Misplaced Pages

#24975

131-832: The basic version of the missile was an inertially-guided submarine-launched cruise missile to threaten the US coasts. The missile could be armed with either a 1000 kg high explosive or a 200 or 350 kt nuclear warhead . It had a speed of about 0.9 Mach, range of 500 km and CEP of about 3000 m. The later variant had a range of possibly up to 1000 km. The first missiles were installed in Project 644, Whiskey Twin Cylinder and Project 665, Whiskey Long Bin submarines. Versions of P-5 were later developed equipped with radar homing to be used as anti-ship missiles . The last anti-ship versions were retired from active service about 1990, replaced by

262-510: A binary system meant that Zuse's machines were easier to build and potentially more reliable, given the technologies available at that time. The Z3 was not itself a universal computer but could be extended to be Turing complete . Zuse's next computer, the Z4 , became the world's first commercial computer; after initial delay due to the Second World War, it was completed in 1950 and delivered to

393-632: A central processing unit (CPU) in the form of a microprocessor , together with some type of computer memory , typically semiconductor memory chips. The processing element carries out arithmetic and logical operations, and a sequencing and control unit can change the order of operations in response to stored information . Peripheral devices include input devices ( keyboards , mice , joysticks , etc.), output devices ( monitors , printers , etc.), and input/output devices that perform both functions (e.g. touchscreens ). Peripheral devices allow information to be retrieved from an external source, and they enable

524-419: A keyboard , and computed and printed the results, demonstrating the feasibility of an electromechanical analytical engine. During the first half of the 20th century, many scientific computing needs were met by increasingly sophisticated analog computers, which used a direct mechanical or electrical model of the problem as a basis for computation . However, these were not programmable and generally lacked

655-514: A mass-production basis, which limited them to a number of specialized applications. At the University of Manchester , a team under the leadership of Tom Kilburn designed and built a machine using the newly developed transistors instead of valves. Their first transistorized computer and the first in the world, was operational by 1953 , and a second version was completed there in April 1955. However,

786-429: A monolithic integrated circuit (IC) chip. Kilby's IC had external wire connections, which made it difficult to mass-produce. Noyce also came up with his own idea of an integrated circuit half a year later than Kilby. Noyce's invention was the first true monolithic IC chip. His chip solved many practical problems that Kilby's had not. Produced at Fairchild Semiconductor, it was made of silicon , whereas Kilby's chip

917-450: A vibrating structure gyroscope to detect changes in heading and the odometer pickup to measure distance covered along the vehicle's track. This type of system is much less accurate than a higher-end INS, but it is adequate for the typical automobile application where GPS is the primary navigation system and dead reckoning is only needed to fill gaps in GPS coverage when buildings or terrain block

1048-634: A 1998 retrospective, it was the first working machine to contain all of the elements essential to a modern electronic computer. As soon as the Baby had demonstrated the feasibility of its design, a project began at the university to develop it into a practically useful computer, the Manchester Mark 1 . The Mark 1 in turn quickly became the prototype for the Ferranti Mark 1 , the world's first commercially available general-purpose computer. Built by Ferranti , it

1179-506: A Chip (SoCs) are complete computers on a microchip (or chip) the size of a coin. They may or may not have integrated RAM and flash memory . If not integrated, the RAM is usually placed directly above (known as Package on package ) or below (on the opposite side of the circuit board ) the SoC, and the flash memory is usually placed right next to the SoC. This is done to improve data transfer speeds, as

1310-484: A close-range radar at Kaamanen picked it up, and two Saab 35 Draken fighters were dispatched, but were unable to find anything. A few days later, a reindeer herder found a plastic cover of the electronics compartment, and unable to identify it, brought it to a Border Guard post. Finnish military analysts recognized it as a MiG component. Indeed, the missile was a modified version fitted with avionics taken from MiG for remote control. The missile had punched itself through

1441-440: A flotation chamber to mount a gyrostabilized platform. These systems can have very high precisions (e.g., Advanced Inertial Reference Sphere ). Like all gyrostabilized platforms, this system runs well with relatively slow, low-power computers. The fluid bearings are pads with holes through which pressurized inert gas (such as helium) or oil presses against the spherical shell of the platform. The fluid bearings are very slippery and

SECTION 10

#1732858678025

1572-694: A gimballed system. That is, it must integrate the vehicle's attitude changes in pitch, roll and yaw, as well as gross movements. Gimballed systems could usually do well with update rates of 50–60 Hz. However, strapdown systems normally update about 2000 Hz. The higher rate is needed to let the navigation system integrate the angular rate into an attitude accurately. The data updating algorithms ( direction cosines or quaternions ) involved are too complex to be accurately performed except by digital electronics. However, digital computers are now so inexpensive and fast that rate gyro systems can now be practically used and mass-produced. The Apollo lunar module used

1703-451: A gyroscope system can sometimes also be inferred simply from its position history (e.g., GPS). This is, in particular, the case with planes and cars, where the velocity vector usually implies the orientation of the vehicle body. For example, Honeywell 's Align in Motion is an initialization process where the initialization occurs while the aircraft is moving, in the air or on the ground. This

1834-488: A gyroscopic element (for maintaining an absolute angular reference). Angular accelerometers measure how the vehicle is rotating in space. Generally, there is at least one sensor for each of the three axes: pitch (nose up and down), yaw (nose left and right) and roll (clockwise or counter-clockwise from the cockpit). Linear accelerometers measure non-gravitational accelerations of the vehicle. Since it can move in three axes (up and down, left and right, forward and back), there

1965-403: A medieval European counting house , a checkered cloth would be placed on a table, and markers moved around on it according to certain rules, as an aid to calculating sums of money. The Antikythera mechanism is believed to be the earliest known mechanical analog computer , according to Derek J. de Solla Price . It was designed to calculate astronomical positions. It was discovered in 1901 in

2096-599: A mixture of the two remains. In the summer of 1952, Dr. Richard Battin and Dr. J. Halcombe "Hal" Laning, Jr. , researched computational based solutions to guidance and undertook the initial analytical work on the Atlas inertial guidance in 1954. Other key figures at Convair were Charlie Bossart, the Chief Engineer, and Walter Schweidetzky, head of the guidance group. Schweidetzky had worked with von Braun at Peenemünde during World War II. The initial Delta guidance system assessed

