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README.md

idetc-2013-paper

The repo for the paper:

Constrained Multibody Dynamics with Python: From Symbolic Equation Generation to Publication

Gilbert Gede, Dale L. Peterson, Angadh Nanjangud, Jason K. Moore

Things to perhaps address:

  • Motivate the need for streamlining the comprehensive study of a system.
  • Explain ‘symbolic’ dynamics. People may not know. Reference AutoLev and MotionGenesis. There are probably other packages for motorcycle dynamics.
  • Michael Sayers wrote the original code that AutoSim/VehicleSim/BikeSim etc are based on. It is a Kane’s based symbolic manipulator for multibody EoMs.
  • MBDyn is an example of a numerical open source mutlibody (and flexible i think) dynamics package.
  • Include a code sample for a problem.
  • PLoS One software paper guidelines: http://www.plosone.org/static/guidelines#software

Paper Outline

  • Abstract

  • Introduction

    • What do we mean by analytical dynamics?
    • Why do we need a tool for symbolic dynamics?
    • Who benefits from this?
    • What follows in this paper?
  • Demonstration Problem

    • What is the problem, and what does it look like?
    • Why did we pick it?
    • How do you (start to) write the problem by hand?
    • What does the code look like to generate the equations of motion?
    • What do the equations look like?
    • What can you do next?
      • Simulate & Visualize
      • Pretty/Latex Printing
    • Workflow for problem
      • sympy.physics.mechanics Code
      • SciPy (or ndsolve code)
      • plotting code
      • visualization code (we could potentially use something like d3.js to have an animation inside the IPython notebook...will take a little more effort, but be badass).
    • Results of problem
      • Plots
      • Example of 3D
    • It’d be pretty cool to have this whole problem in an IPython Notebook that you can easily download and run and play with. This could be included as supplementary materials.
  • Software Validation (Why should I trust you?)

    • tests within sympy
      • ensures stability/consistency during development
    • benchmark validations (rolling disc, bicycle, other...)
  • Software Design (How does it work?)

    • How do I get it?
    • How do I learn to use it?
      • SymPy Docs for sympy.physics.mechanics
      • PyDy.org for start to finish problems (and accompanying pydyexamples git repo)
    • What is it made of (modules, classes, and functions)?
      • SymPy basics that it uses?? Just a sentence or two. cite Sympy for more info.
      • list or simple figure
      • how about a definition list: name of item + plus sentence or two describing it. A list alone seems like too little info. sure
    • How do these classes interact with each other (probably figures)?
      • ReferenceFrame/Vector & Dyadic interactions (detailing essential.py, visually)
      • ReferenceFrame Tree (how a tree is formed, possible pitfalls)
      • Vector Assemblage (vector is a list of parts of frames and frames - shown visually)
      • Point Tree (similar to RF)
    • How is this translated into equations?
      • container classes (Particle, RigidBody)
      • KanesMethod/LagrangesMethod
        • Describe the classes and their methods, probably a page for each class. At least give the basic understanding of how the classes work.
        • Talk about the methods for constraints and auxiliary speeds.
        • mass matrix
        • cite the paper that Luke and Gilbert wrote about linearization instead of writing about those methods here
        • Explain the form of the EoMs that these methods produce and speak some on solving them for the u dots and the pitfalls associate with that, why it may be better to do it numerically
    • What else can it do?
      • Custom indices for RefereneFrames
    • What can’t it do?
      • problem size limitations - unknown
      • defining problems visually (future problem design a graphical body assembler that builds mechanics code dynamically)
      • fast translation to 3D visualization
  • Conclusions

  • Acknowledgements

  • NSF