This paper presents a unified formulation capable of systematically generating the governing symbolic equations for multibody, multidomain systems. The formulation is based on the principle of orthogonality, a powerful concept that serves as a generalization of the principle of virtual work and virtual power. Since it is a graph-theoretic approach, the formulation also provides significant flex...

This work is focused on the implementation of a general multibody analysis framework for the real-time simulation of complex systems. It is applied to the modeling of the Semi-Articulated Soft-InPlane (SASIP) rotor recently installed and tested on the Wing and Rotor Aeroelastic Testing System (WRATS) at NASA Langley. The aim is to obtain a detailed, yet efficient virtual experiment, based on st...

Fast and stable simulation of granular matter and machines is achieved through a unified model for particles, fluids and rigid bodies based on constraint multibody systems and using dynamic resolution.

DEVELOPMENT AND APPLICATION OF NEW EVOLUTIONARY ALGORITHMS AND COMPUTER GRAPHICS TOOLS FOR THE DESIGN OF MULTIBODY SYSTEMS Petru-Aurelian Simionescu Doctor of Philosophy, December 17, 2004 (Doctor of Philosophy, Politehnica University, Bucharest 1999) (Bachelor of Science, Politehnica University, Bucharest 1992)

In this note we discuss strategies that would enhance modern modeling and simulation software (MSS) with reliable routines using validated data types, controlled rounding, algorithmic differentiation and interval equation or initial value problem solver. Several target systems are highlighted. In stochastic traffic modeling, the computation of workload distributions plays a prominent role since...

This paper presents results obtained from simulating several biomolecular and bulk materials using multibody dynamics algorithms. The systems studied include bulk water, alkane chains, alanine dipeptide and carboxyl terminal fragments of calmodulin, ribosomal protein, and rhodopsin. The atomistic representations of these systems include several thousand degrees of freedom and the results of nan...

| An adaptive control law for the end-e ector tracking problem of underwater vehicle-manipulator systems is presented in this paper. By exploiting the serialchain multibody mechanical structure, the overall control problem is decomposed in a set of elementary control problems, each of them formulated with respect to a single rigid body in the system. The proposed approach results in a modular c...