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THE NPS AUV-II AUTONOMOUS UNDERWATER VEHICLE TESTBED - DESIGN AND EXPERIMENTAL-VERIFICATION

NAVAL ENGINEERS JOURNAL 1992年第3期104卷 191-202页

作者： HEALEY, AJ GOOD, MR Dr. Anthony J. Healey:was graduated from London and Sheffield Universities with the degrees B.Sc.(Eng.j and Ph.D. in mechanical engineering in 1961 and 1966 respectively. He emigrated to the U.S. in 1966 and has taught at The Pennsylvania State University MIT The University of Texas at Austin and the Naval Postgraduate School. He was promoted to full professor of mechanical engineering in 1974 at the University of Texas at Austin and in 1981 he joined Brown and Root Inc. as manager of the Pipeline and Sub-Sea Technology Research Group. In 1986 he assumed his present position as professor and chairman of mechanical engineering at the U.S. Naval Postgraduate School. His areas of specialty include mechanical system dynamics vibration and control systems and he is presently the leader of an Interdisciplinary Project in Mission Planning Navigation and Control for Autonomous Underwater Vehicles at NPS. Lt. Michael R. Good:is an engineering duty officer assigned to Puget Sound Naval Shipyard. He graduated from Marquette University in 1983 with a B.S. degree in mechanical engineering. He has served on the USS Jack Williams (FFG-24) as ordnance officer and damage control assistant. He obtained the master of science in mechanical engineering degree from the Naval Postgraduate School in 1989 during which time he was the chairman of the Monterey Peninsula Section of ASNE. He is currently assigned as senior ship superintendent and docking officer.

The design, construction and testing of an autonomous underwater vehicle (AUV) for use as a research and development testbed at the Naval Postgraduate School (NPS) is presented. Design objectives, analysis and trade-offs are discussed with respect to a generic AUV with specific details for the case of the NPS AUV II. system integration and flexibility are emphasized in the subject vehicle to support presently planned and future research employment. Hull, mobility, sensors, automatic control, and energy subsystems are described. Design and fabrication techniques for the NPS AUV II vehicle hull and equipment are documented. Some results from an experimental program illustrating verification of vehicle design are described.

关键词： Submersibles

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Paetsch, W. Kaneko, M. Technical University of Darmstadt Department of Control Engeneering Control Systems Theory and Robotics Section Germany Kyushu Institute of Technology Computer Science and System Engeneering Kawazu 680-4 Iizuka820 Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper will be used to develop and evaluate different approaches of stable grasping and object manipulation. First results of the control of the gripper on joint level as well as the cartesian behaviour of the fingers and some results and experiences with first grasping and manipulation experiments using the presented system are reported. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Grippers

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

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EEE International Workshop on Intelligent Robots and systems, Towards a New Frontier of Applications

作者： W. Paetsch M. Kaneko Department of Control Engeneering Control Systems Theory and Robotics Section Technical University of Darmstadt Germany Computer Science and System Engeneering Kyushu Institute of Technology Iizuka Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< >

关键词： Grippers control systems Robot sensing systems Space technology Force control Fingers Orbital robotics Computational modeling Computer simulation Grasping

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COMPUTER-system ARCHITECTURE CONCEPTS FOR FUTURE COMBAT systemS

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 43-62页

作者： ZITZMAN, LH FALATKO, SM PAPACH, JL Dr. Lewis H. Zitzman:is the group supervisor of the Advanced Systems Design Group Fleet Systems Department The Johns Hopkins University Applied Physics Laboratory (JHU/APL). He has been employed at JHU/APL since 1972 performing applied research in computer science and in investigating and applying advanced computer technologies to Navy shipboard systems. He is currently chairman of Aegis Computer Architecture Data Bus and Fiber Optics Working Group from which many concepts for this paper were generated. Dr. Zitzman received his B.S. degree in physics from Brigham Young University in 1963 and his M.S. and Ph.D. degrees in physics from the University of Illinois in 1967 and 1972 respectively. Stephen M. Falatko:was a senior engineering analyst in the Combat Systems Engineering Department Comptek Research Incorporated for the majority of this effort. He is currently employed at ManTech Services Corporation. During his eight-year career first at The Johns Hopkins University Applied Physics Laboratory and currently with ManTech Mr. Falatko's work has centered around the development of requirements and specifications for future Navy systems and the application of advanced technology to Navy command and control systems. He is a member of both the Computer Architecture Fiber Optics and Data Bus Working Group and the Aegis Fiber Optics Working Group. Mr. Falatko received his B.S. degree in aerospace engineering with high distinction from the University of Virginia in 1982 and his M.S. degree in applied physics from The Johns Hopkins University in 1985. Mr. Falatko is a member of Tau Beta Pi Sigma Gamma Tau the American Society of Naval Engineers and the U.S. Naval Institute. Janet L. Papach:is a section leader and senior engineering analyst in the Combat Systems Engineering Department Comptek Research Incorporated. She has ten years' experience as an analyst supporting NavSea Spa War and the U.S. Department of State. She currently participates in working group efforts under Aegis Combat System Doctrin

