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This book contains the edited versions of lectures and selected contributed papers presented at the NATO Advanced Research Workshop on Real-Time Integration Methods For Mechanical System Simulation, held in Snowbird, Utah, August 7-11, 1989. The Institute was attended by 42 participants from 9 countries, including leading mathematicians and engineers from universities, research institutions, and industry. The majority of participants presented either invited or contributed papers during the Institute, and everyone participated in lively discussions on scientific aspects of the program. The Workshop provided a forum for investigation of promising new directions for solution of differential-algebraic equations (DAE) of mechanical system dynamics by mathematicians and engineers from numerous schools of thought. The Workshop addressed needs and opportunities for new methods of solving of DAE of mechanical system dynamics, from the perspective of a broad range of engineering and scientific applications. Among the most exciting new applications addressed was real time computer simulation of mechanical systems that, for the first time in human history, permits operator-in-the-Ioop simulation of equipment that is controlled by the human; e.g., driving a vehicle, operating a space telerobot, operating a remote manipulator, and operating construction equipment. The enormous potential value of this new application and the fact that real-time numerical integration methods for DAE of mechanical system dynamics is the pacing problem to be solved in realizing this potential served to focus much of the discussion at the Workshop.
List of contents
1 - DAE Applications and Basic Solution Methods.- An Example of Real-Time Simulation: Multi-body Vehicles.- Industrial Practices and Examples: Space Structures and Robots.- Real-Time Motion Base Simulation.- Aspects of Efficient and Reliable Multibody System Simulation.- Generalized Coordinate Partitioning Methods for Numerical Integration of Differential-Algebraic Equations of Dynamics.- An Introduction to Numerical Methods for ODEs and DAEs.- Methods and Software for Differential-Algebraic Systems.- 2 - New DAE and ODE Solution Methods.- A New Class of Generalized Inverses for the Solution of Discretized Euler-Lagrange Equations.- Differential-Geometric Techniques for Solving Differential Algebraic Equations.- On Baumgarte Stabilization for Differential Algebraic Equations.- A Stabilization Method for Kinematic and Kinetic Constraint Equations.- Parallel Solution of ODEs.- Subcycling Applied to Ordinary Differential Equations.- 3 - Advanced DAE Applications.- Real Time Simulation of Complex 3-D Multibody Systems with Realistic Graphics.- On the GAUSS Principle in the Numerical Integration of Mechanical Systems.- Simultaneous Derivation of Control Laws and of Dynamical Model Equations for Controlled Mechanisms.- A Comparison of Numerical Integration Methods with a View to Fast Simulation of Mechanical Dynamical Systems.- BDF Methods for DAEs in Multi-body Dynamics: Shortcomings and Improvements.
