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SICE Annual Conference

作者： F. Nagata K. Watanabe K. Sato K. Izumi Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. A hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.

关键词： Impedance Fuzzy control Force control Service robots Tuning Damping industrial control Design engineering Manipulators Jacobian matrices

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CVN 68 class solid waste flow analysis

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NAVAL ENGINEERS JOURNAL 1998年第6期110卷 73-87页

作者： Markle, SP Gill, SE LCdr. Stephen P. Markely USN:is a career Engineering Duty Oficer assigned to Naval Sea Systems Command Arlington VA where he is Deputy Directol Environmental Protection Systems Division (SEA 03 LIB). He is responsible for Program Management activities associated with all afloat environmental protection equipment and serves on several teams designed to promote Navy wide awareraess of environmental protection requirements and Navy programs to meet these challenges. He is a 1993 graduate of the Naval Construction and Engineering Program at the Massachusetts Institute of Zchmlogy where he received a Naval Engineering Degree and Master of Science in Mechanical Engineering. His interest in environmental issues predates his undergraduate studies at Syracuse UniversitylState University of New York College of Environmental Science and Forestw where he received a Bachelm of Science degree in Forrest Engineering from the School of Environmental and Resource Engineeriw. LCdr Markle has qualified as a Surface Warfare Oficer and in submarines through Engineering Duty Dolphin Program. He is a Professional Engineer registered in the State of New York and is a member ofASNE NSPE ASTM SNAME and SAE. Sean G. Gill:is a Senior Engineer with GEO-CENTERS incorporated in Pittsburgh PA where he provides technical and administrative support to the Naval Sea Systems Command (SEA 03L1) and the Carderock Division of the Naval Surfme Waflare Center (Code a) principal& on the shipboard and submarine solid waste management programs. Prior to joining GEO-CENTERS incorporated in 1996 he worked for eleven years at the Carderock Division of the Naval Surfme Warfare Center as a project engineer and a Branch Head. In the former capacity Mr Gill participated in various blackwatel gray watel and oily wastewater treatment projects oversaw the development of the Navy Pulper and was Center's technical team leader for the NAVSEA Solid Waste management program. In 1994 he was assigned to be Branch Head of Code 634 the Solid Waste Management

Through a detailed Research and Development program, the U.S. Navy has developed a suite of shipboard solid waste management equipment enabling compliance with federal and international law. Four major equipment types have been developed to outfit twenty-seven classes of naval surface ships. The major equipment types are: Plastic Waste Processor (PWP), Metal/Glass Shredder (MGS), Large Pulper (LP), and Small Pulper (SP). The Navy is aggressively procuring and installing this equipment aboard all ships of FFG 7 Class and larger. A deadline of December 31, 2000 has been set for completion. engineering analysis and held waste generation studies were conducted to select the specific equipment suite and develop alteration documentation for each ship class. Specific factors in this process were: solid waste generation rates, equipment reliability analysis, ship arrangement considerations, daily equipment operation Limits, and shipboard quality of life issues. A solid waste management study was conducted in the fall of 1997 to validate Navy equipment and ship design parameters onboard the USS John C. Stennis (CVN 74). Generation rates for shipboard solid waste were determined for plastic, metal and glass, food, paper, cardboard, fabric and wood. engineering analysis of data allowed a decrease in CVN 68 Class design waste generation rates. engineering analysis enabled a reduction in the number of PWPs and MGSs required, and fewer spaces for efficient operation. Ship arrangement studies were conducted to optimize efficiency and equipment mix of Solid Waste Processing Rooms (SWPRs) relative to waste generation sites. This paper briefly articulates the process followed by the Navy in responding to regulations governing solid waste management in the marine environment. Evidence validating the engineering procedures followed is presented.

