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Asymptotic stabilization of the heavy top using controlled Lagrangians
In this paper we extend the previous work on the
asymptotic stabilization of pure Euler-PoincarĂŠ mechanical
systems using controlled Lagrangians to the
study of asymptotic stabilization of Euler-PoincarĂŠ mechanical
systems such as the heavy top
Reduction of Controlled Lagrangian and Hamiltonian Systems with Symmetry
We develop reduction theory for controlled Lagrangian and controlled Hamiltonian systems with symmetry. Reduction theory for these systems is needed in a variety of examples, such as a spacecraft with rotors, a heavy top with rotors, and underwater vehicle dynamics. One of our main results shows the equivalence of the method of reduced controlled Lagrangian systems and that of reduced controlled Hamiltonian systems in the case of simple mechanical systems with symmetry
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Visualising ergonomics data for design
Existing ergonomics data are not effectively used by designers; this is mainly because the data are not presented in a designer-friendly format. In order to help designers make better use of ergonomics data, we explored the potential of representing existing ergonomics data in a more dynamic and visual way, and making them look more relevant to design. The Cambridge Engineering Selector (CES) was adopted to turn static ergonomics data into manipulative and comparative data sets. Contextual information in a visual format was added; clearer illustrations and scenarios relevant to design were developed; design case studies were compiled and linked to the relevant ergonomics data sets â the process resulted in a new design support tool: the ErgoCES. The tool was consequently brought to both design students and professionals for evaluation. The results suggested that the ErgoCES had helped making ergonomics data more accessible to designers, and many new features (e.g. scenarios and case studies) were highly valued by the designers. Among the participants, 100% of the design students and 79% of the professionals indicated that they would use the tool when it becomes widely available.The research project is funded by the Engineering and Physical Sciences Research Council, Grant EP/F0 32145/1. The authors would like to thank all the participants for helping evaluating the tool. Hua Dong is currently sponsored by The Program for Professor of Special Appointment (Eastern Scholar) at Shanghai Institutions of Higher Learning
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