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CABLE BURIAL IN THE DEEP OCEAN-FLOOR

NAVAL ENGINEERS JOURNAL 1980年第2期92卷 218-230页

作者： ROCKWELL, PK ENGEL, JH PIERCY, WB Mr. Philip K. Rockwell joined the Ocean Engineering Department at the Civil Engineering Laboratory (CEL) in 1969 after receiving his B.S. and M.S. degrees in Engineering from the University of California Los Angeles (UCLA) and in 1973 won the WEPCOSE Scholarship which took him to the University of Washington for postgraduate studies in Fluid Power Control Systems. Since joining CEL he has specialized in Underwater Manipulator and Diver Tool Systems has been the Project Engineer and Navy certified submersible operator for the manned submersible NEMO and has been responsible for the design test and evaluation of submersible fluid power and fluid power control systems. His most recent efforts have been on the Deep Ocean Cable Burial System for which he has been responsible for concept development program management validation testing. and coordination and planning for the total system design and fabrication. Mr. Rockwell is an Engineer-in-Training (EIT) in the state of California and in 1979 was awarded the Meritorious Civil Service Award for his outstanding performance. Mr. John H. Engel Jr. is a Mechanical Engineer in the Construction Systems Division Ocean Engineering Department. of the Civil Engineering Laboratory. He is a graduate of Oregon State University for which he received both his B.S. and M.S. degrees in Mechanical Engineering. Prior to joining CEL in 1975 he was involved with the design and development of remote oceanographic devices for the School of Oceanography at Oregon State University. At CEL he has worked in the areas of Underwater Gas Generation and Buoyant Lift Systems and at the present time is responsible for the mechanical design of the shallow water mooring for the initial ocean tests of the Current Measurement System. Mr. Engle also is a registered Engineer-in-Training in the state of Oregon. Mr. William Bruce Piercy at the present time is a student at the University of California at Berkeley where he is studying for his M.S. degree in Engineering having received his B.S. degr

Bottom fishing equipment employed by scallopers and trawlers routinely damage or break important Navy Oceanographic cables resulting in substantial repair coats and unacceptable system interruption. The Civil engineering Laboratory (CEL), sponsored by the Naval Facilities engineering Command (NAVFACENGCOM), has been developing and validating an engineering concept for a Deep Ocean Cable Burial (DOCB) System. This DOCB System will providethe Navy with an efficient, effective and reliable means of burying cables 3-feet deap in ocean mediments, at speeds not less than one knot, to water depths of 6,000 feet. The DOCB System b a remotely controlled machine which underruns and buries existing (previously laid) cables. It is powered and controlled from a surface ship via an electromechanical umbilica cable. The machine is self-propelled by ducted thrusters and supported on water lubricated skids. The excavation system computer an orbital vibrating plowshareand a vertical waterjet. Full-scale field testing at CEL baa keyed on three areas: •. Quantifying the reduction in drawbar force achieved by applying orbital vibration to an upward cutting plowshare. •. Evaluating a Vertically impinging jet nozzle for depth of a cut M a function of jet operating parameters. •. Demonstrating the effect on the soil drag of a flat-bottomed skid due to forcing a thin layer of water between the skid and the seafloor. The field teats of an orbital vibratory plow were performed in a 1 to 2 psi clay simllar to that found on the ocean floor. The results showed that a 70% reduction in drawbar force was achieved by applying an elliptical orbital vibration. It was also shown that the vibration feature would split or push aside buried rocks which would have stalled a conventional stationary plow. The water jet tests demonstrated that a 2 1/2-in. nozzle cuts 36-in. deep in 1 to 2 psi clay. The nozzle pressure was 75 psi and flow was 1,200 gpm. The water jet did not produce a clearly defined trench, b

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CENTML control SYSTEM TRAINING THROUGH STA TIC AND DYNAMIC SIMULATION

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Naval Engineers Journal 1980年第2期92卷 196-206页

