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Academic literature on the topic 'Constraint Dynamics'
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Journal articles on the topic "Constraint Dynamics"
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Wong, R., and D. B. Cherchas. "Hybrid Constraint Space Dynamics and Control for Robot Manipulators." Journal of Vibration and Control 10, no. 11 (2004): 1563–84. http://dx.doi.org/10.1177/1077546304042025.
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In this paper we present the development of a hybrid constraint space dynamics modeling technique and position/force controller for robotic manipulator control in constrained environments. The method utilizes a constraint space dynamic model in which the model coordinates are displacement along the constraint trajectory and the normal force between the manipulator end-effector and the environment. The dynamic model is constructed by transforming the conventional joint space manipulator dynamics equations into their constraint space equivalents through the application of mapping functions, which relate differential displacements and velocities in the constraint space coordinate system to the joint space coordinate system. Control algorithms may then be applied to the simplified dynamic structure of the constraint space equations of motion in order to produce a vector of manipulator joint torques which will satisfy both position and force requirements along the environmental constraint. Actuator constraints and momentum compensating techniques are also used to ensure that the position and force control problems are completely decoupled from one another. A computer torque control algorithm is then applied to a two-degrees-of-freedom prismatic robot and simulations are carried out with two different constraint surfaces, i.e. a planar, and a concave circular environment. The results of these simulations show that the controller, implemented in hybrid constraint space provides good position and force control.
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Nair, Manjusha, Jinesh Manchan Kannimoola, Bharat Jayaraman, Bipin Nair, and Shyam Diwakar. "Temporal constrained objects for modelling neuronal dynamics." PeerJ Computer Science 4 (July 23, 2018): e159. http://dx.doi.org/10.7717/peerj-cs.159.
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Background Several new programming languages and technologies have emerged in the past few decades in order to ease the task of modelling complex systems. Modelling the dynamics of complex systems requires various levels of abstractions and reductive measures in representing the underlying behaviour. This also often requires making a trade-off between how realistic a model should be in order to address the scientific questions of interest and the computational tractability of the model. Methods In this paper, we propose a novel programming paradigm, called temporal constrained objects, which facilitates a principled approach to modelling complex dynamical systems. Temporal constrained objects are an extension of constrained objects with a focus on the analysis and prediction of the dynamic behaviour of a system. The structural aspects of a neuronal system are represented using objects, as in object-oriented languages, while the dynamic behaviour of neurons and synapses are modelled using declarative temporal constraints. Computation in this paradigm is a process of constraint satisfaction within a time-based simulation. Results We identified the feasibility and practicality in automatically mapping different kinds of neuron and synapse models to the constraints of temporal constrained objects. Simple neuronal networks were modelled by composing circuit components, implicitly satisfying the internal constraints of each component and interface constraints of the composition. Simulations show that temporal constrained objects provide significant conciseness in the formulation of these models. The underlying computational engine employed here automatically finds the solutions to the problems stated, reducing the code for modelling and simulation control. All examples reported in this paper have been programmed and successfully tested using the prototype language called TCOB. The code along with the programming environment are available at http://github.com/compneuro/TCOB_Neuron. Discussion Temporal constrained objects provide powerful capabilities for modelling the structural and dynamic aspects of neural systems. Capabilities of the constraint programming paradigm, such as declarative specification, the ability to express partial information and non-directionality, and capabilities of the object-oriented paradigm especially aggregation and inheritance, make this paradigm the right candidate for complex systems and computational modelling studies. With the advent of multi-core parallel computer architectures and techniques or parallel constraint-solving, the paradigm of temporal constrained objects lends itself to highly efficient execution which is necessary for modelling and simulation of large brain circuits.
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BATALIN, I. A., and I. V. TYUTIN. "ON THE EQUIVALENCE BETWEEN THE UNIFIED AND STANDARD VERSIONS OF CONSTRAINT DYNAMICS." Modern Physics Letters A 08, no. 39 (1993): 3757–65. http://dx.doi.org/10.1142/s0217732393003494.
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The structure of physical operators and states of the unified constraint dynamics is studied. The genuine second class constraints encoded are shown to be the superselection operators. The unified constrained dynamics is established to be physically-equivalent to the standard BFV-formalism with constraints split.
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Wang, J. T. "Inverse Dynamics of Constrained Multibody Systems." Journal of Applied Mechanics 57, no. 3 (1990): 750–57. http://dx.doi.org/10.1115/1.2897087.
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A method for analyzing constrained multibody systems is presented. The method is applicable to a class of problems in which the multibody system is subjected to both force and kinematic constraints. This class of problems cannot be solved by using the classical methods. The method is based upon the concept of partial velocity and generalized forces of Kane’s method to permit the choice of constraint forces for fulfilling both kinematic and force constraints. Thus, the constraint forces or moments at convenient points or bodies may be specified in any desired form. For many applications, the method also allows analysts to choose a constant coefficient matrix for the undetermined force term to greatly reduce the burden of repeatedly computing its orthogonal complement matrix in solving the differential algebraic dynamic equations. Two examples illustrating the concepts are presented.
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Zurita-Gotor, Pablo, and Geoffrey K. Vallis. "Dynamics of Midlatitude Tropopause Height in an Idealized Model." Journal of the Atmospheric Sciences 68, no. 4 (2011): 823–38. http://dx.doi.org/10.1175/2010jas3631.1.
