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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.C.K. Chou M. Kamel Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering Institute for Computer Research University of Waterloo Waterloo ONT Canada

The problem of finding the relative orientation between the reference frames of a line-mounted sensor and the link is formulated as a kinematic equation of the form A/sub a/A/sub x/=A/sub x/A/sub b/, which has to be solved for the rotational transformation matrix A/sub x/ given the transformations A/sub a/ and A/sub b/. This equation can be transformed to its equivalent form in terms of quaternion and then simplified to a well-structured linear system of equations of the form Bx=0. Since B is rank-deficient, the solution is not unique. The generalized-inverse method using singular-value decomposition (SVD) is applied. Although the solution is reached using the analysis of SVD, the SVD is derived symbolically; therefore, the actual implementation of SVD is not required. A method for obtaining a unique solution is proposed where a system of nonlinear equations is solved using Newton-Raphson iteration. The iteration is simplified by a dimension-reduction technique that provides a set of closed-form formulas for solving the resulting linear system of equations.< >

关键词： Quaternions Robot kinematics Sensor systems Linear systems Coordinate measuring machines Robot sensing systems Nonlinear equations Position measurement Intelligent robots Manipulators

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FROM TYPHON TO AEGIS - THE ISSUES AND THEIR RESOLUTION

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NAVAL ENGINEERS JOURNAL 1988年第3期100卷 62-72页

作者： INMAN, BD The author retired from the U.S. Navy in 1970 and from RCA in 1986. He has a BChE from Ohio State University as well as BS and MS degrees in engineering electronics from the Naval Postgraduate School. An engineering duty officer he served in various electronics and RDT&E billets in the Navy and Office of the Secretary of Defence including command of the U.S. Navy Underwater Sound Laboratory and Naval Underwater Systems Center. While the Bureau of Ships Radar Branch head and Surface Missile System Project search radar manager he was assigned to the Advanced Surface Missile System (ASMS) Assessment Group and later as Navy technical director for the ASMS/SAM-D Commonality Study. At RCA he led Aegis simplification studies and concept designs for the AN/SPY-1A B C & D radars the CG-47 and DDG-51 combat systems and the DG ship. He organized and led the Aegis Ship Integration Group through CG-47 contract design. At retirement he was director of submarine combat systems. He was awarded the Navy Commendation Medal (2 A wards) the Navy Meritorious Service Medal and the 1982 ASNE Gold Medal. He is a member of ASNE the Naval Institute and a senior member IEEE.

The Aegis weapon system, now deployed in the USS Ticonderoga cruiser class and soon to be deployed in the Arleigh Burke destroyer class, is generally accepted to be, by far, the most capable ship AAW weapon system in the world. The concept for this system was developed in the mid-1960s as replacement for the failed Typhon weapon sysem. During the concept design and early development phases there arose a number of key technical and programmatic issues. In retrospect, a different decision on many of these issues could have resulted in a much less capable system and, in some cases, to another system development failure. This paper first provides a brief description of the Typhon system concept and why it failed in execution. This is followed by the identification of key early technical and programmatic issues. Each issue is discussed, the options defined, and the final resolution described. With the benefit of hindsight, the impact on the system development from a different decision is suggested. Finally, an attempt is made to reach some general conclusions that could be of value to other similar development efforts.

关键词： NAVAL WARFARE

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SYNTHESIZING KNOWLEDGE - A CLUSTER-ANALYSIS APPROACH USING EVENT COVERING

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS 1986年第2期16卷 251-259页

作者： CHIU, DKY WONG, AKC PAMI Laboratory Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

An event-covering method [1] for synthesizing knowledge gathered from empirical observations is presented. Based on the detection of statistically significant events, knowledge is synthesized through the use of a special clustering algorithm. This algorithm, employing a probabilistic information measure and a subsidiary distance, is capable of clustering ordered and unordered discrete-valued data that are subject to noise perturbation. It consists of two phases: cluster initiation and cluster refinement. During cluster initiation, an analysis of the nearest-neighbor distance distribution is performed to select a criterion for merging samples into clusters. During cluster refinement, the samples are regrouped using the event-covering method, which selects subsets of statistically relevant events. For performance evaluation, we tested the algorithm using both simulated data and a set of radiological data collected from normal subjects and spina bifida patients.

