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Dynamic analysis: Sail the ship before it's built

NAVAL ENGINEERS JOURNAL 1997年第2期109卷 83-91页

作者： Dupuis, R Neilson, J Richard Dupuis:received a bachelor of science degree in mathematics and physics from Bishop's University in 1975 and a bachelav of applied science degree in mathematics and vnechani-cal engineering from Queen's University in 1979. From 1979 to 1982 he worked jbr Pratt & Whitney Canada as a gas turbine engine dynamics analyst and was involved in full scale engine testing. He joined GasTOPS Ltd. in 1982 and has been involved in a number of projects related to control system analysis design and simulation of mechanical and electromechanical systems for aircrafl and marim propulsion systems. He has eval-uated the dynamic Performance of propulsion systems for a variety of ships including destroyers frigates icebreakers mine-hunters and submarines. He is currently the vice president of the Controls & Instrumentation Division at GasTOPS Ltd. Jeff Neilson:received a bachelor of mechanical engineering degree from Carleton University in 1986. Since graduating he has worked for GasTOPS Ltd. and has been involved in a number of projects related to control system analysis design and simulation of mechanical systemsfor aircraft and marine propul-sion systems. He has evaluated the dynamic perfom2ance of gas turbine and diesel powered propulsion systems for destroyers frigates corvettes minehunters and landing ships. He is currently the manager of simulation systems in the Controls & Instrumentation Division of GasTOPS Ltd.

A combatant ship is a complex system that involves the integration of many subsystems and components. Everyone agrees that systems integration is essential;nevertheless, the ability to deal with it is viewed as being elementary at one end of the spectrum to overly complex at the other end. Past emphasis has been on the development of the necessary tools and organizations needed to produce components that can be used to configure systems. As a consequence, when dealing with systems integration, the focus is primarily on what the system is and how its components fit, rather than what if does. Computer technology is benefiting the marine industry in many ways. Although it has been used to progressively improve the capability to deal with the component issues related to systems integration, the marine industry has yet to recognize the merits of effectively using the technology to address system functionality issues. This paper elaborates on the difficulty in dealing with system functionality and describes a way in which computer based simulation of propulsion machinery systems can be used to deal with the functionality aspects of systems integration. When procuring a ship, propulsion system simulation permits us to ''sail it before we build it.''

关键词： Shipbuilding

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Tolerance chart balancing for machining process planning

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QUALITY AND RELIABILITY engineering INTERNATIONAL 1996年第5期12卷 355-364页

作者： Jeang, A Department of Industrial Engineering PO Box 25–150 Feng Chia University Taichung Taiwan Republic of China Dr. Jeang's research interests include design for manufacturing design for quality and reliability and optimal tolerance design. The topic for his Ph.D. dissertation was ‘An evaluation methodology for the mechanical parts designed using form features’. He has also published journal articles on topics of optimal tools replacement product quality and health care system simulation and optimization. He is a member of the Institute of industrial Engineering (IIE) and the Society of Manufacturing Engineering (SME).

This paper provides a mathematical model for tolerance chart balancing for machining process planning. The formulation of the proposed model is based on the graphic 'rooted tree' representation technique in describing the sequence of the machining process. The criteria considered in the presented study are based on the combined effects of manufacturing cost and quality loss under constraints such as process capability limits, design functionality restrictions, and product quality requirements. Applications of these models include minimizing the total cost of manufacturing activities and quality related issues with process selection and tolerance allocation in machining process planning, particularly in the early stage of planning.

关键词： tolerance chart balancing manufacturing cost quality loss root tree representation machining process planning optimization

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On the skew-symmetric property of the Newton-Euler formulation for open-chain robot manipulators

On the skew-symmetric property of the Newton-Euler formulati...

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American Control Conference (ACC)

作者： Hong-Chin Lin Tsung-Chieh Lin K.H. Yae Center for Simulation and Design Optimization Department of Mechanical Engineering University of Iowa Iowa IA USA

This paper proposes a form of the Coriolis-centrifugal matrix that, together with the inertia (or mass) matrix, satisfies the skew-symmetric property that is required by a class of regressor-based adaptive control. Such a matrix has been identified in Lagrange-Euler formulation, but not in Newton-Euler formulation. The paper shows how this matrix is separated out from a recursive Newton-Euler formulation for open-chain robot manipulators.

