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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： S. Kajikawa E. Ishikawa Department of Mechanical Engineering Miyagi National College of Technology Natori Miyagi Japan Advanced Course of Production System Engineering Miyagi National College of Technology Natori Miyagi Japan

In the future, there will be many cases where robots should perform cooperative tasks with humans in daily life. We focus on a hand-over motion as an example of cooperative work between a human and a robot, and propose an algorithm which enables a robot to perform a human-like motion. First we analyze trajectories and velocity patterns of a hand-over motion performed by two humans. From this experimental results we notice that a receiver's motion, during hand-over has some typical characteristics. We then confirm that a human-like motion can be generated using these characteristics. Finally, we plan the robot's motion considering these results. Initially, two kinds of potential fields are used to generate a motion command which leads the robot along a trajectory similar to that followed by the human. In addition, more precise motion is considered at the end of the hand-over operation to guarantee accurate positioning and to soften the shock of contact. Experimental results using 2-link planar robot arm show the validity of the proposed method.

关键词： Trajectory Humans Humanoid robots Motion planning Collaborative work Pattern analysis Performance analysis Motion analysis Character generation Robot motion

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Reducing CV life cycle costs through process modeling and simulation

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NAVAL ENGINEERS JOURNAL 1999年第3期111卷 359-370页

作者： Stanco, J Malesich, M Joseph J. Stanco:has over 30 years professional-level experience in research design management of DoD/Industry standards applications and products associated with system design and advanced test and evaluation. The major emphasis has been in setting the standards in testing concepts for both DoD and industry in the software and systems engineering areas. Michael A. Malesich:has 15 years experience in naval aviation applications particularly in the fields of Automated Testing Modeling and Simulation and Information Management Systems. His accomplishments include development enhancement and testing of software systems involving test equipment capability production management maintenance operations and instrument control. He also participates in the IEEE SCC20 committee in its definition of standards to support the automated test community.

An innovative methodology has been developed to achieve the objectives of carrier operation optimization programs utilizing Integrated Definition (IDEF) modeling and associated Commercial Off the Shelf (COTS) tools. The primary objectives of the programs include manpower reduction, integrated automation, and support for new operational concepts. The methodology incorporates the use of process Modeling and Simulation (M&S) to establish the requirements for developing optimized carrier operations. This approach uses new techniques in performing analyses required, and replaces costly stovepipe approaches. Process M&S illustrates the impacts on operations if manpower is reduced, the impact to manpower if processes are modified, the areas where automation is most beneficial, and the capacity of existing and proposed processes in terms of meeting operational requirements. Process M&S is also used to assist in the evaluation of carrier re-design proposals, the analysis of potential modifications to existing doctrine, and the analysis of human factors issues. The IDEF process modeling methodology, coupled with the interfacing requirements of the process, information, and product models identify opportunities for improvement. The methodology provides a basis upon which changes and specifications to the current system acquisition process as well as carrier operations can be made in a "total ship" evaluation framework.

关键词： integrated automation simulating Surgery Labor Force life cycle costs Manpower procedural model IDEF Automation

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Operational systems, logistics engineering and technology insertion

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 205-220页

作者： Grubb, MJ Skolnick, A Michael J. Grubb:has perfomzed naval engineering at the Crane Division Naval Surface Warfare Center (NSWC) for more than twenty-five years. He currently the program manager for the Sustainable Hardware and Affordable Readiness Practice Program (SHARP). is a Navy-wide logistics research and development prgram aimed at the successful transiton of proved technologies inot the fleet. SHARP focuses on reducing acquisition performance capability reliability maintainability and readiness of these systems. Mr. Grubb has served as a department director for the past eleven years. His most recent assignment was as director of the Tactical Computer Resources and Test Equipment Department. This organization provided acquisition and in-service engineering support of the Navy's tectical embedded computers priphirals displays and mass memory storage devices. The organization also provided a complete range of product engineering and metrology engineerig services for SSP NevSeaSysCom and the Trident Program. Prior to this appointment Mr. Grubb was deptuy director psysical security programs department and site responsible for program management and system integration of ashore integrated security systems. Mr. Grubb holds a B.S. degree in industrial engineering from Iowa State Universtiy an M.S. degree in industrial engineering from Purdue University and has copleted the course work (Dec.'96 for a master's degree in public and environment affairs at Indiana University-Purdue Univeristy Indianapolis. Dr. Alfred Skolnick operates System Science Consultants (SSC) specilizing in strategic planning technical program definiton technology assessment and engineering analyses on selected matters of national interest. He has taught physics mathematics and management sciences at University of Virginia and Marymount University and is currently adjunct professor of mathematics at Northern Virginia Community College. Form 1985 to 1989 he was president of the American Society of Noval Engineers. Dr. Skolnick served at Applied Physic