关键词： Clustering algorithms Knowledge based systems Knowledge acquisition Hamming distance Event detection Noise measurement Performance analysis Merging Testing Birth disorders

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A COMPUTER INTEGRATED engineering SYSTEM FOR design AND LIFE-CYCLE MANAGEMENT

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NAVAL ENGINEERS JOURNAL 1986年第3期98卷 115-121页

作者： NICKODEMUS, GH YANUS, ID Irwin D. Yanusgraduated from the University of Pennsylvania with a bachelor's degree in arts and science in 1960 and a bachelor of science degree in mechanical engineering in 1961. In 1963 he received a master of science degree in mechanical engineering from Carnegie-Mellon University. Mr. Yanus is presently the manager of naval systems engineering in the Computer Aided Engineering Department of the Plant Engineering Division of Westinghouse Electric Corporation. His prior experience includes 19 years at the Bettis Atomic Power Laboratory where he performed assignments of increasing responsibility in design analysis development and procurement of nuclear reactor components for naval applications. As the manager of reactor mechanical design he was responsible for the mechanical design of theNimitzclass reactor components and control drive mechanism technology development. Mr. Yanus is a member of the American Society of Mechanical Engineers and the Society of Naval Architects and Marine Engineers. Glen H. Nickodemusgraduated from Michigan State University in 1964 with a bachelor of science degree in civil engineering. He joined the Pittsburgh-Des Moines Corporation in July of the same year. A master of science degree in civil engineering was obtained from Carnegie-Mellon University in 1973. In 1969 Mr. Nickodemus joined the Advanced Reactors Division of the Westinghouse Electric Corporation where he performed design and structural analysis functions for the development of the Fast Flux Test Facility and Clinch River Breeder Reactor Plant (CRBRP). As manager of CRBRP reactor engineering stress analysis he was responsible for the reactor vessel internals closure head control rod drivelines and miscellaneous guard vessels and head access area components. He is currently the manager of software development for the Computer Aided Engineering Department of the Plant Engineering Division. Mr. Nickodemus is a member of the American Society of Mechanical Engineers and is a registered professional engineer in Penn

This paper describes a computer integrated engineering system for design and life cycle management of weapons systems, ships and other multidisciplined systems. All engineering data are stored in a central engineering database. Individual application databases define and process information necessary for specific discipline evaluations. interface modules between the application databases and the engineering database ensure that the entered data are complete, consistent, compatible, and in compliance with requirements. Conflicts are immediately identified and efficiently resolved. Implementation of the system improves design quality and reduces costs by minimizing the number of design iterations, reducing the effort to implement changes, providing effective storage and retrieval, and reducing the need for ship checks prior to modifications and alterations.

关键词： MILITARY engineering

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RETROFITTING OF BULBOUS BOWS ON UNITED-STATES NAVY AUXILIARY AND AMPHIBIOUS WARSHIPS

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NAVAL ENGINEERS JOURNAL 1984年第6期96卷 40-51页