2227-429: A moving object without the need for external references. Often the inertial sensors are supplemented by a barometric altimeter and sometimes by magnetic sensors ( magnetometers ) and/or speed measuring devices. INSs are used on mobile robots and on vehicles such as ships , aircraft , submarines , guided missiles , and spacecraft . Older INS systems generally used an inertial platform as their mounting point to

2358-520: A much more general design, an analytical engine , was possible. The input of programs and data was to be provided to the machine via punched cards , a method being used at the time to direct mechanical looms such as the Jacquard loom . For output, the machine would have a printer, a curve plotter and a bell. The machine would also be able to punch numbers onto cards to be read in later. The engine would incorporate an arithmetic logic unit , control flow in

2489-524: A number of successes at breaking encrypted German military communications. The German encryption machine, Enigma , was first attacked with the help of the electro-mechanical bombes which were often run by women. To crack the more sophisticated German Lorenz SZ 40/42 machine, used for high-level Army communications, Max Newman and his colleagues commissioned Flowers to build the Colossus . He spent eleven months from early February 1943 designing and building

2620-546: A sequence of sets of values. The whole machine was to be controlled by a read-only program, which was complete with provisions for conditional branching . He also introduced the idea of floating-point arithmetic . In 1920, to celebrate the 100th anniversary of the invention of the arithmometer , Torres presented in Paris the Electromechanical Arithmometer, which allowed a user to input arithmetic problems through

2751-408: A single transformer to power the platform. Some small missiles have powered the platform with light from a window or optic fibers to the motor. A research topic is to suspend the platform with pressure from exhaust gases. Data is returned to the outside world via the transformers, or sometimes LEDs communicating with external photodiodes . Lightweight digital computers permit the system to eliminate

SECTION 20

#1732858678025

2882-458: A strapdown system in its backup Abort Guidance System (AGS). Strapdown systems are nowadays commonly used in commercial and military applications (aircraft, ships, ROVs , missiles , etc.). State-of-the-art strapdown systems are based upon ring laser gyroscopes , fibre optic gyrocopes or hemispherical resonator gyroscopes . They are using digital electronics and advanced digital filtering techniques such as Kalman filter . The orientation of

3013-460: A successful demonstration of its use in computing tables in 1906. In his work Essays on Automatics published in 1914, Leonardo Torres Quevedo wrote a brief history of Babbage's efforts at constructing a mechanical Difference Engine and Analytical Engine. The paper contains a design of a machine capable to calculate formulas like a x ( y − z ) 2 {\displaystyle a^{x}(y-z)^{2}} , for

3144-402: A universal Turing machine. Early computing machines had fixed programs. Changing its function required the re-wiring and re-structuring of the machine. With the proposal of the stored-program computer this changed. A stored-program computer includes by design an instruction set and can store in memory a set of instructions (a program ) that details the computation . The theoretical basis for

3275-536: A wide range of applications. These products include "tuning fork gyros". Here, the gyro is designed as an electronically driven tuning fork, often fabricated out of a single piece of quartz or silicon. Such gyros operate in accordance with the dynamic theory that when an angle rate is applied to a translating body, a Coriolis force is generated. This system is usually integrated on a silicon chip. It has two mass-balanced quartz tuning forks, arranged "handle-to-handle" so forces cancel. Aluminum electrodes evaporated onto

3406-577: A wide range of tasks. The term computer system may refer to a nominally complete computer that includes the hardware , operating system , software , and peripheral equipment needed and used for full operation; or to a group of computers that are linked and function together, such as a computer network or computer cluster . A broad range of industrial and consumer products use computers as control systems , including simple special-purpose devices like microwave ovens and remote controls , and factory devices like industrial robots . Computers are at

3537-405: Is a linear accelerometer for each axis. A computer continually calculates the vehicle's current position. First, for each of the six degrees of freedom (x,y,z and θ x , θ y and θ z ), it integrates over time the sensed acceleration, together with an estimate of gravity, to calculate the current velocity. Then it integrates the velocity to calculate the current position. Inertial guidance

3668-421: Is accomplished using GPS and an inertial reasonableness test, thereby allowing commercial data integrity requirements to be met. This process has been FAA certified to recover pure INS performance equivalent to stationary alignment procedures for civilian flight times up to 18 hours. It avoids the need for gyroscope batteries on aircraft. Less-expensive navigation systems, intended for use in automobiles, may use

3799-516: Is difficult without computers. The desire to use inertial guidance in the Minuteman missile and Project Apollo drove early attempts to miniaturize computers. Inertial guidance systems are now usually combined with satellite navigation systems through a digital filtering system. The inertial system provides short term data, while the satellite system corrects accumulated errors of the inertial system. An inertial guidance system that will operate near

3930-500: Is held annually in October in Germany. The publications of all DGON ISA conferences over the last more than 60 years are accessible. All inertial navigation systems suffer from integration drift: small errors in the measurement of acceleration and angular velocity are integrated into progressively larger errors in velocity, which are compounded into still greater errors in position. Since

4061-500: Is possible to track the position and orientation of a device. An inertial navigation system includes at least a computer and a platform or module containing accelerometers , gyroscopes , or other motion-sensing devices. The INS is initially provided with its position and velocity from another source (a human operator, a GPS satellite receiver, etc.) accompanied with the initial orientation and thereafter computes its own updated position and velocity by integrating information received from

SS-N-3 Shaddock - Misplaced Pages Continue

4192-463: Is the stored program , where all the instructions for computing are stored in memory. Von Neumann acknowledged that the central concept of the modern computer was due to this paper. Turing machines are to this day a central object of study in theory of computation . Except for the limitations imposed by their finite memory stores, modern computers are said to be Turing-complete , which is to say, they have algorithm execution capability equivalent to

4323-452: Is usually used to supplement other navigation systems, providing a higher degree of accuracy than is possible with the use of any single system. For example, if, in terrestrial use, the inertially tracked velocity is intermittently updated to zero by stopping, the position will remain precise for a much longer time, a so-called zero velocity update . In aerospace particularly, other measurement systems are used to determine INS inaccuracies, e.g.