This paper sets forth computer systems architecture concepts for the combat system of the 2010–2030 timeframe that satisfy the needs of the next generation of surface combatants. It builds upon the current Aegis computer systems architecture, expanding that architecture while preserving, and adhering to, the Aegis fundamental principle of thorough systems engineering, dedicated to maintaining a well integrated, highly reliable, and easily operable combat system. The implementation of these proposed computer systems concepts in a coherent architecture would support the future battle force capable combat system and allow the expansion necessary to accommodate evolutionary changes in both the threat environment and the technology then available to effectively counter that threat. Changes to the current Aegis computer architecture must be carefully and effectively managed such that the fleet will retain its combat readiness capability at all times. This paper describes a possible transition approach for evolving the current Aegis computer architecture to a general architecture for the future. The proposed computer systems architecture concepts encompass the use of combinations of physically distributed, microprocessor-based computers, collocated with the equipment they support or embedded within the equipment itself. They draw heavily on widely used and available industry standards, including instruction set architectures (ISAs), backplane busses, microprocessors, computer programming languages and development environments, and local area networks (LANs). In this proposal, LANs, based on fiber optics, will provide the interconnection to support system expandability, redundancy, and higher data throughput rates. A system of cross connected LANs will support a high level of combat system integration, spanning the major warfare areas, and will facilitate the coordination and development of a coherent multi-warfare tactical picture supporting the future combatant command st

关键词： Computer Architecture

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HISTORY OF COAST-GUARD SURFACE EFFECT SHIP PERFORMANCE IMPROVEMENTS

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NAVAL ENGINEERS JOURNAL 1988年第3期100卷 237-250页

作者： LARIMER, G MCCOLLUM, J SCHAUB, B VANLIEW, D WHIPPLE, C Gary Larimer:received his B.S. (1974) and M.S. (1975) degrees in naval architecture and marine engineering from the University of Michigan. He has worked with the Bechtel Professional Corporation the David Taylor Naval Ship Research and Development Center and the United States Coast Guard. He is a member of SNAME ASNE ABYC and IMTI. He is the author of “Reaction Fin Applications In Marine Propulsion” which documented the use of asymmetric pre-swirl vanes to increase propulsion efficiency aboard a 41-ft Coast Guard utility boat. It was presented on 5 March 1987 at the Hampton Roads section of SNAME and was nominated for the section paper of the year award. CWO3 Joe Bobby McCollum USCG: iscurrently engineering officer of the Surface Effect Ship Division Seventh Coast Guard District Key West Florida. Prior to this assignment he was assistant engineering officer on the USCGCUte.His other duty tours included engineering assignments on theCape Currenta 95-foot patrol boat on the USCGCUnimak a 311-foot cutter CG Loran Station Upolo Point Hawaii and CG Station Sabine Pass Texas. CWO McCollum was responsible for modifying and repairing the SESs and contributed many unique problem solving ideas which resulted in much improved operation of the Coast Guard Surface Effect Ship Division. Benton H. Schaub:is a senior engineer with Maritime Dynamics Inc. He has a bachelor of science degree in naval architecture and marine engineering from the Massachusetts Institute of Technology. Mr. Schaub has fifteen years of experience working as a test engineer project engineer and design engineer on advanced marine vehicle projects and is a recognized authority in the areas of hull structure seal system and machinery design for surface effect ships. He has participated in virtually every USN SES design development and test evaluation program including: XR-5 XR-10 SES-100A SES-100A1 and the SES-200. He is currently responsible for performing detailed design and analysis in support of the seal system for the Germa

During the early 1980s the United States Coast Guard took delivery of three surface effect ships (SES) from Bell Halter, Inc. These 136-ton, 30-knot plus, aluminum hulled cutters were to be used primarily for drug interdiction in the southeastern United States. By early 1985, however, the full load weight of these cutters had grown to 150 long tons, and their top speed had dropped to below 23 knots in calm water. By mid-1985, operation of all three SESs was suspended to prevent possible catastrophic failure of their main engines. At this point, the USCG joined ranks with Textron Marine systems (then Bell Aerospace), and Detroit Diesel to analyze what had gone wrong, and to propose solutions to the problems encountered. From that beginning, the performance of the Coast Guard's SESs has steadily and dramatically improved until at present all three cutters are able to exceed their original performance specifications. This paper discusses the problems experienced with the SESs, including engine overloading, vibration, ride quality, seal wear, poor lift system performance, and metal cracking, along with the corrective actions taken to solve them. The cooperation between government and private industry, which made this dramatic turn-around in performance possible, is also explored. Lessons learned about SES technology are viewed in relation to the general experience of the Coast Guard with other types of high performance hull forms.