In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t

关键词： Naval vessels

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BOTTOM BOUNCE ARRAY SONAR SUBMARINE (BBASS)

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NAVAL ENGINEERS JOURNAL 1989年第5期101卷 59-72页

作者： JACKSON, HA NEEDHAM, WD SIGMAN, DE USN (RET.) Capt. Harry A. Jackson USN (Ret.) is a graduate of the University of Michigan in naval architecture and marine engineering and completed the General Electric Company's 3-year advanced engineering course in nuclear engineering. He has been an independent consulting engineer and participated in projects involving deep submergence waste disposal water purification and submarine design both commercial and government. Cdr. William D. Needham USN is currently assigned as the repair officer of USS Hunley (AS-31) in Norfolk Virginia. He received a regular commission through NROTC at Duke University where he graduated magna cum laude in mechanical engineering. Selected for the Nuclear Power Program he served as a division officer on the USS Grayling (SSN-646) as the production training assistant at the MARE Prototype Reactor in New York and as blue crew engineer of the USS Nathan Hale (SSBN-623) where he completed the requirements to be designated qualified for command of submarines. Following line transfer to the EDO community in 1981 he completed a tour as nuclear repair officer (Code 310) at Norfolk Naval Shipyard and earned master of science in materials science and ocean engineer's degrees at MIT. His awards include the Meritorius Service Medal Navy Commendation Medal Navy Achievement Medal Spear Foundation Award and the Vice Admiral C.R. Bryan Award. Cdr. Needham also holds a master of arts degree in business management from Central Michigan University. Capt. Jackson was technical director of Scorpion Search Phase II. The on-site investigation included descending over 12 000 feet to the bottom of the ocean. He was also supervisor of one of the Navy's largest peacetime shipbuilding and repair programs. His responsibilities included supervision of design production and contract administration. Capt. Jackson was third from the top in managaement of a major shipyard and responsible for design material procurement work order and financial control of two major surface ship prototypes as well a

Anticipated technological advances in the quieting of potential adversary submarines mandate the use of increasingly effective detection systems for U.S. ASW forces. Based on the assumptions that sonar will continue to be the primary means of detection and that the effectiveness of each individual sonar element will not change markedly, one must increase the projected area of the sonar array to improve its capability. The primary SSN mission of anti-submarine warfare will hence require increasing the hull area devoted to the primary sonar detection system. A revolutionary hull form is proposed that maximizes the area available for this purpose. The advantages and disadvantages of this hull form are discussed and feasibility study level design parameters and arrangements presented.

关键词： Submarines

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TECHNICAL EVALUATION OF THE SES-200 HIGH LENGTH-TO-BEAM SURFACE EFFECT SHIP

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NAVAL ENGINEERS JOURNAL 1984年第3期96卷 77-93页

