and also internal storage blocks,
display block, power supply block and control console. The maximum capacity of
~ the internal storage is 32,040 words and the time required to fulfill an addition
operation is 3.5 microseconds. The number of input-output devices connected to the
microcomputer may reach 5~.
The consi3ered multiprocessor system can be realized either as a concentrated sy~-
tem (all universal computers are located on a central control console) or as a
distributed system (the universal computers are installed at each station while a
central universal computer is installed on the central control console). The num-
ber of channels between the central control console and the stations is increased
in the first version, but the following advantages appear: the number of micro-
computers decreases, the capability of simple redundancy upon failure of one of
the machines becomes possible, it becomes possible to organize a common memory for
the multisystem using magnetic disks, which is very important during power out-
ages and failures of the universal computer, the volume of peripheral equipment
for the system as a whole is reduced considerably, the problem af documentation
and monitoring of its operation is facilitated, the system servicing conditions
are ir?proved and the operational nature of introducing changes to the program and
operating algorithm is enhanced.
With the second version of constructing a distributed computer system, each station
central computer can control train traffic on one or several waysides based on in-
formation about actual train traffic on the wayside and information on the traffic
schedule transmitted �rom the central universal computer. The volume of informa-
tion transmitted between the central control console and the stations to cantrol
train traffic is reduced in this version and it becomes possible to use the central
computer to determine deviations in train traffic by stations and to display these
deviations for the engineers on a display board and also to solve other local con-
trol problems. The second ve~sion of designing a computer system achieves addi-
tional advantages when microcomputers of different capacity are used, including
small computers, which may be used effectively both for control purposes and to
process and transmit information, i.e., as specialized programmable
microdispatchers.
Selecting a specific version for designing a multiprocessor system depends on the
characteristics of the lines to be automated, their length, the scope of ~raffic,
prospects for development and so ~n.
BIBLIOGRAPHY
l. Shilovskaya, R. V., "Algorithm for Traction Calculation to Select the Param-
eters of a Subway Energy Supply System," TsNIITEI [Central Scientific Research
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Institute of Information and Technical and Economic Research], MPS [Ministry
of Railways] ,"Zheleznodorozhnyy transport. Seriya metropolitena. Eksplua-
tatsiya i tekhnicheskiye sredstva" [Railway Transport. Subway Series. Opera-
tion and Hardware], No 1, Moscow, 1979.
2. Berezenko, A. I., V. I. Berezin, S. Ye. Kalinin and L. N. IC~ryagin, "Micro-
computers in the Microprocessor Set of Series K589," ELEKTRONNAYA PROMYSHLEN-
- NOST', No 6 (66), 1978.
COPYRIGHT; Vsesoyuznyy nauchno-issledovatel'skiy institut zheleznodorozhnogo
transporta (4'NIIZhT) , 1981
6521
CSG: 1863/1.7
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SEARCHING FOR FRAGMENTS OF SECTION MNEMONIC CIRCUIT USING A MICROCALCULATOR
Moscow TRUDY VSESOYUZI30G0 ORDENA TRUDOVOGO KRASNOGO ZNAM~i~TI NAUCHNO-ISSLEDOVATEL'-
SKOGO INSTITUTA ZHELEZNODOROZHNOGO TRAIISPORTA: MIKRG~'gtOTSESSORY V SISTc,MAKH
UPRAVLENIYA ~LEKTROTYAGOVYKH USTROYSTV in Russian No 643, 1981 (signed co press
19 Mar 81) pp 45-49
[Article by Doctor of Technical Sciences N. D. Sukhoprudskiy and Candidate of
Technical Sciences V. P. Molchanov from the collection "Transactions of All-Union
Order of Red Banner of Labor Scientific Research Institute of Railway Transport:
Microprocessors in Control Systems for Electric Traction Devices", edited by
Candidate of Technical Sciences G. V. Faminskiy, Izdatel'stvo "Transport", 820
~ copies, 80 pages~
(Text] The mnemonic circuit of energy sections on mosaic panels is usually ful-
filled in a very simplified manner. .At the same time the energy dispatch~r must
have the power supply circuit, number of tracks and semaphores in front of him when
_ organizing work at stations with extensive branching of tracks. A device was de-
veloped for this purpose that reproduces in detail as needed one or another frag-
ment of the mnemonic circuit. It includes a slide projector with line mechanism
of fragment feed and control unit made on integra~ed circuits and transistors.