关键词： NAVAL VESSELS

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NTDS - A PAGE IN NAVAL HISTORY

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NAVAL ENGINEERS JOURNAL 1988年第3期100卷 53-61页

作者： SWENSON, EN MAHINSKE, EB STOUTENBURGH, JS Capt. Erick N. Swenson USNR (Ret.):is a project manager for special projects in the Surface Ship Systems Division Hughes Aircraft Company Fullerton Calif where he has been employed since his retirement from the U.S. Navy in 1975. Originally trained as an electronics technician during WWII in the Captain Eddy program he later received a BS degree in electrical engineering from the University of Rochester Rochester N. Y. in 1950. Subsequent engineering education was received at the University of Pittsburgh Pittsburgh Penn. and the Naval Postgraduate School Monterey Calif. After commissioning he was ordered to duty as the electronics division officer on the USSMissouri(BB-63) and electronics ships superintendent at Hunters Point Naval Shipyard San Francisco Calif. When the design of the Naval Tactical Data System began in the mid-1950s Lt. (j.g.) Swenson was ordered to the Bureau of Ships Navy Department Washington D.C. as the junior engineering duty only officer assigned to the project. From 1962 to 1965 LCdr. Swenson was assigned as the BuShips technical representative on the program at Remington Rand Univac St. Paul Minn. For the next ten years he returned to BuShips/NavSea/NAVSEC as the NTDS project officer. During this time the project expanded considerably foreign military sales were heavily involved and interoperability with other services and countries were established. His final effort on active duty was to instigate the redesign of the previousSpruanceclass destroyers into the newerAdmiral Kiddclass improvement program. He is a registered professional electrical engineer in the State of California listed inWho's Who in the Worldis a life member of ASNE and chairman of the Long Beach/Greater LA Section. Capt. Edmund B. Mahinske USN (Ret.):is an alumnus of the U.S. Naval Academy the Massachusetts Institute of Technology and the Harvard Business School. His technical background is in electronics and he specialized in the management of programs involving the application of comp

A little over thirty years ago, a group of naval engineers were assembled by the Bureau of Ships to develop a new system approach to the combat information center (CIC). The CIC of World War II, with its “grease pencil” plots and voice telling of tactical information from sensors and other ships, could no longer provide the timely, coordinated reaction to postwar threats. This project group led the Navy into the new world of large-scale, high-speed digital electronics and into a new mode of conducting naval warfare as well. There were no off-the-shelf computers of the requisite capability, size and reliability; what were available were monstrous vacuum tube computers. There were no display equipments that were “conversant” in both the digital language of the computer and the analog language of the sensors and the weapon systems. Who ever heard, at that time, of a computer running a tactical communication net automatically? It was hard enough to find sufficient numbers of engineers who knew what a digital computer was. This paper, by three naval engineers in the implementing engineering office, depicts the evolvement of the Naval Tactical Data systems (NTDS) as they saw it. It discusses the problems that stemmed from the transition from the old world of analog into the new digital world, the system concepts that steered the development; the key decisions that were made; new electronic equipment and processes that became necessary; and the need of the mangagement to face the real world of deadlines, ship schedules and operational requirements.

关键词： NAVAL WARFARE

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Shape Meter Using Image Processing technology for Hot Rolling

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IFAC Proceedings Volumes 1987年第5期20卷 153-156页

作者： H. Tachibana A. Yamamoto K. Matsui Process Control System Section Sumitomo Metal Ind. Ltd. Kashima Japan Instrumentation & Control Technology Center Sumitomo Metal Ind. Ltd. Amagasaki Japan

Recently development of new type rolling mills has made it possible to dynamically control the profile and the shape of hot rolled strips. In order to improve the performance of new type mills, profile and shape meters are required. The profile meter with high accuracy has been put to practical use, on the other hand the shape meter has not been widely used because of strip fluttering and the poor atmospheric conditions for example steam, dust and high temperature. Sumitomo Metals succeeded in developing a new shape meter with high accuracy applying laser and image processing technology. This system eliminates the measurement errors caused by the strip fluttering. Furthermore, it can be used even in the hot, steamy and dusty stomosphere. This system has been put into operation in the finishing mill of Kashima Steel Work’s hot strip mill and it has contributed to the improvement in the quality of hot strip coil.

