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Load Distribution and Body Angle Measurement in Static Walking of a Quadruped Walking Robot

IFAC Proceedings Volumes 2000年第29期33卷 95-99页

作者： Hiroshi Nakashima Masaru Tokuda Hiroaki Yamamoto Masafumi Funakoashi Associate Professor Division of Environmental Science and Technology Graduate School of Agriculture Kyoto University 606-8502 JAPAN. Instructor Department of Agricultural and Environmental Engineering Faculty of Agriculture Kobe University 657-8501 JAPAN Professor ditto. Master Program Student Graduate School of Science and Technology Kobe University 657-8501 JAPAN

A prototype quadruped walking robot has been developed to examine the possibility of application in agricultural works. The purpose of current study is to obtain some information on load distribution and inclination angle of vehicle body in three typical motion of forward, lateral and turning walk. The result showed that the current configuration of robot body required the severe translation of CG point which results in increasing of pitching angle of vehicle body.

关键词： robotics quadruped robot static walking load distribution pitching and rolling angle

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Carbon monoxide from cookstoves in developing countries: 2. Exposure potentials

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Chemosphere - Global Change science 1999年第1期1卷 367-375页

作者： Zhang, J. Smith, K.R. Uma, R. Ma, Y. Kishore, V.V.N. Lata, K. Khalil, M.A.K. Rasmussen, R.A. Thorneloe, S.T. Environmental and Occupational Health Sciences Institute Robert Wood Johnson Medical School and Rutgers University 170 Frelinghuysen Road Piscataway NJ 08854 USA Program on Environment East-West Center Honolulu HI USA University of California Berkeley CA USA Tata Energy Research Institute New Delhi India Tsinghua University Beijing People's Republic of China Portland State University Portland OR USA Oregon Graduate Institute of Science and Technology Beaverton OR USA US Environmental Protection Agency Research Triangle Park NC USA

In this paper, we estimate carbon monoxide (CO) concentrations and exposures in a well-mixed, hypothetical village kitchen using measured CO emission factors and published typical values for house, fuel, and activity parameters. The estimate was made to compare CO exposure potentials for a range of no-flue fuel/stove combinations. Based upon this quantitative comparison, recommendations were made on CO exposure reduction by fuel/stove switching. If their house conditions and activity patterns are comparable to those typical values assumed in our estimation, people using biomass and coal cookstoves could have daily CO exposures greater than the exposure equivalents of health-based national standards and WHO guidelines.

关键词： Carbon monoxide exposure Indoor air pollution Cookstoves Domestic fuels Developing countries

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Carbon monoxide from cookstoves in developing countries: 1. Emission factors

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Chemosphere - Global Change science 1999年第1期1卷 353-366页

作者： Zhang, J. Smith, K.R. Uma, R. Ma, Y. Kishore, V.V.N. Lata, K. Khalil, M.A.K. Rasmussen, R.A. Thorneloe, S.T. Environmental and Occupational Health Sciences Institute Robert Wood Johnson Medical School and Rutgers University 170 Frelinghuysen Road Piscataway NJ 08854 USA Program on Environment East-West Center Honolulu HI USA University of California Berkeley CA USA Tata Energy Research Institute New Delhi India Tsinghua University Beijing People's Republic of China Portland State University Portland Oregon USA Oregon Graduate Institute of Science and Technology Beaverton Oregon USA US Environmental Protection Agency Research Triangle Park North Carolina USA

Cookstoves in developing countries are individually small, but so numerous that, depending on emission factors, they could be significant influences on global and regional carbon monoxide (CO) inventories. This paper presents a new database of CO emission factors for commonly used cookstoves in developing countries. The emission factors were determined using a carbon balance approach for 56 types of fuel/stove combinations in China and India. These include various stoves (e.g., traditional, improved, mud, brick, and metal, with and without chimney) using animal dung, different species of crop residues and wood, root fuel, charcoal, kerosene, and several types of coals and gases. The chosen fuel/stove combinations represent a large fraction of the total in developing countries. Thus, the database can be used to improve estimates of CO emission inventories. The CO emission factors ranged widely, from 3.0×10-2 g/kg for the coal gas/traditional stove to 2.8×102 g/kg for the charcoal/Angethi stove, nearly 4 orders of magnitude. Since stove efficiencies and fuel energy contents were measured simultaneously, CO emission factors on the basis of a standard cooking task (energy delivered) were also determined and reported in this paper. Task-based emission factors are particularly useful for comparing the air pollution potential of different fuel/stove combinations and assessing the impacts of substitutions.