Because the contz^ol unit to provide faster search for the fragment should have a
memory device, data input and output davice and resolving wnit (that determines
the difference of the numbers o� tne fragments and its sign), the devices was
rather complex and cumbersome.
It is more effective to use a microcalculator as the basis of the control unit.
It is suFficiently compact and has a built-in resolving device with microprogram
control and memory registers. There should be special input-output devices to
supplement it. In this case the microcalculator can be used by the dispatcher by
direct designation as well (any calculations can be made if needed). Microcalcu-
lators of various typ~s can easentially be used in the device under consideration.
A description of the device (Figure 1) is given below, based on the Elektronika
B7,-26 microcalculator.
The difference and its sign are displayed on a fluorescent display of type P252V
in the Elektronika BZ-26 microcalculator and the "minus" sign is fixed by coinci-
dence of the nine-digit pulses of the output register of the microprocessor and
- the anode M of the display. The outputs of the microprocessor to the display
anodes are high-resistance; therefore, taking signals from them to avoid shunting
52
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- IBB
NnBuxamop (1)
. H 9p 8p 7p 6p 5p 0p 3p Zp Ip M f. f D~C 8 A R
ISB ' J 1 4 6 B JO ll l3 /5 7 3 7 9!W /6 /B !2
---i
. r---- -=7
r---- -
p----- --a
- ~r-_-----
~-0--
~ 6nnK~a,ftdyuu ) HuKponpoyeccop, ycmpoucmEo SEoda-derCoDa
~NUxa . ( 3 ) u ynpaBnenua unduKVyuerl
6neKpea~uaauuu ~ynK~uu ) _ _
ocmanoQKV Mexai~uaNa � 5) nynem ynpaEn~nu,~
� }
6noK ynpaSnrNU~ ( ) M~XONLJM . .
M~1fOMUJMOM ~6 cmam~wecKOU vn~opMayuu '
Figure 1. Energy Dispatcher Information Display Device (a) and I~ocation of
Display Anodes (b)
Key:
l. Display
2. "Mi.nus" sign fixation u.*~it
3. Microprocessor, input-output device and display control
4. Mecl~anism stopping unit
5. Control console
6. Mechanism control unit
7. Static infoxmation mechanism
of the anodes is possible only if high-resistance logic components are usede
K1LB781 and K1LI781 microcircuits of aeriea 178 were used in the given device.
A coincidence circuit of the signal from anode M artd display and from the output
of the ninth digit of the microprocessor register (output 9p) based on microcir-
cuit K1LI781 is used to tap the sign "minus" (Figure 2). Since the corresponding
signals of anode M and output 9p have a positive potential, they are first inverted
by means of microcircuit K1LB781.
Positive pulses with length of 0.2 milliseconds appear periodically in sequence at
intervals of 1.9 milliseconds at the outputs of the microprocessor register 9p-lp
(see Figure 1). If segments (anodes) of the numbers at the inputs are exti.nguished,
, there are no positive pulses and a zero potential appears at output 7 of microcir-
cuit K1LB781. The AND circuit on microcircuit 1 of K1LI781 emits a signal that
authorizes movement of the "Forward" mechanism. If a positive signal appears on
anode M and i the corresponding "minus" sign appears on the display screen, the
coincidence circuit is triggered, issuing instructions to the mechanism control
uni.t to move the "Backward" mechanism.