作者： ADAMS, JD BEVERLY, WF John D. Adams:is currently Manager of Marine Programs at Maritime Dynamics Inc. Tacoma Washington. He received his B.S.E. degree in naval architecture and marine engineering from the University of Michigan in 1972. His professional career began at Stevens Institute of Technology working as a research engineer in the Davidson Laboratory where he conducted model test programs of both conventional and advanced ships. Some of his responsibilities included hydrodynamic model testing of the Navy SES-100A and SES-100B testcraft and the early 2000-ton and 3000-ton SES designs. In 1975 he accepted a position as Director of Maritime Dynamics' field activities at the USN Surface Effect Ship Test Facility where he had responsibility for SES-100A trials analysis. While at SESTF he directed several unique programs including the development of an experimental Ride Control System for the XR-1D SES testcraft. At his present position since 1982 Mr. Adams has directed the development of a production SES Ride Control System the SES-200 trial analysis and analytical research and design studies for SES. He is a member of ASNE and SNAME. Walter F. Beverly III:is Test Director of the lead Landing Craft Air Cushion for Bell Aerospace in Panama City Florida. He has worked with surface effect ships (SES) for over ten years in various roles: SESTF. Past assignments included: Technical Director of the Navy Surface Effect Ship Test Facility (SESTF) Project engineer on the world's fastest warship the SES-100B and Program Manager's representative and T&E manager for the 3KSES Program in San Diego. Prior to his involvement with SES he was a flight test engineer at the Naval Air Test Center Patuxent River Maryland and graduated from the USN Test Pilot School test project engineering curriculum. Mr. Beverly received his BS in aerospace engineering from Virginia Polytechnic Institute in 1970 and his MS in systems management from the University of Southern California in 1977. He is a member of the American Institute of Aeronautics and

Recent Navy surface effect ship (SES) research has been aimed at achieving efficient operation at task force speeds without compromising the SES advantage of operating at higher speeds. Results showed that this objective could be achieved by designing ships with higher length-to-beam ratios than the previous generation of Navy SES. These ships are typically referred to as “High Length-to-Beam SES”. This paper describes an extensive program undertaken by Naval Sea systems Command (NAVSEA) to validate this research and demonstrate high length-to-beam SES capabilities. Under this program a 110 ft commercial SES was procured and stretched from a length-to-beam of 2.65 to 4.25 by installing a 50 foot hull extension amidships. This ship is the SES-200; it is the only large high length-to-beam SES in the world. A brief history of the SES-200 is provided, and the use of standard marine construction and systems in this ship is described. A synopsis of the SES-200 Technical Evaluation Program completed in the Chesapeake Bay and Atlantic Ocean is given, and results of performance, seakeeping and maneuvering tests are presented. The effect of cushion length-to-beam proportions on both cushion wave making resistance and total SES resistance is explained. Performance test data are presented to show that the advantages of high length-to-beam design have been validated. Full power operation in heavy weather at all headings is demonstrated, and heavy weather motion responses are compared to Navy surface ship criteria to show that limits are satisfied for both high and low speed operation. Directional stability and maneuvering test results are cited for both normal operation and impaired situations. Implications of high length-to-beam technology relative to multithousand ton ship design are discussed. The speed and seakeeping capabilities that SES in this size range offer are indicated by scaling SES-200 test data.

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SYNTHETIC FUEL CONSIDERATIONS FOR NAVAL SHIPBOARD USE

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NAVAL ENGINEERS JOURNAL 1982年第2期94卷 286-295页

作者： FAIRBANKS, JW KENYON, CW Capt. John W. Fairbanks USNR:received his M.S. degree from the University of Santa Clara and his B.S. degrees from Stanford University and the Maine Maritime Academy. He taught at the Texas A&M University and the University of Maryland and from 1954 until 1957 served in the U.S. Navy in the Pacific. Subsequently he was a Research Engineer with Hiller Aircraft where he worked on the annular ejector and designed the High-Speed Bearing and Shaft Test Stand for XC-142A and later at Philco Ford worked on advanced space power systems. At NASA-Goddard in 1967 as a Power System Engineer he was employed on several space craft including the Orbiting Astronomical Observatory. From 1971 until 1977 he was employed by the Naval Ship Engineering Center (NAVSEC) as a Program Engineer for FT9 Marine Gas Turbine Development and the Ceramic Demonstrator Gas Turbine and also as Coordinator of Gas Turbine Material Development. In addition he organized the first two Gas Turbine Materials on Marine Environment Conferences and the U.S. participation in the U.S. Navy/Royal Navy Conference. Currently he is a Program Manager in Applied Heat Engine High Temperature Materials and Instrumentation at the Department of Energy (DOE) where he also served as Chairman Engineering Materials Coordinating Committee for DOE. A Naval Reserve Captain and Chairman of the ASME Washington Chapter he also is the former President of the Washington Chapter of the Maine Maritime Academy Alumni former Vice-President of the Stephen Decatur Chapter Naval Reserve Association and the outstanding 1975 Maine Maritime Academy Alumni. Capt. Fairbanks has authored over forty-five technical papers and in both 1974 and 1975 was the winner of the ASE Niedermair Award. Mr. Clarence W. Kenyon:graduated from the State University of New York Maritime College in 1960 and sailed on a Third Assistant Engineer's license with Isbrandtsen Steamship Company before accepting an engineering position with the Long Beach Naval Shipyard in 1961. In addition to his responsibilit

