-A technique to numerically obtain the static equilibrium s ta te of a conventional dragline excavation system is reported, including static pose of the bucket as well as internal loads acting on elements of the excavation system. Equilibrium conditions are generated by numerically integrat ing the dynamic equations of motion with the hoist and drag rope lengths fixed. It is shown tha t this me...

Classical knot theory is about the classification, up to isotopy, of embedded closed curves in three-dimensional space. Two closed curves embedded in three-dimensional space are said to be isotopic if there is a continuous family of embeddings starting with one curve and ending with the other curve. This definition of isotopy captures our intuitive notion of moving a length of elastic rope abou...

This paper deals with stage motion control system for scene manipulation during theater performance. Particular task of rope drum control is presented and solved. The system exhibits an oscillatory dynamics due to the elasticity of the rope with a hanging load. The goal was to find a simple control strategy based on a common cascade PID structure which is available in most of the industrial AC ...

[1] Flux ropes have long been observed in the upper atmosphere of Venus and more recently at Mars. Here we present magnetic field measurements of flux ropes encountered at the southern terminator of Mars by Mars Global Surveyor and compare them to a flux rope model. This allows several parameters of each rope to be inferred. Remarkably similar flux ropes are met repeatedly at the southern termi...

This paper is a continuation of work originally undertaken by the authors which predicts the static pose of a 1:20 scale dragline bucket and rigging throughout its workspace. Based on the results of this prior work, a two degree of freedom pendulum model is used to describe the dynamic response of the bucket to a small velocity inputs of the drag-rope. Linear differential equations, valid for s...

In this paper an acceleration method for finding the nearest ray–object intersection for ray tracing purposes is presented. We use the concept of BSP trees enriched by rope trees. These are used to accelerate the traversal of the BSP tree. We give a comparison of experimental results between the technique based on BSP tree and uniform spatial subdivision.

Searching for best configurations to achieve some goal is a fundamental trait of intelligence and can be found in many ancient stories, such as the Carthaginian bullhide rope in 800s B.C. and Sun’s strategy of rearranging of best, average and inferior horses to race against king’s in 340s B.C. in ancient China[1]. In the contemporary world, almost all branches of engineering have been highly de...