_ As noted above, the difference of the numbers of previously established and sum-
moried positions must be determined to find the required fragment. This difference
determines the number of steps of moving the mechanism. A one is read at each
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~ ~ r2 ~
f MB o~ J o~~Ji
HE ~
6a E p~
KV167g~ 7 9 6 ~ 9 0
0 6~ I0~ OJ O 6� 10
R Ki116781 Rl116781 RIlIN7B1 Rf/16781
?345 If11fJ14 45 J45 It121J14
00 000 000
~ ' ,HE ~o /(f
0
- a ~ I(1/16781
a (l 171J14 2
d o00 7 ~9 9 !0 .
� . ~ 6� ~ ~QO Q ~
run6~d; ~n6~ei ~r~n6~8r ;~nN~a> >3
~ , 10~o IllooJol l/o1Oe4 t2ll
~o '
~ ( y � .
b . ~ ' .
E O10
O N p ~�~'Z~ , r ~ _
. 2+u atl , . ~ 60 4
J ~ i . ~ ~ K!/l6781 ~ ~ ~
d ~ ?J45
. , y
. . ~
Figure 2. Diagrams of Units for Fixing "minus" Sign and Realizing Mechanism
Stopping Function
Key :
1. From output 9p (ninth digit, class 2)
2. To mechanism control unl.t
3. Authorization for stopping mechanism
step of the ~~erived difference during motion. T'h~ mechanism should be stopped when
a zero is obtained as a result of subtracting the ones. All the display segments,
witii the exception of segment M(see Figure 1) which lights up when the number 8
appears, light up in the least digit. However, the appearance of the number 0 in
the least digit is not a suff~.cient feature to deliver instructions for stopping
- the mechanism. It is also necessary tha~ none of the segments be lit up (no in-
formation was reproduced) in the top digits. Thus, a pmhibition to stop the
mechanism should be provided both when the number 8 is displayed only in the least
- digit and when the number 0 is displayed together with numbers in the top digits.
Components with high input impedance--microcircuits of series 178 that perform
~ logic functions at negative potentials--are also used in the circui.ts for realiz-
ing the function of stopping the mechanism (see Figure 2).
- The si.x display anodes (with the exception of anode M) ar~ connected to two micro-
circuits 3(7) and 3(9) that realize the OR-NOT function. The outputs of these
microcircuits are connected to the inputs of microcircuit 1(6) that perform the
AND-NOT function. .
54
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I~OR nFFI('IA1. U~iN: ONLY
when a number besides the number 0 is lit up in the least digit at the inputs of
microcircuits 3(7) and 3(9) connected to unlit anodes, there is one or several
negative potentials. Accordingly, positive potentials that prohibit the operation
of microcircuit 1(6) appear on their outputs 7 and 9. The negative potential on
the output is retained in this case. An authorizing positive potential appears at
output 6 of microcircuit 1 only if the two negative potentials at its input coin-
- cide. A positive potential froan its output is fed through inverter 4(7) to one of
four inputs of the AND-NOT circuit 5(7). The second input of this circuit is con-
nected to the input of the first digit of the display. Consequently, the forbid
potenti.als are taken from the corresponding two inputs of microcircuit 5(7) only
at the moment the pulses at the output of the first digit and at the output of
microcirc uit 4(7) that fixes the zero display in this digit coincide.
Instructions to stop the mechanism can be issued only if none of the numbers from
1 to 9 do not light up in the second digit. Authorization for stopping is issued
by two groups of compo~ents acting on inputs .4 and 5 of microcircuit 5(7).
Z'he first group of components is microcircuits 6(7) and 6(9); they are connected
to the anodes of segments B and C of the display since some of them must be lit up
if any of the numbers from 1 to 9 is lit up. The outputs of microcircuits 6(7)
ar~d 6(9) are connected thzough uncoupling diodes D1 and D2 that perform the OR
operation to the input of microcircuit 1(10) that performs the AND-NOT operation.
