he National Security Technology Department (NSTD) began with a single program and a single mission—the security of the Navy’s strategic submarine force. Over the past 25 years of its existence, the department has evolved to successfully accommodate disruptive changes in the external environment. New missions emerged in areas closely aligned with existing endeavors such as undersea surveillance,...

Previous kinematic and dynamic analysis has demonstrated the singularity-free workspace and the high force-bearing characteristics of the Wrist. This chapter completes the dynamic model of the Carpal Wrist by presenting a closed-form solution and algorithm to the time response (forward dynamic) problem. With this model, simulation of the Wrist in an application environment can be performed to g...

This article provides evidence on the role of subcontracting in the auction-based procurement setting with private cost variability and capacity constraints. We demonstrate that subcontracting allows bidders to modify their costs realizations in a given auction as well as to control their future costs by reducing backlog accumulation. Restricting access to subcontracting raises procurement cost...

We introduce the Dynamic Animation and Control Environment (DANCE) as a publicly available simulation platform for research and teaching. DANCE is an open and extensible simulation framework and rapid prototyping environment for computer animation. The main focus of the DANCE platform is the development of physicallybased controllers for articulated figures. In this paper we (a) present the arc...