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Design Example: Application of Archimedes' Principle01:11

Design Example: Application of Archimedes' Principle

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Archimedes' principle is fundamental in analyzing the buoyant force and stability of floating bodies. In this example, a wooden block with a rectangular section floats in seawater. Based on the block's dimensions, its specific gravity and the specific weight of seawater are used to find the volume of water displaced and the center of buoyancy.
The volume of seawater displaced by the block is determined by first calculating the block's weight. This is done by multiplying the...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
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Mechanical Systems01:22

Mechanical Systems

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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

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Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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Movement Joints in Buildings01:27

Movement Joints in Buildings

158
Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Related Experiment Video

Updated: Aug 21, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

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Architectural modelling for robotics: RoboArch and the CorteX example.

Will Barnett1, Ana Cavalcanti1, Alvaro Miyazawa1

  • 1Department of Computer Science, University of York, York, United Kingdom.

Frontiers in Robotics and AI
|November 17, 2022
PubMed
Summary
This summary is machine-generated.

Robotic system verification is crucial. This study introduces RoboArch, a domain-specific language (DSL) that enhances RoboChart for modeling robot architectures and patterns, enabling automated verification.

Keywords:
RoboStar frameworknuclear industrypatternsproofsimulationsoftware engineeringtestverification

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Area of Science:

  • Robotics
  • Software Engineering
  • Formal Methods

Background:

  • Increasing complexity and safety implications of robotic systems necessitate robust verification methods.
  • Model-driven engineering and domain-specific languages (DSLs) are effective for developing complex systems.
  • RoboChart is a DSL for modeling robot software controllers with formal semantics and automated verification support.

Purpose of the Study:

  • To enrich RoboChart with capabilities for modeling robot architectures and architectural patterns.
  • To introduce RoboArch, a new DSL for encapsulating layered architectures and patterns.
  • To define the semantics of RoboArch through automatic generation of RoboChart models.

Main Methods:

  • Development of RoboArch, a DSL for architectural modeling.
  • Formalization of architectural patterns within RoboArch.
  • Automatic generation of RoboChart models from RoboArch models.
  • Integration perspective with the CorteX software framework.

Main Results:

  • RoboArch provides a formal approach to modeling robot architectures and patterns.
  • The rules for generating RoboChart models from RoboArch define RoboArch's semantics.
  • RoboArch can be extended to formalize additional architectural patterns.
  • A perspective on using RoboArch with the CorteX framework is presented.

Conclusions:

  • RoboArch enhances RoboChart by enabling architectural modeling and pattern formalization.
  • The DSL approach facilitates automated verification of complex robotic systems.
  • RoboArch offers a formal foundation for designing and verifying robot architectures, with potential applications in industries like nuclear.