_ Numbers are reproduced on the display by the dynamic principle. Pulse signals al-
ternately detour the outputs of digits of 9 through 1. Simultaneously with them,
~ signals also come into the anodes cf the segments according to the number which
should be reproduced in the given digit. Although the all the segment-displays of
the same type in all the digits are connected in parallel, only those of them
which correspond to the digit having a signal at the input coinciding with the
signals at the outputs of the segments begin to light up. Therefore, a second
group of components--microcircuits 5(9) and 1(10) and delay line TZ--is provided
to forbid stopping of the mechanism ~f there is a number in the second digit. The
output of the second digit of the display is connected to the second input of
microcircuit 1(10) through inverter 5(9). Thus, a signal appears at the output of
circuit 1(10) only if the signals on segments B and C and at the output of the
second digit coincide.
~acti signal arrives alternately at the inputs of the display within 0.2 millisec-
ond. A signal initially appears at the output of the top digit and only then ap-
pears in the least digit~. Therefore, to record the presence of a zero in the
first digit in the absence of a number in the second digit, these two events must
be combined in time, which is accomplished by means of component TZ that delays
the signal �rom circuit 1(10) by 0.2 millisecond. An authorizing signal comes �rom
component TZ to input 4 of microcircuit 5(7). The authorizing signal is fed
thrauqh inverter 2(7) to its input 5 only if no segment of anode M lights up in
the least digit (i.e., a 0 rather than an 8 is reproduced).
If the signals on all four inputs of microcircuit 5(7) coincide, a signal to stop
the mechanism appears at its output, i.e., a positive pulse from the output of the
ur.;_t fo.r stopping the mechanism (see Figure 1) is fed through the control unit to
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the static information mechanism. The mechanism is stopped and this completes the
total cycle of switching it for finding the object.
Both the keyboard of the microcalculator and ~he control console with buttons, each
of which corresponds to a specific object, can be used as the control console in
the device.
COPYRIGHT: Vsesoyuznyy nauchno-issledovatel'skiy institut zheleznodorozhnogo .
transporta (VI3IIZhT? , 1981
6521
CSO: 1863/17
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1~(11t ()H'1~1('IA1, l1tiF. ONLY
RECONSTRUCTING HEXAPOD GAITS
- Moscow MODELIRQVANIYE I OPTIMIZATSIYA SLOZHNYKH SYSTEM TTPRAVLENIYA in Russian
1981 (si~ned to press 8 Jun 81) pp 205-216
[Article by D. N. Zhikharev and I. G. Zhestkov from collection "Modeling and Optimiz-
ing Complex Control Systems" edited by Ya. Z. Tsypkin, USSR Academy of Sciences, Izda-
tel'stvo "Nauka", 2350 copies, 265 pages]
[Text] 1. Brief description of hexapod. In this article the authors examine a number
- of the locomotive modes of a hexapod which has been developed at Moscow State Universi-
ty's Institute of Mechanics. The model of this walking machine comprises a body f itted
witti six legs. The legs of this machine constitute a kinematic loop with six degrees of
freedom, a diagram of which is presented in Figure 1. A leg's first three degrees of
_ Ereedom, angles of rotation relative to axes 1-3, are controlled. Orthogonal and non-
intersecting, angles 1 and 2 form the "hip ~oint" of a leg, segments 4 and S its "femur"
and "tibia." Axis 3 is parallel to axis 2. An electromechanical servosystem produces
_ movement through each of the controlled degrees of freedom. A three-degree Cardan foot
suspension fitted with a surface-contact sensor is mounted on the tibia.
