About: Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The paper describes the multibody formalism based on natural coordinates and modified state space that is suitable for real-time applications. The complex multibody systems include closed loops and thus result into DAE equations. Their simulation then usually requires iterative stabilization. The described multibody formalism has two important properties making it suitable for real-time applications. Firstly, it provides the stable solution of DAE equations for multibody systems with kinematical loops without necessity of iterations. Secondly, it consists of system matrices with simple expressions (constant, linear or quadratic terms) for their elements and thus it is very suitable for massive parallelization. The resulting computational complexity is growing only linearly with the number of DOFs despite any occurrence of kinematical loops and it is about 5 times smaller than the recursive multibody formalisms. The paper describes the multibody formalism based on natural coordinates and modified state space that is suitable for real-time applications. The complex multibody systems include closed loops and thus result into DAE equations. Their simulation then usually requires iterative stabilization. The described multibody formalism has two important properties making it suitable for real-time applications. Firstly, it provides the stable solution of DAE equations for multibody systems with kinematical loops without necessity of iterations. Secondly, it consists of system matrices with simple expressions (constant, linear or quadratic terms) for their elements and thus it is very suitable for massive parallelization. The resulting computational complexity is growing only linearly with the number of DOFs despite any occurrence of kinematical loops and it is about 5 times smaller than the recursive multibody formalisms. (en) Článek se zabývá formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru. (cs)
Title	Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space Formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru. (cs) Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space (en)
skos:prefLabel	Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space Formalismy pro soustavy mnoha těles pro řešení v reálném čase s použitím přirozených souřadnic a modifikovaného stavového prostoru. (cs) Multibody Formalism for Real-Time Application Using Natural Coordinates and Modified State Space (en)
skos:notation	RIV/68407700:21220/07:02135804!RIV08-MSM-21220___
http://linked.open.../vavai/riv/strany	209;227
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM6840770003)
http://linked.open...iv/cisloPeriodika	2-3
http://linked.open...vai/riv/dodaniDat	2008
http://linked.open...aciTvurceVysledku	Vaculín, Ondřej Šika, Zbyněk Valášek, Michael
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta strojní
http://linked.open...dnocenehoVysledku	435569
http://linked.open...ai/riv/idVysledku	RIV/68407700:21220/07:02135804
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	multibody formalism in modified state space; natural coordinates; parallelization; rigid bodies (en)
http://linked.open.../riv/klicoveSlovo	multibody formalism in modified state space parallelization natural coordinates rigid bodies
http://linked.open...odStatuVydavatele	NL - Nizozemsko
http://linked.open...ontrolniKodProRIV	[7A9CD43B6A19]
http://linked.open...i/riv/nazevZdroje	Multibody System Dynamics
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...UplatneniVysledku	2007
http://linked.open...v/svazekPeriodika	17
http://linked.open...iv/tvurceVysledku	Valášek, Michael Šika, Zbyněk Vaculín, Ondřej
http://linked.open...n/vavai/riv/zamer	Rozvoj algoritmů počítačových simulací a jejich aplikace v inženýrství
issn	1384-5640
number of pages	19 (xsd:int)
http://localhost/t...ganizacniJednotka	21220

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