关键词： Equations Robot kinematics Manipulator dynamics Adaptive control Lagrangian functions Torque mechanical factors Acceleration Programmable control Dynamic programming

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NUMERICAL-ANALYSIS OF THE KINEMATIC WORKING CAPABILITY OF MECHANISMS

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JOURNAL OF mechanical design 1994年第1期116卷 111-118页

作者： YANG, FC HAUG, EJ Center for Simulation and Design Optimization of Mechanical Systems Department of Mechanical Engineering The University of Iowa Iowa City IA 52242

A broadly applicable approach for numerical analysis of the kinematic working capability of mechanisms is presented. Composite workspaces are introduced to represent position and orientation capabilities of mechanisms, both individually and together. Numerical methods for solving systems of kinematic constraint equations, using a moving-frame algorithm and equations that characterize the workspace boundary are developed. Two analytic methodologies, comparison and incorporation methods, are presented to determine whether the workspace of a mechanism satisfies design requirements. An experimental computer program for workspace analysis that incorporates a numerical solver and computer graphics for visualization on a high speed graphics workstation is outlined. The feasible positioning space of a Stewart platform that is subject to orientation constraints is computed, to illustrate the use of this approach.

关键词： Computers Kinematics design Numerical analysis Composite materials Visualization Computer software Algorithms

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NUMERICAL-ANALYSIS OF THE KINEMATIC DEXTERITY OF MECHANISMS

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JOURNAL OF mechanical design 1994年第1期116卷 119-126页

作者： YANG, FC HAUG, EJ Center for Simulation and Design Optimization of Mechanical Systems Department of Mechanical Engineering The University of Iowa Iowa City IA 52242

A general approach to numerical analysis of the kinematic dexterity of mechanisms is presented. Dextrous workspace problems are first defined and illustrated with examples. Composite workspaces are introduced to characterize both positioning and orienting capabilities of mechanisms. A numerical formulation and computer implementation that incorporates computer graphics and a numerical algorithm for solving systems of nonlinear equations are presented. Using the composite workspace formulation and the computer implementation, numerical techniques for dextrous workspace analysis are presented. Examples are given to illustrate the techniques developed.

关键词： Computers Kinematics Nonlinear equations Numerical analysis Composite materials Algorithms

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RECURSIVE LINEARIZATION OF MULTIBODY DYNAMICS AND APPLICATION TO CONTROL design

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JOURNAL OF mechanical design 1994年第2期116卷 445-451页

作者： LIN, TC YAE, KH Center for Simulation and Design Optimization Department of Mechanical Engineering The University of Iowa Iowa City IA 52242

The nonlinear equations of motion in multibody dynamics pose a difficult problem in linear control design. It is therefore desirable to have linearization capability in conjunction with a general-purpose multibody dynamics modeling technique. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient. It has also turned out to be more accurate because the analytical perturbation requires matrix and vector operations by circumventing numerical differentiation and other associated numerical operations that may accumulate computational error.

关键词： Errors Computational methods design Kinematics Modeling Nonlinear equations Multibody dynamics Approximation

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USE OF SPATIAL VELOCITY IN RECURSIVE DYNAMIC FORMULATION OF A MANIPULATOR DRIVEN BY HARMONIC DRIVES

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MECHANICS OF STRUCTURES AND MACHINES 1994年第3期22卷 343-370页

作者： LIN, TC YAE, KH THE CENTER FOR SIMULATION AND DESIGN OPTIMIZATION DEPARTMENT OF MECHANICAL ENGINEERING THE UNIVERSITY OP IOWA IOWA CITY IOWA United States

The recursive Newton-Euler dynamic formulation is used to derive the equations of motion of a manipulator with harmonic drives. The derivation is general, in that the harmonic drive is viewed as a separate body that forms a kinematically closed chain with two contiguous links, leading to a comprehensive dynamic model. The harmonic drive is modeled as a flexible and rigid gear with a high gear reduction ratio. Under different modeling assumptions, the effects of gear flexibility and dynamic coupling are examined using a seven-degree-of-freedom manipulator.