Synthetic fuels are assessed with respect to their potential use aboard Navy ships. The status of petroleum resources and the development of fuels from shale, coal, and biomass is summarized. A scenario of the projected availability of these fuels is presented which shows the sensitivity to funding and schedule. Diesel engine and gas turbine combustor tests with small quantities of coal derived and shale derived fuels are described and these tests results are evaluated for shipboard applications. Special shipboard modifications are discussed such as the replacement of rubber base seals, gaskets, and hoses with viton and teflon, and the use of stainless steel piping because of the fuel characteristics. Considerations for dual fuel systems using Diesel Fuel Marine for starting, stopping, and maneuvering are included based upon early test results. Consideration is given to the use of these fuels in the shipboard environment since they require special handling and adoption of personnel safety measures.

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THE MAINTENANCE engineering ANALYSIS, A VITAL LINK BETWEEN THE design ENGINEER AND FLEET SUPPORT

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Naval Engineers Journal 1974年第1期86卷 84-94页

作者： MARCUCILLI, T.J. HENDRICKSON, M.L. Mr. Theodore J. Marcucilli received his Bachelor's degree in Mechanical Engineering from New York University in 1954. He joined the then Bureau of Ships in the Internal Combustion Engines Branch later to be merged with the Gas Turbine Branch. He progressed through positions of increasing responsibility in the areas of RDT&E Acoustics Shock and Vibration and by June 1962 was in charge of the Machinery Division's efforts in support of Project SEAHAWK an advanced design ASW destroyer. In September 1963 he was designated as Project Manager for the Pressure Fired Boiler Program for seventeen DE's (1040 C1 DEG-1 C1 and AGDE-1). This assignment was the first known application of the Project Management concept in the Bureau of Ships. In June 1966 he was placed in charge of the Plans Policies and Procedures Branch in the Naval Ship Engineering Center and was responsible for the formulation and implementation of Acquisition Management policy and procedures. The following November he was appointed Branch Head for Propulsion Electrical and Auxiliaries Systems in the LHA Project (PMS 377) and has remained with the project from the pre-concept formulation phase through the current building period in the development and production phase. Mr. Marshall L. Hendrickson received his Bachelor's degree in Commerce from the University of Maryland and is presently enrolled in a Master's program in Government Procurement and Contract Administration at George Washington University. He has been involved in Navy Project Management Administration since January of 1963. Prior to that he had extensive Fleet experience as a Field Serivce Engineer for the Philco Corporation. Navy projects he has been associated with include the SPARROW and SIDE-WINDER Missiles the F-4 (Phantom) Series aircraft the Navy Maintenance and Material Management (3-M) System the LHA-1 Class Amphibious Assault Ship and the Ship and Air Systems Integration (SASI) Project. Presently he is the Division Director for Integrated Logistic Support on the SASI Pro

This paper discusses the Maintenance engineering Analyses (MEA) as performed in support of a major ship acquisition process. A major impetus is to demonstrate how the MEA can be utilized better to provide a direct data link between the design agent and the logistic support community to enhance Fleet operational effectiveness. A description of the overall MEA process is provided and several examples are used showing the type of design improvements realizable through an integration of the MEA process into the early stages of ship system design. © 1974 American Society of Naval Engineers

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SCIENCE, TECHNOLOGY, AND MANPOWER IN THE NAVY

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Journal of the American Society for Naval Engineers 1956年第1期68卷 49-56页

