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This tutorial paper is extracted from a set of graduate lectures on the modelbased, time-domain simulation of structural dynamics and coupled systems. For the treatment of the latter, emphasis is placed on partitioned analysis procedures. Although the subject emerged in the present form over 20 years ago, the time-consuming study of competing formulations(More)
In this paper, a closed-form formulation for inverse kinematics for redundant manipulators with inequality w n straints has been proposed. This formulation has been demved b y using the Kuhn-Tucker condition, the Lagrange multiplier method, and the active/working set method, so that its solution may satisfy the necessary and suficient condition for(More)
Previous studies assumed the shoulder as a hinge joint during human arm impedance measurement. This is obviously a vast simplification since the shoulder is a complex of several joints with multiple degrees of freedom. In the present work, a practical methodology for more general and realistic estimation of human shoulder impedance is proposed and validated(More)
This is a tutorial article that reviews the use of partitioned analysis procedures for the analysis of coupled dynamical systems. Attention is focused on the computational simulation of systems in which a structure is a major component. Important applications in that class are provided by thermomechanics, fluid-structure interaction and control-structure(More)
We investigate the formulation and application of element-level, element-independent error indicators. Our research culminates in the development of an error indicator formulation which is derived based on the projection of element deformation onto the intrinsic element displacement modes. The qualifier 'dement-level' means that no information from adjacent(More)
The ability to represent constant stress states is an important issue in finite element analysis. State of the art elements are able to perform flawlessly for such states as long as meshes are conforming. When two domains share a boundary, their meshes do not match at the common boundary when no special care is taken. Sometimes it can be even impossible to(More)