scholarly journals KINEMATICS OF TWO LINK MANIPULATOR IN MATLAB/SIMULINK AND MSC ADAMS/VIEW SOFTWARE

2021 ◽  
Vol 2021 (4) ◽  
pp. 4749-4756
Author(s):  
DARINA HRONCOVA ◽  
◽  
LUBICA MIKOVA ◽  
IVAN VIRGALA ◽  
ERIK PRADA ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Mechanical Systems ◽  
Computer Software ◽  
Kinematic Chain ◽  
Economic Benefits ◽  
Symbolic Form ◽  
Additional Information ◽  
Matlab Program ◽  
The Matrix ◽  
Production Area

The paper deals with the kinematic analysis of a manipulator mechanism. The matrix method of kinematic analysis is used for the solution. The robot's mechanism is an open kinematic chain. The vector of position, velocity and acceleration is determined. The problem is solved using Matlab and MSC Adams / View. The Matlab program is used to solve kinematics equations in symbolic form. Computer software reduces the design time and also brings economic benefits. Conditions are being created for faster research and the creation of new mechanical systems gradually appearing in the production area. Computer simulation can also serve an educational purpose and giving additional information about the mechanical systems through simulation and kinematic analysis.

THE MODELLING OF HOLONOMIC MECHANICAL SYSTEMS USING A NATURAL ORTHOGONAL COMPLEMENT

1989 ◽  
Vol 13 (4) ◽  
pp. 81-89 ◽  
Author(s):  
J. ANGELES ◽  
SANGKOO LEE
Keyword(s):  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Kinematic Chain ◽  
Chain Structure ◽  
Rigid Bodies ◽  
Orthogonal Complement ◽  
Constraint Forces ◽  
Constrained Mechanical Systems ◽  
Constraint Equations ◽  
The Matrix

A computationally efficient and systematic algorithm for the modelling of constrained mechanical systems is developed and implemented in this paper. With this algorithm, the governing equations of mechanical systems comprised of rigid bodies coupled by holonomic constraints are derived by means of an orthogonal complement of the matrix of the velocity-constraint equations. The procedure is applicable to all types of holonomic mechanical systems, and it can be extended to cases including simple nonholonomic constraints. Holonomic mechanical systems having a simple Kinematic-chain structure, such as single-loop linkages and serial-type robotic manipulators, are analysed regarding the derivation of the matrix of the constraint equations and its orthogonal complement, and the computation of the constraint forces.

Word Prompt Programs

1997 ◽  
Vol 6 (3) ◽  
pp. 57-65 ◽  
Author(s):  
Lisa A. Wood ◽  
Joan L. Rankin ◽  
David R. Beukelman
Keyword(s):  
Learning Disabilities ◽  
Current Literature ◽  
Word Processing ◽  
Computer Software ◽  
Written Language ◽  
Written Communication ◽  
Speech Language Pathologists ◽  
Basic Word ◽  
The Matrix ◽  
Language Needs

Word prompt programs are computer software programs or program features that are used in addition to basic word processing. These programs provide word lists from which a user selects a desired word and inserts it into a line of text. This software is used to support individuals with severe speech, physical, and learning disabilities. This tutorial describes the features of a variety of word prompt programs and reviews the current literature on the use of these programs by people with oral and written language needs. In addition, a matrix that identifies the features contained in eight sample word prompt programs is provided. The descriptions of features and the matrix are designed to assist speech-language pathologists and teachers in evaluating and selecting word prompt programs to support their clients' oral and written communication.

Showing the vegetation cover of flood-plains and river valleys on the Vegetation Map of Kazakhstan and middle Asia

1995 ◽  
pp. 58-66
Author(s):  
N. M. Kalibernova
Keyword(s):  
Plant Communities ◽  
Vegetation Cover ◽  
Flood Plain ◽  
Vegetation Map ◽  
Flood Plains ◽  
Additional Information ◽  
Ground Waters ◽  
The Matrix ◽  
River Valleys ◽  
Former Ussr

The fragment of the legend of the map concerning the vegetation of flood- plains and river-valleys in the subzones of northern and southern deserts is presented in the article. The map is compiled in Department of Vegetspon Geography and Cartography of Komarov Botanical Institute by a large team of botanists-geographers of the former USSR. The nature environments determining the development of vegetation of river-valleys in arid climate are conditioned by the intrazonal factors (alluvial and flood processes) at the background of natural zonal factors. Contrasts of environments and corresponding plant communities manifest themselves first of all. Mineralization of ground waters, salinity of soils, including the alluvial ones, are of essential importance. The practice of vegetation mapping of unstable habitats, to which floodplain landscapes belong, has shown that units of phytocoenological classification is of little use for this purpose. The heterogeneity of vegetation, consisting of short-term unstable serial communities generates a need for typification of space combinations of such phytocoenoses. For this purpose it is convenient to use generalized ecological-dinamic series, including plant communities of all levels within the limits of definite segment of valley. These series are the mapping units on the map. The vegetation of the first terrace is also nessecary to include in a single series with flood-plain vegetation because it has supplementary influence of ground waters. The higher divisions of the legend are based on zonal characters: vegetation of valleys in northern, middle and southern deserts. 13 numbers are used to show the vegetation cover of flood-plains and valleys. Additional 7 numbers are used for the out-of-valley meadow vegetation. The content is enriched by using of the letters by the numbers showing the geographic variants of series and ciphers for combination of series and out-of-series communities. The text legend is supplemented by the matrix (table), showing the subordination of subtitles, zonal position and geographic distribution of divisions. The types of series in the matrix are listed with indication of the main dominant species that gives the additional information on the legend divisions. The author's conclusion is that valley vegetation reveals clearly the zonal features, correlating with zonal (desert) vegetation.