关键词： Ship equipment

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Arsenal ship program certification plan

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NAVAL ENGINEERS JOURNAL 1998年第1期110卷 249-261页

作者： Arntson, S Lind, W Turner, JJ Blaiklock, WC Tedesco, M Stephen G. Arntson is an independent consultant. A degree Naval Architect he has over 38 years of experience in the design construction and maintenance of surface ships. His experience includes 28 yeus with the Naval Sea Systems Command Naval Ship Engineering Centerl Bureau of Ships specializing in the structural design of Naval surface ships and 7 years with ABS Specializing in the application of commercial ship design practices. Most recently he worked with both NASSCO and ABS MZ the Arsenal Ship Program. Steve was very active with the Ships Structure Committee in developing R&D programs for ship structure and he is a member of the ASNE Journal Committee. Steve received a BS in Mechanical Engineering (Naval Architecture Option) from Virginia Polytechnic Institute in 1964. He is a member of the ASNE TAU BETA PI PI TAU SIGMA and PHI KAPPA PHI. William 1. Lind joined ABS in 1992 after ten years with Sparkman and Stephens Inc. He is currently ABS Amekas Manager of Engineering jm New Orleans and Cleveland. Both ofices conduct plan reviews for militavy commercial and private marine craft fm self-propelled vessels under 300 feet in length and bargus unlimited in length. As Vice-Chaimn ojthe Western Rivers Technical Committee Great Lakes Technical Committee and the Small Vessel Committee Bill participated in the writing of the 1997 ABS Guide for Building and Classing High Speed Craft and the 1997 ABS Rules for Building and Classing Steel Vessels Under 9OM. Bill received an MBA from Florida Atlantic University in 1995 a BS in Mechanical Engineering from New York Institute of Technology in 1986 and a BA in Histoy from Colgate University in 1976. He is Chaimn of SNAME HS-9 Composite Panel Testing & Fire Protection and a member of ASNE. John J. Turner is Senior Vice President of SYNTEK Technologies Inc. in Arlington Virginia. SYNTEK specializes in activities of a highly technical nature supporting both industry and government in domestic and international markets. He is a registered Professional Engineer

The Defense Advanced Research Project Agency (DARPA), in conjunction with the U.S. Navy, initiated a research program for the design and construction of a distinctive warship for the 21st century known as the Arsenal Ship. By using an innovative development and acquisition approach it was hoped to streamline the procurement process and reduce costs. In an environment where budgets are being cut, both industry and Government were challenged to develop, design, and produce the innovative ship and related mission systems to meet specific performance capabilities within strict affordability constraints. A key element of this innovative acquisition approach was a new certification scheme designed to replace the traditional test and evaluation (T&E) and acceptance process. The purpose of this paper is to describe the development of the certification plan during Phase LI of the Arsenal Ship program by the American Bureau of Shipping and the contending Shipyard teams, and to discuss the potential benefits of this alternative certification approach. Although the Arsenal Ship program was canceled late in 1997, insight derived from the exploration of new certification concepts could benefit future design and building programs.

关键词： Warships

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Beyond the AFCEE protocol for natural attenuation

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GROUND WATER MONITORING AND REMEDIATION 1998年第3期18卷 70-77页

作者： Nyer, EK Mayfield, P Hughes, J Evan K. Nyer is a vice president with ARCADIS Geraghty & Miller Inc. where he is responsible for maintaining and expanding the company's technical expertise in geology/hydrogeology engineering modeling risk assessment and bioremediation. He has been active in the development of new treatment technologies for many years. His areas of research interest include biological treatment suspended solids separation chemical oxidation in situ treatment air treatment systems and the application of new technologies to ground water cleanup. He has been responsible for the strategies technical design and installation of more than 200 ground water and soil remediation systems at contaminated sites throughout the United States. Paulette Mayfield is the project manager for engineering services in ARCADIS Geraghty & Miller Inc. 's Austin Texas office. As such she manages engineering projects conducted by the office and also provides engineering and regulatory support for projects conducted by ARCADIS Geraghty & Miller nationwide. She is also a member of ARCADIS Geraghty & Miller's compliance audit team and has participated in or managed numerous projects associated with RCRA program compliance solid and hazardous waste management regulatory analysis and compliance planning and facility closure/demolition/ property redevelopment. She has participated in the design operation management and evaluation of numerous bioremediation projects including hazardous waste land treatment units petroleumcontaminated soil remediation projects and ground water natural attenuation and enhanced natural attenuation projects. Mayfield also conducted two years of laboratory research involving the in situ biodegradation of petroleum products. She received her graduate degree in environmental engineering from Texas Tech University and has co-authored several publications addressing in situ bioremediation techniques. Joseph D. Hughes is a hydrogeologist in ARCADIS Geraghty & Miller's Tampa Florida office. His areas of research int

