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Real-Time Integration Methods for Mechanical System Simulation

  • Conference proceedings
  • © 1991

Overview

Editors:
  1. Edward J. Haug

    1. Center for Computer Aided Design 208 Engineering Research Facility, The University of Iowa, Iowa City, USA

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  2. Roderic C. Deyo

    1. Evans & Sutherland Computer Co. Inc., Salt Lake City, USA

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    You can also search for this editor in PubMed   Google Scholar

Part of the book series: NATO ASI Subseries F: (NATO ASI F, volume 69)

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Table of contents (18 papers)

  1. Front Matter

    Pages I-VIII
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  3. New DAE and ODE Solution Methods

    1. Front Matter

      Pages 141-141
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    2. A New Class of Generalized Inverses for the Solution of Discretized Euler — Lagrange Equations

      • C. Führer, B. Leimkuhler
      Pages 143-154

    3. Differential-Geometric Techniques for Solving Differential Algebraic Equations

      • Florian A. Potra, Werner C. Rheinboldt
      Pages 155-191

    4. On Baumgarte Stabilization for Differential Algebraic Equations

      • Georg-P. Ostermeyer
      Pages 193-207

    5. A Stabilization Method for Kinematic and Kinetic Constraint Equations

      • Dae-Sung Bae, Sung-Mo Yang
      Pages 209-232

    6. Parallel Solution of ODEs

      • C. W. Gear
      Pages 233-248

    7. Subcycling Applied to Ordinary Differential Equations

      • W. E. M. Bruijs, C. J. L. Florie, P. J. A. de Coo, A. A. H. J. Sauren
      Pages 249-262

  4. Advanced DAE Applications

    1. Front Matter

      Pages 263-263
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    2. Real Time Simulation of Complex 3-D Multibody Systems With Realistic Graphics

      • J. García de Jalón, J. M. Jiménez, A. Avello, F. Martín, J. Cuadrado
      Pages 265-292

    3. On the GAUSS Principle in the Numerical Integration of Mechanical Systems

      • S. Sparschuh, P. Hagedorn
      Pages 293-300

    4. Simultaneous Derivation of Control Laws and of Dynamical Model Equations for Controlled Mechanisms

      • M. Cotsaftis, C. Vibet
      Pages 301-327
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Keywords

About this book

This book contains the edited versions of lectures and selected contributed papers presented at the NATO Advanced Research Workshop on Real-Time Integration Methods For Mechanical System Simulation, held in Snowbird, Utah, August 7-11, 1989. The Institute was attended by 42 participants from 9 countries, including leading mathematicians and engineers from universities, research institutions, and industry. The majority of participants presented either invited or contributed papers during the Institute, and everyone participated in lively discussions on scientific aspects of the program. The Workshop provided a forum for investigation of promising new directions for solution of differential-algebraic equations (DAE) of mechanical system dynamics by mathematicians and engineers from numerous schools of thought. The Workshop addressed needs and opportunities for new methods of solving of DAE of mechanical system dynamics, from the perspective of a broad range of engineering and scientific applications. Among the most exciting new applications addressed was real­ time computer simulation of mechanical systems that, for the first time in human history, permits operator-in-the-Ioop simulation of equipment that is controlled by the human; e.g., driving a vehicle, operating a space telerobot, operating a remote manipulator, and operating construction equipment. The enormous potential value of this new application and the fact that real-time numerical integration methods for DAE of mechanical system dynamics is the pacing problem to be solved in realizing this potential served to focus much of the discussion at the Workshop.

Editors and Affiliations

  • Center for Computer Aided Design 208 Engineering Research Facility, The University of Iowa, Iowa City, USA

    Edward J. Haug

  • Evans & Sutherland Computer Co. Inc., Salt Lake City, USA

    Roderic C. Deyo

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