关键词： Carbon monoxide Emission factors Cookstoves Biomass fuels Fossil fuels Developing countries

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Engineering the environmentally sound warship for the twenty-first century

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NAVAL ENGINEERS JOURNAL 1999年第3期111卷 189-217页

作者： Markle, SP Gill, SE McGraw, PS Udr. Stephen P. Markle USN is a career Engineering Duty officer assigned to Naval Sea Systems Command Arlington Virginia where he is Deputy Directs Environmental Programs Division (SEA 03L1 B). He is responsible fm program management activities associated with all ahat environmental protection equipment design and selection of environmental protection equipment and systems fm future surface ship designs (DD 21 CVN 7Z CW LPD 17) and serves on several teams designed to promote Nay wide awarmss of environmental protection requirements and Nay programs to meet these challenges. He is a 1993 graduate of the Naval Construction and Engineering Program at the Massachusetts Institute of Technology where he received a naval engineers degree and master of science in mechanical engineering. His interest in environmental issues predates his undergraduate studies at Syracuse Universityl State University of New Ymk College of Environmental Science and Fmestry where he received a bachelm of science degree in fmest engineering from the School of Environmental and Resource Engineering. LCdx Markle has qualified as a Surface Warfare Officer and in submarines through the Engineering Duty Dolphin Program he is a member of the Acquisition Professional Community and a graduate of the Defense Systems Management College Advanced Program Managers Course. He is a professional engineer registered in the State of New York and is a member ofthe American Society of Naval Engineers National Society of Professional Engineers American Society for Testing and Materials Society of Naval Architects and Marine Engineers and Society of Automotive Engineers. Peter 5. McGraw is current the Acting Branch Head ofthe Solid Waste Management Branch (Code 634) of the Environmental Quality Dwrtment of the Naval Surfice Warfare Centel: Carderock Division. As such he is responsible for among other things: the Shipboard Advanced Incinerator RDT&E Program the Submarine Plastic Waste RDT&E Program Solid Waste Processing Equipment Design Acquisitio

The past twenty-five years has been marked by the introduction ed marine environmental regulations that have had a profound effect on how ships are designed, built and operated. Ships being designed and built today must accommodate not only current regulations but anticipate those enacted over their thirty to fifty year life cycles. U.S. Chief of Naval Operations, Office of environmental, Safety and Health (CNO N45) has articulated a vision for the environmentally Sound Warship of the Twenty-first Century. This vision incorporates the "Sense of Congress" for a naval ship designed to operate in full compliance with environmental regulations worldwide. The task of the Navy engineering team is to translate this vision into reality;a ship capable of prevailing in time of war and able to conduct operations in all areas of the globe, unencumbered by special procedures for environmental compliance. The keys to this warship design are the early integration of environmentally sound principles, materials, and processes into the ship acquisition process;minimization of both hazardous materials and generation of post shipboard consumer waste during operation;adaptation of integrated systems to reduce the volume of wastes and enhance processing efficiency;reduced manpower requirements;and crew indoctrination in environmental protection.

