Notes on Newton-Euler formulation of robotic manipulators

The equations corresponding to Newton-Euler iterative method for the determination of forces and moments acting on the rigid links of a robotic manipulator are given a new treatment using composed vectors for the representation of both kinematical and dynamical quantities. It is shown that Lagrange equations for the motion of a holonomic system are easily found from the composed vectors defined in this note. Application to a simple model of an industrial robot shows that the method developed in these notes is efficient in solving the dynamics of a robotic manipulator. An example is developed, where it is seen that with the application of appropriate control moments applied to each arm of the robot, starting from a given initial position, it is possible to reach equilibrium in a final pre-assigned position.

Bi-Lipschitz A-triviality of map germs and Newton filtrations

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Bi-Lipschitz G-triviality and Newton polyhedra, G = R, C, K, R-V, C-V, K-V

In this work we provide estimates for the bi-Lipschitz G-triviality, G = C or K, for a family of map germs satisfying a Lojasiewicz condition. We work with two cases: the class of weighted homogeneous map germs and the class of non-degenerate map germs with respect to some Newton polyhedron. We also consider the bi-Lipschitz triviality for families of map germs defined on an analytic variety V. We give estimates for the bi-Lipschitz G(V)-triviality where G = R,C or K in the weighted homogeneous case. Here we assume that the map germ and the analytic variety are both weighted homogeneous with respect to the same weights. The method applied in this paper is based in the construction of controlled vector fields in the presence of a suitable Lojasiewicz condition. In the last section of this work we compare our results with other results related to this work showing tables with all estimates that we know, including ours.

A new approach to the solution of the optimal power flow problem based on the modified Newton's method associated to an augmented Lagrangian function

This paper presents a new algorithm for optimal power flow problem. The algorithm is based on Newton's method which it works with an Augmented Lagrangian function associated with the original problem. The function aggregates all the equality and inequality constraints and is solved using the modified-Newton method. The test results have shown the effectiveness of the approach using the IEEE 30 and 638 bus systems.

Substitution-newton-Raphson method for the solution of electric network equations

The power flow problem, in transmission networks, has been well solved, for most cases, using Newton-Raphson method (NR) and its decoupled versions. Generally speaking, the solution of a non-linear system of equations refers to two methods: NR and Successive Substitution. The proposal of this paper is to evaluate the potential of the Substitution-Newton-Raphson Method (SNR), which combines both methods, on the solution of the power flow problem. Simulations were performed using a two-bus test network in order to observe the characteristics of these methods. It was verified that the NR is faster than SNR, in terms of convergence, considering non-stressed scenarios. For those cases where the power flow in the network is closed to the limits (stressed system), the SNR converges faster. This paper presents the power flow formulation of the SNR and describes its potential for its application in special cases such as stressed scenarios. © 2006 IEEE.

An experimental verification of newton's second law

We describe an experimental procedure to probe the validity of Newton's second law. The experimental arrangement allows us to accelerate a glider on an air track by means of forces that are both steady and known. We also show how to determine acceleration from average speeds calculated for successive time intervals of the motion measured by using several electronic counters connected to a single-crystal oscillator circuit. Within experimental errors, the experiments clearly show the proportionality between acceleration and force for a fixed mass and between acceleration and inverse of mass for a fixed force. © by the Sociedade Brasileira de Física.

Aplicação do método de Newton desacoplado para o fluxo de carga continuado

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Uma adaptação do método barreira penalidade quasi-Newton ao problema de fluxo de potência ótimo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Instrumentos antigos para o ensino de física: o tubo de Newton e seu uso no passado

O objetivo deste estudo é buscar compreender aspectos do trabalho experimental no ensino de Física no Brasil no passado, focalizando um instrumento antigo - o tubo de Newton. Considerando que a partir da Reforma Francisco Campos, em 1931, houve uma expansão do ensino secundário brasileiro e um aumento da presença de disciplinas científicas no currículo desse curso, examinamos as recomendações oficiais para o ensino de Física de 1931até 1961, quando foi promulgada a primeira Lei de Diretrizes e Bases da Educação Nacional. Procuramos investigar como o uso do tubo de Newton aparece em livros didáticos de Física para a educação secundária, editados em nosso país, no período delimitado. Em nossas conclusões consideramos que o conhecimento histórico pode ajudar a compreender aspectos relevantes a respeito do papel da experimentação no ensino de Física em nossos dias.

On the Newton method for solving fuzzy optimization problems

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

An electroanalytical application of 2-aminothiazole-modified silica gel after adsorption and separation of Hg(II) from heavy metals in aqueous solution

2-Aminothiazole covalently attached to a silica gel surface was prepared in order to obtain an adsorbent for Hg(II) ions having the following characteristics: good sorption capacity, chemical stability under conditions of use, and, especially, high selectivity. The accumulation voltammetry of mercury(II) was investigated at a carbon paste electrode chemically modified with silica gel functionalized with 2-aminothiazole (SIAMT-CPE). The repetitive cyclic voltammogram of mercury(II) solution in the potential range -0.2 to + 0.6 V versus Ag/AgCl (0.02 mol L-1 KNO3; V = 20 mV s(-1)) show two peaks one at about 0.1 V and other at 0.205 V. The anodic wave peak at 0.205 V is well defined and does not change during the cycles and it was therefore further investigated for analytical purposes using differential pulse anodic stripping voltammetry in differents supporting electrolytes. The mercury response was evaluated with respect to pH, electrode composition, preconcentration time, mercury concentration, cleaning solution, possible interferences and other variables. The precision for six determinations (n = 6) of 0.02 and 0.20 mg L-1 Hg(II) was 4.1 and 3.5% (relative standard deviation), respectively. The detection limit was estimated as 0.10 mu g L-1 mercury(II) by means of 3:1 current-to-noise ratio in connection with the optimization of the various parameters involved and using the highest-possible analyser sensitivity. (c) 2006 Elsevier Ltd. All rights reserved.

Dielectric properties of thermosetting material nanocomposites

The dieletric relaxation properties of thermosetting material nanocomposites based on spherosilicate nanoplatforms were studied from room temperature to 170 degrees C, varying the frequency from 10 to 1000 KHz. Permittivity (epsilon'), dielectric loss (epsilon ''), and activation energy (E-a) were calculated. The results of dielectric relaxation were confirmed by those of the final properties. The dielectric loss amplitude decreases with increasing ODPG content until about 70-73 wt % and slightly increases at higher ODPG content. This means that the increasing of the ODPG content in the composite samples decreases the number of pendants groups and/or increases crosslink densitv, causing decreased motion of organic tethers, and subsequently decreasing of the dipolar mobility. The results of apparent activation energy, fracture toughness and tensile modulus mechanical properties show the same profile with respect to ODPG content, in the sense that they exhibit maxima around 70 wt % ODPG. For the ODPG/MDA composites, this formulation of 70 wt % ODPG containing excess of amine is not composition where the highest crosslinked density is reached. This implies that the best mechanical properties and E-a are provided by some degree of chain flexibility. (c) 2007 Wiley Periodicals, Inc.

Desenvolvimento e caracterização de nanocápsulas de poli (L-lactídeo) contendo benzocaína

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)