Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 338 for “"rigid body"”.
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Skyrmions -- beyond rigid body quantisation
… Skyrmions; most calculations to date have used rigid body quantisation, where the Skyrmions are allowed to rotate but remain rigid. The method reproduces some experimental results for light nuclei but there are some contradictions with data. In this thesis we study a more sophisticated …
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Optimal rigid-body rotational maneuvers
Optimal rigid-body angular maneuvers are investigated, using restricted control moments—a problem inspired in the context of rotational maneuvers for <i>super-maneuverable</i> aircraft. Most of the analysis is based on the formulation with no direct control over the roll component of angular …
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A Qualitative Approach to Rigid Body Mechanics
In order for a program to interact with the world as well as people do, we must provide it with a great deal of commonsense about the way things work. Reasoning about the geometric interactions and motions of objects is an important part of that commonsense. Some of the most complex problems we …
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Interactive control of linked rigid body simulations
Numerical simulation of linked rigid-body motion generates realistic motion automatically. Simulation alone, however, prevents intuitive direction. In the worst case, an artist repeatedly tweaks a variety of simulation parameters until she achieves the desired effect. Because of the complexity of …
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Facet model optic flow and rigid body motion
… on the relationship between optic flow field and rigid body motion. The non-iterative technique computes motion parameters by solving a linear system derived from the relationship between optic flow field and rigid body motion and then computes the relative depth of each pixel using the motion …
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Inference and learning for rigid-body models of manipulation
… Particularly, we investigate the broad class of rigid-bodies undergoing frictional interactions. We begin by deriving a contact-implicit system identification formulation for articulated rigid-bodies. Assuming we have a physical model of the system, the objective is to derive system parameters …
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Geometry, Kinematics, and Rigid Body Mechanics in Cayley-Klein Geometries
Die vorliegende Arbeit präsentiert eine moderne Formulierung der Mechanik starrer Körper in Räumen konstanter Krümmung. Die Arbeit besteht aus einem theoretischen und einem praktischen Teil. Zunächst werden theoretische Grundlagen aus projektiver Geometrie, äußerer Algebra und quadratischen Formen …
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Minimum Time/Minimum Fuel Control of an Axisymmetric Rigid Body
… control solution to reorienting an axisymmetric rigid body using eigenaxis maneuvers. Any fixed desired attitude can be achieved by rotating the rigid body about its eigenaxis. While an eigenaxis is not a time-optimal maneuver, it will produce the shortest angular trajectory between the rigid …
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Efficient localization methods for a point source and rigid body
… the anchors at fixed locations, and it is called rigid body localization. Our research has two manifolds: First, for the point source localization, the original squared range least squares (SR-LS) admits global and computationally efficient solution using generalized trust region subproblems …
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Real-time measurement of three-dimensional multiple rigid body motion
Thesis. 1977. M.S.--Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
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Observer based velocity and environment force estimation for rigid body control
Issues pertaining to the control of a rigid body are considered in this work. A magnetically levitated robotic wrist is here modelled as a rigid body subjected to both control and environment forces. All the algorithms presented here were implemented on the Maglev wrist for experimental …
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Modeling of the human head/neck system using rigid body dynamics
… large vertical acceleration forces on the body of the member. The additional mass on the head due to Night Vision Goggles and Helmet Mounted Displays increases the vulnerability of the head/neck system to injury. To eliminate the need for human testing, computer simulations of biodynamic …
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INTERPOLATION OF RIGID-BODY MOTION AND GALERKIN METHODS FOR FLEXIBLE MULTIBODY DYNAMICS
Traditionally, flexible multibody dynamics problems are formulated as initial value problems: initial states of the system are given and solving for the equations of motion yields the dynamic response. Many practical problems, however, are boundary rather than initial value problems; two-point and …
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2D-3D rigid-body registration of X-ray flourscopy and CT images
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
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Estimation of sub-micrometer translations of a rigid body using light microscopy
Thesis (Elec. E.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.
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Wrist Motion Simulation With a Rigid Body Spring Model Comparing Different Elements Modeling Approaches
A rigid body spring model was used to simulate wrist motions. The carpal bones were constructed based on a computed tomography of a cadaver wrist. Bony structures were assembled as a wrist model in the simulation software, RecurDyn. Articulations between wrist joint bones were modeled using gliding …
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Foundations of the Geometric Mechanics Udwadia-Kalaba Framework for Rigid Body Constrained Motion Analysis
… UK formulation is generalized to the dynamics of rigid bodies on nonlinear manifolds in the geometric mechanics framework. This approach simultaneously treats rotational and translational motion in a unified method without encountering singularites or non-uniqueness, issues that would arise were …
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Rigid Body Constrained Motion Optimization and Control on Lie Groups and Their Tangent Bundles
<p>Rigid body motion requires formulations where rotational and translational motion are accounted for appropriately. Two Lie groups, the special orthogonal group SO(3) and the space of quaternions H, are commonly used to represent attitude. When considering rigid body pose, that is spacecraft …
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The Pseudo-Rigid-Body Model for Dynamic Predictions of Macro and Micro Compliant Mechanisms
… of compliant mechanisms using the Pseudo-Rigid-Body model (PRBM). In order to improve the number of mechanisms that can be modeled, this research develops and identifies several key concepts in the behavior of beam segments where both ends are fixed to a rigid body (fixed-fixed flexible …
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The Kinematics of Rigid Body Contact in the Design and Analysis of Machining Fixtures
… system from the perspective of the kinematics of rigid body contact. In the first part, we address the problem of the deterministic location of 3-2-1 locator schemes. Using screw theory, we derive new and simple geometric conditions for their deterministic location and good conditioning. Next, we …
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