Material and Local Time Derivatives of Screws With Applications to Dynamics and Stiffness

Author(s):  
Harvey Lipkin

Screw quantities provide geometric insight into three-dimensional mechanics modeled by rigid bodies and lumped parameters. Four distinct cases of time differentiation are examined by combining fixed and moving body derivatives (fundamental to rigid body mechanics) with material and local derivatives (fundamental to continuum mechanics). Three combinations always yield another screw quantity while the most common, the material derivative with respect to the fixed body, does not. Two fundamental formulations are examined with this last derivative, Euler’s Laws and the gravitational loading of an elastic system. By coincidence, the formulations appear screw-like when they are expressed at the center-of-mass but, in contrast to actual screw formulations, they do not retain invariant forms when expressed at arbitrary points.

Author(s):  
Bingjue Li ◽  
Andrew P. Murray ◽  
David H. Myszka

Any articulated system of rigid bodies defines a Statically Equivalent Serial Chain (SESC). The SESC is a virtual chain that terminates at the center of mass (CoM) of the original system of bodies. A SESC may be generated experimentally without knowing the mass, CoM, or length of each link in the system given that its joint angles and overall CoM may be measured. This paper presents three developments toward recognizing the SESC as a practical modeling technique. Two of the three developments improve utilizing the technique in practical applications where the arrangement of the joints impacts the derivation of the SESC. The final development provides insight into the number of poses needed to create a usable SESC in the presence of data collection errors. First, modifications to a matrix necessary in computing the SESC are proposed. Second, the problem of generating a SESC experimentally when the system of bodies includes a mass fixed in the ground frame are presented and a remedy is proposed for humanoid-like systems. Third, an investigation of the error of the experimental SESC versus the number of data readings collected in the presence of errors in joint readings and CoM data is conducted. By conducting the method on three different systems with various levels of data error, a general form of the function for estimating the error of the experimental SESC is proposed.


GEODYNAMICS ◽  
2021 ◽  
Vol 2(31)2021 (2(31)) ◽  
pp. 29-40
Author(s):  
Mykhailo Fys ◽  
◽  
Andrii Brydun ◽  
Mariana Yurkiv ◽  
Andrii Sohor ◽  
...  

Purpose. To investigate the features of the algorithm implementation for finding the derivatives of the spatial distribution function of the planet's masses with the use of high-order Stokes constants and, on the basis of this, to find its analytical expression. According to the given methodology, to carry out calculations with the help of which to carry on the study of dynamic phenomena occurring inside an ellipsoidal planet. The proposed method involves the determination of the derivatives of the mass distribution function by the sum, the coefficients of which are obtained from the system of equations, which is incorrect. In order to solve it, an error-resistant method for calculating unknowns was used. The implementation of the construction is carried out in an iterative way, while for the initial approximation we take the three-dimensional function of the density of the Earth's masses, built according to Stokes constants up to the second order inclusive, by dynamic compression by the one-dimensional density distribution, and we determine the expansion coefficients of the derivatives of the function in the variables to the third order inclusive. They are followed by the corresponding density function, which is then taken as the initial one. The process is repeated until the specified order of approximation is reached. To obtain a stable result, we use the Cesaro summation method (method of means).. The calculations performed with the help of programs that implement the given algorithm, while the achieved high (ninth) order of obtaining the terms of the sum of calculations. The studies of the convergence of the sum of the series have been carried out, and on this basis, a conclusion has been made about the advisability of using the generalized finding of the sums based on the Cesaro method. The optimal number of contents of the sum terms has been chosen, provides convergence both for the mass distribution function and for its derivatives. Calculations of the deviations of mass distribution from the mean value ("inhomogeneities") for extreme points of the earth's geoid, which basically show the total compensation along the radius of the Earth, have been performed. For such three-dimensional distributions, calculations were performed and schematic maps were constructed according to the taken into account values of deviations of three-dimensional distributions of the mean ("inhomogeneities") at different depths reflecting the general structure of the Earth's internal structure. The presented vector diagrams of the horizontal components of the density gradient at characteristic depths (2891 km - core-mantle, 700 km - middle of the mantle, also the upper mantle - 200, 100 km) allow us to draw preliminary conclusions about the global movement of masses. At the same time, a closed loop is observed on the “core-mantle” edge, which is an analogy of a closed electric circuit. For shallower depths, differentiation of vector motions is already taking place, which gives hope for attracting these vector-grams to the study of dynamic motions inside the Earth. In fact, the vertical component (derivative with respect to the z variable) is directed towards the center of mass and confirms the main property of mass distributions - growth when approaching the center of mass. The method of stable solution of incorrect linear systems is applied, by means of which the vector-gram of the gradient of the mass distribution function is constructed. The nature of such schemes provides a tool for possible causes of mass redistribution in the middle of the planet and to identify possible factors of tectonic processes in the middle of the Earth, i.e indirectly confirms the gravitational convection of masses. The proposed technique can be used to create detailed models of density functions and its characteristics (derivatives) of the planet's interior, and the results of numerical experiments - to solve tectonics problems.


