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FIGURE 7.7 Energy-storage flywheel designs. (a) Flywheel of helically woven fabric with variable properties in the radial and circumferential directions (exploded view) (Avco Systems Division); (b) filament-wound graphite/epoxy rim with laminated S2-glass/epoxy disk (General Electric Company); (c) subcircular multilayer rim of S-glass and Kevlar, with graphite/epoxy spokes (Garrett AiResearch Corporation); (d) bare-filament Kevlar rim with aluminum hub (Istituto della Motorizzazione, Torino, Italy, built by Industrie Pirelli S.p.A. and sponsored by the Italian National Research Council); (e) graphite/epoxy and steel-filament/epoxy rim with a woven graphite/epoxy overwrap (MAN Advanced Technology, Munich, Germany); (f) variable-thickness graphite/epoxy laminated disk (Lawrence Livermore National Laboratory).

@implementation BBParticle @synthesize position,velocity; @synthesize life,size,grow,decay; -(void)update:(NSTimeInterval)deltaTime { position.x += velocity.x * deltaTime; position.y += velocity.y * deltaTime; position.z += velocity.z * deltaTime; life -= decay * deltaTime; size += grow * deltaTime; if (size < 0.0) size = 0.0; }

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

'tabl is the number of elements in the table of codes cvt_msgs: x2 = tabl + 1 x3 = tabl + msc1 + msc2 + msc3 + msc4 for x1 = x2 to x3 read x1,chr lookdown chr,[32,46,44,63,47],chr if chr > 4 then nspec chr = chr + 1 goto find 'if not a space, period, comma, or / then 'sort out the numbers, small letters, and capitals 'and compute a pointer for the table of codes

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FIGURE 7.7 (Continued) Energy-storage flywheel designs. (g) bare-filament high-strength steelwire rim, as used in steel-belted radial tires, with fiberglass hub (The Johns Hopkins University Applied Physics Laboratory); (h) multilayer rim of S-glass and Kevlar, with catenary tensionbalanced spokes (William M. Brobeck and Associates); (i) graphite/epoxy-wound rim with overwrap over an aluminum liner with two contoured-aluminum hubs (Rockwell International/Rocketdyne Division); (j) vinyl-coated S-glass rim with Russian birch hub (The Johns Hopkins University Applied Physics Laboratory); (k) Metglas (amorphous steel) ribbon rim with aluminum spokes (The Johns Hopkins University Applied Physics Laboratory); (l) contoured graphite/epoxy filament-wound disk (Hercules Aerospace). (Kevlar is a registered trademark of E. I. du Pont de Nemours and Company, Inc.; Metglas is a registered trademark of The Allied Corporation.) (Photographs assembled with the assistance of W. Wilkinson, The Johns Hopkins University Applied Physics Laboratory, and S. Kulkarni, The Lawrence Livermore National Laboratory; by permission.)

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

A variation of the four-bar linkage which is often seen occurs when the output link becomes infinitely long and the path of point B is a straight line. Point B becomes the slider of the slider-crank linkage. Although coupler b could have the characteristics shown in Fig. 3.6, it is seldom used in practice. Here we are interested in the motion of point B while crank a rotates. In general, the path of point B does not pass through the fixed pivot OA, but is offset by dimension . An obvious example of the degenerate case ( 0) is the piston crank in an engine. The synthesis of this linkage is well described by Hartenberg and Denavit [3.9]. I have used the method many times after programming it for the digital computer.

Very simple. You have a time-based update. You take all of your state and change it by a fraction equal to the amount of time for this frame. Finally, you check your size. You don t want to go into negative size because that will just flip your particle over and make it grow. That s it! You have a nice simple model object with a single data manipulator method. Next, let s build a simple particle emitter object. This one is a bit more complicated than the particle:

nspec: if chr > 90 then sml if chr > 57 then cap chr = chr - 16 goto find sml: chr = chr - 91 goto find cap: chr = chr - 59 find: read chr,chr write x1,chr next 'Jump here if not a new program load and then 'wait for a button to be pressed. (All ready to go 'for the Stamp Experiment Board!) 'input on pins 8-11 for messages 1-4 loop: button 8,0,255,0,b8,1,msg1_o button 9,0,255,0,b9,1,msg2_o button 10,0,255,0,b10,1,msg3_o button 11,0,255,0,b11,1,msg4_o

3.6.1 Position Geometry Refer to Fig. 3.7, where the parameters are defined. Given the link lengths a, b, c, and d and the crank position angle , the angular position of coupler c is = ( + ) (3.7)

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