4454-428: Is very accurate. However it is still relatively expensive due to the cost of the precision ground and polished hollow quartz hemispheres. Northrop Grumman currently manufactures IMUs ( inertial measurement units ) for spacecraft that use HRGs. These IMUs have demonstrated extremely high reliability since their initial use in 1996. Safran manufactures large numbers of HRG based inertial navigation systems dedicated to

4585-520: Is vulnerable to gimbal lock . The primary guidance system of the Apollo spacecraft used a three-axis gyrostabilized platform, feeding data to the Apollo Guidance Computer . Maneuvers had to be carefully planned to avoid gimbal lock. Gimbal lock constrains maneuvering and it would be beneficial to eliminate the slip rings and bearings of the gimbals. Therefore, some systems use fluid bearings or

4716-603: The Antikythera wreck off the Greek island of Antikythera , between Kythera and Crete , and has been dated to approximately c.  100 BCE . Devices of comparable complexity to the Antikythera mechanism would not reappear until the fourteenth century. Many mechanical aids to calculation and measurement were constructed for astronomical and navigation use. The planisphere was a star chart invented by Abū Rayhān al-Bīrūnī in

4847-504: The E6B circular slide rule used for time and distance calculations on light aircraft. In the 1770s, Pierre Jaquet-Droz , a Swiss watchmaker , built a mechanical doll ( automaton ) that could write holding a quill pen. By switching the number and order of its internal wheels different letters, and hence different messages, could be produced. In effect, it could be mechanically "programmed" to read instructions. Along with two other complex machines,

4978-623: The ETH Zurich . The computer was manufactured by Zuse's own company, Zuse KG , which was founded in 1941 as the first company with the sole purpose of developing computers in Berlin. The Z4 served as the inspiration for the construction of the ERMETH , the first Swiss computer and one of the first in Europe. Purely electronic circuit elements soon replaced their mechanical and electromechanical equivalents, at

5109-538: The Space Shuttle , open loop guidance was used to guide the Shuttle from lift-off until Solid Rocket Booster (SRB) separation. After SRB separation the primary Space Shuttle guidance is named PEG (Powered Explicit Guidance). PEG takes into account both the Q system and the predictor-corrector attributes of the original "Delta" System (PEG Guidance). Although many updates to the Shuttle's navigation system had taken place over

5240-417: The U.S. Army Research Laboratory reported a method to merge measurements from 10 pairs of MEMS gyroscope and accelerometers (plus occasional GPS), reducing the positional error by two thirds for a projectile. The algorithm can correct for systemic biases in individual sensors, using both GPS and a heuristic based on the gun-firing acceleration force. If one sensor consistently over or underestimates distance,

5371-489: The microcomputer revolution in the 1970s. The speed, power, and versatility of computers have been increasing dramatically ever since then, with transistor counts increasing at a rapid pace ( Moore's law noted that counts doubled every two years), leading to the Digital Revolution during the late 20th and early 21st centuries. Conventionally, a modern computer consists of at least one processing element , typically

SS-N-3 Shaddock - Misplaced Pages Continue

5502-562: The pressure reference system was developed to use one numerical integration of the angular rate measurements. Estimation theory in general and Kalman filtering in particular, provide a theoretical framework for combining information from various sensors. One of the most common alternative sensors is a satellite navigation radio such as GPS , which can be used for all kinds of vehicles with direct sky visibility. Indoor applications can use pedometers , distance measurement equipment, or other kinds of position sensors . By properly combining

5633-504: The "second generation" of computers. Compared to vacuum tubes, transistors have many advantages: they are smaller, and require less power than vacuum tubes, so give off less heat. Junction transistors were much more reliable than vacuum tubes and had longer, indefinite, service life. Transistorized computers could contain tens of thousands of binary logic circuits in a relatively compact space. However, early junction transistors were relatively bulky devices that were difficult to manufacture on

5764-513: The 1920s, Vannevar Bush and others developed mechanical differential analyzers. In the 1890s, the Spanish engineer Leonardo Torres Quevedo began to develop a series of advanced analog machines that could solve real and complex roots of polynomials , which were published in 1901 by the Paris Academy of Sciences . Charles Babbage , an English mechanical engineer and polymath , originated

5895-805: The C-5A which utilized the triple INS configuration, similar to the 747. The KC-135A fleet was fitted with a single Carousel IV-E system that could operate as a stand-alone INS or can be aided by the AN/APN-81 or AN/APN-218 Doppler radar . Some special-mission variants of the C-135 were fitted with dual Carousel IV-E INSs. ARINC Characteristic 704 defines the INS used in commercial air transport. INSs contain Inertial Measurement Units (IMUs) which have angular and linear accelerometers (for changes in position); some IMUs include

6026-612: The Cambridge EDSAC of 1949, became operational in April 1951 and ran the world's first routine office computer job . The concept of a field-effect transistor was proposed by Julius Edgar Lilienfeld in 1925. John Bardeen and Walter Brattain , while working under William Shockley at Bell Labs , built the first working transistor , the point-contact transistor , in 1947, which was followed by Shockley's bipolar junction transistor in 1948. From 1955 onwards, transistors replaced vacuum tubes in computer designs, giving rise to

6157-820: The Delco Electronics Div. of General Motors Corp. were awarded the joint contract for design and production of the Apollo Guidance and Navigation systems for the Command Module and the Lunar Module. Delco produced the IMUs ( Inertial Measurement Units ) for these systems, Kollsman Instrument Corp. produced the Optical Systems, and the Apollo Guidance Computer was built by Raytheon under subcontract. For

6288-577: The EDVAC in 1945. The Manchester Baby was the world's first stored-program computer . It was built at the University of Manchester in England by Frederic C. Williams , Tom Kilburn and Geoff Tootill , and ran its first program on 21 June 1948. It was designed as a testbed for the Williams tube , the first random-access digital storage device. Although the computer was described as "small and primitive" by

