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.

Unscented Kalman Filter Applied to the Spacecraft Attitude Estimation with Euler Angles

The aim of this work is to test an algorithm to estimate, in real time, the attitude of an artificial satellite using real data supplied by attitude sensors that are on board of the CBERS-2 satellite (China Brazil Earth Resources Satellite). The real-time estimator used in this work for attitude determination is the Unscented Kalman Filter. This filter is a new alternative to the extended Kalman filter usually applied to the estimation and control problems of attitude and orbit. This algorithm is capable of carrying out estimation of the states of nonlinear systems, without the necessity of linearization of the nonlinear functions present in the model. This estimation is possible due to a transformation that generates a set of vectors that, suffering a nonlinear transformation, preserves the same mean and covariance of the random variables before the transformation. The performance will be evaluated and analyzed through the comparison between the Unscented Kalman filter and the extended Kalman filter results, by using real onboard data.

A relação de Euler para poliedros

In this paper we analyze the Euler Relation generally using as a means to visualize the fundamental idea presented manipulation of concrete materials, so that there is greater ease of understanding of the content, expanding learning for secondary students and even fundamental. The study is an introduction to the topic and leads the reader to understand that the notorious Euler Relation if inadequately presented, is not sufficient to establish the existence of a polyhedron. For analyzing some examples, the text inserts the idea of doubt, showing cases where it is not fit enough numbers to validate the Euler Relation. The research also highlights a theorem certainly unfamiliar to many students and teachers to research the polyhedra, presenting some very simple inequalities relating the amounts of edges, vertices and faces of any convex polyhedron, which clearly specifies the conditions and sufficient necessary for us to see, without the need of viewing the existence of the solid screen. And so we can see various polyhedra and facilitate understanding of what we are exposed, we will use Geogebra, dynamic application that combines mathematical concepts of algebra and geometry and can be found through the link http://www.geogebra.org

LEAST ACTION PRINCIPLE and THE INCOMPRESSIBLE EULER EQUATIONS WITH VARIABLE DENSITY

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

BORN-INFELD ELECTRODYNAMICS and EULER-HEISENBERG-LIKE MODEL: OUTSTANDING EXAMPLES of THE LACK of COMMUTATIVITY AMONG QUANTIZED TRUNCATED ACTIONS and TRUNCATED QUANTIZED ACTIONS

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Polar Multiplicities and Euler obstruction of the stable types in weighted homogeneous map germs from C-n to C-3 n >= 3

In this article we show that for corank 1, quasi-homogeneous and finitely determined map germs f : (C-n, 0)-> (C-3, 0), n >= 3 one can obtain formulae for the polar multiplicities defined on the following stable types of f, f(Delta(f) and f(Sigma(n-2,1)(f), in terms of the weights and degrees of f. As a consequence we show how to compute the Euler obstruction of such stable types, also in terms of the weights and degrees of f.

Numerical simulation of viscous three-dimensional flow over aerospace vehicles using Euler/boundary-layer zonal approach

This paper presents a viscous three-dimensional simulations coupling Euler and boundary layer codes for calculating flows over arbitrary surfaces. The governing equations are written in a general non orthogonal coordinate system. The Levy-Lees transformation generalized to three-dimensional flows is utilized. The inviscid properties are obtained from the Euler equations using the Beam and Warming implicit approximate factorization scheme. The resulting equations are discretized and approximated by a two-point fmitedifference numerical scheme. The code developed is validated and applied to the simulation of the flowfield over aerospace vehicle configurations. The results present good correlation with the available data.

On the regularity of the pressure field of relaxed solutions to Euler equations with variable density

In this paper we improve the regularity in time of the gradient of the pressure field in the solution of relaxed version of variational formulation proposed by V. I. Arnold and by Y. Brenier, for the incompressible Euler equations with variable density. We obtain that the pressure field is not only a measure, but a function in Lloc2((0,T);BVloc(D)) as an extension of the work of Ambrosio and Figalli (2008) in [1] to the variable density case. © 2013 Elsevier Ltd.

