98 research outputs found
Segurança no trabalho de aplicação de agrotóxicos com o pulverizador de pistolas em citros
Segurança no trabalho de preparo de calda no tanque de 2.000l do turbopulverizador com formulações líquidas de agrotóxicos registradas para a cultura de goiaba
Efeito de diferentes manejos de fornecimento prolongado de colostro sobre os níveis de proteína e albúmina séricas e desempenho de bezerras recém-nascidas
Quality of colostral passive immunity and pattern of serum protein fluctuation in newborn calves
Desenvolvimento de equipamento motorizado para aplicação líquida de produtos fitossanitários na cultura do café
On the constraints violation in forward dynamics of multibody systems
It is known that the dynamic equations of motion for constrained mechanical multibody systems are frequently formulated using the Newton-Euler’s approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of partial differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. The classical resolution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is offered. The basic idea of the described approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as function of the Moore-Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations. The described methodology is embedded in the standard method to solve the equations of motion based on the technique of Lagrange multipliers. Finally, the effectiveness of the described methodology is demonstrated through the dynamic modeling and simulation of different planar and spatial multibody systems. The outcomes in terms of constraints violation at the position and velocity levels, conservation of the total energy and computational efficiency are analyzed and compared with those obtained with the standard Lagrange multipliers method, the Baumgarte stabilization method, the augmented Lagrangian formulation, the index-1 augmented Lagrangian and the coordinate partitioning method.The first author expresses his gratitude to the Portuguese Foundation for Science and Technology through the PhD grant (PD/BD/114154/2016). This work has been supported by the Portuguese Foundation for Science and Technology with the reference project UID/EEA/04436/2013, by FEDER funds through the COMPETE 2020 – Programa Operacional Competitividade e Internacionalização (POCI) with the reference project POCI-01-0145-FEDER-006941.info:eu-repo/semantics/publishedVersio
Controle de plantas daninhas na cultura do algodoeiro (Gossypium hirsutum L.) em solo anteriormente ocupado por vegetação de Cerrado
Resposta de cultivares de trigo ao nitrogênio em relação às fontes e épocas de aplicação sob plantio direto e irrigação por aspersão
Características ultraestruturais da mucosa intestinal de bezerros recém-nascidos alimentados na segunda refeição com colostro enriquecido com IGF-I e IgG
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