scholarly journals Full Field Evaluation of the Stress Tensor Components in 2D Photoelasticity Via Computer Software

2016 ◽  
Vol 66 (2) ◽  
pp. 63-66
Author(s):  
Zbyněk Paška ◽  
František Fojtík ◽  
Petr Ferfecki
Keyword(s):  
Plastic Deformation ◽  
Numerical Solution ◽  
Stress Tensor ◽  
Computer Software ◽  
Field Evaluation ◽  
Full Field ◽  
Matlab Program

Abstract The aim of this work is to find out the components of stress tensor in plane specimens. For this purpose the photoelasticity methodology is used. In order to make this technique more comfortable for use, there was developed an algorithm in MATLAB program. The results are compared with numerical solution. The main advantages of the developed algorithm are the speed and the capabilities to extend to analyze the plastic deformation and strain conditions in the material during forming processes.

How much is a calorie worth? A study of willingness to pay for calorie labels in restaurant menus

2019 ◽  
pp. 1-24
Author(s):  
SANA RAFIQ
Keyword(s):  
Willingness To Pay ◽  
Well Being ◽  
Economic Benefits ◽  
Individual Level ◽  
Additional Information ◽  
Health Related ◽  
The Individual ◽  
Types Of Information ◽  
Caloric Consumption ◽  
The Impact

AbstractWe asked individuals about their willingness to pay (WTP) either: (1) for a mandate requiring restaurants to post calorie information on their menus; or (2) to avoid such a mandate. On average, more people were in in favor of the mandate and were willing to pay four times more than those who were against it, thereby leading to a Kaldor–Hicks improvement from this policy. To ensure robustness, we tested the impact of providing three types of information during individuals’ WTP determinations: (1) visual examples of the proposed calorie labels; (2) data on their effectiveness at the individual level; and (3) data on their wider social and economic benefits. For those in favor, providing a simple visual of the label had no impact on WTP. Data on the individual effectiveness of the labels increased the WTP, while evidence on broader obesity reduction and economic benefits reduced it. For opponents, WTP did not change with provision of additional information except when provided with information on social and economic benefits. Under this condition, the opponents increased their WTP 12-fold to avoid a mandate of this policy. Finally, we measured individual well-being under this policy and found directionally similar results, confirming a net improvement in aggregate welfare. Our results suggest that messaging that focuses on private benefits (providing calorie information so that individuals can effectively choose to reduce excessive caloric consumption) rather than wider public benefits (reduction in overall health-related costs and obesity) is more likely to be effective.

Cayley kinematics and the Cayley form of dynamic equations

2005 ◽  
Vol 461 (2055) ◽  
pp. 761-781 ◽  
Author(s):  
Andrew J. Sinclair ◽  
John E. Hurtado
Keyword(s):  
Euler Equations ◽  
Equations Of Motion ◽  
Mechanical Systems ◽  
Rigid Bodies ◽  
Matrix Form ◽  
Dynamic Equations ◽  
Cayley Transform ◽  
Higher Dimensional ◽  
The Matrix ◽  
General Motion

The Cayley transform and the Cayley–transform kinematic relationships are an important and fascinating set of results that have relevance in N –dimensional orientations and rotations. In this paper these results are used in two significant ways. First, they are used in a new derivation of the matrix form of the generalized Euler equations of motion for N –dimensional rigid bodies. Second, they are used to intimately relate the motion of general mechanical systems to the motion of higher–dimensional rigid bodies. This approach can be used to describe an enormous variety of systems, one example being the representation of general motion of an N –dimensional body as pure rotations of an ( N + 1)–dimensional body.

NONLINEAR MODELING OF COMPLEX MECHANICAL SYSTEMS

1994 ◽  
Vol 04 (03) ◽  
pp. 521-551 ◽  
Author(s):  
MARTIN LESSER
Keyword(s):  
Nonlinear Models ◽  
Nonlinear Modeling ◽  
Mechanical Systems ◽  
Computer Software ◽  
Nonholonomic Systems ◽  
Reference List ◽  
Spacecraft Design ◽  
Vehicle Technology ◽  
Configuration Manifold ◽  
Complex Mechanical Systems

This article provides an introduction to a technique for formulating nonlinear models of mechanical systems composed of interconnected and constrained rigid body systems such as those encountered in vehicle technology, biomechanics, spacecraft design and robotics. The approach is based on an algorithm developed by Kane to treat nonholonomic systems, for example systems with rolling constraints. The algorithm is interpreted geometrically in terms of tangent vectors to the instantaneous configuration manifold embedded in the space of nonconstrained motions for the system. The level and style of the presentation is intended to be understood by scientifically literate readers with minimal knowledge in mechanics beyond the introductory level. Examples also show how computer algebra can be used to reduce the effort required for treating complex systems. An annotated reference list, which includes a discussion of computer software, is also provided.

