Search results for "Cartesian coordinate"
showing 10 items of 42 documents
Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane
2020
This paper presents a novel method for point-to-point path control for a hydraulic knuckle boom crane. The developed path control algorithm differs from previous solutions by operating in the actuator space instead of the joint space or Cartesian space of the crane. By operating in actuator space, almost all the parameters and constraints of the system become either linear or constant, which greatly reduces the complexity of both the control algorithm and path generator. For a given starting point and endpoint, the motion for each actuator is minimized compared to other methods. This ensures that any change in direction of motion is avoided, thereby greatly minimizing fatigue, jerky motion,…
Interactive simulation of one-dimensional flexible parts
2006
Computer simulations play an ever growing role for the development of automotive products. Assembly simulation, as well as many other processes, are used systematically even before the first physical prototype of a vehicle is built in order to check whether particular components can be assembled easily or whether another part is in the way. Usually, this kind of simulation is limited to rigid bodies. However, a vehicle contains a multitude of flexible parts of various types: cables, hoses, carpets, seat surfaces, insulations, weatherstrips... Since most of the problems using these simulations concern one-dimensional components and since an intuitive tool for cable routing is still needed, w…
Solution of universal nonrelativistic nuclear DFT equations in the Cartesian deformed harmonic-oscillator basis. (IX) HFODD (v3.06h) : a new version …
2021
We describe the new version (v3.06h) of the code HFODD that solves the universal nonrelativistic nuclear DFT Hartree-Fock or Hartree-Fock-Bogolyubov problem by using the Cartesian deformed harmonic-oscillator basis. In the new version, we implemented the following new features: (i) zero-range three- and four-body central terms, (ii) zero-range three-body gradient terms, (iii) zero-range tensor terms, (iv) zero-range isospin-breaking terms, (v) finite-range higher-order regularized terms, (vi) finite-range separable terms, (vii) zero-range two-body pairing terms, (viii) multi-quasiparticle blocking, (ix) Pfaffian overlaps, (x) particle-number and parity symmetry restoration, (xi) axializatio…
Flux expressions and NEMD perturbations for models of semi-flexible molecules
2001
We derive energy and momentum flux expressions, for systems composed of a general class of semi-flexible molecules, in the Ciccotti-Ferrario-Ryckaert linear constraint formalism. According to this formalism, the whole set of Cartesian coordinates is divided into basic (independent) and secondary (dependent) subsets. It is found that energy and momentum flux vectors have a simple and general expression using both basic and secondary coordinates. In the case of non-equilibrium molecular dynamics, we give general and simple heat and shear flow algorithms, deriving the dissipative fluxes in the space of all Cartesian coordinates. In comparison with previous derivations for some models of flexib…
A flux-split algorithm applied to conservative models for multicomponent compressible flows
2003
In this paper we consider a conservative extension of the Euler equations for gas dynamics to describe a two-component compressible flow in Cartesian coordinates. It is well known that classical shock-capturing schemes applied to conservative models are oscillatory near the interface between the two gases. Several authors have addressed this problem proposing either a primitive consistent algorithm [J. Comput. Phys. 112 (1994) 31] or Lagrangian ingredients (Ghost Fluid Method by Fedkiw et al. [J. Comput. Phys. 152 (1999) 452] and [J. Comput. Phys. 169 (2001) 594]). We solve directly this conservative model by a flux-split algorithm, due to the first author (see [J. Comput. Phys. 125 (1996) …
Del álgebra a la geometría : la sistematización de las coordenadas cartesianas y la representación gráfica de funciones en la Introductio in analysin…
2012
Este trabajo de investigación explora la presentación del sistema de coordenadas cartesianas en la Introductio in Analysin Infinitorum de Euler y en los libros de texto de Lacroix Traité du calcul différentiel et du calcul intégral and Traité Élémentaire de Trigonométrie Rectiligne et Sphérique, et d’Application de l’Algèbre a la Géométrie, indagando qué componentes hicieron posible su sistematización, y teniendo presente las dificultades de los estudiantes en el uso de las coordenadas cartesianas. Es un hecho harto conocido que los estudiantes tienen dificultades en la comprensión y el uso de la representación de funciones en el sistema de coordenadas cartesianas (SCC). Esta problemática d…
Reconstructing the free-energy landscape of Met-enkephalin using dihedral principal component analysis and well-tempered metadynamics
2013
Well-Tempered Metadynamics (WTmetaD) is an efficient method to enhance the reconstruction of the free-energy surface of proteins. WTmetaD guarantees a faster convergence in the long time limit in comparison with the standard metadynamics. It still suffers however from the same limitation, i.e. the non trivial choice of pertinent collective variables (CVs). To circumvent this problem, we couple WTmetaD with a set of CVs generated from a dihedral Principal Component Analysis (dPCA) on the Ramachadran dihedral angles describing the backbone structure of the protein. The dPCA provides a generic method to extract relevant CVs built from internal coordinates. We illustrate the robustness of this …
Identification and control design for path tracking of hydraulic loader crane
2017
The controlled operation of hydraulic machines with multiple degrees of freedom is challenging due to complex nonlinear dynamics of cylinder actuators, in addition to multibody dynamics like in the case of hydraulic manipulators. This paper addresses the system identification and control design for path tracking of a standard hydraulic loader crane. The kinematics of the crane is solved for operation in the vertical plane and generation of trajectories for the tool tip to be followed. A frequency response measurements and analysis have been done for dynamics modeling of both hydraulic cylinders actuating main boom and jib. The static dead-zone type input non-linearity has been identified an…
Multi-Objective Design of Optimisation of a Class of PKMs - The 3-DOF Gantry-Tau
2010
The main contribution of this paper is the use of the evolutionary multi-objective methodology based on the com plex search algorithm and geometric approaches to optimise a parallel kinematic structure. The design optimisation scheme includes the kinematic (collisions free workspace), elastostatic (Cartesian stiffness in the Y direction) and elastodynamic (first resonance frequency) properties of the PKM as the objectives. The optimisation constraints are the support frame lengths, actuator positions, end-effector’s kinematic parameters and the robot’s arm lengths. The optimisation results are presented in this paper.
Nonlocal energy density functionals for low-energy nuclear structure
2014
We introduce a finite-range pseudopotential built as an expansion in derivatives up to next-to-next-to-next-to-leading order (N$^3$LO) and we calculate the corresponding nonlocal energy density functional (EDF). The coupling constants of the nonlocal EDF, for both finite nuclei and infinite nuclear matter, are expressed through the parameters of the pseudopotential. All central, spin-orbit, and tensor terms of the pseudopotential are derived both in the spherical-tensor and Cartesian representation. At next-to-leading order (NLO), we also derive relations between the nonlocal EDF expressed in the spherical-tensor and Cartesian formalism. Finally, a simplified version of the finite-range pse…