Research on dynamic modeling of soft-contact technology based on Kane's equations
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In order to solve the problem of harsh operating condition of the space manipulator, and the problem of not being able to afford great collision Momentum, this paper proposes a new technical method, namely soft-contact technology. According to the proposed method, the dynamic model of space flexible manipulator is built up based on Kane's equations. Then this paper makes a comparison simulation between dynamic models designed by ADAMS using same dynamic parameters. Simulation show that the curves obtained by Kane's equations and ADAMS are basically the same, so the correctness of the dynamic model of the space flexible manipulator based on Kane's equation has been proved.Keywords:
Dynamic equation
Dynamic simulation
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The analytical dynamic model for planar adjustable five-bar linkages,in which lengths and inertia parameters of links can be changed,is established based on kane dynamic equation,numericsymbolic approach and parallel calculation. The influence of lengths and mass of driving links on driving force/torgue are also studied. The problem of deriving dynamic model is transformed into solving for driving moment under specified conditions by kinematic and dynamic formulae,then the numeric-symbolic-expressions of the analytical dynamic model are derived in which lengths and inertia parameters of links as well as generalized coordinates are expressed as symbols.
Moment of inertia
Bar (unit)
Dynamic simulation
Dynamic equation
Four-bar linkage
Dynamic problem
Dynamics
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Relative correctness is the property of a program to be more-correct than another with respect to a specification, whereas traditional (absolute) correctness distinguishes between two classes of candidate programs with respect to a specification (correct and incorrect), relative correctness defines a partial ordering between candidate programs, whose maximal elements are the (absolutely) correct programs. In this paper we argue that relative correctness ought to be an integral part of the study of program repair, as it plays for program repair the role that absolute correctness plays for program construction: in the same way that absolute correctness is the criterion by which we judge the process of deriving a program P from a specification R, we argue that relative correctness ought to be the criterion by which we judge the process of repairing a program P to produce a program P' that is more-correct than P with respect to R. In this paper we build on this premise to design a generic program repair algorithm, which proceeds by successive increases of relative correctness until we achieve absolute correctness. We further argue that in the same way that correctness ideas were used, a few decades ago, as a basis for correct-by-design programming, relative correctness ideas may be used, in time, as a basis for more-correct-by-design program repair.
Basis (linear algebra)
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We studied students' conceptions of correctness and their influence on students' correctness-related practices by examining how 159 students had analyzed the correctness of error-free and erroneous algorithms and by interviewing seven students regarding their work. We found that students conceptualized program correctness as the sum of the correctness of its constituent operations and, therefore, they rarely considered programs as incorrect. Instead, as long as they had any operations written correctly students considered the program 'partially correct'. We suggest that this conception is a faulty extension of the concept of a program's grade, which is usually calculated as the sum of points awarded for separate aspects of a program. Thus school (unintentionally) nurtures students' misconception of correctness. This misconception is aligned with students' tendency to employ a line by line verification method – examining whether each operation is translated as a sub-requirement of the algorithm – which is inconsistent with the method of testing that they formally studied.
Interview
Line (geometry)
Political correctness
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It has been argued in relation to Old Babylonian mathematical procedure texts that their validity or correctness is self-evident. One “sees” that the procedure is correct without it having, or being accompanied by, any explicit arguments for the correctness of the procedure. Even when agreeing with this view, one might still ask about how is the correctness of a procedure articulated? In this work, we present an articulation of the correctness of ancient Egyptian and Old Babylonian mathematical procedure texts – mathematical texts presenting the solution of problems. We endeavor to make explicit and explain how and why the procedures are reliable over and above the fact that their correctness is intuitive.
Political correctness
Articulation (sociology)
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This paper is about a series of discussions On the civil engineering structure dynamic equation method.First,make a dynamic response procedure which according to the traditional progressive integration in the wilson-theta by using matlab.Then,briefly introduced simulink solve the dynamic equation model,in addition to establishing a dynamic simulation model of the equation.Finally,use an example,Operate the wilson-theta procedure and simulation model respectivly.Analysis results indicate that,Compared to the traditional progressive integration programming,simulink dynamic analysis have an unparalleled advantage in the solution of dynamic differential equations.
Dynamic equation
Dynamic simulation
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Continuation
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Nonholonomic system
Dynamic equation
Dynamic simulation
Biped robot
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Relative correctness is the property of a program to be more-correct than another with respect to a given specification. Whereas the traditional definition of (absolute) correctness divides candidate program into two classes (correct, and incorrect), relative correctness arranges candidate programs on the richer structure of a partial ordering. In other venues we discuss the impact of relative correctness on program derivation, and on program verification. In this paper, we discuss the impact of relative correctness on program testing; specifically, we argue that when we remove a fault from a program, we ought to test the new program for relative correctness over the old program, rather than for absolute correctness. We present analytical arguments to support our position, as well as an empirical argument in the form of a small program whose faults are removed in a stepwise manner as its relative correctness rises with each fault removal until we obtain a correct program.
Argument (complex analysis)
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Coverage-based fault localization is a spectrum-based technique that identifies the executing program elements that correlate with failure. However, the effectiveness of coverage-based fault localization suffers from the effect of coincidental correctness which occurs when a fault is executed but no failure is detected. Coincidental correctness is prevalent and proved as a safety reducing factor for the coverage-based fault location techniques. In this paper, we propose a new fault-localization approach based on the coincidental correctness probability. We estimate the probability that coincidental correctness happens for each program execution using dynamic data-flow analysis and control-flow analysis. To evaluate our approach, we use safety and precision as evaluation metrics. Our experiment involved 62 seeded versions of C programs from SIR. We discuss the comparison results with Tarantula and two improved CBFL techniques cleansing test suites from coincidental correctness. The results show that our approach can improve the safety and precision of the fault-localization technique to a certain degree.
Control flow
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