6419-451: The ENIAC were six women, often known collectively as the "ENIAC girls". It combined the high speed of electronics with the ability to be programmed for many complex problems. It could add or subtract 5000 times a second, a thousand times faster than any other machine. It also had modules to multiply, divide, and square root. High speed memory was limited to 20 words (about 80 bytes). Built under

6550-460: The Earth, since they did not know what direction the car was facing relative to the Earth when they felt the accelerations. However, by tracking both the current angular velocity of the system and the current linear acceleration of the system measured relative to the moving system, it is possible to determine the linear acceleration of the system in the inertial reference frame. Performing integration on

6681-507: The Honeywell LaseRefV inertial navigation systems uses GPS and air data computer outputs to maintain required navigation performance . The navigation error rises with the lower sensitivity of the sensors used. Currently, devices combining different sensors are being developed, e.g. attitude and heading reference system . Because the navigation error is mainly influenced by the numerical integration of angular rates and accelerations,

SECTION 50

#1732858678025

6812-524: The MOS transistor, was invented at Bell Labs between 1955 and 1960 and was the first truly compact transistor that could be miniaturized and mass-produced for a wide range of uses. With its high scalability , and much lower power consumption and higher density than bipolar junction transistors, the MOSFET made it possible to build high-density integrated circuits . In addition to data processing, it also enabled

6943-721: The P-35 was in 2024 during the Russo-Ukrainian War , identified by fallen debris following a missile interception. This missile was deployed on the following ships; There is also a land based coastal defense system employing the P-5 positioned to defend Sevastopol . On 28 December 1984 a SS-N-3 missile used as a target by the Soviet Navy strayed over the Finnish border and crashed into Lake Inari . A Finnish early warning radar at Rovaniemi and

7074-450: The Scottish scientist Sir William Thomson in 1872 was of great utility to navigation in shallow waters. It used a system of pulleys and wires to automatically calculate predicted tide levels for a set period at a particular location. The differential analyser , a mechanical analog computer designed to solve differential equations by integration , used wheel-and-disc mechanisms to perform

7205-488: The U.S. Although the ENIAC was similar to the Colossus, it was much faster, more flexible, and it was Turing-complete. Like the Colossus, a "program" on the ENIAC was defined by the states of its patch cables and switches, a far cry from the stored program electronic machines that came later. Once a program was written, it had to be mechanically set into the machine with manual resetting of plugs and switches. The programmers of

7336-533: The US, John Vincent Atanasoff and Clifford E. Berry of Iowa State University developed and tested the Atanasoff–Berry Computer (ABC) in 1942, the first "automatic electronic digital computer". This design was also all-electronic and used about 300 vacuum tubes, with capacitors fixed in a mechanically rotating drum for memory. During World War II, the British code-breakers at Bletchley Park achieved

7467-546: The V2 provided many innovations as an integrated platform with closed loop guidance. At the end of the war von Braun engineered the surrender of 500 of his top rocket scientists, along with plans and test vehicles, to the Americans. They arrived at Fort Bliss, Texas in 1945 under the provisions of Operation Paperclip and were subsequently moved to Huntsville, Alabama , in 1950 where they worked for U.S. Army rocket research programs. In

7598-429: The advent of spacecraft , guided missiles , and commercial airliners . Early German World War II V2 guidance systems combined two gyroscopes and a lateral accelerometer with a simple analog computer to adjust the azimuth for the rocket in flight. Analog computer signals were used to drive four graphite rudders in the rocket exhaust for flight control. The GN&C (Guidance, Navigation, and Control) system for

7729-859: The advent of the integrated circuit (IC). The idea of the integrated circuit was first conceived by a radar scientist working for the Royal Radar Establishment of the Ministry of Defence , Geoffrey W.A. Dummer . Dummer presented the first public description of an integrated circuit at the Symposium on Progress in Quality Electronic Components in Washington, D.C. , on 7 May 1952. The first working ICs were invented by Jack Kilby at Texas Instruments and Robert Noyce at Fairchild Semiconductor . Kilby recorded his initial ideas concerning

7860-435: The angular displacement, the system's current orientation is known at all times. This can be thought of as the ability of a blindfolded passenger in a car to feel the car turn left and right or tilt up and down as the car ascends or descends hills. Based on this information alone, the passenger knows what direction the car is facing, but not how fast or slow it is moving, or whether it is sliding sideways. Accelerometers measure

7991-630: The basic concept which underlies all electronic digital computers. By 1938, the United States Navy had developed an electromechanical analog computer small enough to use aboard a submarine . This was the Torpedo Data Computer , which used trigonometry to solve the problem of firing a torpedo at a moving target. During World War II similar devices were developed in other countries as well. Early digital computers were electromechanical ; electric switches drove mechanical relays to perform

SECTION 60

#1732858678025

8122-530: The best Arithmetician that euer [ sic ] breathed, and he reduceth thy dayes into a short number." This usage of the term referred to a human computer , a person who carried out calculations or computations . The word continued to have the same meaning until the middle of the 20th century. During the latter part of this period, women were often hired as computers because they could be paid less than their male counterparts. By 1943, most human computers were women. The Online Etymology Dictionary gives

8253-563: The calculation. These devices had a low operating speed and were eventually superseded by much faster all-electric computers, originally using vacuum tubes . The Z2 , created by German engineer Konrad Zuse in 1939 in Berlin , was one of the earliest examples of an electromechanical relay computer. In 1941, Zuse followed his earlier machine up with the Z3 , the world's first working electromechanical programmable , fully automatic digital computer. The Z3

8384-452: The car has turned and how it has accelerated and decelerated since, then they can accurately know the current orientation, position, and velocity of the car at any time. Inertial navigation is used in a wide range of applications including the navigation of aircraft, tactical and strategic missiles, spacecraft, submarines and ships. It is also embedded in some mobile phones for purposes of mobile phone location and tracking. Recent advances in

8515-554: The concept of a programmable computer. Considered the " father of the computer ", he conceptualized and invented the first mechanical computer in the early 19th century. After working on his difference engine he announced his invention in 1822, in a paper to the Royal Astronomical Society , titled "Note on the application of machinery to the computation of astronomical and mathematical tables". He also designed to aid in navigational calculations, in 1833 he realized that

