The Dynamic Model of Plane Mechanism with Variable Ratio.

The paper contains the proposal how to reduce many–elements plane mechanism with one degree of freedom to chosen axis or line as one–element model of mechanism. Mostly the place of reduction is driving element in rotary motion (for example, shaft of electric motor) or element in linear motion (for example, piston rod of hydraulic cylinder). The way of determining reduced load and reduced mass of the model is described. Presented mathematical description let determine: firstly, required driving torque or force to provide the suitable acceleration when loads of element are known and secondly, the acceleration (angular or linear) of driving element as result of known driving torque or force and loads of element

PALS-Based Analysis of an Airplane Multirate Control System in Real-Time Maude

Distributed cyber-physical systems (DCPS) are pervasive in areas such as aeronautics and ground transportation systems, including the case of distributed hybrid systems. DCPS design and verification is quite challenging because of asynchronous communication, network delays, and clock skews. Furthermore, their model checking verification typically becomes unfeasible due to the huge state space explosion caused by the system's concurrency. The PALS ("physically asynchronous, logically synchronous") methodology has been proposed to reduce the design and verification of a DCPS to the much simpler task of designing and verifying its underlying synchronous version. The original PALS methodology assumes a single logical period, but Multirate PALS extends it to deal with multirate DCPS in which components may operate with different logical periods. This paper shows how Multirate PALS can be applied to formally verify a nontrivial multirate DCPS. We use Real-Time Maude to formally specify a multirate distributed hybrid system consisting of an airplane maneuvered by a pilot who turns the airplane according to a specified angle through a distributed control system. Our formal analysis revealed that the original design was ineffective in achieving a smooth turning maneuver, and led to a redesign of the system that satisfies the desired correctness properties. This shows that the Multirate PALS methodology is not only effective for formal DCPS verification, but can also be used effectively in the DCPS design process, even before properties are verified.Comment: In Proceedings FTSCS 2012, arXiv:1212.657

A discrete geometric approach for simulating the dynamics of thin viscous threads

We present a numerical model for the dynamics of thin viscous threads based on a discrete, Lagrangian formulation of the smooth equations. The model makes use of a condensed set of coordinates, called the centerline/spin representation: the kinematical constraints linking the centerline's tangent to the orientation of the material frame is used to eliminate two out of three degrees of freedom associated with rotations. Based on a description of twist inspired from discrete differential geometry and from variational principles, we build a full-fledged discrete viscous thread model, which includes in particular a discrete representation of the internal viscous stress. Consistency of the discrete model with the classical, smooth equations is established formally in the limit of a vanishing discretization length. The discrete models lends itself naturally to numerical implementation. Our numerical method is validated against reference solutions for steady coiling. The method makes it possible to simulate the unsteady behavior of thin viscous jets in a robust and efficient way, including the combined effects of inertia, stretching, bending, twisting, large rotations and surface tension

Unified Direct-Flux Vector Control for AC Motor Drives

The paper introduces a Unified Direct-Flux Vector Control scheme suitable for sinusoidal AC motor drives. The AC drives considered here are Induction Motor, Synchronous Reluctance and synchronous Permanent Magnet motor drives, including Interior and Surface-mounted Permanent Magnet types. The proposed controller operates in stator flux coordinates: the stator flux amplitude is directly controlled by the direct voltage component, while the torque is controlled by regulating the quadrature current component. The unified direct-flux control is particularly convenient when flux-weakening is required, since it easily guarantees maximum torque production under current and voltage limitations. The hardware for control is standard and the control firmware is the same for all the motors under test with the only exception of the magnetic model used for flux estimation at low speed. Experimental results on four different drives are provided, showing the validity of the proposed unified control approac

VADER: A Flexible, Robust, Open-Source Code for Simulating Viscous Thin Accretion Disks

The evolution of thin axisymmetric viscous accretion disks is a classic problem in astrophysics. While models based on this simplified geometry provide only approximations to the true processes of instability-driven mass and angular momentum transport, their simplicity makes them invaluable tools for both semi-analytic modeling and simulations of long-term evolution where two- or three-dimensional calculations are too computationally costly. Despite the utility of these models, the only publicly-available frameworks for simulating them are rather specialized and non-general. Here we describe a highly flexible, general numerical method for simulating viscous thin disks with arbitrary rotation curves, viscosities, boundary conditions, grid spacings, equations of state, and rates of gain or loss of mass (e.g., through winds) and energy (e.g., through radiation). Our method is based on a conservative, finite-volume, second-order accurate discretization of the equations, which we solve using an unconditionally-stable implicit scheme. We implement Anderson acceleration to speed convergence of the scheme, and show that this leads to factor of $\sim 5$ speed gains over non-accelerated methods in realistic problems, though the amount of speedup is highly problem-dependent. We have implemented our method in the new code Viscous Accretion Disk Evolution Resource (VADER), which is freely available for download from https://bitbucket.org/krumholz/vader/ under the terms of the GNU General Public License.Comment: 58 pages, 13 figures, accepted to Astronomy & Computing; this version includes more discussion, but no other changes; code is available for download from https://bitbucket.org/krumholz/vader