作者： CHUN, SK HOUGH, JJ ENGLE, AH FUNG, SC Stephen K. Chunis a graduate of the Maritime College of the State University of New York class of 1981 from which he received a B.E. degree in naval architecture and his license as a Third Assistant Engineer from the U.S. Coast Guard. Since graduation he has worked for the U.S. Navy as a naval architect with the Hull Form and Hydrodynamics Performance Division (SEA 55W3) of the Naval Sea Systems Command. Currently he is the task leader for hydrodynamic design for the DDG-51. He is also responsible for bulbous bow and appendage design for surf ace ships. Mr. Chun is a member of ASNE SNAME and ASE. Jeffrey J. Hough:is currently a naval architect with the Hull Form and Hydrodynamic Performance Division (SEA 55VV3) of the Naval Sea Systems Command (NA VSEA). In his current capacity he is a member of the Surface Ship Hydrodynamics Branch and is the divisional coordinator for computer supported design (CSD) technical director for the hull form design system (HFDS) Hull Engineering Group (SEA 55) assistant coordinator for CSD SEA 55 CSD coordinator for the DDG-51 contract design and SEA 55W3 project engineer for aircraft carrier/aviation support ship hydrodynamics. Mr. Hough received his B.S.E. degree in naval architecture and marine engineering in 1978 and his M.S.E. degree in naval architecture and marine engineering in 1979 from the University of Michigan. He began his career with the U.S. Navy in 1979 as an Engineer-in-Training in the Ship Design and Integration Directorate of NAVSEA. Prior to his current assignment Mr. Hough was the technical director responsible for the hull form and hydrodynamics energy conservation program and technical specialist for design practices for resistance and powering margins and hull form geometry. A member of ASNE since 1979 Mr. Hough is also a member of SNAME ASE and the U.S. Naval Institute. Allen H. Engleis a naval architect with the Hull Form Design and Performance Division of the Naval Sea Systems Command. He received his B.S. degree in engineering science from th

To meet energy conservation goals of the U.S. Navy, its attention has been focused on ways to reduce individual ship total resistance and powering requirements. One possible method of improving ship powering characteristics is by modifying existing individual ship hulls with the addition of bulbous bows. This paper will identify the merits of retrofitting bow bulbs on selected U.S. Navy auxiliary and amphibious warfare ships. A procedure for performing a cost-benefit analysis will be shown for candidate ship classes. An example of this technique for an amphibious warfare ship will also be provided. A brief discussion of future methods to be used for bulbous bow design such as application of systematic model test data and numerical hydrodynamic techniques will be given.

关键词： NAVAL VESSELS

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ARCTIC TRAFFICABILITY PROGRAM - A REVIEW

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NAVAL ENGINEERS JOURNAL 1984年第3期96卷 169-175页

作者： VOELKER, R GLEN, IF SEIBOLD, F BAYLY, I Richard Voelker:is Vice President of ARCTEC Incorporated a firm specializing in cold regions technology. He has been responsible for the management of thePolarClass Traffic-ability Program since its inception and annually participates in the field data collection in the Arctic. His prior experience includes positions with the U.S. Coast Guard in the icebreaker design project the Military Sealift Command and at Newport News Shipbuilding. He is a graduate of N. Y.S. Maritime College and has a MS degree from the University of Michigan. I.F. Glen:received his professional degrees in naval architecture from the Royal Naval Engineering College Manadon Plymouth and RN College Greenwich London entering the Royal Corps of Naval Constructors in 1967. After serving as a Constructor Lieutenant in the Royal Navy's Far East Fleet for a short period he joined the Polaris submarine project team in Bath England in 1968. In 1971 he was seconded to the Canadian Department of National Defense in Ottawa as a Constructor Lieutenant Commander under NATO exchange arrangements where he had responsibilities initially for conventional submarines and latterly for computer aided conceptual design. He ventured to Bath England in 1974 and joined Forward Design Group. In 1975 he took a position as a civilian engineer in the Canadian Defense Department and was Head of Hull Systems Engineering from 1977 to 1979. He joined ARCTEC CANADA LIMITED in 1980 and in addition to managing ice model testing projects and full scale trials has specialized in structural response of ships to ice impact. He headed ARCTEC's Kanata Laboratory from 1981 to 1983 when he was promoted to president. Frederick Seibold:is a research program manager with the Maritime Administration's Office of Advanced Ship Development and Technology. He is responsible for the marine science program which includes research in the areas of ship powering structures and propeller performance and Arctic technology. Mr. Seibold has been employed by Mar Ad since 1961 having hel

This paper describes a multiyear program to make an operational assessment on the feasibility of a year-round Arctic marine transportation system to serve Alaska. Specifically, the three objectives were to: collect meteorological and ice data along potential marine routes; instrument the hull and propulsion machinery to improve design critera for ice-worthy ships; and demonstrate that ships can operate in midwinter Alaskan Arctic ice conditions. The U.S. Coast Guard's Polar class icebreakers were used to make the operational assessment by annually extending the route northward and by operating throughout the winter season. This paper reviews some of the operational and technical achievements to date, as well as plans for future Arctic deployments.