~ The motion-control system generates control signals
producing the machine's movement with automatic adap-
P~ B tation to small surface irregularities upon command
~ ~7,~'~ ~ from the operator (or a higher level of the control
system) determining the motion of the body of the ma-
1
Q, ~ chine and the basic characteristics of its locomotion.
f~ Figure 2 is a functional block diagram oi the control
system.
s
It consists of the following major components:
~ - the set of controlled stepping-cycle generators (GS)
comprises six identical generators forming closed
space-time curves of the stepping cycle (i.e., the
_ trajectory traced by the end of the leg) of each leg
in the plane of the several auxiliary Cartesian co-
ordinates. The generators are interconnecrnd such
Figure 1. that the desired relationships are maintai�. :d between
the phases of the stepping cycles, which iisures the
required form of movement. Signals from the foot sur-
[ace-contact sensors constitute the inputs into this component. Component parameters
are assigned by the operator (or a higher level of the control system); component out-
puts are fed to the input of the linear converter;
57
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t~(!R (11~1~1('IAI. I~til~: 1)NI.Y
lli~~ I In~�:ir ~�~,~,r~l lu;il~� ~�~~uv~~rt~~r (I~t:) ~~ui~vurlr~ ll~c i?ut~~ut l rum tli~r ~encralur uiitt lur
};~ruwetric~al cuur~lln.i~lun ~~l Ui~~ 5~e~~~~ln~ cycles with the body and extremities of the
machine as well as their scaling. Converter parameters are assigned by the operator
_ (or a higher level of the control system); component outputs are fed to the input of
the maneuvering unit;
- in accordance.with commands from the operator (or a higher
le.vel of ~he control system), the maneuvering unit (MU) modifies
i.,;,~o~n ~~c~~.~.z:,~J the stepping cycles of the legs so as to produce the required
~1~ spatial position and motion of the body of the machine. Outputs
frnm the linear coordinate converter and the sensor signals con-
6~ (2) stitute the inputs into this unit. Its outputs are fed to the
input of a component set of converters of Cartesian into angular
coordinates;
6~n (3)
- the component c~nverting the Cartesian coordinates (CCC) of
6M the ends of the l~~k;s into the angular coordinates of the segments
of the legs consists of six identical three-dimensional nonlinear
(4) servosystems which convert the outputs of the maneuvering and
signal-generation unit into inputs into the servosystem amplifier
6~~K unit (SSA) and take into account the limits of the working ranges
of the legs.
ycc
In this article the authors study five-legged modes of machine
i`lmrem locomotion and the possibility of designing a control system
~ ~ ~ ~uu~�urowe~o realizing these modes .
annapama
2. The probZem formulated. We will be looking at the machine
in only uniform rectilinear forward motion such that throughout
Figure 2: 1- the period of movement AC II 0102 and BD II 0306 (Figure 3). We
- operator panel; will assume that the rectangular body
2- GS; 3- LC; of the machine ABNDCM (Figure 4) lies
4- MU; 5- CCC; in a plane parallel to horizontal
6- SSA; 7- mod- plane o1020304 and at a distance S
el of walking ma- from it. The six legs of the machine
chine. are attached according to the numera-
tion in Figure 3 at points A1B1M1N1C1 D~ "j
P. As the machine moves, the projec- G~ A 6~
tions of the ends of the legs fall along parallel curves O10z ~ 1
and 030,,, relative to the body ttie ends of the legs in the c,
support phase moving along su~~port segments blal, b2a2, s
b6aE. The support segments are symmetrical with respect to n I ,y
~
the footholds. i~ p y
- The machine is 0.705 m long (AC = 0.705 m), 0.21 m wide cp
and weighs 18 kg. The mass of a single leg is 1.9 kg. This ~s
mass is distributed as follows: concentrated at point Q is a ~a ~ 0 G,
mass of 0.75 kg and at points P and R 1 kg and 0.15 kg re- 6
spectively (AP = 0.047 m, BQ = 0.08 m, CR = 0.175 m(see Fig- oJ ~i
ure 1); mass values are measured with an accuracy to within ~ ~
- 10 per cent) . ~1 ' ~~r
The projections of the ends of the legs in the support phase
onto horizontal plane 0102030q form a polygon, which we will
refer to as the support polygon. Figure 3.