作者： HALL, EDWIN E. MOSS, DONALD G. NORRIS, CLIFFORD S. PETERSON, HAROLD D. Mr. Edwin E. Hall received his Bachelor's degree in Electronics from Oklahoma City University. He also is a certified College-Level Instructor in the state of Florida and has done graduate work in Computer Science at the University of Florida. As the Technical Publications and Training Manager Simulation and Control Systems Department. General Electric Company Daytona Beach Fla. he currently is responsible for the costing. planning performance scheduling and timely completion of the Department's Technical Manuals and Technical Training Programs. These Training and Manual contracts cover Ship Systems Programs. Simulation Programs. and Communications Programs for the Armed Services and commercial customers. Mr. Hall has over twenty-years experience as a Technical Writer and Instructor and for the past seventeen years has been at the General Electric Company's Daytona Beach Facility. His experience ranges from teaching Basic Electronics and Radar Circuitry as a civilian instructor for the U.S. Army to writing Manuals Proposals Reports Specifications and Brochures for General Electric's product lines. Mr. Donald G. MOSS is a graduate of Kansas State University from which he received both his B.S. degree in Business Administration and his M.S. degree in Electrical Engineering. He is presently a Senior Systems Engineer for Control Systems in the Simulation and Control Systems Department at the General Electric Company's Daytona Beach Facility. He has been employed by General Electric for 23 years — the first seven as an Engineer and Program Manager on the Fire Control Systems for the Fleet Ballistics Missile Program the next six managing the design of control and checkout equipment on the APOLLO Program and the last ten years working on control equipment for the machinery plants of new Navy ships. Over the span of years at General Electric he has worked on propulsion control for the DD-963 propulsion electric plant and auxiliary control for the FFG-7: propulsion boiler burner electric auxiliary and car

Dynamic Simulation is defined as the hardware and software required to present to the student operator visual and audible cues and responses that are the same as those encountered when operating the control Consoles aborad ship. This type of simulation is considered essential to the development of operator skills for critical tasks. Less critical tasks can be practiced using static simulation devices. This paper discusses the utilization of these types of training devices to train Navy crews. An overview of the Machinery control systems of the FFG 7 and AO 177 Class ships is discussed to provide an understanding of state‐of‐the‐art equipment development. The training programs for these two ship Classes are then reviewed to show how simulation devices are currently used by the Training Community, and this is followed by a brief discussion of the additional benefits that also are derived. © 1980 by the American Society of Naval Engineers, Inc.

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A SUBMARINE control-SYSTEM TEST VEHICLE

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NAVAL ENGINEERS JOURNAL 1980年第2期92卷 148-155页

作者： SEJD, JJ WATKINSON, KW HILL, WF Mr. James J. Sejd received his B.S. degree in Civil Engineering from Case Western Reserve University and has since undergone considerable graduate study at both The George Washington and American Universities. He served almost four years in the U.S. Navy as a Naval Aviator and enjoys the unique distinction of being qualified in both Heavier- and Lighter-than-Air aircraft. Early in his career he was employed at the Navy's Bureau of Ships in the capacity of a Structural Designer and Structural Research Monitor. In 1966 he joined the Staff of the Center for Naval Analyses where he was involved in the mathematical modeling of ships and aircraft and in economic “trade-off‘ analysis. In 1970. he went to the Naval Ship Engineering Center as an Operations Research Analyst in the Ship Design and Development Division. At the present time he is employed as a Program Manager for the Naval Sea Systems Command Ship Design Research and Development Office. A member of ASNE since 1973 he also is a member of the Association of Scientists and Engineers at NAVSEA the Operations Research Society of America and the Lighter-Than-Air Society. Mr. Kenneth W. Watkinson received both is B.S. and M.S. degrees in Engineering Science from Florida State University in 1970 and 1971 respectively. Since graduation he has been employed at the Naval Coastal Systems Center (NCSC). Panama City. Fla. where he is primarily involved in the investigation of the stability and control of underwater vehicles. For the past four years he has been the Task Leader and Principal Investigator for the NCSC portion of the Advanced Submarine Control Program involved in developing control design methods and the instrumentation system for the Submarine Control System Test Vehicle. Mr. William F. Hill is currently the ASCOP Program Manager at Lockheed Missiles & Space Company (LMSC) Inc. where he has the overall responsibility for design and construction of the Control System Test Vehicle (CSTV). He entered the aircraft industry in England as an Apprentice w

As part of the Advanced Submarine control program (ASCOP), the Naval Sea systems Command has developed an open water Submarine control System Test Vehicle (CSTV). This vehicle is a 1/12 scale model of an SSN 688 Class Submarine, with provisions for easy geometric changes. Such changes include alternate Sail size and location, the addition of parallel middle-bodies, alternative tail sections, and alternative control configurations. A self-contained instrumentation and control system provides the capability for “on-board” recording of all relevant Submarine-state variables, over the entire speed and depth range, to a degree of data accuracy exceeding any known system. With the means thus available to correlate measured vehicle hydrodynamics with selected maneuvers, conditions, and changes in hull geometry and control surface configuration, modern mathematical techniques for improving submarine equations of motion can be employed to permit dramatic design enhancements in both safety and performance. This paper provides the rationale and history of the development of this vehicle, a description of the instrumentation and control package, and a description of the vehicle itself.

