scholarly journals A new composite body method for manipulator dynamics

1991 ◽  
Vol 8 (2) ◽  
pp. 197-219 ◽  
Author(s):  
Shir-Kuan Lin
Keyword(s):  
Composite Body ◽  
Manipulator Dynamics ◽  
Body Method

Efficient Treatment of Gyroscopic Bodies in the Recursive Solution of Multibody Dynamics Equations

2008 ◽  
Vol 3 (4) ◽  
Author(s):  
Martin M. Tong
Keyword(s):  
Center Of Mass ◽  
Solution Process ◽  
Body System ◽  
Efficient Treatment ◽  
Composite Body ◽  
Recursive Solution ◽  
System A ◽  
Principal Axes ◽  
Solution Methods ◽  
The Moment

This paper presents an efficient treatment of gyroscopic bodies in the recursive solution of the dynamics of an N-body system. The bodies of interest include the reaction wheels in satellites, wheels on a car, and flywheels in machines. More specifically, these bodies have diagonal inertia tensors. They spin about one of its principal axes, with the moment of inertia along the transverse axes identical. Their center of mass lies on the spin axis. Current recursive solution methods treat these bodies identically as any other body in the system. The proposition here is that a body with gyroscopic children can be collectively treated as a composite body in the recursive solution process. It will be shown that this proposition improves the recursive solution speed to the order(N−m) where m is the number of gyroscopic bodies in the system. A satellite with three reaction wheels is used to illustrate the proposition.

XX. Researches on the foraminifera.—Part III. On the genera peneroplis, operculina , and amphistegina

1859 ◽  
Vol 9 ◽  
pp. 334-337
Keyword(s):  
Detailed Comparison ◽  
The Body ◽  
The Other ◽  
Considerable Degree ◽  
Composite Body ◽  
Calcareous Deposit ◽  
General Plan ◽  
Partition Walls ◽  
Adjacent Segments

In his preceding memoirs, the author has shown that two very dissimilar types of structure present themselves among Foraminifera, one characterized by its simplicity, the other by its complexity. In the former, of which Orbitolites, Orbiculina and Alveolina are typical examples, the calcareous skeleton does not present any definite indications of organization, but seems to have been formed by the simple calcification of a portion of the homogeneous sarcode-body of the animal; that sarcode-body is but very imperfectly divided into segments, the communications between the cavities occupied by these segments being very free and irregular; the form of the segments themselves, and the mode of their connexion, are alike inconstant; and even the plan of growth, on which the character of the organism as a whole depends, though preserving a general uniformity, is by no means invariably maintained. In the latter, to which Cycloclypeus and Heterostegina belong, the calcareous skeleton is found to present a very definite and elaborate organization. The several segments of the body are so completely separated from each other, that they remain connected only by delicate threads of sarcode. Each segment thus isolated has its own proper calcareous envelope, which seems to be moulded (as it were) upon it; and this envelope or shell is perforated with minute parallel tubuli closely resembling those of dentine, except in the absence of bifurcation; the partition-walls between adjacent segments are consequently double, and are strengthened by an intermediate calcareous deposit, which is traversed by a system of inosculating passages that seems properly to belong to it. The form of the segments, their mode of communication, and consequently the general plan of growth, have a very considerable degree of constancy; and altogether the tendency is strongly manifested in this type to the greater individualization of the parts of the composite body, which in the preceding must be looked upon rather as constituting one aggregate whole. In the present memoir this contrast is fully carried out by a detailed comparison of two characteristic examples from these types respectively, each of them having its own features of peculiar interest.

Investigation of halo structure of 6He by hyperspherical three-body method

Pramana ◽  
2001 ◽  
Vol 57 (4) ◽  
pp. 701-716 ◽  
Author(s):  
Md Abdul Khan ◽  
Tapan Kumar Das
Keyword(s):  
Halo Structure ◽  
Three Body ◽  
Body Method

scholarly journals Study on an Axial Flow Hydraulic Turbine with Collection Device

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Yasuyuki Nishi ◽  
Terumi Inagaki ◽  
Kaoru Okubo ◽  
Norio Kikuchi
Keyword(s):  
Velocity Ratio ◽  
Axial Flow ◽  
Hydraulic Turbine ◽  
Power Coefficient ◽  
Speed Ratio ◽  
Maximum Output ◽  
Recovery Coefficient ◽  
Composite Body ◽  
Inlet Velocity ◽  
Collection Device

We propose a new type of portable hydraulic turbine that uses the kinetic energy of flow in open channels. The turbine comprises a runner with an appended collection device that includes a diffuser section in an attempt to improve the output by catching and accelerating the flow. With such turbines, the performance of the collection device, and a composite body comprising the runner and collection device were studied using numerical analysis. Among four stand-alone collection devices, the inlet velocity ratio was most improved by the collection device featuring an inlet nozzle and brim. The inlet velocity ratio of the composite body was significantly lower than that of the stand-alone collection device, owing to the resistance of the runner itself, the decreased diffuser pressure recovery coefficient, and the increased backpressure coefficient. However, at the maximum output tip speed ratio, the inlet velocity ratio and the loading coefficient were approximately 31% and 22% higher, respectively, for the composite body than for the isolated runner. In particular, the input power coefficient significantly increased (by approximately 2.76 times) owing to the increase in the inlet velocity ratio. Verification tests were also conducted in a real canal to establish the actual effectiveness of the turbine.

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