A contribution on modeling methodologies for multibody systems.

Multibody System Dynamics has been responsible for revolutionizing Mechanical Engineering Design by using mathematical models to simulate and optimize the dynamic behavior of a wide range of mechanical systems. These mathematical models not only can provide valuable informations about a system that could otherwise be obtained only by experiments with prototypes, but also have been responsible for the development of many model-based control systems. This work represents a contribution for dynamic modeling of multibody mechanical systems by developing a novel recursive modular methodology that unifies the main contributions of several Classical Mechanics formalisms. The reason for proposing such a methodology is to motivate the implementation of computational routines for modeling complex multibody mechanical systems without being dependent on closed source software and, consequently, to contribute for the teaching of Multibody System Dynamics in undergraduate and graduate levels. All the theoretical developments are based on and motivated by a critical literature review, leading to a general matrix form of the dynamic equations of motion of a multibody mechanical system (that can be expressed in terms of any set of variables adopted for the description of motions performed by the system, even if such a set includes redundant variables) and to a general recursive methodology for obtaining mathematical models of complex systems given a set of equations describing the dynamics of each of its uncoupled subsystems and another set describing the constraints among these subsystems in the assembled system. This work also includes some discussions on the description of motion (using any possible set of motion variables and admitting any kind of constraint that can be expressed by an invariant), and on the conditions for solving forward and inverse dynamics problems given a mathematical model of a multibody system. Finally, some examples of computational packages based on the novel methodology, along with some case studies, are presented, highlighting the contributions that can be achieved by using the proposed methodology.

Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some non-contact processes. A new dynamic visual controller is proposed in order to control the 4-axis joint structure, where image information is used in the control loop to guide the robot tool in the machining task. In addition, this controller eliminates the chaotic joint behavior which appears during tracking of the quasi-repetitive trajectories required in machining processes. Moreover, this robot tool can be coupled to a manipulator robot in order to form a multi-robot platform for complex manufacturing tasks. Therefore, the robot tool could perform a machining task using a piece grasped from the workspace by a manipulator robot. This manipulator robot could be guided by using visual information given by the robot tool, thereby obtaining an intelligent multi-robot platform controlled by only one camera.

Effect of water vapour condensation on the radon content in subsurface air in a hypogeal inactive-volcanic environment in Galdar cave, Spain

Fluctuations of trace gas activity as a response to variations in weather and microclimate conditions were monitored over a year in a shallow volcanic cave (Painted Cave, Galdar, Canary Islands, Spain). 222Rn concentration was used due to its greater sensitivity to hygrothermal variations than CO2 concentration. Radon concentration in the cave increases as effective vapour condensation within the porous system of the rock surfaces inside the cave increases due to humidity levels of more than 70%. Condensed water content in pores was assessed and linked to a reduction in the direct passage of trace gases. Fluctuations in radon activity as a response to variations in weather and microclimate conditions were statistically identified by clustering entropy changes on the radon signal and parameterised to predict radon concentration anomalies. This raises important implications for other research fields, including the surveillance of shallow volcanic and seismic activity, preventive conservation of cultural heritage in indoor spaces, indoor air quality control and studies to improve understanding of the role of subterranean terrestrial ecosystems as reservoirs and/or temporary sources of trace gases.

Truck noise IV-G. Field test results on a heavy duty, diesel truck having reduced noise emissions. Seventh report.

Transportation Department, Office of Noise Abatement, Washington, D.C.

Preliminary human factors guidelines for traffic management centers.

Federal Highway Administration, ITS Joint Program Office, Washington, D. C.

Driver expectancy in highway design and traffic operations. Final report.

Mode of access: Internet.

Traffic management for middle lane maintenance on urban freeways. Interim report.

Texas State Department of Highways and Public Transportation, Transportation Planning Division, Austin

State of the art: residential traffic management.

Federal Highway Administration, Office of Research, Washington, D.C.

Allegations of improper lobbying by Department of Defense personnel of the C-5B and B-1B aircraft and sale to Saudi Arabia of the airborne warning and control system : report together with separate views of the Investigations Subcommittee of the Committee on Armed Services, House of Representatives, Ninety-seventh Congress, second session, December 30, 1982.

Mode of access: Internet.

Air quality criteria for hydrocarbons.

Includes bibliographies.

Control techniques for carbon monoxide emissions from stationary sources.

Includes bibliographies.

Air quality criteria for photochemical oxidants.

Includes bibliographies.

Control techniques for hydrocarbon and organic solvent emissions from stationary sources.

Includes bibliographies.

Air quality criteria for carbon monoxide.

Includes bibliographies.

Control techniques for nitrogen oxides from stationary sources.

Includes bibliographies.