The historical analytical data collected at Murdock demonstrate that: Constitutent concentrations in ground water in the area of highest known contaminant concentrations and along the flow path downgradient of that area decreased over the 3.5-year period when we began monitoring at the site and when we conducted the biogeochemical study. The ground water plume has stabilized and will not move further south. Chlorinated hydrocarbon parent products (TCE and 1,1,1-TCA) are degrading to their daughter products (1,1-DCA, 1,1-DCE, and cis-1,2-DCE) and thence to VC. The estimated total mass of chlorinated hydrocarbons dissolved in ground water was reduced from 1032 to 346 pounds between 1993 and the end of 1996 (approximately 66%). However, the scoring from the AFCEE protocol showed that there was only 'limited' evidence of biological dechlorination occurring at the site.

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Benchmarking simulation software for use in modeling postal operations

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COMPUTERS & industrial engineering 1997年第3期32卷 607-625页

作者： Bard, JF Graduate Program in Operations Research & Industrial Engineering Department of Mechanical Engineering University of Texas Austin TX 78712-1063USA

This paper reports on the second component of a three phase study undertaken for the Canada Post Corporation (CPC) to evaluate and select a commercial simulation package to be used for operational and long-term planning. The formal evaluation process consisted of a hierarchical screening procedure to identify qualified candidates and the development of a comprehensive benchmark model to test each candidate. Of the 172 simulation packages listed in the Directory of Simulation, only three satisfied each of the CPC's highest priority requirements. Data, mail flows, and processing logic associated with operations at the Hamilton, Ontario plant were used to establish the benchmarks and validate the models. This project represents the first time full-scale models have been constructed in parallel to evaluate graphics-based simulation software. Although several economies of scale were realized, the differences in the three packages meant significant duplication. Nevertheless, the CPC felt that the parallel approach would return benefits in the long run and that it was necessary to arrive at a considered decision. A major aim of this paper is to highlight the methodology used in the analysis and to present the lessons learned from the project. (C) 1997 Elsevier Science Ltd.

关键词： Postal services

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AUTOMATED MODULAR FIXTURE PLANNING: ACCURACY, CLAMPING, AND ACCESSIBILITY ANALYSIS

AUTOMATED MODULAR FIXTURE PLANNING: ACCURACY, CLAMPING, AND ...

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ASME 1997 International mechanical engineering Congress and Exposition, IMECE 1997 - Manufacturing Science and engineering

作者： Wu, Yufeng Rong, Yiming Ma, Weidong LeClair, Steven R. Department of Mechanical and Industrial Engineering University of Illinois Urbana-Champaign United States Manufacturing Systems Program Southern Illinois University Carbondale United States Materials Directorate Wright Laboratory Wright-Patterson Air Force Base United States

ISBN: (纸本)9780791826799

Automated fixture design has become a research focus in process planning and CAD/CAM integration. An automated fixture configuration design system has been developed where when fixturing surfaces and points are specified, modular fixture components can be automatically selected and placed into position with satisfying assemble conditions. A geometric analysis has been conducted to determine the fixturing surfaces and points which provide feasible geometric constraints and assembly relationships with modular fixtures. This paper presents analyses on fixturing accuracy, clamp planning, fixturing accessibility, and clamping stability. When a fixture planning is determined, the analysis results can be applied to verify the performance of the fixture design. © 1997 American Society of mechanical Engineers (ASME). All rights reserved.

关键词： Fixtures (tooling)

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Input-to-state stability (ISS) analysis for dynamic neural networks

Input-to-state stability (ISS) analysis for dynamic neural n...

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International Conference on Neural Networks

作者： E.N. Sanchez J.P. Perez Cinvestav Unidad Guadalajara Guadalajara Jalisco Mexico Electrical Engineering Graduate Program School of Mechanical and Electrical Engineering Universidad Autonoma de Nuevo Leon San Nicolas de los Garza Mexico

This paper presents the input-to-state (ISS) analysis for dynamic neural networks. We determine, using a Lyapunov function, conditions to guarantee ISS; they also guarantee globally asymptotically stability.