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TECHNOLOGICAL ADVANCES IN AIRCRAFT CARRIER DESIGN

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NAVAL ENGINEERS JOURNAL 1980年第5期92卷 71-85页

作者： REIN, RJ RYAN, JC USN (RET.) Cdr. Robert J. Rein USN (Ret.)currently is the Director of Naval Support Systems for the Columbia Research Corporation Washington D. C. At the time this paper was presented he was on active duty in the U.S. Navy serving as the Ship Design Manager for the CVV Naval Sea Systems Command. Prior to that his duty assignments included Deputy Program Manager for the Sea Control Ship Assistant Ship Material Officer. Staff of Commander Naval Air Force U.S. Pacific Fleet and Type Desk Officer for Cruisers/Destroyers and New Construction (CG 30) at the former Hunter's Point Naval Shipyard. He is a graduate of General Motors Institute an accredited private college sponsored by the General Motors Corporation: the U.S. Naval Postgraduate School Monterey. Calif.: and the Defense Systems Management College. Fort Belvoir. Va. Additionally. he has had extensive postgraduate study in Systems Management at The George Washington University. Cdr. Rein is extremely active in his support of professional engineering societies and as a member of ASNE since 1964 has been responsible for the founding of ASNE Local Sections on the west coast and presently is serving as the Society's National Assistant Secretary-Treasurer. In addition he also was the creator and coordinator for the highly successful. Society sponsored Symposium “Aircraft Carriers — Present and Future.”which was held in October 1976 at the U.S. Grant Hotel. San Diego. Calif. and was the first such Symposium jointly sponsored by an Operating Fleet command and a professional society. Mr. J. Christopher Ryanreceived his B.S. degree in Naval Architecture and Marine Engineering from Webb Institute of Naval Architecture in 1967 and his M.S. degree in Naval Architecture from Massachusetts Institute of Technology in 1969. His initial work experience was at Litton Ship Systems where he was associated primarily with the general arrangements development of the DD 963 Class design. Subsequently. he was employed at the former Naval Ship Engineering Center with work as

Since the signing of the Contract Design Plane for the CVN 68 (the U.S. Navy's latest Class of Aircraft Carriers) In 1963, considerable technological advances have been made in Naval Ship Design. This paper provides specific examples of how new technology has affected traditional Carrier design practices and techniques, and also indicates areas where future advanced technology will be needed. It is divided into four sections: 1) Computer Design Application; 2) Total Ship Energy Conservation Analysis; 3) Advances in Structural Design; and 4) Impact of V/STOL Aircraft. The increased use of the computer to define ship characteristics in the initial stage of ship design is discussed, followed by a report on efforts to include energy conservation as an integral part of the design process. The energy conservation approach uses traditional analytical techniques to develop innovative design configurations that will achieve energy savings. Of the many advances in Carrier structural design, two specific examples are given: 1) Elimination of the infamous “knee-knockers” (high sills in passageway openings) common to Gallery Deck structure, and 2) Successful attempts at reducing the thickness of aircraft elevator platforms. The paper concludes by pointing out some possible challenges facing the ship designer and some of the technology already created by the expected introduction of advanced design Vertical/Short Takeoff and Landing (V/STOL) aircraft.

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MK-92 FIRE-control SYSTEM

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NAVAL ENGINEERS JOURNAL 1979年第4期91卷 69-76页