关键词： Ships environmental regulations Engineering ARTICULATED Navy environmental security

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Applying fuzzy functions and sequential coordination to optimization of machinery arrangement and pipe routing

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NAVAL ENGINEERS JOURNAL 1998年第6期110卷 43-54页

作者： Wu, BC Young, GS Schmidt, W Choppella, K Dr. Bi-Chu Wu:received a PhD in Mechanical Engineering from the University of Maryland College Park in 1991. She has worked on projects involving naval architecture design optimization solid mechanics and database development. Presently a senwr engineer with Angle Incorporated Dr Wu's research interests are in design optimization and fuzzy logic applications. Dr. Gin-Shu Young: a senior engineer with Angle Incorporated holds a PhD in Mechanical Engineering from the University of Maryland College Park. As a guest researcher with National Institute of Standards and Technologies from 1990 to 1993 he worked on vision-based navigation for autonomous vehicles. His experience also includes applications of optimization fuzzy logic neural network and genetic algorithm methods to engineering system design Mr. William Schmidt:co-founded Angle Incorporated in 1990 and has served as Vice PresidentlChiefScientist during this tame. He holds a B.Sc. in Applied Science from the Naval Acadt?my and an M.Sc. in Physics from the Naval Post Graduate School. He has cner 20 years experience in technical leadership material and personnel management. He has led the application of computer aided design (CAD) and Product Model Information Exchange to the shipbuilding industry. His experience also includes leading the amlication of model based operational analysis to support the Live Fire Test Program for DDG 51 Class Destroyers. Mr. Krishna M. Choppella:is a Sofware Engineer at Eidea Laboratories Incotporated where he works on componentbased distributed enterpvise frameworks. He has been involved in creating data analysis tools for the US Nay by integrating CAD modeis databases and graphical front ends. His work in the Masters degree program in Mechanical Engineering at the University of Texas at Austin was in di0ddase.r spectroscopy of combustion products in porous-matri burners. He received his Bachelors degree in Electrical Engineering in India. He was a Research Associate at the Centre for Laser Technology and Project Engi

Ship design is often multidisciplinary involving several design elements with various types of objectives and constraints (O/C) some easily described as mathematical formulas, others better modeled as descriptive assertions. This paper describes a method based on fuzzy functions and an integrated performance index to model O/C using descriptive assertions to be used with mathematical formulas in optimization. Another issue addressed in this paper concerns the coordination of design elements when sequentially coupled, that is, when one leads the other and the performance of the follower depends greatly on the design of the leader. Based on neuro-fuzzy techniques, the method described here coordinates and optimizes sequentially coupled elements. The two methods are applied to machinery arrangement (MA) and pipe routing (PR). Preliminary models for optimization of MA and PR are described considering convenience, producibility: engine room size, interference and location as factors in the O/C set. Some test results from MA/PR applications are presented and discussed. The methods are generic and can be extended to other elements in ship design. They are mutually independent and may be used separately Two advantages of their use are an improvement in overall performance and a reduction in the need for redesign of elements.

关键词： Optimization

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Influence of human engineering on manning levels and human performance on ships

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NAVAL ENGINEERS JOURNAL 1997年第5期109卷 67-76页

作者： Anderson, DE Oberman, FR Malone, TB Baker, CC David E. Anderson:has a bachelor of science degree in environmental engineering from Florida Technological University and a master's degree in environmental engineering from the University of Central Florida. He is a graduate of the Naval Sea Systems Command's Engineer-In-Training (EIT) Program. Mr. Anderson was instrumental in introducing the collective protection system (CPS) in the U.S. Navy developing the initial forward-fit package for the USS Gunston Hall and the engineering change proposal (ECP) for the USS Wasp. In 1990 he joined the Human Systems Integration (HSI) Division (SEA 55W5) where he was task leader for auxiliary ships. He is currently the HSI manager for the future technology variant of the SeaLift ship and the future carrier. Association of Scientists and Engineers 33rdAnnual Technical Symposium 26 April 1996. Fred R. Oberman:has B.A. and M.A. degrees from the University of Chicago and Loyola University (experimental psychology) and an M.S. degree in industrial engineering and operations research from Virginia Polytechnic Institute (VPI). He has more than 30 years experience in HSI management planning research analysis design and testing in government and private sector positions. He is currently responsible for NavSea HSI generic research and tool development efforts. He is responsible for Human Engineering Specifications and Standards (Commercial Hypertext) and is the NavSea 03D7 representative on HSI in Performance Specifications and for integration of HSI within Integrated Logistic Support (ILS). He has served as DoD HSI SubTAG chair and member of the Simulation and Modeling Test and Evaluation Display and Control Systems Human Computer Interaction Specifications and Standards and Systems Design Sub Tags as a member of the Society of Naval Architects and Marine Engineers (SNAME) Systems Safety Panel and a member of NATO RSG 14 on man-machine analysis. Thomas B. Malone: CHFEP received a Ph.D. in experimental psychology from Fordham University in 1964. He is president of Carlow