关键词： Stability analysis Neural networks Lyapunov method Asymptotic stability Mathematical model Nonlinear systems Electronic mail Intelligent control Associative memory Pattern recognition

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Ship habitability - Preparing for the 21st century

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NAVAL ENGINEERS JOURNAL 1997年第6期109卷 21-27页

作者： Meere, EP Grieco, L Edward P. Meere:works in the Arrangements Division of the NavSea Systems Command (SEA 03H1) and has been the Navy Habitability Program Manager for the past three years. He received a Bachelor of Science in Engineering Science from Illinois Institute of Technology in 1966. He received a Masters of Business Administration from the American University in 1977. His experience to date includes: Mathematics teacher at Prince Georges Community College for 7 years 10 years as Branch Head for Carrier and Amphibious Arrangements Project Engineer for Underway Replenishment Equipment responsible for the concept and development of the One Man Control Station. Louis R. Grieco:is a Supervisory Mechanical Engineer in the Habitability Branch of the Hull and Deck Machinery Department at the Naval Surface Warfare Center Carderock Division Philadelphia where he has been employed since 1971. He received a Bachelor of Science in Mechanical Engineering degree from Drexel University in 1979. His experience to date includes trade design and combat systems assignments at Philadelphia Naval Shipyard from 1960 to 1971 In Service Engineering Section and Branch Head for cargo/ weapons elevators conveyors torpedo handling systems habitability equipment and underway replenishment equipment and Life Cycle Manager for habitability systems. He also serves as a member of the Industrial Advisory Board at Temple University Philadelphia PA.

This paper discusses the problems identified in a FY 1995 fleet habitability survey. The survey questioned the fleet on the quality of shipboard living and working conditions and identified shortfalls in berthing, sanitary spaces, and food service systems that influence crew morale, safety, and ultimately mission effectiveness. Existing habitability programs, new initiatives and responses to the survey problems, plus a few quality of life ideas for the 21st century, are outlined.

关键词： Warships

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Maintenance avoidance and maintenance reduction

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NAVAL ENGINEERS JOURNAL 1997年第1期109卷 47-56页

作者： Jacobs, KS McComas, JP Kenneth J. Jacobs:is director of the Naval Sea Systems Command's Surface Ship Maintenance Division (Sea 915). Originally trained as a data systems technician he attended Old Dominion University in Norfolk Virginia and graduated with a B.S degree in mechanical engineering in 1975. Over the course of the last twenty-one years Mr. Jacobs has served in NavSea as a project engineer for boats and service craft as the type desk for AFS AOR AO and AOG ship types and as manager of the Amphibious and Auxiliary Ship Maintenance Strategy Program where he was instrumental in the development and implementation of the Phased Maintenance Program. He has authored several papers on the subject of ship maintenance and is a member of Tau Beta Pi Engineering Honor Society ASNE and the Association of Scientists and Engineers. Jon P. McComas:is a 1967 graduate of the U.S. Naval Academy and a 1974 graduate of the Naval Postgraduate School where he earned an M.S. degree in mechanical engineering. He also completed the Executive Management Program at North-western University in 1988. During his twenty-eight year naval career he served in destroyers and was a qualified surface warfare officer. He was designated an engineering duty officer in 1977 and subsequently held a number of positions primarily in the area of fleet maintenance and modernization including ship superintendent and type desk officer at Philadelphia Naval Shipyard assistant maintenance officer on the staff of ComNav-SurfGru WestPac in Subic Bay Phillippines assistant program manager for steam-powered surface combatants (PMS 313) and for gas turbine-powered surface combatants (PMS 314) at Navsea and director Maintenance Policy Branch (OP 433) on the CNO staff. Following a tour as head of engineering duty assignments at BuPers his last active duty assignment was at NavSea as the program manager for surface ships (PMS 335) responsible for life cycle management of more than 300 surface ships in forty-three ship classes and direction of the Navy Ship Inactivation P