作者： RYAN, FN BERLIN, J Mr. Floyd N. Ryan graduated from Frostburg State College and has performed graduate studies in Technology of Management at American University and University of Southern California. He is presently Executive Director of the Surface Missile Systems Sub-Group in the Naval Sea Systems Command. He was previously Deputy Project Manager of the MK-92 FCS/MK-75 Gun Project Deputy Systems Engineering Manager in the AEGIS Project and Surface Missile Systems Branch Head in the Naval Ordnance Systems Command. His earlier experience with the Department of the Navy included the Engineering Interface Management Office in the Bureau of Ships the Foreign Ship Systems Engineering Office and Switching Systems Design Office at RCA Service Company and he served for four years in the U.S. Navy as an Electronic Technician Petty Officer. In addition to ASNE he is a member of the Association of Scientists and Engineers and is the Executive Director (NAVSEA) for the 1978-79 term. In addition to several outstanding performance awards and citations for achievement Mr. Ryan received the Navy Meritorious Civilian Service Award for exceptional contribution to the development of the AEGIS Weapon System. Mr. Jack Berlin received his Bachelor's degree in Electrical Engineering from the City College of New York and his M.S. degree in Electrical Engineering from Columbia University. He spent eight years in the Radar and Microwave Electronics Section of the Naval Material Laboratory. Subsequently. he has had extensive experience in Radar and Fire Control Systems. This has included responsibility for the design and field evaluation of the GFCS MK 87 Radar. From 1972 to 1973 he was the Sperry Program Manager for the Fire Control System (FCS) MK 92. His current assignment is Assistant Manager for New Developments of Missile and Gun Fire Control Systems for the U.S. Navy. He is a member of the Tau Beta Pi and Eta Kappa Nu Honorary Societies.

The MK 92 Fire control System (FCS) & a new, integrated, highly reliable and light-weight U.S. Navy Fire control System for missile and gun control. This system, which is in production for the FFG, PCG, PGG and PHM Ship Classes, provides the detection and automation required for modern naval warfare. Search radar data & presented at a very high rate at the operator's console, a highly integrated man-machine interface. Utilization of monopulse and “track-while-scan” techniques result in multiple target tracking capability. The system console(s) offer a self-contained command and control capability and, in addition, standard digital computer channels provide the versatile interface with the ship's command and control, integrating the complete engagement process. Error cancellation techniques are employed to obtain high performance accuracy even under severe environmental conditions. The low manning requirement for both operation and maintenance is a key system attribute for all applications. Comprehensive “at-sea” evaluations, performed by the U.S. Navy, demonstrated successful system operation in all modes of surveillance, multi-target tracking and simultaneous missile and gun engagements. The “at-sea” performance record of the FCS MK 92 was cited by the Chief of Naval Operations to have established new standards for Naval Surface Weapons systems.

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Abstracts

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Environmental Management 1977年第1期1卷 67-96页