The objectives of Human Engineering (HE) are generally viewed as increasing human performance, reducing human error, enhancing personnel and equipment safety, and reducing training and related personnel costs. There are other benefits that are thoroughly consistent with the direction of the Navy of the future, chief among these is reduction of required numbers of personnel to operate and maintain Navy ships. The Naval Research Advisory Committee (NRAC) report on Man-Machine technology in the Navy estimated that one of the benefits from increased application of man-machine technology to Navy ship design is personnel reduction as well as improving system availability, effectiveness, and safety The objective of this paper is to discuss aspects of the human engineering design of ships and systems that affect manning requirements, and impact human-performance and safety The paper will also discuss how the application of human engineering leads to improved performance, and crew safety, and reduced workload, all of which influence manning levels. Finally, the paper presents a discussion of tools and case studies of good human engineering design practices which reduce manning.

关键词： Human engineering

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AN OVERVIEW OF IN-SITU AIR SPARGING

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GROUND WATER MONITORING AND REMEDIATION 1993年第4期13卷 127-135页

作者： JOHNSON, RL JOHNSON, PC MCWHORTER, DB HINCHEE, RE GOODMAN, I Dr. Richard L. Johnson is an associate professor in the Department of Environmental Science and Engineering at the Oregon Graduate Institute (P.O. Box 91000 Portland OR 97291). He is also the director of the OGI Center for Groundwater Research and the OGI Large Experimental Aquifer Program. Dr. Paul C. Johnson is a senior research engineer at Shell Development Co. (Westhollow Research Center P.O. Box 1380 Houston TX 77251). Dr. David B. McWhorter is a professor in the Department of Agricultural and Chemical Engineering at Colorado State University (Engineering Research Center Foothills Campus Fort Collins CO 80523). Dr. Robert Hinchee is a research leader in the Environmental Technology Department at Battelle Memorial Institute (505 King Ave. Columbus OH 43201). Iris Goodman is an environmental scientist with the Advanced Monitoring Systems Division at the U.S. EPA Environmental Monitoring Systems Laboratory (P.O. Box 93478 Las Vegas NV 89192).

In situ air sparging (IAS) is becoming a widely used technology for remediating sites contaminated by volatile organic materials such as petroleum hydrocarbons. Published data indicate that the injection of air into subsurface water saturated areas coupled with soil vapor extraction (SVE) can increase removal rates in comparison to SVE alone for cases where hydrocarbons are distributed within the water saturated zone. However, the technology is still in its infancy and has not been subject to adequate research, nor have adequate monitoring methods been employed or even developed. Consequently, most IAS applications are, designed, operated, and monitored based upon the experience of the individual practitioner. The use of in situ air sparging poses risks not generally associated with most practiced remedial technologies: air injection can enhance the undesirable off-site migration of vapors and ground water contamination plumes. Migration of previously immobile liquid hydrocarbons con also be induced. Thus, them is an added incentive to fully understand this technology prior to application. This overview of the current state of the practice of air sparging is a review of available published literature, consultation with practitioners, a range of unpublished data reports, as well as theoretical considerations. Potential strengths and weaknesses of the technology are discussed and recommendations for future investigations given.