Author(s):  
Maxim V. Shamolin

We systematize some results on the study of the equations of spatial motion of dynamically symmetric fixed rigid bodies–pendulums located in a nonconservative force fields. The form of these equations is taken from the dynamics of real fixed rigid bodies placed in a homogeneous flow of a medium. In parallel, we study the problem of a spatial motion of a free rigid body also located in a similar force fields. Herewith, this free rigid body is influenced by a nonconservative tracing force; under action of this force, either the magnitude of the velocity of some characteristic point of the body remains constant, which means that the system possesses a nonintegrable servo constraint, or the center of mass of the body moves rectilinearly and uniformly; this means that there exists a nonconservative couple of forces in the system


2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Bingjue Li ◽  
Andrew P. Murray ◽  
David H. Myszka

Any articulated system of rigid bodies defines a statically equivalent serial chain (SESC). The SESC is a virtual chain that terminates at the center of mass (CoM) of the original system of bodies. An SESC may be generated experimentally without knowing the mass, CoM, or length of each link in the system given that its joint angles and overall CoM may be measured. This paper presents three developments toward recognizing the SESC as a practical modeling technique. Two of the three developments improve utilizing the technique in practical applications where the arrangement of the joints impacts the derivation of the SESC. The final development provides insight into the number of poses needed to create a usable SESC in the presence of data collection errors. First, modifications to a matrix necessary in computing the SESC are proposed, followed by the experimental validation of SESC modeling. Second, the problem of generating an SESC experimentally when the system of bodies includes a mass fixed in the ground frame are presented and a remedy is proposed for humanoid-like systems. Third, an investigation of the error of the experimental SESC versus the number of data readings collected in the presence of errors in joint readings and CoM data is conducted. By conducting the method on three different systems with various levels of data error, a general form of the function for estimating the error of the experimental SESC is proposed.


Author(s):  
Peter Sterling

The synaptic connections in cat retina that link photoreceptors to ganglion cells have been analyzed quantitatively. Our approach has been to prepare serial, ultrathin sections and photograph en montage at low magnification (˜2000X) in the electron microscope. Six series, 100-300 sections long, have been prepared over the last decade. They derive from different cats but always from the same region of retina, about one degree from the center of the visual axis. The material has been analyzed by reconstructing adjacent neurons in each array and then identifying systematically the synaptic connections between arrays. Most reconstructions were done manually by tracing the outlines of processes in successive sections onto acetate sheets aligned on a cartoonist's jig. The tracings were then digitized, stacked by computer, and printed with the hidden lines removed. The results have provided rather than the usual one-dimensional account of pathways, a three-dimensional account of circuits. From this has emerged insight into the functional architecture.