作者： Frankenfeld, John W. Schulz, Wolfgang McMurty, George J. Petersen, Gary W. May, G. A. Hering, F. S. Schwartz, J. I. Heywood, J. B. Chigier, N. A. Grohse, E. W. Walker, J. D. Colwell, R. R. Petrakis, L. Pergament, H. S. Thorpe, R. D. Schoepf, Richard W. Krzyczkowski, Roman Henneman, Suzanne S. Hudson, Charles L. Putnam, Evelyn S. Thiesen, Donna J. Parks, G. A. McCarty, Perry L. Leckie, J. O. Schrumpf, Barry J. Simonson, G. H. Paine, D. P. Lawrence, R. D. Pyott, W. T. Leh, M. Elders, W. Combs, J. Caplen, T. Harrison, F. L. Wong, K. M. Heft., R. E. Charnell, Robert L. Lehmann, Edward J. Mallon, Lawrence G. Hatfield, Cecile Adams, Gerald H. Johanning, James Talvitie, Antti Noll, Kenneth E. Miller, Terry Smiarowski, Joseph F. Willis, Cleve E. Foster, John H. Schlesinger, Benjamin Daetz, Douglas Lear, Donald U. Smith, Mona F. Hundemann, Audrey S. Crockett, Pernell W. Werner, Kirk G. Carroll, Thomas E. Maase, David L. Genco, Joseph E. Ifeadi, Christopher N. Lowman, F. G. Christensen, S. W. Van Winkle, W. Mattice, J. S. Harrison, Elizabeth A. Barker, James C. Chesness, Jerry L. Smith, Ralph E. Shaheeen, Donald G. Raney, R. Keith Borton, T. Wezernak, C. T. Raney, R. K. Sherwani, Jabbor K. Moreau, David H. Eisenberg, Norman A. Lynch, Cornelius J. Breeding, Roger J. Johnson, J. D. Foster, K. E. Mouat, D. A. Clark, R. Hyden, John William Owen, Wilfred Bayfield, Neil G. Barrow, Graham C. Stolz, Stephanie B. Wienckowski, Louis A. Brown, Betram S. Keyfitz, Nathan Wilson, W. L. Newman, Peter W. G. Bammi, Deepak Bammi, Dalip Goddard, James E. Chisholm, Tony Walsh, Cliff Brennan, Geoffrey Thompson, K. S. Richardson, R. Jensen, Clayton E. Brown, Dail W. Mirabito, John A. Cowing, Thomas G. Binghamton, Suny Siehl, George H. Albrecht, O. W. Alexander, Ariel Barde, Jean -Philippe Darby, William P. McMichael, Francis Clay Dunlap, Robert W. Muckleston, Keith W. Frankenhoff, Charles A. Giulini, Lorenzo T. Wyatt, T. Black, Peter E. Keating, William Thomas Leonard, M. E. Fisher, E. L. Brunelle, M. F. Dickinson, J. E. Pethig, Rudiger Clapham Exxon Research & Engineering Co. Linden Government Research Lab Coast Guard Washington D.C. Department of Transportation Washington D.C. Office For Remote Sensing of Earth Resources. NASA Earth Resources Survey Program Pennsylvania State University Washington D.C. Department of the Navy Washington D.C. Cambridge. Dept. of Mechanical Engineering Massachusetts Inst. of Technology USA Huntsville. School of Graduate Studies and Research Alabama Univ. USA Dept. of Microbiology. Office of Naval Research Maryland Univ. Arlington Research and Development Co. Pittsburgh AeroChem Research Labs. Inc. Princeton Dept. of the Interior Office of Library Services. Bibliographic Series (Final) Washington D.C. Interplan Corp. Santa Barbara Urban Mass Transportation Adm. Washington D.C. Naval Underwater Systems Center Newport Calif. Mercury Project. National Science Found Stanford Univ Washington D.C. Div. of Advanced Environmental Research & Tech. USA Corvallis. NASA Earth Resources Survey Program Oregon State Univ. Washington D.C. Riverside. Inst. of Geophysics and Planetary Physics National Science Foundation California Univ. Washington D.C. Livermore Lawrence Livermore Lab. California Univ. USA Atlantic Oceanographic and Meteorological Labs. National Oceanic and Atmospheric Administration Miami National Technical Information Service Springfield Miami Univ. Coral Gables School of Law National Oceanic and Atmospheric Administration Rockville National Academy of Sciences Office of Sea Grant Washington D. C. School of Law National Oceanic and Atmospheric Administration Office of Sea Grant. Rockville Norman. Dept. of Civil Engineering and Environmental Science. Urban Mass Transportation Administration Oklahoma Univ. Washington D. C. Knoxville.Dept. of Civil Engineering. Federal Highway Administration Tennessee Univ. Washington D. C. Amherst.Water Resources Research Center. Office of Water Research and Technology Massachusetts Univ. Washington D. C. Calif. Dept. of Industria

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BANQUET ADDRESS - BUILT-IN COMBAT READINESS - APPROACH TO FUTURE SHIP DESIGN

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NAVAL ENGINEERS JOURNAL 1976年第3期88卷 40-43页

作者： MARCY, HT The Honorable H. Tyler (“Ty”) Marcy:was born in 1918 in Rochester New York but moved to Baltimore Maryland at an early age where he attended public schools. He is a graduate of the Massachusetts Institute of Technology from which he received both his BS and MS degrees in Electrical Engineering. Subsequent to receiving the latter degree in 1941 he designed and developed gun control systems in the MIT Servomechanism Laboratory until 1946 when he became Associate Director Special Projects Department M. W. Kellogg Company and worked on rocket engine development missile controls and analog air defense systems. In 1951 Mr. Marcy left Kellogg Company to join the IBM Corporation where he remained until 1972 and was employed in various engineering and managerial positions. At IBM his first assignment concerned the bomb/navigational system for the B-52 aircraft. He then moved into commercial development of data processing machines and peripheral devices subsequently being placed in a series of technical management positions which included Assistant Manager of Product Development Corporate Headquarters New York (1956) Manager Poughkeepsie N.Y. Laboratory (1957) Vice-President General Products Division (1962) Vice-President Systems Development Division (1965) and Director of Technology Corporate Headquarters Armonk N. Y. (1968). His last position was held until 1972 when he left IBM to do private consulting work in engineering management technology and program review. In October 1974 he was appointed by the President to his present office as Assistant Secretary of the Navy for Research and Development. Mr. Marcy has been a member of the Instrument Society of America since 1963 serving as its President from 1971 until 1974. In 1967 he became a Fellow of the Institute of Electrical and Electronic Engineers (IEEE) for his leadership in feedback control and for his significant contribution to the management of technical enterprise. In addition to these professional organizations he is also a member of the

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control of ship fouling in U.S. Navy

