STEDY
STEDY: Software for TEnsegrity DYnamics - Published in JOSS (2019)
Science Score: 59.0%
This score indicates how likely this project is to be science-related based on various indicators:
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○CITATION.cff file
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✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
✓DOI references
Found 3 DOI reference(s) in README -
✓Academic publication links
Links to: researchgate.net, joss.theoj.org, zenodo.org -
✓Committers with academic emails
2 of 6 committers (33.3%) from academic institutions -
○Institutional organization owner
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (16.3%) to scientific vocabulary
Repository
Software for Tensegrity Dynamics
Basic Info
Statistics
- Stars: 7
- Watchers: 3
- Forks: 4
- Open Issues: 0
- Releases: 2
Metadata Files
Docs/README.md
Summary
STEDY is a software package based on MATLAB to enable researchers to simulate dynamics of tensegrity structures. We have developed a Lagrangian formulation for deriving the algebraic differential equations governing the dynamics of classical tensegrity systems. The framework is general enough to allow modeling of general multi-body systems with actuated joints. Furthermore, with the help of the direct correction method that minimizes both geometric and energy constraint violations, errors that arise from numerical integration are corrected on the position and velocity levels, thereby improving simulation accuracy.
The software is aimed at researchers familiar with tensegrity structures, but can be adopted by users from other backgrounds as well. However, users are required to have a preliminary understanding of MATLAB's interface in order to make the best use of this package.
Dependencies
Documents
Installation:
Download the STEDY folder from Github.
Open MATLAB and make STEDY your working directory.
Run setup.m.
In case an error message is displayed after Step 3, follow the instructions (collapsed) below. Go to Step 4, otherwise.
Click here.
```MATLAB
Editing ode solver failed. Please edit ODE45m manually.
```
*3b*. You will find a copy of *ode45* in your main folder called *ode45m*. Edit it to add the following line exactly in the position shown below. To clarify, in the context of ode45, constraint correction has been implemented only after ensuring that the weighted error (obtained after advancing one step) is no more than the tolerance *rtol*.
**NOTE**: The user is required to add **ONLY** the line calling the ConstraintCorrection function to ode45m.
```matlab
% Accept the solution only if the weighted error is no more than the
% tolerance rtol. Estimate an h that will yield an error of rtol on
% the next step or the next try at taking this step, as the case may be,
% and use 0.8 of this value to avoid failures.
if err > rtol % Failed step
...
if nofailed
nofailed = false;
if NNrejectStep
absh = max(hmin, 0.5*absh);
else
absh = max(hmin, absh * max(0.1, 0.8*(rtol/err)^pow));
end
else
absh = max(hmin, 0.5 * absh);
end
h = tdir * absh;
done = false;
else % (Successful step)
% ADD ONLY THE FOLLOWING LINE CALLING THE FUNCTION
ynew = ConstraintCorrection(ynew,odeArgs{1},tnew);
NNreset_f7 = false;
if nonNegative && any(ynew(idxNonNegative)<0)
...
end
```
*3c*. After editing, rename the function at the top to ode45m to avoid a warning.
```matlab
function varargout = ode45m(ode,tspan,y0,options,varargin)
```
Follow stedy's User Guide to get started.
References
- Shao-Chen Hsu, Vaishnav Tadiparthi and Raktim Bhattacharya, "A Lagrangian Formulation for Constrained Multibody Dynamics in Tensegrity Systems", Manuscript submitted for publication. Preprint available.
Owner
- Name: Intelligent Systems Research Laboratory
- Login: isrlab
- Kind: organization
- Email: raktim@tamu.edu
- Location: Texas A&M University, College Station, TX, USA.
- Website: https://isrlab.github.io
- Repositories: 8
- Profile: https://github.com/isrlab
Welcome to the Intelligent Systems Research Laboratory at Texas A&M University.
GitHub Events
Total
- Watch event: 1
Last Year
- Watch event: 1
Committers
Last synced: 8 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| Vaishnav | v****8@g****m | 104 |
| Vaishnav Tadiparthi | V****v@m****u | 6 |
| Vaishnav Tadiparthi | V****v@V****l | 4 |
| Shao-Chen Hsu | a****u@g****m | 3 |
| Laboratory for Uncertainty Quantification | r****m@t****u | 2 |
| Raktim Bhattacharya | r****a@g****m | 1 |
Committer Domains (Top 20 + Academic)
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Last synced: 7 months ago
All Time
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- Total pull requests: 0
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- Total issue authors: 3
- Total pull request authors: 0
- Average comments per issue: 3.64
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 0
- Pull requests: 0
- Average time to close issues: N/A
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- Average comments per issue: 0
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Top Authors
Issue Authors
- apsabelhaus (7)
- Kevin-Mattheus-Moerman (6)
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