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   <text:h text:style-name="P2" text:outline-level="1">PRINCIPLES</text:h>
   <text:h text:style-name="P3" text:outline-level="2">EVOLVE TO NEW DESIGN. </text:h>
   <text:h text:style-name="P4" text:outline-level="3">Code should still run after each stage.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">AVOID RADICAL JUMPS.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">GENERALIZE TO MAKE EASIER CODING AND MAINTENANCE.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">SPECIALIZE FOR CRITICAL CODES ONLY.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Object, Behavior, Design, then Coding.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Make it run. Make it work. Make it efficient only if necessary.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">PREFER PHYSICAL OBJECTS TO ABSTRACT OBJECTS.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">FUNDAMENTAL PHYSICAL CLASSES</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Assembly, Part, Marker, Point, Curve, Surface, EndFrame, Joints, MotionActuators, SpringDampers, Bushings.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">FUNDAMENTAL ABSTRACT CLASSES</text:h>
   <text:h text:style-name="P5" text:outline-level="4">KinematicsIJ, Constraints, ActionForce, ActionTorque</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Use good English for names and methods.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">initialize = smalltalk initialize, called once only.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">input = pure input for instance variables.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">initializeLocally = initialize with user input and info belonging to object, called once only.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">initializeGlobally = initialize with all system info available, called once only.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">updateLocally = update with user input and info belonging to object.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">updateGlobally = update with all system info available.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">aVar:, cVar: are plain accessors. </text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">_aVar: _cVar: check and set aVar or cVar.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">t_aVar: t_cVar: check and set aVar or cVar and trigger other events or updates.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">addVar: addcVar: to add aVar or cVar into a parent composite of cVar or ccVar.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">aObject is an Object instance.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">cObject is a one dimensional collection of Object instances.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">ccObject is a two dimensional collection of Object instances.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">aaObject is an argument or temp object.</text:h>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">acObject is an argument or temp collection.</text:h>
   <text:h text:style-name="P2" text:outline-level="1">Layered Structure</text:h>
   <text:h text:style-name="P3" text:outline-level="2">CAD UI</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Online Documentation</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Editable and animatable construction history</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Script construction</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Unlimited levels of undo</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Level of Detail (LOD) controls</text:h>
   <text:h text:style-name="P4" text:outline-level="3">NMT </text:h>
   <text:h text:style-name="P5" text:outline-level="4">GeoPart</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Polygon </text:h>
   <text:h text:style-name="P6" text:outline-level="5">NURBS</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Texture </text:h>
   <text:h text:style-name="P4" text:outline-level="3">Scene</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Lighting </text:h>
   <text:h text:style-name="P4" text:outline-level="3">Rendering</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Animation</text:h>
   <text:h text:style-name="P5" text:outline-level="4">MbD </text:h>
   <text:h text:style-name="P6" text:outline-level="5">Assembly can move as a whole. Coordinates are relative to assembly. Good for solving systems with large global motions but small relative motions.</text:h>
   <text:h text:style-name="P6" text:outline-level="5">KeyFraming</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Dynamics</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Solver</text:h>
   <text:h text:style-name="P7" text:outline-level="6">IC</text:h>
   <text:h text:style-name="P8" text:outline-level="7">Pos </text:h>
   <text:h text:style-name="P8" text:outline-level="7">Vel </text:h>
   <text:h text:style-name="P8" text:outline-level="7">Acc </text:h>
   <text:h text:style-name="P8" text:outline-level="7">Static </text:h>
   <text:h text:style-name="P7" text:outline-level="6">Transient</text:h>
   <text:h text:style-name="P8" text:outline-level="7">Kine </text:h>
   <text:h text:style-name="P8" text:outline-level="7">Dyn </text:h>
   <text:h text:style-name="P8" text:outline-level="7">Collision </text:h>
   <text:h text:style-name="P7" text:outline-level="6">Quasi</text:h>
   <text:h text:style-name="P8" text:outline-level="7"><text:span text:style-name="T1">Static</text:span> </text:h>
   <text:h text:style-name="P8" text:outline-level="7">VibModes</text:h>
   <text:h text:style-name="P7" text:outline-level="6">SteadyState</text:h>
   <text:h text:style-name="P8" text:outline-level="7">Dyn </text:h>
   <text:h text:style-name="P7" text:outline-level="6">VibModes</text:h>
   <text:h text:style-name="P7" text:outline-level="6">Solvers can be used in various order to solve discontinuous problems. Solves backward or forward.</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Changing topology: c<text:span text:style-name="T2">oalesce</text:span>, breakup.</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Cam profile maker.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">FEM </text:h>
   <text:h text:style-name="P6" text:outline-level="5">Mesher</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Solver</text:h>
   <text:h text:style-name="P7" text:outline-level="6">Transient</text:h>
   <text:h text:style-name="P8" text:outline-level="7">Linear</text:h>
   <text:h text:style-name="P7" text:outline-level="6">NonLinear</text:h>
   <text:h text:style-name="P6" text:outline-level="5">SteadyState</text:h>
   <text:h text:style-name="P7" text:outline-level="6">Linear</text:h>
   <text:h text:style-name="P7" text:outline-level="6">NonLinear</text:h>
   <text:h text:style-name="P5" text:outline-level="4">CFD</text:h>
   <text:h text:style-name="P5" text:outline-level="4">FluidStructure</text:h>
   <text:h text:style-name="P6" text:outline-level="5">Cloth</text:h>
   <text:h text:style-name="P2" text:outline-level="1">TO DO LIST</text:h>
   <text:h text:style-name="P3" text:outline-level="2">All user input are stored as text and parsed symbolically. All units are SI, but the text input allows conversion factors to be shown. e.g. 3 inches is written 3*0.0254 meters.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">FFT. Generate random inputs from Spectral Densities.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Modal Analysis</text:h>
