Real-Time Integration Methods for Mechanical System Simulation

1. Front Matter

   Pages I-VIII

   PDF

2. DAE Applications and Basic Solution Methods

   1. Front Matter

      Pages 1-1

      PDF

   2. An Example of Real-Time Simulation: Multi-body Vehicles

      • Roderic C. Deyo

      Pages 3-31

   3. Industrial Practices and Examples Space Structures and Robots

      • Harold P. Frisch

      Pages 33-43

   4. Real-Time Motion Base Simulation

      • Ronald R. Beck

      Pages 45-54

   5. Aspects of Efficient and Reliable Multibody System Simulation

      • R. Schwertassek, W. Rulka

      Pages 55-96

   6. Generalized Coordinate Partitioning Methods for Numerical Integration of Differential-Algebraic Equations of Dynamics

      • Edward J. Haug, Jeng Yen

      Pages 97-114

   7. An Introduction to Numerical Methods for ODEs and DAEs

      • C. W. Gear

      Pages 115-126

   8. Methods and Software for Differential-Algebraic Systems

      • Linda R. Petzold

      Pages 127-140

3. New DAE and ODE Solution Methods

   1. Front Matter

      Pages 141-141

      PDF

   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

      PDF

   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

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.

• Differential-algebraische Gleichungen
• Dynamische Systeme
• Mechanische Systeme
• Numerical integration
• Numerische Mathematik
• differential-algebraic equations (DAE)
• dynamical systems
• simulation
• complexity

• 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

Policies and ethics