8646-460: The construction of microelectromechanical systems (MEMS) have made it possible to manufacture small and light inertial navigation systems. These advances have widened the range of possible applications to include areas such as human and animal motion capture . Inertial navigation systems are used in many different moving objects. However, their cost and complexity place constraints on the environments in which they are practical for use. To support

8777-690: The core of general-purpose devices such as personal computers and mobile devices such as smartphones . Computers power the Internet , which links billions of computers and users. Early computers were meant to be used only for calculations. Simple manual instruments like the abacus have aided people in doing calculations since ancient times. Early in the Industrial Revolution , some mechanical devices were built to automate long, tedious tasks, such as guiding patterns for looms . More sophisticated electrical machines did specialized analog calculations in

8908-493: The data signals do not have to travel long distances. Since ENIAC in 1945, computers have advanced enormously, with modern SoCs (such as the Snapdragon 865) being the size of a coin while also being hundreds of thousands of times more powerful than ENIAC, integrating billions of transistors, and consuming only a few watts of power. The first mobile computers were heavy and ran from mains power. The 50 lb (23 kg) IBM 5100

9039-507: The decision of the British Government to cease funding. Babbage's failure to complete the analytical engine can be chiefly attributed to political and financial difficulties as well as his desire to develop an increasingly sophisticated computer and to move ahead faster than anyone else could follow. Nevertheless, his son, Henry Babbage , completed a simplified version of the analytical engine's computing unit (the mill ) in 1888. He gave

9170-428: The difference in capacitance between the two tines of a fork, the system can determine the rate of angular motion. Computer A computer is a machine that can be programmed to automatically carry out sequences of arithmetic or logical operations ( computation ). Modern digital electronic computers can perform generic sets of operations known as programs . These programs enable computers to perform

9301-515: The difference in position from a reference trajectory. A velocity to be gained (VGO) calculation is made to correct the current trajectory with the objective of driving VGO to zero. The mathematics of this approach were fundamentally valid, but dropped because of the challenges in accurate inertial guidance and analog computing power. The challenges faced by the Delta efforts were overcome by the Q system (see Q-guidance ) of guidance. The Q system's revolution

9432-454: The direction of John Mauchly and J. Presper Eckert at the University of Pennsylvania, ENIAC's development and construction lasted from 1943 to full operation at the end of 1945. The machine was huge, weighing 30 tons, using 200 kilowatts of electric power and contained over 18,000 vacuum tubes, 1,500 relays, and hundreds of thousands of resistors, capacitors, and inductors. The principle of

9563-479: The doll is at the Musée d'Art et d'Histoire of Neuchâtel , Switzerland , and still operates. In 1831–1835, mathematician and engineer Giovanni Plana devised a Perpetual Calendar machine , which through a system of pulleys and cylinders could predict the perpetual calendar for every year from 0 CE (that is, 1 BCE) to 4000 CE, keeping track of leap years and varying day length. The tide-predicting machine invented by

9694-475: The early 11th century. The astrolabe was invented in the Hellenistic world in either the 1st or 2nd centuries BCE and is often attributed to Hipparchus . A combination of the planisphere and dioptra , the astrolabe was effectively an analog computer capable of working out several different kinds of problems in spherical astronomy . An astrolabe incorporating a mechanical calendar computer and gear -wheels

9825-691: The early 1950s, the US government wanted to insulate itself against over-dependency on the German team for military applications, including the development of a fully domestic missile guidance program. The MIT Instrumentation Laboratory (later to become the Charles Stark Draper Laboratory , Inc.) was chosen by the Air Force Western Development Division to provide a self-contained guidance system backup to Convair in San Diego for

9956-399: The early 20th century. The first digital electronic calculating machines were developed during World War II , both electromechanical and using thermionic valves . The first semiconductor transistors in the late 1940s were followed by the silicon -based MOSFET (MOS transistor) and monolithic integrated circuit chip technologies in the late 1950s, leading to the microprocessor and

10087-473: The exact definition of the term "microprocessor", it is largely undisputed that the first single-chip microprocessor was the Intel 4004 , designed and realized by Federico Faggin with his silicon-gate MOS IC technology, along with Ted Hoff , Masatoshi Shima and Stanley Mazor at Intel . In the early 1970s, MOS IC technology enabled the integration of more than 10,000 transistors on a single chip. System on

10218-503: The first Colossus. After a functional test in December 1943, Colossus was shipped to Bletchley Park, where it was delivered on 18 January 1944 and attacked its first message on 5 February. Colossus was the world's first electronic digital programmable computer. It used a large number of valves (vacuum tubes). It had paper-tape input and was capable of being configured to perform a variety of boolean logical operations on its data, but it

10349-725: The first attested use of computer in the 1640s, meaning 'one who calculates'; this is an "agent noun from compute (v.)". The Online Etymology Dictionary states that the use of the term to mean " 'calculating machine' (of any type) is from 1897." The Online Etymology Dictionary indicates that the "modern use" of the term, to mean 'programmable digital electronic computer' dates from "1945 under this name; [in a] theoretical [sense] from 1937, as Turing machine ". The name has remained, although modern computers are capable of many higher-level functions. Devices have been used to aid computation for thousands of years, mostly using one-to-one correspondence with fingers . The earliest counting device

10480-483: The first production Carousel systems for the early models (-100, -200 and -300) of the 747 aircraft. The 747 utilized three Carousel systems operating in concert for reliability purposes. The Carousel system and derivatives thereof were subsequently adopted for use in many other commercial and military aircraft. The USAF C-141 was the first military aircraft to utilize the Carousel in a dual system configuration, followed by

10611-419: The forks and the underlying chip both drive and sense the motion. The system is both manufacturable and inexpensive. Since quartz is dimensionally stable, the system can be accurate. As the forks are twisted about the axis of the handle, the vibration of the tines tends to continue in the same plane of motion. This motion has to be resisted by electrostatic forces from the electrodes under the tines. By measuring

10742-409: The form of conditional branching and loops , and integrated memory , making it the first design for a general-purpose computer that could be described in modern terms as Turing-complete . The machine was about a century ahead of its time. All the parts for his machine had to be made by hand – this was a major problem for a device with thousands of parts. Eventually, the project was dissolved with