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Naval Engineers Journal 1967年第N 1期v 79卷 p77-85页

作者： Birnbaum, L.S. Bukzin, E.A. Saroyan, J.R. Leon S. Birnbaum holds a B.S. degree in Chemistry from City College of New York. He has completed graduate work in Chemistry at the University of Maryland and Temple University and in Technology and Management at American University. He has been with the Navy Department Washington since 1949 and is currently Head of the Coatings and Chemistry Branch of the Materials Development and Application Office of the Naval Ship Engineering Center. Responsibilities of this Branch include such items as coatings corrosion control techniques insulation chemical cleaning water treatment toxicology and detection and decontamination of biological and chemical warfare agents. Prior to this Mr. Birnbaum was employed in the Industrial Test Laboratory Philadelphia Naval Shipyard from 1938 to 1949. Work during this period included supervision of a section which inspected paints and allied materials and petroleum products to determine their suitability for Naval use and direction of research in fire retardant treatments. He is a member of the American Chemical Society Washington Paint Technical Group. National Association of Corrosion Engineers and the American Society of Naval Engineers. Mr. Bukzin is a research and development program manager in the Naval Ship Systems Command of the Department of the Navy in the fields of non-metallic materials fuels lubricants cold weather operations and several other areas. He is a graduate chemical engineer from New York University with additional training in naval architecture and management which culminated in his participation in the Senior Development Program at Cornell University during the summer of 1960. He has been employed by the Command and its predecessor for the past 2b years and has been in his present position of R&D planning and programming for the past six years. Prior to that his major technical responsibilities were in the field of elastomers and their applications. He received several awards and published a number of papers during those years. Mr. Bukzin is a me

Report on paints used on surface ships and submarines for protection against corrosion and prevention of fouling, and on work connected with development and evaluation of such coatings;experiences with "hot plastic", "cold plastic" and vinyl paints;hazards in use of vinyl paints and safety precautions;test techniques;new toxics (which are only kind so far satisfactory antifouling formulations) under test.

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OPTIMUM COST SHIPBOARD ALLOWANCE LISTS FOR MAINTENANCE PARTS

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NAVAL ENGINEERS JOURNAL 1968年第4期80卷 577-&页

作者： HARRAHY, DJ POWELL, RI LUTZ, R THE AUTHOR:Mr. Donald J. Harrahy has eleven years of engineering experience of which the past six years have been specifically in reliability/maintainability engineering or related product assurance activities in a managerial capacity. After five years as an equipment engineer at Western Electric Mr. Harrahy joined Raytheon in 1962 as a reliability engineer and group head and in January 1966 was appointed Product Assurance Manager of the Nike-X programs at Raytheon's Wayland Laboratory. In February 1967 he was appointed to his present position of Manager System Reliability/Maintainability Engineering at Wayland. Mr. Harrahy has had considerable experience in applying system reliability analysis and operations research techniques to the solution of system design and design tradeoff problems. He holds B.S. and M.S. degrees from Lowell Technological Institute and Northeastern University respectively. He currently teaches a two-course series in System Reliability Engineering Techniques as a part of Northeastern University's Professional State-Of-The-Art course program for engineers in their Center for Continuing Education. A registered professional engineer in the state of Massachusetts Mr. Harrahy is the co-author of the papers “Effects of Failure on Phased Array Radar Systems” and “Inventory Control Models for Logistics Planning and Operational Readiness with Cost Constraints.” He is a member of NSPE ASME and IEEE. Mr. Harrahy is co-chairman of the Boston Section IEEE Reliability Group's Education Committee and has organized and lectured in courses on reliability and maintainability engineering sponsored by the Boston Section IEEE. Robert Ingram Powell was born in San Diego California on 24 August 1923. He served with Naval Communications Intelligence OP-20-G during World War II and as an officer with Army Security Agency Intelligence Branch during the Korean War. Mr. Powell worked as a Chief Engineer for Industry and U. S. Government organizations for over twenty years including U. S. Army U. S. Air

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Dynamic Walking: Toward Agile and Efficient Bipedal Robots

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control, Robotics, and Autonomous systems 1000年第1期4卷 535-572页

作者： Jenna Reher Aaron D. Ames 1Department of Mechanical and Civil Engineering California Institute of Technology Pasadena California 91125 USA email: jreher@caltech.eduames@caltech.edu 2Control and Dynamical Systems Graduate Program California Institute of Technology Pasadena California 91125 USA

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.

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