Covariant integral equations for Heisenberg operators

1954 ◽  
Vol 50 (4) ◽  
pp. 592-603
Author(s):  
R. J. Eden
Keyword(s):  
Integral Equation ◽  
Integral Equations ◽  
Direct Product ◽  
Bound State ◽  
State Theory ◽  
Coupling Constant ◽  
Symbolic Form ◽  
The Matrix ◽  
Heisenberg Operators ◽  
Approximate Equations

ABSTRACTSets of rules are obtained for writing down directly the exact integral equations which are satisfied by certain functions of Heisenberg operators in quantum field theory. Three kinds of function are considered: the direct product, the chronological product and the M-product. The matrix elements of the M-product are equal to the Feynman amplitudes studied by Matthews & Salam (1) and the corresponding integral equation is called here the Matthews-Salam (M.-S.) equation. These authors have given a symbolic form of the M.-S. equation and a method of repeated differentiation and integration which can be used to obtain the explicit form of the integral equation in any particular example. In practice their method involves an immense amount of calculation even in quite simple examples. The rules obtained in the present paper make it possible to write down directly the M.-S. equation without any of the tedious calculations implied by the M.-S. method.So long as the exact theory is used, the three sets of equations (for direct, chronological and M-products) are completely equivalent. When bound state theory is considered by an approximation based on a power series in the coupling constant different results are obtained. The approximation is inapplicable to the direct product equations, and leads to different approximate equations for the amplitudes obtained from the chronological and the M-products even when these amplitudes are identical. This paradox is explained and it is shown that the equation coming from the M-product corresponds to the Bethe-Salpeter equation.

A Two-Dimensional Kinematic Analysis of the Distal Radioulnar Joint

1996 ◽  
Vol 21 (6) ◽  
pp. 824-829 ◽  
Author(s):  
E. P. A. VAN DER HEIJDEN ◽  
B. HILLEN
Keyword(s):  
Healthy Volunteer ◽  
Ct Scan ◽  
Kinematic Analysis ◽  
Three Dimensional ◽  
Kinematic Chain ◽  
Distal Radioulnar Joint ◽  
Two Dimensional ◽  
Dorsal Part ◽  
Radioulnar Joint ◽  
Triangular Fibrocartilage

The triangular fibrocartilage and its function in the kinematics of pronation and supination in the distal radioulnar joint was studied. Measurements of the constituent parts of this joint in 11 cadavers showed that the palmar radioulnar ligament is at least 2 mm longer than the dorsal radioulnar ligament. Based on these measurements the movements of the joint were modelled in a two-dimensional kinematic chain. Predictions based on this chain could be confirmed by direct observation and videotaping dissections of joints of unfixed specimens and three-dimensional reconstructions of a CT scan of a healthy volunteer. It could be concluded that (a) the dorsal part is tight during pronation and the palmar part during supination and (b) considerable asymmetrical translations, (dorsal translation being the largest) occur because of the length differences of the ligaments.

scholarly journals Reducing GHG Emissions and Improving Cost Effectiveness via Energy Efficiency Enhancements: A Case Study in a Biscuit Industry

2021 ◽  
Vol 14 (1) ◽  
pp. 69
Author(s):  
Valentina Stojceska ◽  
Nicholas Parker ◽  
Savvas A. Tassou
Keyword(s):  
Climate Change ◽  
Energy Efficiency ◽  
Energy Consumption ◽  
Capital Investment ◽  
Ghg Emissions ◽  
Capital Investments ◽  
Energy Prices ◽  
Automated Production ◽  
Additional Information ◽  
Production Area

As the new climate change driven regulations are brought into the force and energy prices and sustainability awareness increased, many companies are looking for the most efficient way to reduce their energy consumption and greenhouse gas (GHG) emissions. In this context, the food industry as one of the main energy consumers within the industry sector plays a significant role. This paper analyses the current energy consumption in a biscuit manufacturing company and considers a number of possible solutions for the energy efficiency improvements. The company uses modern and automated production processes and has signed a Climate Change Agreement. The experimental part involves identification of the energy users, as well as analysis of the energy bills, operation times, production schedule and on-site measurements of energy consumption. The opportunities for energy efficiency improvements, GHG emissions and costs reduction are investigated and additional information about the investments and payback period of the proposed improvements discussed. A number of opportunities for improvement are identified within the production area with a potential savings of 23%, which corresponds to EUR 40,534.00 and 190 tCO2, annually. It was found that the significant savings could be achieved by better managing the production lines and reducing operational hours from equipment, with no impact on productivity and no capital investment required. Further savings can be achieved through technical improvements requiring capital investments. All those improvements and savings make a significant contribution in accomplishing environmental targets set out by the FDF1 agreement.

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