10873-449: The gimbals, creating strapdown systems, so called because their sensors are simply strapped to the vehicle. This reduces the cost, eliminates gimbal lock , removes the need for some calibrations and increases the reliability by eliminating some of the moving parts. Angular rate sensors called rate gyros measure the angular velocity of the vehicle. A strapdown system needs a dynamic measurement range several hundred times that required by

11004-451: The inertial accelerations (using the original velocity as the initial conditions) using the correct kinematic equations yields the inertial velocities of the system and integration again (using the original position as the initial condition) yields the inertial position. In our example, if the blindfolded passenger knew how the car was pointed and what its velocity was before they were blindfolded, and if they are able to keep track of both how

11135-563: The information from an INS and other systems ( GPS ), the errors in position and velocity are stable . Furthermore, INS can be used as a short-term fallback while GPS signals are unavailable, for example when a vehicle passes through a tunnel. In 2011, GPS jamming at the civilian level became a governmental concern. The relative ease in ability to jam these systems has motivated the military to reduce navigation dependence on GPS technology. Because inertial navigation sensors do not depend on radio signals unlike GPS, they cannot be jammed. In 2012,

11266-462: The integrated circuit in July 1958, successfully demonstrating the first working integrated example on 12 September 1958. In his patent application of 6 February 1959, Kilby described his new device as "a body of semiconductor material ... wherein all the components of the electronic circuit are completely integrated". However, Kilby's invention was a hybrid integrated circuit (hybrid IC), rather than

11397-411: The integration. In 1876, Sir William Thomson had already discussed the possible construction of such calculators, but he had been stymied by the limited output torque of the ball-and-disk integrators . In a differential analyzer, the output of one integrator drove the input of the next integrator, or a graphing output. The torque amplifier was the advance that allowed these machines to work. Starting in

11528-401: The lake ice, thus the crash site was easily identifiable, and the Finnish military soon lifted the missile from the lake for analysis. The likely cause was loss of radio contact between the operator and the missile. Although the cause for the accident was mundane, it came at an unfortunate time, just before an international conference on cruise missiles , and there was much speculation whether it

11659-504: The last 30 years (ex. GPS in the OI-22 build), the guidance core of the Shuttle GN&;C system had evolved little. Within a crewed system, there is a human interface needed for the guidance system. As astronauts are the customer for the system, many new teams were formed that touch GN&C as it is a primary interface to "fly" the vehicle. One example of a popular INS for commercial aircraft

11790-410: The linear acceleration and angular velocity applied to the system. Since it requires no external reference (after initialization), it is immune to jamming and deception. Gyroscopes measure the angular displacement of the sensor frame with respect to the inertial reference frame . By using the original orientation of the system in the inertial reference frame as the initial condition and integrating

11921-512: The linear acceleration of the moving vehicle in the sensor or body frame, but in directions that can only be measured relative to the moving system (since the accelerometers are fixed to the system and rotate with the system, but are not aware of their own orientation). This can be thought of as the ability of a blindfolded passenger in a car to feel themself pressed back into their seat as the vehicle accelerates forward or pulled forward as it slows down; and feel themself pressed down into their seat as

12052-569: The machine did make use of valves to generate its 125 kHz clock waveforms and in the circuitry to read and write on its magnetic drum memory , so it was not the first completely transistorized computer. That distinction goes to the Harwell CADET of 1955, built by the electronics division of the Atomic Energy Research Establishment at Harwell . The metal–oxide–silicon field-effect transistor (MOSFET), also known as

12183-452: The modern computer was proposed by Alan Turing in his seminal 1936 paper, On Computable Numbers . Turing proposed a simple device that he called "Universal Computing machine" and that is now known as a universal Turing machine . He proved that such a machine is capable of computing anything that is computable by executing instructions (program) stored on tape, allowing the machine to be programmable. The fundamental concept of Turing's design

12314-403: The more famous Sir William Thomson. The art of mechanical analog computing reached its zenith with the differential analyzer , built by H. L. Hazen and Vannevar Bush at MIT starting in 1927. This built on the mechanical integrators of James Thomson and the torque amplifiers invented by H. W. Nieman. A dozen of these devices were built before their obsolescence became obvious. By the 1950s,

12445-413: The motion sensors. The advantage of an INS is that it requires no external references in order to determine its position, orientation, or velocity once it has been initialized. An INS can detect a change in its geographic position (a move east or north, for example), a change in its velocity (speed and direction of movement) and a change in its orientation (rotation about an axis). It does this by measuring

12576-534: The new Atlas intercontinental ballistic missile (Construction and testing were completed by Arma Division of AmBosch Arma). The technical monitor for the MIT task was engineer Jim Fletcher, who later served as NASA Administrator. The Atlas guidance system was to be a combination of an on-board autonomous system and a ground-based tracking and command system. The self-contained system finally prevailed in ballistic missile applications for obvious reasons. In space exploration,

12707-489: The new position is calculated from the previous calculated position and the measured acceleration and angular velocity, these errors accumulate roughly proportionally to the time since the initial position was input. Even the best accelerometers, with a standard error of 10 micro-g, would accumulate a 50-meter (164-ft) error within 17 minutes. Therefore, the position must be periodically corrected by input from some other type of navigation system. Accordingly, inertial navigation

12838-401: The platform keep the same orientation while the vehicle rotates around it). There are two gyroscopes (usually) on the platform. Two gyroscopes are used to cancel gyroscopic precession , the tendency of a gyroscope to twist at right angles to an input torque. By mounting a pair of gyroscopes (of the same rotational inertia and spinning at the same speed in opposite directions) at right angles

12969-502: The platform uses similar strip-shaped transformers to read the varying magnetic fields produced by the transformers wrapped around the spherical platform. Whenever a magnetic field changes shape, or moves, it will cut the wires of the coils on the external transformer strips. The cutting generates an electric current in the external strip-shaped coils and electronics can measure that current to derive angles. Cheap systems sometimes use bar codes to sense orientations and use solar cells or