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Abstract This paper investigates the factors that determine the equilibrium state, and in particular the height and structure of the tropopause, in an idealized primitive equation model forced by Newtonian cooling in which the eddies can determine their own depth. Previous work has suggested that the midlatitude tropopause height may be understood as the intersection between a radiative and a dynamical constraint. The dynamical constraint relates to the lateral transfer of energy, which in midlatitudes is largely effected by baroclinic eddies, and its representation in terms of mean-flow properties. Various theories have been proposed and investigated for the representation of the eddy transport in terms of the mean flow, including a number of diffusive closures and the notion that the flow evolves to a state marginally supercritical to baroclinic instability. The radiative constraint expresses conservation of energy and so must be satisfied, although it need not necessarily be useful in providing a tight constraint on tropopause height. This paper explores whether and how the marginal criticality and radiative constraints work together to produce an equilibrated flow and a tropopause that is internal to the fluid. The paper investigates whether these two constraints are consistent with simulated variations in the tropopause height and in the mean state when the external parameters of an idealized primitive equation model are changed. It is found that when the vertical redistribution of heat is important, the radiative constraint tightly constrains the tropopause height and prevents an adjustment to marginal criticality. In contrast, when the stratification adjustment is small, the radiative constraint is only loosely satisfied and there is a tendency for the flow to adjust to marginal criticality. In those cases an alternative dynamical constraint would be needed in order to close the problem and determine the eddy transport and tropopause height in terms of forcing and mean flow.
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Abramov, N. V., and R. G. Mukharlyamov. "DYNAMICS CONTROL AND CONSTRAINT STABILIZATION." Vestnik of Samara University. Natural Science Series 19, no. 9.1 (2017): 67–75. http://dx.doi.org/10.18287/2541-7525-2013-19-9.1-67-75.
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Results of researchers on dynamics modeling of the systems containing different physical elements are proposed. The construction method of the physical systems dynamics equations, providing constraints stabilization, is discussed. The problem of corresponding constraints reactions or determination of control actions is reduced to the construction of the system of differential equations, assuming that the partial integrals are given. The conditions of asymptotic stability and exponential stability an integral manifold's corresponding constraint equations are defined.
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Yang, Xiaohui, Xiaolong Zhang, Shaoping Xu, Yihui Ding, Kun Zhu, and Xiaoping Liu. "An Approach to the Dynamics and Control of Uncertain Robot Manipulators." Algorithms 12, no. 3 (2019): 66. http://dx.doi.org/10.3390/a12030066.
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In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit equations for dynamic modeling of constrained systems. For a multibody system subject to motion constraints, it is a common practice to introduce Lagrange multipliers, but using these to obtain explicit dynamical equations is a very difficult task. In order to obtain such equations more simply, motion constraints are handled here using the Udwadia-Kalaba equation(UKE). Then, considering real-life robot manipulators are usually uncertain(but bounded), by using continuous controllers compensate for the uncertainties. No linearizations/approximations of the robot manipulators systems are made throughout, and the tracking errors are bounds. A redundant manipulator of the SCARA type as the example to illustrates the methodology. Numerical results are demonstrates the simplicity and ease of implementation of the methodology.
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Cyril, X., J. Angeles, and A. Misra. "DYNAMICS OF FLEXIBLE MULTIBODY MECHANICAL SYSTEMS." Transactions of the Canadian Society for Mechanical Engineering 15, no. 3 (1991): 235–56. http://dx.doi.org/10.1139/tcsme-1991-0014.
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In this paper the formulation and simulation of the dynamical equations of multibody mechanical systems comprising of both rigid and flexible-links are accomplished in two steps: in the first step, each link is considered as an unconstrained body and hence, its Euler-Lagrange (EL) equations are derived disregarding the kinematic couplings; in the second step, the individual-link equations, along with the associated constraint forces, are assembled to obtain the constrained dynamical equations of the multibody system. These constraint forces are then efficiently eliminated by simple matrix multiplication of the said equations by the transpose of the natural orthogonal complement of kinematic velocity constraints to obtain the independent dynamical equations. The equations of motion are solved for the generalized accelerations using the Cholesky decomposition method and integrated using Gear’s method for stiff differential equations. Finally, the dynamical behaviour of the Shuttle Remote Manipulator when performing a typical manoeuvre is determined using the above approach.
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Horwitz, L. P., and F. Rohrlich. "Limitations of constraint dynamics." Physical Review D 31, no. 4 (1985): 932–33. http://dx.doi.org/10.1103/physrevd.31.932.
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Nikravesh, P. E., O. K. Kwon, and R. A. Wehage. "Euler Parameters in Computational Kinematics and Dynamics. Part 2." Journal of Mechanisms, Transmissions, and Automation in Design 107, no. 3 (1985): 366–69. http://dx.doi.org/10.1115/1.3260723.
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In this paper a methodology for formulating kinematic constraint equations and equations of motion for constrained mechanical systems is presented. Constraint equations and transformation matrices are expressed in terms of Euler parameters. The kinematic velocity and acceleration equations, and the equations of motion are expressed in terms of physical angular velocity of the bodies. An algorithm for solving the constrained equations of motion using a constraint stabilization technique is reviewed. Significant reduction in computation time can be achieved with this formulation and the accompanying algorithm as compared with the method presented in Part 1.