6K机车多微机系统的分析及故障测试

６Ｋ机车是从日本引进的多微机控制的电力机车，在对６Ｋ机车多微机系统的结构及通讯方式进行分析的基础上，着重介绍了由工控计算机８０２８６及接口电路组成的多微机系统的故障测试系统。     

S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.