作者：
SINGERMAN, HAROLD H.KINNEY, EDWARD T.Mr. H. H. Singerman is Head of the Fluid Processes Branch of the Annapolis Division of the Naval Ship Research and Development Center. A native of Massachusetts
he has been at the Center since 1951. He has a B.S. in Chemical Engineering from Northeastern University and is a degree candidate for Master of Public Administration (Technology of Management) at the American University. His group is responsible for Research and Development in such diverse fields as life support in nuclear submarines analytical chemistry water treatment and control and shipboard sewage systems. He is a member of the American Institute of Chemical Engineers. Mr. E. T. Kinney
a native of Grand Rapids Michigan earned his Bachelor of Science degree with honors in Civil Engineering from Michigan State University in 1952. After a brief stint as an assistant county engineer in Michigan he began his career with the Bureau of Ships as a Naval Architect in the Hull Design Training Program in September 1952. Mr. Kinney is currently a Project Coordinator in the Propulsion Power and Auxiliary Systems Division (SEC 6151) of NAVSEC where he is responsible for auxiliary and landing ships deep submersible vehicles and the NAVSEC Environmental Pollution Control Program. He is a member of the board of directors of the Federal Conference of Sanitary Engineers Panel M-17 of SNAME and Tau Beta Pi Engineering Honor Society.
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational...
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this mathematics through optimization, and the hardware capable of realizing this understanding in practice. In this context, this review outlines the end-to-end process of methods that have proven effective in the literature for achieving dynamic walking on bipedal robots. We begin by introducing mathematical models of locomotion, from reduced-order models that capture essential walking behaviors to hybrid dynamical systems that encode the full-order continuous dynamics along with discrete foot-strike dynamics. These models form the basis for gait generation via (nonlinear) optimization problems. Finally, models and their generated gaits merge in the context of real-time control, wherein walking behaviors are translated to hardware. The concepts presented are illustrated throughout in simulation, and experimental instantiations on multiple walking platforms are highlighted to demonstrate the ability to realize dynamic walking on bipedal robots that is both agile and efficient.
▪ Abstract The regional nature of several important air pollutants, which include acids, ozone, particulate matter, mercury, and persistent organics (POPs), is widely recognized by researchers and decision makers. Suc...
▪ Abstract The regional nature of several important air pollutants, which include acids, ozone, particulate matter, mercury, and persistent organics (POPs), is widely recognized by researchers and decision makers. Such pollutants are transported regionally over scales from about 100 to a few 1000s of kilometers, large enough to cross state, provincial, national, and even continental boundaries. Managing these regional pollutants requires overcoming political, economic, and cultural differences to establish cooperation between multiple jurisdictions, and it requires recognition of the linkages between pollutants and of impacts at different geographic scales. Here, regional dynamics of the pollutants are discussed, addressing them individually and as a tightly linked physical and chemical system. Collaborative efforts to characterize and manage regional pollution are presented, along with potential directions for future efforts.
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