关键词： Steel industry Sensor Shape meter Process control Laser Image processing technology

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DOCTRINAL AUTOMATION IN NAVAL COMBAT systemS - THE EXPERIENCE AND THE FUTURE

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NAVAL ENGINEERS JOURNAL 1987年第3期99卷 74-79页

作者： GERSH, JR The authoris a principal staff engineer at The Johns Hopkins University Applied Physics Laboratory where he supervises the AAW Operations Section of the Combat Direction Group. Since joining JHU/APL in 1980 he has been involved in the specification development and testing of advanced surface combat direction systems specializing in the application of rule-based control mechanisms to command and control problems. In 1985-86 he chaired the Doctrine Working Group of the Naval Sea Systems Command's Combat Direction System Engineering Committee. Mr. Gersh served in the U.S. Navy from 1968 to 1977 as a sonar technician and as a junior officer (engineering and gunnery) aboard Atlantic Fleet frigates and as a member of the U.S. Naval Academy's Electrical Engineering faculty. He was educated at Harvard University and the Massachusetts Institute of Technology receiving S. B. S. M. and E. E. degrees in electrical engineering from the latter. He holds certificates as a commercial pilot and flight instructor and is a member of the U.S. Naval Institute the IEEE Computer Society and the American Association for Artificial Intelligence.

For the last four years the most advanced surface combat direction system (CDS) of the U.S. Navy has employed a limited knowledge-based control mechanism. Implemented in the Aegis Weapon system's command and decision element, this capability is called control by doctrine, and is a foundation for the Ticonderoga class cruisers' exceptional performance. control by doctrine allows CIC personnel to direct that certain CDS functions be performed automatically upon tracks with specified characteristics. In effect, these CDS functions, from identification to engagement, can now be controlled through the specification and activation of general system response rules rather than by individual operator actions. The set of active rules, called doctrine statements, forms a system knowledge-base. The Advanced Combat Direction system, Block 1, successor to today's Naval Tactical Data system, will also employ control by doctrine. As part of a larger effort investigating Aegis/ACDS commonality issues, a Doctrine Working Group was chartered to consider, among other things, implications for force-wide interoperability of multiple systems with such rule-based control mechanisms. The working group produced a set of design objectives for doctrine statement standardization across CDSs. Principal features of these objectives are described. The prospect of several such ships operating together in a battle group has raised questions as to the methods by which the actions of ships with those doctrinally-automated systems can best be coordinated. Related questions deal with specific design features for the support of such coordinated action. Work is now being carried out to investigate these questions. Combat system automation through doctrine statements is only one kind of rule-based control. Much work in the area of artificial intelligence deals with the use and maintenance of complex systems of rules, usually in non-real-time problem solving applications. Such systems are just now beginning

关键词： WARSHIPS

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FFG 7 CLASS FIN STABILIZER system

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NAVAL ENGINEERS JOURNAL 1984年第3期96卷 62-68页

作者： DONAHUE, JC MCMAHON, EJ NELSON, LW Commander John C. Donahue USN:is the Deputy Technical Director for NAVSEA PMS 399 the FFG 7 class Acquisition Project Office. In addition he is the FFG 7 class Fin Stabilizer System Program Manager. Cdr. Donahue is an Engineering Duty Officer and Surface Warfare Officer who holds a BS in marine engineering from the California Maritime Academy a BS in business administration and an MS in material management from the Naval Postgraduate School. He is a designated Weapons Systems Acquisition Manager. Cdr. Donahue's sea service includes three tours culminating as chief engineer in USSFarragut (DLG-6) during that ship's complex overhaul as the DLG pilot ship for the 1200 PSI improvement program. Significant shore duty includes the Philadelphia Naval Shipyard where he served as theBelknapproject officer during that ship's repair restoration and modernization following its collision with USSJohn F. Kennedy (CV-67) Assistant Sixth Fleet Maintenance Officer and the Naval Research Laboratory. Cdr. Donahue was the charter president of the ASNE Section at the Naval Postgraduate School. Edward J. McMahon:is founder and President Reliability Sciences Incorporated (RSI) and has been supporting NAVSEA on the FFG 7 Class fin stabilizer system procurement since 1977. Mr. McMahon has a BSME from New Jersey Institute of Technology and has done graduate work in electrical engineering operations research and engineering administration at New Jersey Institute of Technology Seton Hall University University of Alabama and George Washington University. He has authored and presented various papers on reliability and electrostatic discharge control and coauthored a book Electrostatic Discharge Control — Successful Methods for Microelectronics Design and Manufacturingpublished by Hayden Publishing Company 1983. Mr. McMahon is a registered Professional Engineer and listed in Who's Who 1977 1978 1982 and 1983. Louis W. Nelson:is an electrical engineer with the NAVSEA Surface Ship Control and Hydraulic System Branch where he ha

