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Many methods have been proposed for the simulation of constrained mechanical systems. The most obvious of these have mild instabilities and drift problems. Consequently, stabilization techniques have been proposed A popular stabilization method is Baumgarte's technique, but the choice of parameters to make it robust has been unclear in practice. Some of the simulation methods that have been proposed and used in computations are reviewed here, from a stability point of view. This involves concepts of differential-algebraic equation (DAE) and ordinary differential equation (ODE) invariants. An explanation of the difficulties that may be encountered using Baumgarte's method is given, and a discussion of why a further quest for better parameter values for this method will always remain frustrating is presented. It is then shown how Baumgarte's method can be improved. An efficient stabilization technique is proposed, which may employ explicit ODE solvers in case of nonstiff or highly oscillatory problems and which relates to coordinate projection methods. Examples of a two-link planar robotic arm and a squeezing mechanism illustrate the effectiveness of this new stabilization method.
Many methods have been proposed for the stabilization of higher index differential-algebraic equations (DAEs). Such methods often involve constraint differentiation and problem stabilization, thus obtaining a stabilized index reduction. A popular method is Baumgarte stabilization, but the choice of parameters to make it robust is unclear in practice. Here we explain why the Baumgarte method may run into trouble. We then show how to improve it. We further develop a unifying theory for stabilization methods which includes many of the various techniques proposed in the literature. Our approach is to (i) consider stabilization of ODEs with invariants, (ii) discretize the stabilizing term in a simple way, generally different from the ODE discretization, and (iii) use orthogonal projections whenever possible. The best methods thus obtained are related to methods of coordinate projection. We discuss them and make concrete algorithmic suggestions.
Inhalt: Umweltbeziehungen und Verantwortungsbewußtsein von Unternehmen -Ökologische Anliegen der Unternehmensumwelt -Verantwortliches Verhalten von Unternehmen -Der Risiko- und Krisenbegriff Subjektive Wahrnehmung und Bewertung von Risiken und Krisen -Subjektive Risikowahrnehmung: Wahrnehmung quantitativer Risikofaktoren,die Wahrnehmung qualitativer Merkmale der Risikoquelle, individuelle Risikodeterminanten -Empirische Studie zur Risikowahrnehmung -Subjektive Krisenbewältigung: Prozesse der Krisenentstehung und –entwicklung, Merkmale der Krisenwahrnehmung durch Manager, Verhaltenswissenschaftliche Theorien zur Krisenbewältigung Risiko- und Krisenmanagement
There has never been a theory of transition from really existing Socialism to a democratic and market-oriented system. Different theoretical approaches are taken into consideration by the author. Experiences of other transitional processes are practicable on Eastern Europe in a limited way. The missing of socio-structural differentiation, the socio-cultural consequences of the really existing Socialism and the international conditions did not promote the transition. It seems that the transition in Eastern Europe is obviously not a change from one political system to another one, but for the time being an open process.
Although without providing a systematical comparison, it has become clear that the sects or party-factions of Japan’s New Left movement are by no means merely copies of their counterparts in the West. On the other hand their conduct may not be judged as to be a unique Japanese phenomenon. What they embody is, on the whole, a complex symbiosis of universal and particularly Japanese features, which can be observed in the fields of social behavior, organizational structure, and group dynamics. The particularity of the New Left factions is mostly revealed through the higher intensity of specific features rather than through pecularities found only in Japan.
Earlier investigations at South Creek in northeastern Queensland established the importance of overland flow as a hydrologic pathway in this tropical rainforest environment. Since this pathway is ‘fast’, transmitting presumably ‘new’ water, its importance should be reflected in the stormflow chemistry of South Creek: the greater the volumentric contribution to the stormflow hydrograph, the more similarity between the chemical composition of streamwater and of overland flow is to be expected. Water samples were taken during two storm events in an ephemeral gully (gully A), an intermittent gully (gully B) and at the South Creek catchment outlet; additional spot checks were made in several poorly defined rills. The chemical composition of ‘old’ water was determined from 45 baseflow samples collected throughout February. The two events differed considerably in their magnitudes, intensities and antecedent moisture conditions. In both events, the stormflow chemistry in South Creek was characterized by a sharp decrease in Ca, Mg, Na, Si, Cl, EC, ANC, alkalinity and total inorganic carbon. pH remained nearly constant with discharge, whereas K increased sharply, as did sulfate in an ill-defined manner. In event 1, this South Creek stormflow pattern was closely matched by the pattern in gully A, implying a dominant contribution of ‘new’ water. This match was confirmed by the spot samples from rills. Gully B behaved like South Creek itself, but with a dampened ‘new’ water signal, indicating less overland flow generation in its subcatchment. In event 2, which occurred five days later, the initial ‘new’ water signal in gully A was rapidly overwhelmed by a different signal which is attributed to rapid drainage from a perched water table. This study shows that stormflow in this rainforest catchment consists predominantly of ‘new’ water which reaches the stream channel via ‘fast’ pathways. Where the ephemeral gullies delivering overland flow are incised deeply enough to intersect a perched water table, a delayed, ‘old’ water-like signal may be transmitted.
Underlying the importance of revenue the author discusses the future of the international order from the perspective of political economy. The international system will not be a capitalist one. Political conflicts will not be removed by nonviolent market regulations. Weakness of labour force and a dominant role of revenue will further more result in political interventions by nation states. The struggle for revenue to maintain comparative advantages in high-tech-development strengthens state intervention in order to protect domestic market. The failure of the "development state" in the third world and the rising of fundamentalistic tendencies supported by a market-oriented middle class will increase conflicts in those regions.
Flight and expulsion are and will remain important international problems. The existence of refugees is a result of unsolved domestic tasks. Thus, effective solutions require comprehensive and long-term strategies. So far the efforts to reduce the causes of escape have not been sufficient. In the current refugee crises millions of people can survive only with the help of an efficient international system (for example the UNHCR) that guarantees humanitarian aid and protection. However, this system has turned out to be inadequate although the potential of preventive action is sufficient to reach a major progress in diminishing the refugee problem.
Taking the visit of Erich Honecker to China as an example, the author analyses the bilateral GDR-Chinese relations in the 1980s. Based on extensive original research, the objectives as well as disappointed hopes are presented. The author reveals that not Honecker played the "Chinese Card", but he himself became part of Chinese politics. At the same time, the contradictory reaction to that visit in Moscow are documented when, with the election of Gorbachev, first signs of a change in Soviet policy toward China were indicated. Jahresabo: 40,00 € (ermäßigt: 25,00 €)