关键词： Manipulators

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USING VIRTUAL ENVIRONMENTS IN THE design OF SHIPS

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NAVAL ENGINEERS JOURNAL 1994年第3期106卷 91-106页

作者： JONS, OP RYAN, JC JONES, GW Otto P. Jons:received a Diplom Ing. in shipbuilding from the Technical University of Hanover W. Germany and an MS in naval architecture and marine engineering from MIT. He then joined Litton Ship Systems where he was responsible for the preliminary design of the DD-963 hull structure and then for ship system integration as manager LHA ship systems engineering department. From 1972 to 1974 he was the principal research scientist at Hydronautics. In 1974 as technical director he helped establish the Crystal City office of Designers and Planners. Mr. Jons was one of the co-founders of Advanced Marine Enterprises Inc. in 1976 where he serves as corporate vice president engineering. J. Christopher Ryan:earned his bachelors and masters degrees in naval architecture from Webb Institute and MIT respectively. He spent three years at the advanced marine technology division of Litton Industries working on the DD-963 class ship design and related computer aided design projects. He subsequently went to the Navy Department concentrating on early stage design of surface combatants for twelve years including work on the FFG-7 Sea Control Ship CSGN and CVV aircraft carrier projects. He then shifted focus and became the Technical Director for the Computer Supported Design Program in NavSea for five years. Mr. Ryan has served in several supervisory positions within the Ship Design Group in NavSea since that time. He is currently the director of the future ship concepts division. Gary W. Jones:graduated from the University of Tennessee in 1971 with a BS in mechanical engineering and followed up with graduate work at George Washington University and the University of Maryland. Mr. Jones was with the Naval Sea Systems Command from 1971 until 1988 where he was a naval architect in the submarine section of the hull form design division. In 1988 he was detailed to the Defense Advanced Research Projects Agency (DARPA) where he became the program manager for the advanced submarine technology program's hydrodynamic hydroac

A major contributor to the expense and length of time to design, build, and test new systems has been the need to build and test hardware prototypes to determine their effectiveness in meeting operational requirements. Recent and dramatic advances in computer simulation technologies hold forth the promise of revolutionizing design and acquisition strategies by providing the means to validate end users' requirements prior to hardware construction. By designing and operationally testing virtual prototypes in a virtual environment, these technologies will soon offer naval architects the ability to build and launch ships in computer-based cyberspace in lieu of the shipbuilder's ways. The authors of this paper provide the background for these developments, explore the significance and ramifications of these technologies to the current process of ship and system design, outline challenges lying ahead, and present their vision and recommendations for future development.

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MODAL TEST OF JONES,JOHN,PAUL (DDG-53) MAST AND MAST-MOUNTED ANTENNAS

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NAVAL ENGINEERS JOURNAL 1994年第2期106卷 110-117页

作者： MCLEAN, M HILL, J COBB, R RANDALL, F Mark McLean:has been with the Naval Sea Systems Command for eight years and is currently with Code 03K. He is responsible for survivability assessment of combat systems equipment. He has participated in all U.S. Navy ship shock tests conducted since 1985 and is responsible for failure assessment and redesign efforts for numerous combat systems equipment. He was selected by the NavSea Program Offices to be a member of the damage assessment teams providing early inspection in the Samuel B. Roberts (FFG-58) and Princeton (CG-59) incidents. Mr. McLean graduated from the University of Virginia in 1983 with an MS degree in chemical engineering. Jerry Hill:has been with NKF Engineering Inc. for twelve years. Currently managing the structural dynamics department Mr. Hill is responsible for numerous survivability related analysis and design efforts. This includes dynamic mathematical simulation and prediction field testing and qualification and full-scale ship shock testing. Mr. Hill graduated from the University of Maryland with a BS degree in mechanical engineering. He is a registered Professional Engineer. Dr. Richard Cobb:has been with NKF Engineering Inc. as a senior engineer since 1990. He is involved with research and development projects including dynamics modal testing vibration design instrumentation and underwater explosion. Prior to joining NKF he was an instructor of mechanical engineering at Virginia Tech. Dr. Cobb holds a Ph.D. in mechanical engineering from Virginia Tech with dissertation research in the areas of experimental modal analysis and frequency response function estimation using Fast Fourier transform methods. Fred Randall:has been manager of the noise shock and vibration department at Bath Iron Works since 1987. As such he is responsible for all dynamic measurements conducted by the shipyard. From 1982 to 1987 he was with TRW in the survivability department conducting investigations of shock propagation structural media interaction and soils modeling and analysis. Mr. Randall gr

