scholarly journals Automatic Calculation of a Transformation Matrix Between Two Frames

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 9614-9622 ◽  
Author(s):  
Jasmine Cashbaugh ◽  
Christopher Kitts
Author(s):  
P. E. Nikravesh ◽  
G. Gim

Abstract This paper presents a systematic method for deriving the minimum number of equations of motion for multibody system containing closed kinematic loops. A set of joint or natural coordinates is used to describe the configuration of the system. The constraint equations associated with the closed kinematic loops are found systematically in terms of the joint coordinates. These constraints and their corresponding elements are constructed from known block matrices representing different kinematic joints. The Jacobian matrix associated with these constraints is further used to find a velocity transformation matrix. The equations of motions are initially written in terms of the dependent joint coordinates using the Lagrange multiplier technique. Then the velocity transformation matrix is used to derive a minimum number of equations of motion in terms of a set of independent joint coordinates. An illustrative example and numerical results are presented, and the advantages and disadvantages of the method are discussed.


2018 ◽  
Vol 25 (6) ◽  
pp. 1937-1944 ◽  
Author(s):  
Hendrik J. Harms ◽  
Nils Henrik S. Hansson ◽  
Tanja Kero ◽  
Tomasz Baron ◽  
Lars P. Tolbod ◽  
...  

Author(s):  
Guangfa Yao

Immersed boundary method has got increasing attention in modeling fluid-solid body interaction using computational fluid dynamics due to its robustness and simplicity. It usually simulates fluid-solid body interaction by adding a body force in the momentum equation. This eliminates the body conforming mesh generation that frequently requires a very labor-intensive and challenging task. But accurately tracking an arbitrary solid body is required to simulate most real world problems. In this paper, a few methods that are used to track a rigid solid body in a fluid domain are briefly reviewed. A new method is presented to track an arbitrary rigid solid body by solving a transformation matrix and identifying it using a level set function. Knowing level set function, the solid volume fraction can be derived if needed. A three-dimensional example is used to study a few methods used to represent and solve the transformation matrix, and demonstrate the presented new method.


Geophysics ◽  
2019 ◽  
Vol 84 (3) ◽  
pp. C159-C170 ◽  
Author(s):  
Yuriy Ivanov ◽  
Alexey Stovas

Based on the rotation of a slowness surface in anisotropic media, we have derived a set of mapping operators that establishes a point-to-point correspondence for the traveltime and relative-geometric-spreading surfaces between these calculated in nonrotated and rotated media. The mapping approach allows one to efficiently obtain the aforementioned surfaces in a rotated anisotropic medium from precomputed surfaces in the nonrotated medium. The process consists of two steps: calculation of a necessary kinematic attribute in a nonrotated, e.g., orthorhombic (ORT), medium, and subsequent mapping of the obtained values to a transformed, e.g., rotated ORT, medium. The operators we obtained are applicable to anisotropic media of any type; they are 3D and are expressed through a general form of the transformation matrix. The mapping equations can be used to develop moveout and relative-geometric-spreading approximations in rotated anisotropic media from existing approximations in nonrotated media. Although our operators are derived in case of a homogeneous medium and for a one-way propagation only, we discuss their extension to vertically heterogeneous media and to reflected (and converted) waves.


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