This paper discusses the new fin stabilizer system developed for the FFG 7 class ships. The paper includes: a brief history of fin stabilizers, the advantages of fin stabilizers on Navy combatants, brief theory of system operation, the approaches used in system development, and an up to date program status. This paper furthers Nelson and McCallum's paper [1] which addresses the infancy of the FFG 7 fin stabilizer system development program.

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FUTURE PROPULSION MACHINERY technology FOR GAS-TURBINE POWERED FRIGATES, DESTROYERS, AND CRUISERS

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NAVAL ENGINEERS JOURNAL 1984年第2期96卷 34-46页

作者： BASKERVILLE, JE QUANDT, ER DONOVAN, MR USN The Authors Commander James E. Baskerville USNis presently assigned to Naval Sea Systems Command (NA VSEA) as the Ship Design Manager for the DDG 51 the Navy's next generation surface combatant. A graduate of the U.S. Naval Academy Class of 1969 he is a qualified Surface Warfare Officer and designated Engineering Duty Officer (ED). He received his M.S. degree in Mechanical Engineering and his professional degree of Ocean Engineer from the Massachusetts Institute of Technology (MIT) and holds a patent right on an Electronic Control and Response System. His naval assignments include tours in USSRamsey (FFG-2) Aide and Flag Lieutenant to the Commander Naval Electronic Systems Command and Ship Superintendent Surface Type Desk Officer and Assistant Design Superintendent at NA VSHIPYD Pearl Harbor. He was awarded the Meritorious Service Medal for distinguished performance at Pearl Harbor Naval Shipyard. As an author he has contributed articles to the ASNEJournaland given presentations at local sections on ship design the use of innovative technology in ship repair and maintenance and the costs and risks associated with engineering progress. Commander Baskerville is a registered Professional Engineer in the State of Virginia an adjunct professor teaching marine engineering at Virginia Tech. and in addition to ASNE which he joined in 1975 is a member of SNAME Tau Beta Pi Sigma Xi ASME and the American Society of Heating Refrigeration and Air Conditioning Engineers (ASHRAE). Dr. Earl R. Quandt:received his degree of Chemical Engineer from the University of Cincinnati in 1956 and his Ph.D. degree in Chemical Engineering from the University of Pittsburgh in 1961. He worked in the naval reactors program at the Bettis Atomic Power Laboratory from 1956 to 1963. Since that time he has been with David Taylor Naval Ship Research and Development Center Annapolis Maryland where he is Head of the Power Systems Division. He contributed to this paper while on a one year assignment to the U.S. Naval Academy as V

A turning point occurred in naval engineering in 1972 when the U.S. N avy chose to use marine gas turbines for the propulsion of its new SPRUANCE and PERRY Class ships. This paper reviews the more than twenty years of experience with turbine technology and its design integration into combat ships needed to make that decision. It is concluded that the availability of a good second generation aircraft derivative engine with proven reliability and a strong commercial base, i.e., the LM-2500, was as important to the decision as was the predicted improved ship effectiveness and cost benefits. This paper discusses improvements that can be made to the twin engine, single gear, single propeller shaft system. Focusing only on this mechanical transmission concept, it addresses the impact of possible improvements to the engine, gear, and shafting. In particular, the paper discusses current LM-2500 related R&D efforts to: (a) obtain improved part-power fuel rates, (b) integrate with a reversing reduction gear, and (c) add on a waste heat recovery steam cycle. Looking ahead to the year 2000, this paper suggests that a successor to the ubiquitous LM-2500 will appear in the 15 MW power range to provide the next step in the evolution of the twin engine package. This new naval engine will most likely be based on an aircraft core that exists at present, such that it will have demonstrated its reliability and commercial potential through many hours of testing prior to its mid-1990 marine conversion. This new engine is expected to offer improved air flow, an excellent fuel rate (approaching a flat 0.30 LB/HP-HR), and effective maintenance monitoring, all at some expense in size, weight, and cost. The year 2000 engine will burn a liquid hydrocarbon fuel similar to JP-5 because of its aircraft origins. Combined with advances in gear and shafting technology, the full twin engine propulsion system of the year 2000 should be markedly lighter, smaller, and more efficient than today's units.

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