Numerical Methods for Differential-Algebraic Equations in Real-Time Integrationof Mechanical Systems

摘要

This project focused on the numerical algorithms and analysis which are neededfor the effective real-time simulation of mechanical systems. Real-time simulation of mechanical systems is needed in robotics, as well as in the design and simulation of vehicles, including automobiles, high-speed trains, tanks and construction equipment. A number of related projects were proposed which would enable improved capabilities for real-time simulation of systems from mechanics, and also of related electrical, chemical and power systems. Proposed research included analysis and numerical algorithm development addressing these issues: problem formulation and numerical stability, exploiting structure and parallelism, high-frequency oscillations, rank-deficient constraints, discontinuities and delays.