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EPAS APPROACH TO VADOSE ZONE MONITORING AT RCRA FACILITIES

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GROUND WATER MONITORING AND REMEDIATION 1993年第1期13卷 151-158页

作者： DURANT, ND MYERS, VB ECCLES, LA Washington D.C. 20460) has worked as an environmental scientist in the RCRA corrective action program at EPA since 1989. After graduating from Colgate University in 1987 Durant worked for GeoTrans Inc. conducting hydrogeologic investigations at numerous waste disposal sites throughout the northeastern United States. At present Durant is pursuing an M.S. degree in environmental science from The Johns Hopkins University. His research is focused on enhancing in situ biodegradation of aromatic organic compounds in the subsurface. Washington D. C. 20460) graduated from The Johns Hopkins University in 1972 with a B.A. degree in natural sciences. Myers received a Ph.D. in oceanography from Florida State University in 1977. During 1978 he held a post doctoral fellowship at University of Florida in the Department of Environmental Engineering and Science. From 1979 to 1983 Myers was employed by the Florida Department of Environmental Regulation where he worked on environmental restoration projects. Since 1984 Myers has worked at EPA managing RCRA ground water monitoring and corrective action programs. Lawrence A. Eccles (U.S. Environmental Protection Agency Environmental Monitoring Systems Laboratory P.O. Box 93478 Las Vegas NV 89193–3478) is a hydrologist with the EPA Environmental Monitoring Systems Research Laboratory in Las Vegas Nevada. Eccles is responsible for the development of vadose zone and in situ monitoring techniques and guidelines. After graduating from Monmouth College with a B.S. degree in chemistry Eccles performed graduate work in chemical engineering at New Mexico State University. He received formal training in hydrology in 1969 from the U.S. Geological Survey in Denver and worked with that agency before joining EPA at Las Vegas in 1984. One of his co-authored articles was chosen for the Best Paper Award by the journal Ground Water in 1975 and another was the subject of a cover story for Water Well Journal in 1977.

The U.S. environmental Protection Agency (EPA) recently proposed to amend federal regulations to require vadose zone monitoring at certain hazardous waste facilities. To support this proposal, EPA evaluated previous policy on vadose zone monitoring and examined advances in vadose zone monitoring technology. Changes in EPA vadose zone monitoring policy were driven by demonstrated advances in the available monitoring technology and improvements in understanding of vadose zone processes. When used under the appropriate conditions, currently available direct and indirect monitoring methods can effectively detect contamination that may leak from hazardous waste facilities into the vadose zone. Direct techniques examined include soil-core monitoring and soil-pore liquid monitoring. Indirect techniques examined include soil-gas monitoring, neutron moderation, complex resistivity, ground-penetrating radar, and electrical resistivity. Properly designed vadose zone monitoring networks can act as a complement to saturated zone monitoring networks at numerous hazardous waste facilities. At certain facilities, particularly those in arid climates where the saturated zone is relatively deep, effective vadose zone monitoring may allow a reduction in the scope of saturated zone monitoring programs.

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ACQUISITION OF REPRESENTATIVE GROUND-WATER QUALITY SAMPLES FOR METALS

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GROUND WATER MONITORING AND REMEDIATION 1992年第3期12卷 167-176页

作者： PULS, RW POWELL, RM Robert W. Puls is currently employed at the R.S. Kerr Environmental Research Laboratory (RSKERL) U.S. EPA in the Processes and Systems Research Division. He received a bachelor's degree in soil science from the University of Wisconsin-Madison and a master's degree in forest resources from the University of Washington. He received his Ph.D. in soil and water science (minor in analytical chemistry) from the University of Arizona. Following completion of his doctorate he worked on the High Level Nuclear Waste Repository Research Program (DOE) investigating the fate and transport of radionuclides in ground water. He has been employed at RSKERL since 1987. His recent publications have covered a range of topics including ground water sampling for inorganics colloidal transport in ground water organic-metal-mineral interactions aquifer remediation and metal and metalloid sorption-desorption reactions governing subsurface contaminant transport. Robert M. Powell is a project scientist with Man-Tech Environmental Technology Inc. at the R. S. Kerr Environmental Research Laboratory in Ada Oklahoma. He is a graduate of the University of Oklahoma and spent eleven years with the Oklahoma Geological Survey (OGS) before joining ManTech six years ago. While at OGS he developed methods for the analysis of water and geologic materials primarily using atomic spectroscopy. He specializes in environmental chemistry as it relates to subsurface contaminant transport including studies of organic carbon in subsurface materials metal complexation surface charge effects on colloid transport and sampling methodologies.