Maintenance is performed to restore a system's inherent reliability. However, reliability is not enough: a maintenance task must ''pay for itself'' in dollars or readiness. This applies to all types of maintenance: corrective, preventive, and alterative. We can reduce corrective maintenance costs through preventive and alterative maintenance. We can reduce preventive maintenance costs by eliminating inapplicable and ineffecitve tasks. We must weigh alterative maintenance costs against the value of improved readiness and cost-avoidance of future corrective maintenance. The U.S. Navy is improving alterative maintenance by engineering for reduced maintenance (ERM). This process corrects the root cause of some high-cost items by replacing the system, component, or coating with an improved design or material. It overcomes the limit of preventive maintenance: higher levels of inherent reliability require design improvement. The U.S. Navy is improving preventive maintenance through condition-based maintenance (CBM). The Navy's CBM initiative encompasses three parallel efforts: rules (improving maintenance requirements and plans), tools (using computer and diagnostic technology to facilitate maintenance decision-making), and schools (educating all levels of maintenance decision-makers in reliability and condition-based maintenance engineering principles). This paper addresses how the U.S. Navy surface ship community plans to avoid inapplicable and ineffective maintenance and reduce maintenance costs without sacrificing reliability.

关键词： Logistics

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Environmental compliance: Requirements and technology opportunities for future ships

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 349-369页

作者： Nickens, AD Pizzino, JF Crane, CH Anthony D. Nickens:is the research and development progrma a manager for the Navy's Environmental Protection Program at the Naval Sea Systems Command's Ship Research Development and Standards Group (Sea 03R).He is responsible for overseeing directing and funding the design and development of shipboard systems and precedures to assure compliance with maritime environmental laws and regulations He holds an M.B.A. degree from the Florida Institute of Technology an M.S. degree in chemical engineering from the University of Florida and a B.S. degree i chemical engineering magna cum laude from the North Carolina State University. In addition he successufully completed the twenty-week Program Management Course at the Defense Systems management College in Fort Belvoir Virginia and the Executive Program at the University of Virginia Darden Graduate School of Business. He is also an engineering duty officer in the Navy reserves and a previous author and frequent contributor to Naval Engineers Journal. Josepe F. Pizzino:is a Naval Surface Warfare Center Carderock Division Employee working at the Naval Sea Systems Command's Ship Research Development and Standards Group (Sea 03R). He is a research and development program manager for the Navy's Environment Protection Program responsible for overseeing directing and funding the design and development of shipboard systems and procedures to assure combliance with maritime environment laws and regulations. Prior to his present assignment he was project engineer for the development os shipboard and life-boat reverse osmosis desalination systems both of which are persently being unstalled aboard Navy ships. He holds a B.S. in chemical engineering from the University of Marland and an M.S. degree in chimical engineering from The Catholic Uhiversity of America. Chirstopher H. Crane:is a senior scientist at Geo-Centrs Inc. where he has provided technical program and dcumentation support for Navy headquarters shipboard environmental programs since 1989. Previouss grover

Navy ships must be able to operate anywhere in the world and visit any port unencumbered by environmental restrictions. The Office of the Chief of Naval Operations (OCNO) has formulated a vision for the environmentally sound ship of the 21st century, which will ensure compliance with environmental requirements applicable to Navy ships, while maintaining fleet effectiveness and readiness. Navy ships generate a variety of solid and liquid wastes and atmospheric emissions. Ships have limited capabilities for holding wastes for offload to shore. Working closely with the OCNO, the Naval Sea systems Command (NavSea) is developing systems, equipment, and procedures to process and manage ship wastes in an environmentally responsible manner. Several pieces of shipboard equipment have been successfully developed to process solid and liquid waste, hazardous materials and ozone-depleting substances (ODSs). The technologies and practices being developed under this program will: ensure compliance with environmental laws and regulations, significantly reduce the logistic burdens and costs associated with shoreside offload and disposal of ship wastes, implement Navy environmental and occupational safety and health policies, enhance the quality of life aboard ship, and continue the Navy's leadership role in protecting the marine environment.

关键词： Naval vessels

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