Recursive Newton-Euler formulation of manipulator dynamics

A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model

On the stability of equilibrium of continuous systems Technical report no. 65-1

Stability of equilibrium of linear elastic continuum - Galerkin metho

Torsional Instability of Cantilevered Bars Subjected to Nonconservative Loading

Cantilever bar torsional instability under nonconservative compression loadin

On the Stability Equilibrium of Continuous Systems

Sufficiency theorem for stability of linearly viscoelastic solid subjected to partial follower surface traction

Destabilizing effect of velocity-dependent forces in nonconservative continuous systems Technical report no. 65-4

Velocity dependent force destabilizing effect in cantilevered continuous pipe conveying fluid at constant velocit

QCD thermodynamics and magnetization in nonzero magnetic field

In nonzero magnetic field, the magnetic properties and thermodynamics of the quantum-chromodynamic (QCD) matter is studied in the hadron resonance gas and the Polyakov linear-sigma models and compared with recent lattice calculations. Both models are fairly suited to describe the degrees of freedom in the hadronic phase. The partonic ones are only accessible by the second model. It is found that the QCD matter has paramagnetic properties, which monotonically depend on the temperature and are not affected by the hadron-quark phase-transition. Furthermore, raising the magnetic field strength increases the thermodynamic quantities, especially in the hadronic phase but reduces the critical temperature, i.e. inverse magnetic catalysis.Comment: 14 pages, 3 figures accepted for publication in AHE

On dynamical net-charge fluctuations within a hadron resonance gas approach

The dynamical net-charge fluctuations (${\nu}_{dyn}$) in different particle ratios $K/{\pi}$, $K/p$, and $p/{\pi}$ are calculated from the hadron resonance gas (HRG) model and compared with STAR central Au+Au collisions at $\sqrt{s_{NN}}=7.7-200~$GeV and NA49 central Pb+Pb collisions at $\sqrt{s_{NN}}=6.3-17.3~$GeV. The three charged-particle ratios ($K/{\pi}$, $K/p$, and $p/{\pi}$) are determined as total and average of opposite and average of same charges. We find an excellent agreement between the HRG calculations and the experimental measurements, especially from STAR beam energy scan (BES) program, while the strange particles in the NA49 experiment at lower Super Proton Synchrotron (SPS) energies are not reproduced by the HRG approach. We conclude that the utilized HRG version seems to take into consideration various types of correlations including strong interactions through the heavy resonances and their decays especially at BES energies.Comment: 8 pages, 1 figure, accepted for publication in Advances in High Energy Physic

Analisis Kebutuhan Iluminasi Auditorium Mokodompit Universitas Haluoleo

Target expected from this research is to determine the correct illumination as same as to standardization and to determine the required lamp dot amount. Method used is Literature study, that is by conducting book study of related to calculation analysis, that is conduct the calculation analysis of pursuant to data obtained from picture of planning of auditorium building. Conclusion and result obtained by that factor influencing illumination calculation of a building is high of assembling shop of lamp to area enlightened the, used lamp type, angle of deflection lamp, sum up the used lamp, wide of area surface enlightened. Considering the level of illumination standard for the building of auditorium is 1000 Lux, to analyze the level of illumination used at Mokodompit Auditorium of Haluoleo University can be told extravagan

Dry Port Location Factor Determination using Delphi in Peninsular Region

Locating a dry port depends on various criteria such as distance, modes of transport, cost associated, environmental, geographical, and social concerns. The paper\u27s primary purpose is to identify the location-specific attributes impacting dry port locations, particularly in peninsular India, where seaports are very close to each other. The paper\u27s objective has been achieved through a four-cycle Delphi survey and criticality through linear ranking and consistency through Kendall’s ‘W’. Initially, the criteria are identified through a systematic literature survey. They are then sieved within a focus group consisting of five experts with experience of more than twenty years in port operations. Final vetting of the criterion is done through a Delphi survey; the experts with a mutual interest in the subject but from different backgrounds are included. The final vetted list is determined. In the last two rounds of the survey, the rankings were determined, a consensus was reached, and the final rank was obtained. The results indicate that proximity and economic criteria are the most crucial in the chosen geography, which contradicts the developed regions, where the environmental criterion dominates. However, the environmental criteria have been ranked third. Even though the Delphi method is an age-old method used in many literatures in different contexts, it is not used in a dry port problem in the peninsular region. Consensus building is significant in strategic decisions, like dry port location selection. Since this study involves multiple stakeholders from diverse backgrounds and a subjective opinion was required, the Delphi method and linear ranking have been adopted