R.S. Kerr environmental Research Laboratory (RSKERL) personnel have evaluated sampling procedures for the collection of representative, accurate, and reproducible ground water quality samples for metals for the past four years. Intensive sampling research at three different field sites has shown that the method by which samples are collected has a greater impact on sample quality, accuracy, and reproducibility than whether the samples are filtered or not. In particular, sample collection practices that induce artificially high levels of turbidity have been shown to have the greatest negative impacts on sample quality. Results indicated the ineffectiveness of bailers for collection of representative metal samples. Inconsistent operator usage together with excessive purging generally resulted in excessive turbidity (>100 NTUs) and large differences in filtered and unfiltered metal samples. The use of low flow rate purging and sampling consistently produced filtered and unfiltered samples that showed no significant differences in concentrations. Turbidity levels were generally less than 5 NTUs, even in fine-textured glacial till. We recommend the use of low flow rates, during both purging and sampling, placement of the sampling intake at the desired sampling point, minimal disturbance of the stagnant water column above the screened interval, monitoring of water quality indicators during purging, minimization of atmospheric contact with samples, and collection of unfiltered samples for metal analyses to estimate total contaminant loading in the system. While additional time is spent due to use of low flow rates, this is compensated for by eliminating the need for filtration, decreased volume of contaminated purge water, and less resampling to address inconsistent data results.

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Investigations of indoor and outdoor levels of benzo(a) pyrene in a community of older homes

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Polycyclic Aromatic Compounds 1990年第3期1卷 137-149页

作者： Waldman, Jed M. Lioy, Paul J. Buckley, Timothy J. Greenberg, Arthur Butler, James Pietarinen, Charles Exposure Measurement & Assessment Division Department of Environmental & Community Medicine UMDNJ-Robert Wood Johnson Medical School Piscatawav NJ 08854 675 Hoes Lane United States Joint Graduate Teachig Program on Exposure Assessment Rutgers University and UMDNJ-Robert Wood Johnson Medical School United States Department of Chemistry New Jersey Institute of Technology Newark NJ. 07102 United States Division of Science and Research/Division of Environmental Quality New Jersey Department of Environmental Protection Trenton NJ 08625 United States

Indoor and outdoor air measurements of PM-10 (particulate mass dp < 10 μm) and its benzo (a)pyrene (Bap) content were made daily in 13 residences and 5 nearby sites during one or more of three 14-day periods (Winters 1987 and 1988, and Fall 1988). These are a population of older homes (60+ years) adjacent to a gray-iron foundry. Winter BaP values were ~ 10 Х higher than fall values. Indoor BaP sources in several homes (e.g., cooking, cigarette smoke, a coal stove) led to contaminant levels higher than the ambient concentrations. However, in homes without strong sources, concentrations were very close to outdoor levels. Periods of elevated ambient pollution were readily discernible in the record of virtually all homes. Correlations for indoor-outdoor concentrations (PM-10 and BaP) were statistically significant (p < 0.01) in the majority of homes. Higher BaP concentrations were associated with periods of lower temperatures. There were high degrees of correlation for BaP and PM-10 among outdoor sites. The fraction of BaP in ambient PM-10 (mass ratio BaP/PM-10) was found to be a fairly stable parameter for each season. These factors suggest the predominance of a spatially diffuse source of BaP in the community, such as space heating combustion. The higher BaP/PM-10 ratios were identifiable as an index of indoor sources. © 1990, Taylor & Francis Group, LLC. All rights reserved.

关键词： Benzo (a) pyrene community air indoor/outdoor air particulate matter THEES (total human environmental exposure study)

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