Computer based methods simple

A simple and comprehensive menu-driven computer-based method for trajectory planning and force analysis in a planar robot is developed in the first paper. The robot designer is able to vary parameters and study their effect on the robot performance. In the second paper, a simple method to analyze the effect of torque and force on the first three links of a PUMA robot has been determined. Minimum time trajectory and bang-bang control with discontinuity points and knot points smoothed by parabolic blend are used. The workspace of a robotic arm using the Articulated Total Body model is calculated in the third paper. Computation of the workspace of the end effector is important in determining the effectiveness of a robot. 

Generalized Correla.tions. A simple and rehable method for the prediction of vapor—Hquid behavior has been sought for many years to avoid experimentally measuring the thermodynamic and physical properties of every substance involved in a process. Whereas the complexity of fluids makes universal behavior prediction an elusive task, methods based on the theory of corresponding states have proven extremely useful and accurate while still retaining computational simplicity. Methods derived from corresponding states theory are commonly used in process and equipment design. 

Several dynamic analysis methods are used for blast resistant design ranging from simple hand calculations and graphical solutions to more complex computer based applications. One of the purposes of this chapter is to convey analysis methods which provide the necessary balance between sufficient accuracy and calculation simplicity. 

If we are to discuss computer methods, we need some way of measuring the performance of an algorithm. We would like our code for molecules to be simple, natural, and easy to compute. Concepts like "simple" and "natural", although very important in any real-world cataloguing system, are difficult to define and quantify. We shall use a measure based on a machine s point of view, rather than on a human s. Though an algorithm good by such a measure may be unwieldy for human use, at best a method useful for machines will also be useful for people. At worst, such a measure provides a firm base for discussion of the merits of various methods. 

Quantum chemistry computations based on employing of PC Gamess version of semi-empirical PM3-method [1-2] allows to define equilibrium configuration and calculate electronic structure of some of the simplest Y-junctions of carbon nanotubes, which have slang name twig . On the place of nanotubes conjunction defective cycles appear. Their type, number and mutual displacement can be enough various even in comparatively simple cases. Only the part of obtained results is presented here. 

Molecular mechanics is an interpolative method. It thus follows that the strain energy and the structure of a very strained species may not be reliably computed based on a parameterization scheme fitted with a set of experimental data obtained from unstrained molecules since this amounts to extrapolation. Therefore, to get a generally reliable force field, extreme cases must be included in the fitting procedure of the force field. The speed with which structure optimizations are produced (seconds of CPU time on a simple personal computer for molecules with a few hundred atoms) does not place any restriction on the size of a data base for the parameterization of a class of compounds - the limit is usually the amount of experimental data available. The major appeal of molecular mechanics is the fact that unknown compounds can be modeled in much the same way as model kits are used, with the important difference that quantitative information becomes available, enabling the design of new materials. 

---