58
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'CIutcr for Ar?alysis of Regular Nets by the Method of Fragmentary Simulation."
This ~~apcr examines a new approach to organizing a specialized computer intended
for analysis of reyular nets in fragments, based on multiple use of a reprogramQnable
fragment model. 5 tables. 10 figs. Refs: 4 titles.
85
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MVK vrrll,lP1L UJC. VIVLY
UDC 681.306
Polyakov, A. K., and Lyashko, M. M., "Languages for Simulation of Computer System
S~ructures."
This paper examines some specialized languages and simulation systeias oriented on
problems associated with analyzing the structure of computer systems and their
software (with evaluating productivity, time delays, bottlenecks and queues;
debugging control algorithms; analyzing interaction of program modules, etc.).
1 fig. Refs: 10 titles.
UDC 621.3.01
Demirchyan, K. S., and Butyrin, P. A., "Solution of the Problems of Parametric
Synthesis by the Methods of Electric Circuit Analysis."
A relationship is established between the problems of parametric synthesis and
electric circuit analysis. This relationship is used as the basis for proving a
number of theorems making it ~ossible to use, in solving problems of the first
ty~c, a more-profoundly developed and well tested apparatus for solving problems
of the second type. 2 figs. Refs: 4 titles.
UDC 621.382.3
Korolev, Yu. V., and Yushchenko; I. A., "An Algebraic Method for Synthesis of Macro-
models of Complex Electric Circuits."
A formalized method is prese.nted for synthesis of macromodels of complex electronic
ci~cuits within the framwc~rk of the algebraic systems provided by the theory of
electric circuits. The pr,~cess of constructing macromodels at different levels
of complexity is examined with an analog-digital converter as an example. 7 figs.
Refs: 4 titles.
UDC 621.39:681.3
Norenkov, I. P., and Zinov'yev, P. A., "Multilevel Optimization of Complex Technical
Systems."
This paper examines the statement of problems associated with optimizing complex
technical systems and the solution mathods using, as the example, large integrated
circuits subjected to descending design in automatic programmed design systems.
The end result of optimization is the serviceability conditions for the element
para.,~eters. 4 tables. 2 figs. Refs: 5 titles.
UDC 681.5:621,372.5
Takhvanov, G. I., Belyanina, N. V., and Tupitsyn, D. D., "Str~ica.:urally Compensated
Smoothing Devices."
The basic premises pertaining to structurally compensated s*,ioothing devices are
- established, and typical circuits are presented. It is d::monstrated that the principle
of structural compensation o~ systematic output errors extends to many other devices
used to process noisy signals. 6 figs. Refs: 11 titles.
86
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UDC 681.326.75
K.~~izhnyak, V. Ya., Serdyuk, G. B., and Bazutkin, V. V., "A Mathematical Model of
Detection of Failures and Errors in Automatic Process Control System Transducers
Using a General-Purpose Computer."
The authors propose a mathematical model inter.~aed for control, in real time, of a
general-purpose computer's information channel (transducer--communication line--
matching unit--communication line--unit converting transducer signals into computer
code)--that is, controlling the read~ngs of transducers at the in~ut of the processor
of the general-purpose compucC~. i fig. Refs: 11 titles.
UDC 621.316.71:621.3.013.8
Gorskiy, Yu. M., Popov, V. M., and Ushakov, V. A., "Approaches to Applying Adaptation
Principles to Problems Associated Witl~ Controlling Synchronous Machine Excitations."
'I`he principles of organizing adaptive strong-acting excitation regulators for
synchronous machines are reviewed. The possibilities of building adaptive analytical
and retrieval systems in excitation regulators are discussed. Examples of creating
adaptive excitation regulators are presented. 6 figs. R2fs: 13 til:les.
UDC 621.107
Ignat'yev, M. B., and Maksimov, M. L., "Commutators in Construction of Microprogram
Models."
