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TECHNICAL PAPERS

Globally Independent Coordinates for Real-Time Vehicle Simulation

[+] Author and Article Information
Radu Serban

Department of Mechanical and Environmental Engineering, University of California-Santa Barbara, Santa Barbara, CA 93106e-mail: radu@engineering.ucsb.edu

Edward J. Haug

Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242e-mail: haug@nads-sc.uiowa.edu

J. Mech. Des 122(4), 575-582 (Dec 01, 1998) (8 pages) doi:10.1115/1.1289389 History: Received December 01, 1998
Copyright © 2000 by ASME
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References

Bae,  D.-S., and Haug,  E. J., 1987, “A Recursive Formulation for Constrained Mechanical System Dynamics. Part I: Open-Loop Systems,” Mech. Struct. Mach., 15, pp. 359–382.
Bae,  D.-S., and Haug,  E. J., 1987, “A Recursive Formulation for Constrained Mechanical System Dynamics. Part II: Closed-Loop Systems,” Mech. Struct. Mach., 15, pp. 481–506.
Wittenburg, J., 1977, Dynamics of Systems of Rigid Bodies, Teubner, B. G., ed., Stuttgart.
Nikravesh,  P. E., and Chung,  I. S., 1982, “Application of Euler Parameters to the Dynamic Analysis of Three-Dimensional Constrained Mechanical Systems,” ASME J. Mech. Des., 104, pp. 785–791.
Haug, E. J., 1989, Computer-Aided Kinematics and Dynamics of Mechanical Systems, Volume I: Basic Methods, Allyn and Bacon, Needham Heights, Massachusetts.
Hirsch, M. W., 1976, Differential Topology, Springer-Verlag, New York, NY.
Prasolov, V. V., 1995, Intuitive Topology, American Mathematical Society, Providence, R.I.
Wehage,  R. A., and Haug,  E. J., 1982, “Generalized Coordinate Partitioning for Dimension Reduction in Analysis of Constrained Dynamic Systems,” ASME J. Mech. Des., 104, pp. 247.
Kim,  S. S., and Vanderploeg,  M. J., 1986, “QR Decomposition for State Space Representation of Constrained Mechanical Dynamic Systems,” ASME J. Mech., Transm., Autom. Des., 108, pp. 183–188.
Liang,  C. G., and Lance,  G. M., 1987, “A Differentiable Null Space Method for Constrained Dynamic Analysis,” ASME J. Mech., Transm., Autom. Des., 109, pp. 405–411.
Serban,  R., Negrut,  D., Haug,  E. J., and Potra,  F. A., 1997, “A Topology Based Approach for Exploiting Sparsity in Multibody Dynamics in Cartesian Formulation,” Mech. Struct. Mach., 25, No. 3, pp. 379–396.
Vandevender,  W. H., and Haskell,  K. H., 1982, “The SLATEC Mathematical Subroutine Library,” SIGNUM Newsletter, 17, No. 3, pp. 16–21.
CADSI, 1995, Coralville, IA., DADS Reference Manual, Revision 8.0.

Figures

Grahic Jump Location
Graph representation of the HMMWV 10-body model
Grahic Jump Location
Identification of computational sequences
Grahic Jump Location
Vertical position of chassis, rear left wheel, and front left wheel
Grahic Jump Location
HMMWV 10-body. DDABM integrator, CPU time
Grahic Jump Location
HMMWV 10-body, DDABM integrator, speed-up
Grahic Jump Location
HMMWV 10-body, AB3 integrator, CPU time
Grahic Jump Location
HMMWV 10-body, AB3 integrator, speed-up
Grahic Jump Location
Real-time simulation of the HMMWV 10-body with sub-systems

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