2020 ◽  
Vol 23 (3) ◽  
pp. 306-311
Author(s):  
Yu. Kurochkin ◽  
Dz. Shoukavy ◽  
I. Boyarina

The immobility of the center of mass in spaces of constant curvature is postulated based on its definition obtained in [1]. The system of two particles which interact through a potential depending only on the distance between particles on a three-dimensional sphere is considered. The Hamilton-Jacobi equation is formulated and its solutions and trajectory equations are found. It was established that the reduced mass of the system depends on the relative distance.


2020 ◽  
Vol 7 (3) ◽  
pp. 52-56
Author(s):  
MMATMATISA JALILOV ◽  
◽  
RUSTAM RAKHIMOV ◽  

This article discusses the analysis of the general equations of the transverse vibration of a piecewise homogeneous viscoelastic plate obtained in the “Oscillation of inlayer plates of constant thickness” [1]. In the present work on the basis of a mathematical method, the approached theory of fluctuation of the two-layer plates, based on plate consideration as three dimensional body, on exact statement of a three dimensional mathematical regional problem of fluctuation is stood at the external efforts causing cross-section fluctuations. The general equations of fluctuations of piecewise homogeneous viscoelastic plates of the constant thickness, described in work [1], are difficult on structure and contain derivatives of any order on coordinates x, y and time t and consequently are not suitable for the decision of applied problems and carrying out of engineering calculations. For the decision of applied problems instead of the general equations it is expedient to use confidants who include this or that final order on derivatives. The classical equations of cross-section fluctuation of a plate contain derivatives not above 4th order, and for piecewise homogeneous or two-layer plates the elementary approached equation of fluctuation is the equation of the sixth order. On the basis of the analytical decision of a problem the general and approached decisions of a problem are under construction, are deduced the equation of fluctuation of piecewise homogeneous two-layer plates taking into account rigid contact on border between layers, and also taking into account mechanical and rheological properties of a material of a plate. The received theoretical results for the decision of dynamic problems of cross-section fluctuation of piecewise homogeneous two-layer plates of a constant thickness taking into account viscous properties of their material allow to count more precisely the is intense-deformed status of plates at non-stationary external loadings.


Author(s):  
Philip Isett

This chapter presents the equations and calculations for energy approximation. It establishes the estimates (261) and (262) of the Main Lemma (10.1) for continuous solutions; these estimates state that we are able to accurately prescribe the energy that the correction adds to the solution, as well as bound the difference between the time derivatives of these two quantities. The chapter also introduces the proposition for prescribing energy, followed by the relevant computations. Each integral contributing to the other term can be estimated. Another proposition for estimating control over the rate of energy variation is given. Finally, the coarse scale material derivative is considered.


2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Lijiao Ma ◽  
Shaoqing Zhang ◽  
Jincheng Zhu ◽  
Jingwen Wang ◽  
Junzhen Ren ◽  
...  

AbstractNon-fullerene acceptors (NFAs) based on non-fused conjugated structures have more potential to realize low-cost organic photovoltaic (OPV) cells. However, their power conversion efficiencies (PCEs) are much lower than those of the fused-ring NFAs. Herein, a new bithiophene-based non-fused core (TT-Pi) featuring good planarity as well as large steric hindrance was designed, based on which a completely non-fused NFA, A4T-16, was developed. The single-crystal result of A4T-16 reveals that a three-dimensional interpenetrating network can be formed due to the compact π–π stacking between the adjacent end-capping groups. A high PCE of 15.2% is achieved based on PBDB-TF:A4T-16, which is the highest value for the cells based on the non-fused NFAs. Notably, the device retains ~84% of its initial PCE after 1300 h under the simulated AM 1.5 G illumination (100 mW cm−2). Overall, this work provides insight into molecule design of the non-fused NFAs from the aspect of molecular geometry control.


Author(s):  
Andreas Müller ◽  
Shivesh Kumar

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.


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