A modal test of the John Paul Jones (DDG-53) mainmast structure and mast-mounted antennas was conducted. The test was part of a larger effort to accurately determine dynamic characteristics of the ''as-built'' mast/antenna system and survivability in the vibration and underwater explosion (UNDEX) shock environment. Previous mathematical analysis of the DDG-51 class mast and antennas predicted response acceleration levels during a shock trials scenario to be excessive in some areas. The modal test results now provide, however, confirmed dynamic response characteristics including mode shapes, frequencies, and damping for the structure. The test data accounts for the flexibility of ship's structure including the deckhouse supporting the mast. In addition, the natural frequencies of the antennas were determined for the response range of the mast structure with the flexibility of the supporting foundations taken into account. Using the test results, a finite element model of the mast structure and antennas was built accurately representing the dynamic characteristics of the system. Dynamic transient shock analysis was conducted to provide response predictions of the mast and antennas using the validated model. Any potential response amplification conditions that might result in failure during shock trials were identified.

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FUEL-CELL POWER-PLANTS FOR SURFACE FLEET APPLICATIONS

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NAVAL ENGINEERS JOURNAL 1994年第3期106卷 59-76页

作者： GOUBAULT, P GREENBERG, M HEIDENREICH, T WOERNER, J Philippe Goubault:graduated in 1983 from the “Ecole Nationale Superieure de Techniques Avancees” in Paris with a major in naval architecture. After one year of military service with the French navy he worked as naval architect and program director for the French navy between 1984 and 1988. He was in charge of the development of AGNES200 Surface Effect Ship design which completed its sea trials in 1992. He also was responsible for the construction of five ships (four hydrographic vessels and one experimental MCM vessel) which entered service between 1988 and 1991. He has been involved in a number of projects and studies for the U.S. Navy U.S. Coast Guard and other foreign and domestic customers. At Band Lavis & Associates Inc. Mr. Goubault has expanded the computer tools used to conduct parametric analysis of advanced hullforms and has developed cost-effectiveness assessment tools and methodologies for both commercial and military ships. Mr. Goubault is a member of ASNE. Marc Greenberg:is employed as a cost analyst at the cost and economic analysis branch systems assessment and engineering division Naval Surface Warfare Center. He provides cost estimates and analyses of Navy ship and submarine technologies and has assisted in the development of parametric cost models since 1991. Employed as an electronics engineer by the U.S. Army Information Systems Command from 1989 to 1991 he provided support in simulation design and construction of high frequency and microwave communication systems. Mr. Greenberg received his BS degree in ceramic science and engineering from the Pennsylvania State University May 1987. He is a member of MORS. Todd Heidenreich:is employed in the design analysis and tools branch systems assessment and engineering division of the Carde-rock Division Naval Surface Warfare Center. He is involved as a project naval architect in the conceptual design of future surface ship designs future technology impact assessments and the assessment of current domestic and foreign surface ship desig

This paper describes the results of a study undertaken to determine the impact of fuel cell technology on the design and effectiveness of future naval surface combatants. The study involved the collection of data to characterize four different fuel cell technologies: proton exchange membrane, molten carbonate, phosphoric acid, and solid oxide fuel cells. This information was used to expand current computer models to develop specific fuel cell plants that met the power requirements for several applications on a nominal 5000 Lton destroyer and a nominal 2000 Lton corvette. Each of the fuel cell technologies was incorporated into several applications aboard the destroyer and the corvette. These applications included combinations of centralized and distributed ship service power, and propulsion power. In addition, the impact of fuel cell technology was determined for a ship service power backfit option aboard a DDG-51 class destroyer. The results of the impact on the ship designs were analyzed and a military effectiveness assessment was conducted to address such issues as the impact of fuel cells on mobility, survivability, affordability, and on the environment. The paper identifies which aspects of the fuel cell technologies have the greatest impact upon the ship designs and their operational costs. Recommendations are given for future technology development efforts required to make fuel cells suitable for Navy service.

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