13100-486: The practical use of MOS transistors as memory cell storage elements, leading to the development of MOS semiconductor memory , which replaced earlier magnetic-core memory in computers. The MOSFET led to the microcomputer revolution , and became the driving force behind the computer revolution . The MOSFET is the most widely used transistor in computers, and is the fundamental building block of digital electronics . The next great advance in computing power came with

13231-492: The precessions are cancelled and the platform will resist twisting. This system allows a vehicle's roll, pitch and yaw angles to be measured directly at the bearings of the gimbals. Relatively simple electronic circuits can be used to add up the linear accelerations, because the directions of the linear accelerometers do not change. The big disadvantage of this scheme is that it uses many expensive precision mechanical parts. It also has moving parts that can wear out or jam and

13362-532: The results of operations to be saved and retrieved. It was not until the mid-20th century that the word acquired its modern definition; according to the Oxford English Dictionary , the first known use of the word computer was in a different sense, in a 1613 book called The Yong Mans Gleanings by the English writer Richard Brathwait : "I haue [ sic ] read the truest computer of Times, and

13493-575: The same time that digital calculation replaced analog. The engineer Tommy Flowers , working at the Post Office Research Station in London in the 1930s, began to explore the possible use of electronics for the telephone exchange . Experimental equipment that he built in 1934 went into operation five years later, converting a portion of the telephone exchange network into an electronic data processing system, using thousands of vacuum tubes . In

13624-618: The satellite signals. If a standing wave is induced in a hemispheric resonant structure and then the resonant structure is rotated, the spherical harmonic standing wave rotates through an angle different from the quartz resonator structure due to the Coriolis force. The movement of the outer case with respect to the standing wave pattern is proportional to the total rotation angle and can be sensed by appropriate electronics. The system resonators are machined from fused quartz due to its excellent mechanical properties. The electrodes that drive and sense

13755-409: The spherical platform can turn freely. There are usually four bearing pads, mounted in a tetrahedral arrangement to support the platform. In premium systems, the angular sensors are usually specialized transformer coils made in a strip on a flexible printed circuit board . Several coil strips are mounted on great circles around the spherical shell of the gyrostabilized platform. Electronics outside

13886-404: The standing waves are deposited directly onto separate quartz structures that surround the resonator. These gyros can operate in either a whole angle mode (which gives them nearly unlimited rate capability) or a force rebalance mode that holds the standing wave in a fixed orientation with respect to the gyro housing (which gives them much better accuracy). This system has almost no moving parts and

14017-478: The stored-program computer was laid out by Alan Turing in his 1936 paper. In 1945, Turing joined the National Physical Laboratory and began work on developing an electronic stored-program digital computer. His 1945 report "Proposed Electronic Calculator" was the first specification for such a device. John von Neumann at the University of Pennsylvania also circulated his First Draft of a Report on

14148-570: The submarine-launched radar-homing versions of the P-6 SS-N-3A 'Shaddock'. These were carried by Echo II - and Juliett-class submarines for targeting US aircraft carriers. The Echo I-class submarines were incapable of accommodating the targeting radar for the anti-ship version, and were not equipped with missiles after the land-attack variant was withdrawn, probably in the mid-1960s when sufficient nuclear-powered ballistic missile submarines (SSBNs) became available. Russian sources indicate that there

14279-443: The success of digital electronic computers had spelled the end for most analog computing machines, but analog computers remained in use during the 1950s in some specialized applications such as education ( slide rule ) and aircraft ( control systems ). Claude Shannon 's 1937 master's thesis laid the foundations of digital computing, with his insight of applying Boolean algebra to the analysis and synthesis of switching circuits being

14410-519: The supersonic P-500 Bazalt and P-700 Granit , which entered service in the 1970s and 1980s. There were actually three versions of turbojet-powered, cruise missiles that were called "SS-N-3" by Western intelligence sources, with multiple variants. The earliest, P-5 was called SS-N-3c, and later versions SS-N-3a and SS-N-3b. The various Russian designations are believed to be P-5 "Pyatyorka", P-6, P-7, and P-35 Progress. Some sources indicate that missiles 'P-10' and 'P-25' may also have existed. NATO called

14541-433: The surface of the earth must incorporate Schuler tuning so that its platform will continue pointing towards the center of the Earth as a vehicle moves from place to place. Some systems place the linear accelerometers on a gimballed gyrostabilized platform. The gimbals are a set of three rings, each with a pair of bearings initially at right angles. They let the platform twist about any rotational axis (or, rather, they let

14672-400: The system can adjust the corrupted sensor's contributions to the final calculation. Inertial navigation systems were originally developed for rockets . American rocketry pioneer Robert Goddard experimented with rudimentary gyroscopic systems. Goddard's systems were of great interest to contemporary German pioneers including Wernher von Braun . The systems entered more widespread use with

14803-504: The use of inertial technology in the best way, already in 1965 a technical working group for Inertial Sensors had been established in Germany to bring together the users, the manufacturers and the researchers of inertial sensors. This working group has been continuously developed and today it is known as DGON ISA Inertial Sensors and Application Symposium, the leading conference for inertial technologies for more than 60 years. This Symposium DGON / IEEE ISA with about 200 international attendees

14934-420: The vehicle accelerates up a hill or rise up out of their seat as the car passes over the crest of a hill and begins to descend. Based on this information alone, they know how the vehicle is accelerating relative to itself; that is, whether it is accelerating forward, backward, left, right, up (toward the car's ceiling), or down (toward the car's floor), measured relative to the car, but not the direction relative to

15065-661: The vehicle and the terms are sometimes considered synonymous. Integrals in the time domain implicitly demand a stable and accurate clock for the quantification of elapsed time. Inertial navigation is a self-contained navigation technique in which measurements provided by accelerometers and gyroscopes are used to track the position and orientation of an object relative to a known starting point, orientation and velocity. Inertial measurement units (IMUs) typically contain three orthogonal rate-gyroscopes and three orthogonal accelerometers, measuring angular velocity and linear acceleration respectively. By processing signals from these devices it

15196-412: The versatility and accuracy of modern digital computers. The first modern analog computer was a tide-predicting machine , invented by Sir William Thomson (later to become Lord Kelvin) in 1872. The differential analyser , a mechanical analog computer designed to solve differential equations by integration using wheel-and-disc mechanisms, was conceptualized in 1876 by James Thomson , the elder brother of