作者： BENNETT, RAWSON USN Chief of Naval Research THE AUTHOR was born on June 16 1905. in Chicago Illinois. He was appointed to the U. S. Naval Academy Annapolis. Maryland from California in 1923. Graduated and commissioned Ensign on June 2 1921 he subsequently advanced to the rank of Captain to date from March 20 1945. In December 1955 he was appointed Rear Admiral to date from January 3 1956. Following graduation in 1927 he joined the USS California flagship of the Battle Fleet. Later in 1928. he was assigned communication duty on the staff of Commander Battle Fleet serving as such until August 1930. In November of that year he reported on board the USS Isabel for duty on Asiatic Station and in October 1932 was transferred to the USS Rochester. He completed his Asiatic tour of duty in the USS Houston in 1933. Detached from this vessel he returned to the United States and joined the USS Idaho. After 7 years of sea duty he returned to Annapolis Maryland for postgraduate instruction in radio (electronic) engineering. He completed the course in May 1936 and was assigned to the University of California Berkeley for additional postgraduate work receiving the Master of Science degree in Electrical Engineering after which he reported aboard the USS Concord. Continuing sea duty he joined the staff of Commander Destroyer Division Nineteen (later redesignated Destroyer Fifty) in April 1938 and served as Radio and Sound Officer until June 1941. Starting in July 1939 he set up the technical program of the first fleet Sound School at San Diego California. In July 1941 he reported to the Bureau of Ships Navy Department Washington D.C. There he served first as Head of the Underwater Sound Design Section of the Radio Division and later Head of Electronics Design Division from 1943 to 1946. He was awarded the Legion of Merit “for exceptionally meritorious conduct” during this tour of duty. Upon leaving the Bureau of Ships in August 1946 he reported as Director of the U. S. Navy Electronics Laboratory Point Loma

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THE NAVAL SHIPYARD COMPLEX

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Naval Engineers Journal 1970年第6期82卷 25-30页

作者： DOLAN, JOHN W. REAR ADMIRAL THE AUTHOR graduated from the U. S. Naval Academy in June 1939 and was commissioned Ensign. He subsequently advanced in rank attaining that of Rear Admiral to date from January 1 1967. His first assignment was aboard the USS PENSACOLA the heavy cruiser operating in the Pacific when the U. S. entered World War II. Detached from the PENSACOLA in May 1942 he received postgraduate instruction in naval architecture and marine engineering at M. I. T. where he earned his M. S. degree in 1944. Designated for Engineering Duty Only in that year he was assigned in November to the Philadelphia Naval Shipyard to serve in connection with aircraft carrier construction and ship repair until November 1946. The next month he joined the Staff of Commander Service Force U.S. Pacific as Fleet Maintenance Officer and in August 1949 reported as Production Assistant to the Director of the Ship Technical Division Bureau of Ships Navy Department. He was Assistant Repair Superintendent at the Charleston (South Carolina) Naval Shipyard for a two-year period ending in July 1956 after which time he attended the Naval War College Newport Rhode Island. Completing the course in June 1957 he was assigned to Puget Sound (Washington) Naval Shipyard. In August 1960 he became Shipbuilding Assistant to the Assistant Chief of the Bureau of Ships for Design Shipbuilding and Fleet Maintenance Navy Department and in April 1963 was detached for duty as Commander San Francisco Naval Shipyard. In December 1965 he assumed command of the Long Beach Naval Shipyard and in October 1967 reported as Fleet Maintenance Officer/Assistant Chief of Staff for Maintenance and Logistic Plans Staff Commander in Chief U. S. Atlantic Fleet. He also held the additional duty as Maintenance Officer Staff Commander in Chief Atlantic and Commander in Chief Western Atlantic. In August 1969 he was ordered for his present duty as Deputy Commander for Field Activities Program Director for Shipyard Modernization and Management Naval Ships Sy

The U. S. Naval Shipyards are a tremendous industrial capability, of irreplaceable value to the Fleet. Their specific capabilities have been tailored to meet the needs of a changing mix of ship types that make up the Fleet today, and the modernization program now underway is keyed to the needs of the Fleet of the future. The workforce in the naval shipyards contains skills and expertise necessary to the maintenance of the complex weapons systems essential to a modern Navy. There are programs to keep the workforce current in an everchanging technology, and also to insure a constant input of trained personnel. The continuation of the Naval Shipyard system, ready and capable to support the fleet, is as important an ingredient of National Defense as the continuation of the Fleet itself. © 1970 by the American Society of Naval Engineers, Inc.

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