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Diaz-Gonzalez J.,BMT Designers and Planner Inc. | Rosario L.,University of Puerto Rico at San Juan
ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 | Year: 2011

In this work a mathematical model of the motion of a cylinder moving on a plane is deduced using screw theory. The linear Coulomb friction equations are applicable for the maximum static and kinetic friction forces. In the case of the rolling motion of a cylinder, the friction forces are not necessarily maxima. This paper describes the dynamic states of motion of a cylindrical part moving in three separate scenarios by the Euler dual equation. The first scenario is when the cylinder is moving on a horizontal static plane due to an external harmonic force proportional to the mass of the part. For this case, the sliding conditions are expressed as a function of the vibration parameters and generalized based on a harmonic dimensionless variable. The second and third scenarios are when the cylinder is moving by translational displacements on a horizontal and inclined plane. Copyright © 2011 by ASME. Source


Smalling R.L.,West Marine | Enright J.,BMT Designers and Planner Inc.
Energy Engineering: Journal of the Association of Energy Engineering | Year: 2015

Naval Facilities Engineering Command Northwest (NAVFAC NW) Public Works Department (PWD) Everett recently completed a lighting replacement project at Naval Station (NS) Everett, Washington, utilizing a utility energy service contract (UESC) with Bonneville Power Administration (BPA). The project replaced 74 high pressure sodium (HPS) light fixtures with modern energy saving, light-emitting plasma (LEP) fixtures atop 80-foot light poles along the piers and wharf at NS Everett. The no-glare LEP bulbs last twice as long while using less than half the power of their HPS predecessors. This project was completed at a cost of $160,000 and will result in cost avoidances in annual operating and maintenance of over $16,000, with a payback under 10 years. This UESC-financed and executed project saves one percent of the total shore energy consumption cost. Through similar efficiency projects and energy conservation efforts, NS Everett has reduced power usage by 16 percent in the past year and 40 percent since 2003. © Copyright Association of Energy Engineers (AEE). Source


Yime E.,University of the Atlantic | Saltaren R.,Polytechnic University of Mozambique | Diaz J.,BMT Designers and Planner Inc.
Proceedings of the 2010 American Control Conference, ACC 2010 | Year: 2010

This paper deals with the robust adaptive control of the Stewart-Gough platform based on the task space dynamic equations. These equations were obtained using the virtual work approach, and include all the thirteen bodies presented in the platform, i.e. two bodies per each leg and the upper ring. The performance of the robust adaptive control law is evaluated using a sinusoidal path for position and orientation of the upper ring. Simulation were carried out to show the performance of the controller. © 2010 AACC. Source


Smalling R.L.,West Marine | Enright J.,BMT Designers and Planner Inc.
32nd West Coast Energy Management Congress, EMC 2014 | Year: 2014

Naval Facilities Engineering Command Northwest (NAVFAC NW) Public Works Department (PWD) Everett recently completed a lighting replacement project at Naval Station (NS) Everett, Washington utilizing a Utility Energy Service Contract (UESC) with Bonneville Power Administration (BPA). The project replaced seventy-four (74) high pressure sodium (HPS) light fixtures with modern energy saving light emitting plasma (LEP) fixtures atop 80 foot light poles along the piers and wharf at NS Everett. The no glare LEP bulbs last twice as long while using less than half the power of their HPS predecessors. This project was completed at a cost of $160,000 and will result in cost avoidances in annual operating and maintenance of over $16,000, with a payback under 10 years. This UESC financed and executed project saves one percent of the total Shore energy consumption cost. Through similar efficiency projects and energy conservation efforts, NS Everett has reduced power usage by 16 percent in the past year and 40 percent since 2003. Source


Leban F.A.,U.S. Navy | Diaz-Gonzalez J.,BMT Designers and Planner Inc. | Parker G.G.,Michigan Technological University | Zhao W.,Advanced Technology and Research Corporation
IEEE Transactions on Control Systems Technology | Year: 2015

For over 30 years, many active and passive antipendulation concepts have been explored for use on cranes in the marine environment. These range from simple tension member restraints to command filtering strategies and advanced feedback control laws, where both measured ship/platform motion and payload swing are required. Single crane control systems that compensate for own ship or target ship motion and payload swing damping are well developed, and have been demonstrated. Cargo transfer control is more complex when multiple ship-mounted cranes are used, representing a closed kinematic chain. However, the potential benefits include larger capacity and better load control. In this brief, an inverse kinematic control strategy is presented that uses two cranes' actuation capability (hoist lengths and boom angles) to keep its load fixed in inertial space regardless of the motion of the ship on which the cranes are mounted. An underdetermined solution is developed. Unique crane commands can then be computed using a minimum norm solution. A dynamic simulation is described for use in algorithm development and initial validation. Final verification was performed using two cranes mounted on a motion controlled platform. © 2014 IEEE. Source

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