15327-406: Was a 16-transistor chip built by Fred Heiman and Steven Hofstein at RCA in 1962. General Microelectronics later introduced the first commercial MOS IC in 1964, developed by Robert Norman. Following the development of the self-aligned gate (silicon-gate) MOS transistor by Robert Kerwin, Donald Klein and John Sarace at Bell Labs in 1967, the first silicon-gate MOS IC with self-aligned gates

15458-414: Was a Soviet show of force. Inertial navigation system An inertial navigation system ( INS ; also inertial guidance system , inertial instrument ) is a navigation device that uses motion sensors ( accelerometers ), rotation sensors ( gyroscopes ) and a computer to continuously calculate by dead reckoning the position, the orientation, and the velocity (direction and speed of movement) of

15589-614: Was an early example. Later portables such as the Osborne 1 and Compaq Portable were considerably lighter but still needed to be plugged in. The first laptops, such as the Grid Compass , removed this requirement by incorporating batteries – and with the continued miniaturization of computing resources and advancements in portable battery life, portable computers grew in popularity in the 2000s. The same developments allowed manufacturers to integrate computing resources into cellular mobile phones by

15720-530: Was built with 2000 relays , implementing a 22 bit word length that operated at a clock frequency of about 5–10 Hz . Program code was supplied on punched film while data could be stored in 64 words of memory or supplied from the keyboard. It was quite similar to modern machines in some respects, pioneering numerous advances such as floating-point numbers . Rather than the harder-to-implement decimal system (used in Charles Babbage 's earlier design), using

15851-501: Was delivered to the University of Manchester in February 1951. At least seven of these later machines were delivered between 1953 and 1957, one of them to Shell labs in Amsterdam . In October 1947 the directors of British catering company J. Lyons & Company decided to take an active role in promoting the commercial development of computers. Lyons's LEO I computer, modelled closely on

15982-443: Was developed by Federico Faggin at Fairchild Semiconductor in 1968. The MOSFET has since become the most critical device component in modern ICs. The development of the MOS integrated circuit led to the invention of the microprocessor , and heralded an explosion in the commercial and personal use of computers. While the subject of exactly which device was the first microprocessor is contentious, partly due to lack of agreement on

16113-825: Was developed in the late 16th century and found application in gunnery, surveying and navigation. The planimeter was a manual instrument to calculate the area of a closed figure by tracing over it with a mechanical linkage. The slide rule was invented around 1620–1630, by the English clergyman William Oughtred , shortly after the publication of the concept of the logarithm . It is a hand-operated analog computer for doing multiplication and division. As slide rule development progressed, added scales provided reciprocals, squares and square roots, cubes and cube roots, as well as transcendental functions such as logarithms and exponentials, circular and hyperbolic trigonometry and other functions . Slide rules with special scales are still used for quick performance of routine calculations, such as

16244-449: Was invented by Abi Bakr of Isfahan , Persia in 1235. Abū Rayhān al-Bīrūnī invented the first mechanical geared lunisolar calendar astrolabe, an early fixed- wired knowledge processing machine with a gear train and gear-wheels, c.  1000 AD . The sector , a calculating instrument used for solving problems in proportion, trigonometry , multiplication and division, and for various functions, such as squares and cube roots,

16375-477: Was made of germanium . Noyce's monolithic IC was fabricated using the planar process , developed by his colleague Jean Hoerni in early 1959. In turn, the planar process was based on Carl Frosch and Lincoln Derick work on semiconductor surface passivation by silicon dioxide. Modern monolithic ICs are predominantly MOS ( metal–oxide–semiconductor ) integrated circuits, built from MOSFETs (MOS transistors). The earliest experimental MOS IC to be fabricated

16506-630: Was most likely a form of tally stick . Later record keeping aids throughout the Fertile Crescent included calculi (clay spheres, cones, etc.) which represented counts of items, likely livestock or grains, sealed in hollow unbaked clay containers. The use of counting rods is one example. The abacus was initially used for arithmetic tasks. The Roman abacus was developed from devices used in Babylonia as early as 2400 BCE. Since then, many other forms of reckoning boards or tables have been invented. In

16637-434: Was not Turing-complete. Nine Mk II Colossi were built (The Mk I was converted to a Mk II making ten machines in total). Colossus Mark I contained 1,500 thermionic valves (tubes), but Mark II with 2,400 valves, was both five times faster and simpler to operate than Mark I, greatly speeding the decoding process. The ENIAC (Electronic Numerical Integrator and Computer) was the first electronic programmable computer built in

16768-559: Was only submarine-launched version of P-5. The surface-launched, radar-homing version called P-35 was used by Kynda - and Kresta I -class guided-missile cruisers. The P-7 was possibly a longer-ranged version of the P-5, or a further development of the P-6. There were also land-based versions of these missiles transported in and launched from an eight-wheel truck ( ZIL-135KM ) as coastal defense missiles. These were designated SPU-35V "Redut" or NATO "SSC-1 Sepal". The first known operational use of

16899-536: Was presented at the first Technical Symposium on Ballistic Missiles held at the Ramo-Wooldridge Corporation in Los Angeles on 21 and 22 June 1956. The Q system was classified information through the 1960s. Derivations of this guidance are used for today's missiles. In February 1961 NASA awarded MIT a contract for preliminary design study of a guidance and navigation system for the Apollo program . MIT and

17030-479: Was the Delco Carousel , which provided partial automation of navigation in the days before complete flight management systems became commonplace. The Carousel allowed pilots to enter 9 waypoints at a time and then guided the aircraft from one waypoint to the next using an INS to determine aircraft position and velocity. Boeing Corporation subcontracted the Delco Electronics Div. of General Motors to design and build

17161-420: Was to bind the challenges of missile guidance (and associated equations of motion) in the matrix Q. The Q matrix represents the partial derivatives of the velocity with respect to the position vector. A key feature of this approach allowed for the components of the vector cross product (v, xdv, /dt) to be used as the basic autopilot rate signals—a technique that became known as cross-product steering . The Q-system

#24975