Discretização de Euler para controle impulsivo

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Algumas observações sobre a características de Euler: uma introdução de elementos da história da matemática no ensino médio

Pós-graduação em Educação Matemática - IGCE

A característica de Euler

Pós-graduação em Matemática em Rede Nacional - IBILCE

Poliedros e Teorema de Euler

Pós-graduação em Matemática em Rede Nacional - IBILCE

O cálculo variacional e o problema da braquistócrona

Pós-graduação em Matemática Universitária - IGCE

Deconvolução de Euler: passado, presente e futuro – um tutorial

Neste tutorial apresentamos uma revisão da deconvolução de Euler que consiste de três partes. Na primeira parte, recordamos o papel da clássica formulação da deconvolução de Euler 2D e 3D como um método para localizar automaticamente fontes de campos potenciais anômalas e apontamos as dificuldades desta formulação: a presença de uma indesejável nuvem de soluções, o critério empírico usado para determinar o índice estrutural (um parâmetro relacionado com a natureza da fonte anômala), a exeqüibilidade da aplicação da deconvolução de Euler a levantamentos magnéticos terrestres, e a determinação do mergulho e do contraste de susceptibilidade magnética de contatos geológicos (ou o produto do contraste de susceptibilidade e a espessura quando aplicado a dique fino). Na segunda parte, apresentamos as recentes melhorias objetivando minimizar algumas dificuldades apresentadas na primeira parte deste tutorial. Entre estas melhorias incluem-se: i) a seleção das soluções essencialmente associadas com observações apresentando alta razão sinal-ruído; ii) o uso da correlação entre a estimativa do nível de base da anomalia e a própria anomalia observada ou a combinação da deconvolução de Euler com o sinal analítico para determinação do índice estrutural; iii) a combinação dos resultados de (i) e (ii), permitindo estimar o índice estrutural independentemente do número de soluções; desta forma, um menor número de observações (tal como em levantamentos terrestres) pode ser usado; iv) a introdução de equações adicionais independentes da equação de Euler que permitem estimar o mergulho e o contraste de susceptibilidade das fontes magnéticas 2D. Na terceira parte apresentaremos um prognóstico sobre futuros desenvolvimentos a curto e médio prazo envolvendo a deconvolução de Euler. As principais perspectivas são: i) novos ataques aos problemas selecionados na segunda parte deste tutorial; ii) desenvolvimento de métodos que permitam considerar interferências de fontes localizadas ao lado ou acima da fonte principal, e iii) uso das estimativas de localização da fonte anômala produzidas pela deconvolução de Euler como vínculos em métodos de inversão para obter a delineação das fontes em um ambiente computacional amigável.

Interpretação aeromagnética automática com uso da equação homogênea de Euler e sua aplicação na Bacia do Solimões

ABSTRACT: We present here a methodology for the rapid interpretation of aeromagnetic data in three dimensions. An estimation of the x, y and z coordinates of prismatic elements is obtained through the application of "Euler's Homogeneous equation" to the data. In this application, it is necessary to have only the total magnetic field and its derivatives. These components can be measured or calculated from the total field data. In the use of Euler's Homogeneous equation, the structural index, the coordinates of the corners of the prism and the depth to the top of the prism are unknown vectors. Inversion of the data by classical least-squares methods renders the problem ill-conditioned. However, the inverse problem can be stabilized by the introduction of both a priori information within the parameter vector together with a weighting matrix. The algorithm was tested with synthetic and real data in a low magnetic latitude region and the results were satisfactory. The applicability of the theorem and its ambiguity caused by the lack of information about the direction of total magnetization, inherent in all automatic methods, is also discussed. As an application, an area within the Solimões basin was chosen to test the method. Since 1977, the Solimões basin has become a center of exploration activity, motivated by the first discovery of gas bearing sandstones within the Monte Alegre formation. Since then, seismic investigations and drilling have been carried on in the region. A knowledge of basement structures is of great importance in the location of oil traps and understanding the tectonic history of this region. Through the application of this method a preliminary estimate of the areal distribution and depth of interbasement and sedimentary magnetic sources was obtained.