Application of com..~nutators to the co~struction of microprograms is examined in
- relation to program motion based on differential equations. Refs: 8 titles.
UDC 62-50
Batenko, A. P., "TJse of Linear Models in Terminal Control Systems."
The law of terminal control is proposed as a means for accelerating, braking and
stopping a vessel at a preset point. The control system contains an electronic
model imparting the properties of a linear object to the nonlinear propulsion unit.
7 figs. Refs: 5 titles.
UDC 53.072.681.3
Teplov, N. L., Grishin, V. A., and Posokhov, V. P., "Investigation of the Inter-
ferencc Resistance of Binary and Multiposition Discrete Information Communication
Systems by tYie Method of Statistical Simulation With a Digital Computer."
This paper ~resents the results of research cotiducted by the method of statistical
- computer simulation of thc interference resistance of some suboptimal algorithms for
processing complex signals on the background of nonstationary correlated noise.
2 figs. Refs: 5 ti~les.
87
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FOR OFFICIAL USE ON?.Y
UDC 51.001.57
Shevchenko, Yu. T., Korobetskiy, V. N., Yakubovich, Yu. V., Lyashchenko, V. K., and
Bus'ko, Ye. S., "Some Problems in Simulating Effective Cutting of Blanks."
A procedure is suggested for planning the cutting of blanks of ineasured length,
based on the methods af numerical solution of mathematical programming problems.
A se~ of cutting optimizatior. models and information on the develoQed software
are presented. Refs: 11 titles.
UDC 681.325
Shcherbina, A. A., "Use of Redundant Numbering Systems to Accelerate So'_�-}~on of
Linear Algebraic Equation Systems."
Application of redundant homogenoUS n+`unbering systems with integral, rational and
irrationa_ bases to accelerate solution of linear algebraic equation systems by
a:nodified simple iteration method is examined. Refs: 2 titles.
UDC 681.325.6
Kirsanov, L. Yu., "Selection of the Structure of One Class of Threshol~ Element
biemories. "

h
Su~eroperational memories emiloying grouped serial recordings are interpreted as
systems consisting of digit recoqnition systems. Som~ characteristir.s of the
structural organization of superoperational memories based on threshold elements
are examined, and their design features are explained. A block diagram of such a
superoi~erational memory is presented. 2 figs. Refs: 3 titles.
UDC 621.376.56+612+577.3
Dets', G. D., "Delta-Modulator Model of Reception."
The possibility of simulating a biological sensor by a known technical device--
a delta-modulator--is demonstrated. 3 figs. Refs: 4 titles.
UDC 621.372.54
- Gurenko, V. N., "Estimation of the Extreme Values of Approximation Parameters in
the Design of Some Classes of Frequency-Range Filters."
A procedure is described for preliminary estimation of approximation parameters,
obtained as a result of calculating the extreme values, for three basic classes of
filters (Butterwort':>, Chebyshev's an~3 elliptic) permitting design of the opti~um
filter of the given class, and an example of the calculations is pres~nted. 1 fig.
Refs: 7 titles.
UDC 681.325.5
~ Simak, L. A., "Construction of D.igital-Analog Cathode-Ray Displays."
The method and circuit engineering are shown for display of digital-an�log informa-
ti~n, obtained by ~lectron~.c simulation, on the screen of a cathode-ray tube. 1 fig.
Fefs: 2 titles. ~
88
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UDC 681.142-523.8
Gum~t~, N. B., "A Modification Method for Solution of Piecewise-Linear Equations."
A new method is examined for calculating the solutions of piecewise-linear equations
based on solution correction and calculated at previous iterations. The effective-
ness of the method is evaluated, and it is compared with other approaches oriented
at solving problems of this type. 2 tables. 1 fig. Refs: 6 titles.
COPYRIGHT: Izdatel'stvo "Naukova dumka", Elektronnoye modelirov~..iiye, 1981
110U4
CSO: 1863/49 END
89
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