 To run an AUTOLEV file, enter or include the command SetDefaults( AUTOLEV )
 To be startup AUTOLEV compatible, edit the file MGDefaultPreferences.txt
(in MGToolbox folder) and uncomment SetDefaults( AUTOLEV )
 With SetDefaults( AUTOLEV ) runs all AUTOLEV usermanual files with identical output.
 Enhanced MotionGenesis Kane action/reaction law requires the following changes:
Old Command
 New command

Force( Q, Vec> )
Force( P/Q, Vec> )
 Q.AddForce( Vec> )
Q.AddForce( P, Vec> )

Torque( B, Vec> )
Torque( A/B, Vec> )
 B.AddTorque( Vec> )
B.AddTorque( A, Vec> )





Autolev Compatible





New code generation:
 Easier to use and modify
C,
MATLAB®, and
Fortran codes.
 Enhanced units and unit conversions (also updated with NIST/CODATA 2006 data).
 Improved algorithm for Code Nonlinear with
MATLAB® codes.
 SolveSetInput command for solving linear/nonlinear algebraic equations for proper initial values.
 SolveSetInputDt command for enforcing embedded constraints and their timederivatives.
 New SolveNonlinearSetInput command solves nonlinear algebraic equations
and sets initial values

New symbolic and numeric calculations:
 Enhanced symbolic simplification.
 Builtin solver for differential equations.
 Solve and SolveDt commands solve linear or nonlinear equations.
 Solves linear or nonlinear algebraic equations (recursively), and sets input.
 Evaluate and Solve commands provide unit conversions for their arguments.
 EvaluateAtInput command evaluates expressions at input values.
 ImaginaryNumber names sqrt(1) for reporting results of complex calculations.
 DtDt command calculates ordinary 2nd derivatives with respect to t.
 SetDt command automates calculation of variable/specified derivatives.
 FactorLinear and FactorQuadratic commands supersede the Arrange command.
 SolveQuadraticRoots commands (with positive/negative variants) solves quadratic equations.

New vectors and geometry:
 Commands for calculating angles and distances.
 Special constructors for vectors and dyadics.
 Creates matrix representations of vectors and dyadics, and viceversa.
 Calculates unit vectors with GetUnitVector command.

New statics and dynamics:
 GetStatics command sums forces and moments for static analysis.
 GetStaticsKane command eliminates constraint forces for efficient static analysis.
 GetDynamics command automates Newton/Euler (D'Alembert) dynamics.
 GetDynamicsKane command automates Kane's dynamics and forms efficient equations of motion.
 Points can be associated with rigid objects for "freebody" analysis

New rotational and translational kinematics:
 Easytouse Rotate command sets rotation matrices, angular velocities, angular accelerations.
 Easytouse Translate command sets position vectors, velocities, accelerations.
 New commands to set and get angular velocity and angular acceleration.
 New commands to set and get velocity and acceleration.

New mass, center of mass, inertia, and charge:
 Easytouse SetMass, SetInertia, and SetCharge commands.
 Calculates moments/products of inertia, radii of gyration, and other inertia properties.
 Calculates the position, velocity, and acceleration of the mass center of sets of objects.

New force and torque:
 Easytouse AddForce and AddTorque commands.
 Easytouse GetResultantForce and GetMomentOfForces commands.
 Simple commands to add forces from
springs, dampers, electrostatics, gravity, linear actuations, etc.
 New SetCharge and GetCharge commands facilitate electrostatic force calculations.
 New syntax for Newton's law of action/reaction for forces and torques.
 More efficient calculation of generalized forces.

New kinetic energy, potential energy, power, and work:
 GetKineticEnergy forms kinetic energy for a particle, rigid body, or system.
 Calculates gravitational and spring potential energies.
 GetPower forms system power and facilitates calculating work from dissipative forces.
 Efficient energy integral for checking numerical integration accuracy

New advanced methods and constraints:
 GeneralizedSpeed declaration for Kane's method.
 Easiertouse augmented or embedded constraints.
 SolveSetInput command for enforcing constraints with proper initial values.
 SolveSetInputDt command for enforcing embedded constraints and their timederivatives.

New physical objects:
 Enhanced keywords RigidBody, RigidFrame, and NewtonianFrame.
 Declaration Point Q(B) creates point Q as a point of RigidBody (or RigidFrame) B.
 "Origin" point Bo and center of mass Bcm automatically created with declaration RigidBody B.

New defaults:
 Basis vectors Bx>, By>, Bz> are automatically created with RigidBody (or RigidFrame) B.
 New command SetBasisSubscripts for changing names of basis vectors, e.g.,to B1>, B2>, B3>.
 ImaginaryNumber names sqrt(1) for reporting results of complex calculations.
 SetDefaults( AUTOLEV ) sets defaults to be compatible with AUTOLEV

Enhanced plotting:
Versatile, easytouse, visually appealing
plotting software

New documentation:
Updated tutorial, online help, website, and illustrative examples.

Click here for a more complete list of software features (new and old).

