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Author: Charles Bouchard
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
"This thesis contains two methods that improves rigid body physically based simulations. First,we present a new approach to modeling contact between rigid objects that augments an individualCoulomb friction point-contact model with rolling and spinning friction constraints.Starting from the intersection volume, we compute a contact normal from the volume gradient.We compute a contact position from the rst moment of the intersection volume, and approximatethe extent of the contact patch from the second moment of the intersection volume. Byincorporating knowledge of the contact patch into a point contact Coulomb friction formulation,we produce a 6D constraint that provides appropriate limits on torques to accommodate displacementof the center of pressure within the contact patch, while also providing a rotationaltorque due to dry friction to resist spinning. The second method presented in this thesis isfor adaptive computation of the active joint distribution inside a cable based on local information.A heuristic computes activation criteria for all joints based on user-dened parametersby extracting the velocities and accelerations of the joints and the previous activation state. Acollection of examples demonstrates the power and the benets of both methods." --
Author: Charles Bouchard
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
"This thesis contains two methods that improves rigid body physically based simulations. First,we present a new approach to modeling contact between rigid objects that augments an individualCoulomb friction point-contact model with rolling and spinning friction constraints.Starting from the intersection volume, we compute a contact normal from the volume gradient.We compute a contact position from the rst moment of the intersection volume, and approximatethe extent of the contact patch from the second moment of the intersection volume. Byincorporating knowledge of the contact patch into a point contact Coulomb friction formulation,we produce a 6D constraint that provides appropriate limits on torques to accommodate displacementof the center of pressure within the contact patch, while also providing a rotationaltorque due to dry friction to resist spinning. The second method presented in this thesis isfor adaptive computation of the active joint distribution inside a cable based on local information.A heuristic computes activation criteria for all joints based on user-dened parametersby extracting the velocities and accelerations of the joints and the previous activation state. Acollection of examples demonstrates the power and the benets of both methods." --
Author: Roy Featherstone
Publisher: Springer
ISBN: 1489975608
Category : Education
Languages : en
Pages : 276
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Book Description
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Author: Peter R. Kraus
Publisher:
ISBN:
Category :
Languages : en
Pages : 326
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Book Description
Author: Jean-Jacques E. Slotine
Publisher:
ISBN: 9780130400499
Category : Automatic control
Languages : en
Pages : 461
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Book Description
In this work, the authors present a global perspective on the methods available for analysis and design of non-linear control systems and detail specific applications. They provide a tutorial exposition of the major non-linear systems analysis techniques followed by a discussion of available non-linear design methods.
Author: L.T. Tenek
Publisher: Springer Science & Business Media
ISBN: 9401590443
Category : Technology & Engineering
Languages : en
Pages : 345
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Book Description
This book is an adventure into the computer analysis of three dimensional composite structures using the finite element method (FEM). It is designed for Universities, for advanced undergraduates, for graduates, for researchers, and for practising engineers in industry. The text advances gradually from the analysis of simple beams to arbitrary anisotropic and composite plates and shells; it treats both linear and nonlinear behavior. Once the basic philosophy of the method is understood, the reader may expand its application and modify the computer programs to suit particular needs. The book arose from four years research at the University of Stuttgart, Germany. We present the theory and computer programs concisely and systematically so that they can be used both for teaching and applications. We have tried to make the book simple and clear, and to show the underlying physical and mathematical ideas. The FEM has been in existence for more than 50 years. One of the authors, John Argyris, invented this technique in World War II in the course of the check on the analysis of the swept back wing of the twin engined Meteor Jet Fighter. In this work, he also consistently applied matrix calculus and introduced triangular membrane elements in conjunction with two new definitions of triangular stresses and strains which are now known as the component and total measures. In fact, he was responsible for the original formulation of the matrix force and displacement methods, the forerunners of the FEM.
Author: Richard R. Nelson
Publisher: Harvard University Press
ISBN: 9780674041431
Category : Business & Economics
Languages : en
Pages : 456
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Book Description
This book contains the most sustained and serious attack on mainstream, neoclassical economics in more than forty years. Nelson and Winter focus their critique on the basic question of how firms and industries change overtime. They marshal significant objections to the fundamental neoclassical assumptions of profit maximization and market equilibrium, which they find ineffective in the analysis of technological innovation and the dynamics of competition among firms. To replace these assumptions, they borrow from biology the concept of natural selection to construct a precise and detailed evolutionary theory of business behavior. They grant that films are motivated by profit and engage in search for ways of improving profits, but they do not consider them to be profit maximizing. Likewise, they emphasize the tendency for the more profitable firms to drive the less profitable ones out of business, but they do not focus their analysis on hypothetical states of industry equilibrium. The results of their new paradigm and analytical framework are impressive. Not only have they been able to develop more coherent and powerful models of competitive firm dynamics under conditions of growth and technological change, but their approach is compatible with findings in psychology and other social sciences. Finally, their work has important implications for welfare economics and for government policy toward industry.
Author: Harold F. Giles Jr
Publisher: William Andrew
ISBN: 1437734820
Category : Technology & Engineering
Languages : en
Pages : 638
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Book Description
The second edition of Extrusion is designed to aid operators, engineers, and managers in extrusion processing in quickly answering practical day-to-day questions. The first part of the book provides the fundamental principles, for operators and engineers, of polymeric materials extrusion processing in single and twin screw extruders. The next section covers advanced topics including troubleshooting, auxiliary equipment, and coextrusion for operators, engineers, and managers. The final part provides applications case studies in key areas for engineers such as compounding, blown film, extrusion blow molding, coating, foam, and reprocessing. This practical guide to extrusion brings together both equipment and materials processing aspects. It covers basic and advanced topics, for reference and training, in thermoplastics processing in the extruder. Detailed reference data are provided on such important operating conditions as temperatures, start-up procedures, shear rates, pressure drops, and safety. A practical guide to the selection, design and optimization of extrusion processes and equipment Designed to improve production efficiency and product quality Focuses on practical fault analysis and troubleshooting techniques
Author: United States. Army. Corps of Engineers
Publisher:
ISBN:
Category : Concrete construction
Languages : en
Pages : 134
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Book Description
Author: Roy Featherstone
Publisher: Kluwer Academic Publishers
ISBN: 9780898382303
Category : Technology & Engineering
Languages : en
Pages : 211
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Book Description
Author: Anibal Ollero
Publisher: Springer
ISBN: 3030129454
Category : Technology & Engineering
Languages : en
Pages : 385
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Book Description
Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
