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.

Os marcos da paisagem da cidade no contexto da trama urbana de Natal/RN: um estudo a partir do Morro do Careca, o Midway Mall, o Pórtico dos Reis Magos e a Ponte Newton Navarro

The present work is a study on the functions performed by landmarks landscape Natal / RN in the urban fabric, in the case of Midway Mall, the Portico dos Reis Magos, the Morro do Careca and Newton Navarro Bridge. For such goals established itself as analyze the functionality of the milestones presented here in the urban fabric; discuss the importance of these landmarks of the city landscape in the process of urbanization of Natal, and identify and spatialize actions related to the use of territories where are located landmarks, discussing their reflections. To achieve these goals we chose to use as a literature search procedures, the problematic concept, working with oral sources, and reading speechless. To support this research the main concepts were worked landscape, city, landmark, public space, circuits, among others. After going over the theory, consistent with the empirical data, it appears that the landmarks studied here have different functions and features, but all carry different forms of fascination for the public and visitors to the city, and every man your way, influence the public space, land speculation and feature importance in the process of urbanization of Natal

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)

XMM-Newton EPIC and OM observation of Nova Centauri 1986 (V842 Cen)

We report the results from the temporal and spectral analysis of an XMMNewton observation of Nova Centauri 1986 (V842 Cen). We detect a period at 3.51 +/- 0.4 h in the EPIC data and at 4.0 +/- 0.8 h in the Optical Monitor (OM) data. The X-ray spectrum is consistent with the emission from an absorbed thin thermal plasma with a temperature distribution given by an isobaric cooling flow. The maximum temperature of the cooling flow model is keV. Such a high temperature can be reached in a shocked region and, given the periodicity detected, most likely arises in a magnetically channelled accretion flow characteristic of intermediate polars. The pulsed fraction of the 3.51-h modulation decreases with energy as observed in the X-ray light curves of magnetic cataclysmic variables, possibly due either to occultation of the accretion column by the white dwarf body or phase-dependent to absorption. We do not find the 57-s white dwarf spin period, with a pulse amplitude of 4 mmag, reported by Woudt et al. in either the OM data, which are sensitive to pulse amplitudes ?0.03 mag, or the EPIC data, sensitive to pulse fractions p? 14 +/- 2 per cent.

The peculiar isolated neutron star in the Carina Nebula Deep XMM-Newton and ESO-VLT observations of 2XMM J104608.7-594306

While fewer in number than the dominant rotation-powered radio pulsar population, peculiar classes of isolated neutron stars (INSs) which include magnetars, the ROSAT-discovered "Magnificent Seven" (M7), rotating radio transients (RRATs), and central compact objects in supernova remnants (CCOs) - represent a key element in understanding the neutron star phenomenology. We report the results of an observational campaign to study the properties of the source 2XMM J104608.7-594306, a newly discovered thermally emitting INS. The evolutionary state of the neutron star is investigated by means of deep dedicated observations obtained with the XMM-Newton Observatory, the ESO Very Large Telescope, as well as publicly available gamma-ray data from the Fermi Space Telescope and the AGILE Mission. The observations confirm previous expectations and reveal a unique type of object. The source, which is likely within the Carina Nebula (N-H = 2.6x10(21) cm(-2)), has a spectrum that is both thermal and soft, with kT(infinity) = 135 eV. Non-thermal (magnetospheric) emission is not detected down to 1% (3 sigma, 0.1-12 keV) of the source luminosity. Significant deviations (absorption features) from a simple blackbody model are identified in the spectrum of the source around energies 0.6 keV and 1.35 keV. While the former deviation is likely related to a local oxygen overabundance in the Carina Nebula, the latter can only be accounted for by an additional spectral component, which is modelled as a Gaussian line in absorption with EW = 91 eV and sigma = 0.14 keV (1 sigma). Furthermore, the optical counterpart is fainter than m(V) = 27 (2 sigma) and no gamma-ray emission is significantly detected by either the Fermi or AGILE missions. Very interestingly, while these characteristics are remarkably similar to those of the M7 or the only RRAT so far detected in X-rays, which all have spin periods of a few seconds, we found intriguing evidence of very rapid rotation, P = 18.6ms, at the 4 sigma confidence level. We interpret these new results in the light of the observed properties of the currently known neutron star population, in particular those of standard rotation-powered pulsars, recycled objects, and CCOs. We find that none of these scenarios can satisfactorily explain the collective properties of 2XMM J104608.7-594306, although it may be related to the still poorly known class of Galactic anti-magnetars. Future XMM-Newton data, granted for the next cycle of observations (AO11), will help us to improve our current observational interpretation of the source, enabling us to significantly constrain the rate of pulsar spin down.