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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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FOCAS - A NEW LOOK IN COMBAT SYSTEM SIGNAL TRANSMISSION

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NAVAL ENGINEERS JOURNAL 1983年第3期95卷 51-62页

作者： SLEMON, CS ABBOTT, JW Charles S. Slemon:graduated from Brown University with an Sc.B. Degree in Physics and did graduate work in semiconductors at the School of Electrical Engineering Cornell University sity receiving an M.S. degree. In 1972 he received an NSF grant to study the temperature dependence of crystal structures and while at Cornell he developed various fabrication and testing techniques with new semiconductor compounds. Upon joining Tetra Tech Inc. in 1976 he established and is responsible for their fiberoptic laboratory. He has carried out many programs involved in fiberoptic links for secure communication for various government agencies in which he authored numerous classified reports and developed special fiberoptic devices and system. He has also carried out studies and hardware development and evaluation programs for the military and commercial clients including marine and deep sea uses of fiberoptics for NOSC ONR and other off-shore industry contractors. For NAVSEA he authored several reports investigating the potential uses and advantages that fiberoptic technology offers to Navyshipboard operations. Mr. Slemon has published many articles and made numerous presentations in the field of fiberoptics. He has also taught several short courses on the subject and is the holder of several patents. Mr. Jack W. Abbott:received his BSME degree from Stanford University in 1960 and his Masters (MEA) degree from George Washington University in 1975. He holds a Professional Engineer License in the state of California. Mr. Abbott served as a naval officer – aboard a destroyer for 3 years. He worked for the Garrett Corporation for nearly 8 years involved with gas turbine design development and application. For the last 15 years Mr. Abbott has been directly involved with all aspects of destroyer design including the Canadian DDH 280 U.S. DD 963 and DD 993 destroyers. Currently Mr. Abbott is the NAVSEA Program Manager of the Ship Systems Engineering Standards (SSES) Program – responsible for developing combat system inter

This article introduces the concept of a truly Universal Signal Distribution Network. The emergence of fiberoptic technology as a viable signal transmission medium now gives the N avy the opportunity to use Fiber Optic Cabling and Switching (FOCAS) to implement a universal network. A FOCAS Network can handle all present or future shipboard signal distribution architectures such as point-to-point or data bus. Furthermore, compared to existing cable installations, this network offers lower cost through reduction of the number of cables, weight, and volume, freedom from interference and EMP effects, increased redundancy, and higher operational flexibility. In addition, it will easily satisfy all future expansion or changes in signal distribution by providing at least a ten fold increase in data rate capacity over existing electrical cabling. This last feature alone holds the potential for allowing upgrading and conversion of modern combat systems without need for adding new cabling in the ship. Along with the introduction of the concept of a Universal FOCAS network and its practical benefits and capabilities, this article presents a trade-off between the Radar Data Distribution Network on the FFG and an analogous FOCAS network. Though far from optimized, the resultant FOCAS network shows that the conversion of existing shipboard networks to FOCAS is straightforward and provides a reduction of at least 90% in cable volume and weight and lower cost in cable purchase and installation.

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THE design OF VARIABLE PAYLOAD SHIPS

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NAVAL ENGINEERS JOURNAL 1982年第2期94卷 147-178页

作者： BROOME, GW NELSON, DW TOOTLE, WD Granville W. Broome Jr.:received his BS degree in Civil Engineering from the North Carolina State University in 1967 and MS degree in Naval Architecture from the Massachusetts Institute of Technology in 1970. He started his career at the former Naval Ship Engineering Center working on preliminary structural designs for FFG-7 CVAN-71 and PHM. Subsequently he participated in design integration of FFG-7 DG (AEGIS) CSGN and CG-47 Class ships. Later he served as the Lead Naval Architect for feasibility studies of LSD-41 T-AGOS and T-AO and feasibility studies as well as concept design of ARS-50. Mr. Broome is currently the Head of the Surface Combatant Section (SEA 33112) in the Advanced Design Division of the Naval Sea Systems Command. He is also serving as the Assistant Program Manager for Ship Design Concepts on the Ship Systems Engineering Standards (SSES) Program. In this capacity he is responsible for feasibility studies of the Variable Payload Ships. Mr. Broome is a member of ASNE and ASE. David W. Nelson:graduated from the University of North Carolina at Chapel Hill with a BA degree in History prior to joining the Navy in 1963. He served inUSS Conyngham (DDG-17)and at the Naval Communication Station Greece. Upon release from active duty he entered North Carolina State University where he earned a BS degree in Civil Engineering. He joined the Naval Ship Engineering Center Hyattsville Maryland in 1973. He was the General Arrangements Task Leader for the DD-993 Contract Design the CG-26 Modernization and the DDG-2 Class Conversion. He is currently the Manager for Destroyer Design in the Ship Arrangements (SEA 3211) Group of the Naval Sea Systems Command where his primary responsibility is the general arrangements of DDG-51. He is also the Assistant Program Manager for Ship Design on the Ship Systems Engineering Standards Program. Mr. Nelson is a member of ASNE ASE and SNAME. William D. Tootle:received his BSEE degree from the North Carolina A&T State University in 1960. Between 1960 and 1964 h

This paper presents the issues involved and the approach taken in the design of Variable Payload Ships. The objectives in Variable Payload Ship design are: first, to permit concurrent design and development of the ship and its initial combat system; and second, to simplify the testing, installation, and upgrading of the combat system over a ship's life cycle. In order to accomplish these objectives, Ship systems engineering Standards and design Criteria are being developed for the VPS platform and payload. Based on the Mid-Size Combatant design conducted so far, indications are that the abovementioned objectives can be met — giving the Navy maximum flexibility to choose the latest and most appropriate combat suite for each of its surface combatants during both initial acquisition and entire life cycle.

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LUNCHEON ADDRESS - UNITED-STATES NAVY PRESENT AND FUTURE - AN engineering PERSPECTIVE

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NAVAL ENGINEERS JOURNAL 1982年第3期94卷 47-50页

作者： FOWLER, EB COMMANDER NAVAL SEA SYSTEMS COMMAND Vice Admiral Earl B. Fowler Jr. USN:was born in Jacksonville Fla. on 29 September 1925. After attending Landon High School in Jacksonville he enlisted in the Navy's V-12 Program on 18 May 1943 and entered the Georgia School of Technology from which he graduated in February 1946 receiving his Bachelor of Mechanical Engineering degree and his commission as Ensign in the U.S. Naval Reserve. Following graduation he was ordered to duties inUSS Columbia (CL-56)andUSS Ranger (CV-4)until November 1946 when he was assigned to the Pre-commissioning Detail and later served in theUSS Wright (CVL-49). In July 1947 he entered Massachusetts Institute of Technology graduating therefrom in January 1949 and receiving his B.S. degree in Electrical Engineering. He next served in theUSS Leary (DDR-879)for two years and the Naval Shipyard Charleston from 1951 until 1953 when he became Force Electronics Officer Staff of Commander Mine Force U.S. Atlantic Fleet also at Charleston until 1956. Subsequently he served at the Navy Radiological Defense Laboratory (1956–57) at Hunter's Point Naval Shipyard (1957–60) with the Military Assistance Advisory Group Republic of China as Material and Engineering Advisor (1960–62) on the Staff of Commander Service Force U.S. Pacific Fleet (1962–65) and as Head Ship Engineering Division Pacific Missile Range Pt. Mugu Calif. where he worked on the design of ships for the APOLLO Program and National Range Support (1965–67). Admiral Fowler came to the Naval Material Command in July 1967 as Project Manager Instrumentation Ships Project Office (PM-5) and served in that capacity until February 1968 when the project was transferred as a Ship Acquisition Project to the Naval Ship Systems Command and he became the Project Manager for the Oceanographic Mine Patrol and Special Purpose Ship Acquisition Project. He then attended the Harvard University Advanced Management Program in 1971 subsequently reporting to the Naval Electronic Systems Command in Janu

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