   <text:h text:style-name="P3" text:outline-level="2">ADAMS</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Have scripting for MbDSystem.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Translate *.acf into a script for MbDSystem.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">This will allow piecewise solutions.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">ADMPART must convert [J] and markers to principal coordinates.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">IF statement</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Separate ADAMS and OODS</text:h>
   <text:h text:style-name="P5" text:outline-level="4">ADMParser should create only ADAMS objects. </text:h>
   <text:h text:style-name="P5" text:outline-level="4">Every ADAMS statement has its class.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">ADAMS objects produce OODS objects only in createOODS method.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Kinematics</text:h>
   <text:h text:style-name="P4" text:outline-level="3">O= inertial frame, a = assembly, p = part, m = marker, c = curve, s = surface, e = end frame.</text:h>
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   <text:h text:style-name="P4" text:outline-level="3">Use CartesianFrame</text:h>
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       <semantics>
        <mrow>
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          <mstyle mathvariant="bold">
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         <mrow>
          <mo fence="true" form="prefix" stretchy="false">(</mo>
          <mrow>
           <mrow>
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            <mi>,</mi>
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         <mi>,</mi>
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          <mrow>
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   <text:h text:style-name="P5" text:outline-level="4">SurfaceISurfaceJContact</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Compound Joints</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Ball - Ball</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Ball - Revolute</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Ball - Slider</text:h>
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   <text:h text:style-name="P5" text:outline-level="4">Revolute - Revolute</text:h>
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   <text:h text:style-name="P5" text:outline-level="4">Revolute - Planar</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Introduce Initial Condition Only Constraints.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Allow user to specified certain exact IC.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Introduce the concept of Required DOF.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Dynamics</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Let Joints, Motions, Forces, and other users of markers to manage them.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Do not ask parts since parts are not really interested in markers.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Reduce dimensions of Jacobian.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Make use of absolute contraints.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Handle discontinuities</text:h>
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   <text:h text:style-name="P4" text:outline-level="3">Friction in sliding contact.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Friction in impact.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">InertiaMatrix must be tested.</text:h>
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   <text:h text:style-name="P4" text:outline-level="3">Let forces and torques handle generalized forces, not Part or EndFrame.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Check for neutrally stable condition to avoid ill condition Jacobian.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Derive exact static solution in OODS.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Numerical Analysis</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Make MaxIter can be exceeded by one if convergences is likely.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">MbDMatrixIdenDict can be reused after GE because valueArray is still there and of the right size. </text:h>
   <text:h text:style-name="P5" text:outline-level="4">Do not confuse it with MbDMatrixLinkedList.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Variable time step integration.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">New step size can be infinitely variable from 25% to 200% of past step size since the BDF formulas are truly variable step.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Piecewise integration</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Store known times of discontinuities.</text:h>
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   <text:h text:style-name="P5" text:outline-level="4">Restart at those times solving for IC then using first order and so on.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Lin - Barstow root finder for polynomials.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Function derivative for initial conditions must be accurate. </text:h>
   <text:h text:style-name="P5" text:outline-level="4">Numerically differentiate at various scales.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Symbolic differentiation of functions.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Symbolic differentiation of constraints.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Smalltalk</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Destroy large matrices after use.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Separate input and initialization in System.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Make AUTOCAD control OODS via C DLL or DDE.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Make GUI for OODS using VisualWorks.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">DynDes and DynDesNT can share the same procedures. </text:h>
   <text:h text:style-name="P5" text:outline-level="4">Have superclass if possible.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">MbDApp takes care of user interactions. ADM takes care of ADAMS input and output only.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">USER functions. Data point function</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Remove needless modifications to base methods. Put all in koh category.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">IntegratorDAE&gt;&gt;msgFillpFpy etc to make it independent of system.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Break fillSimEqn to fillSimJacob and fillSimError.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Controls</text:h>
   <text:h text:style-name="P2" text:outline-level="1">DONE LIST</text:h>
   <text:h text:style-name="P3" text:outline-level="2">ADAMS</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Kinematics</text:h>
   <text:h text:style-name="P4" text:outline-level="3">ConstraintPerpenPP causes ill-condition when aG is close to one.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">ConstraintRotationPP is affected when rotation is 90 or 270 degrees.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Dynamics</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Reduce dimensions of Jacobian matrix.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">Numerical Analysis</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Variable time step DAE integrator.</text:h>
   <text:h text:style-name="P5" text:outline-level="4">IntegratorDAE should be able to integrate backwards.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Condition qE and jacobian matrix.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Investigate formulation and integrator using <draw:frame draw:style-name="fr1" draw:name="Object7" text:anchor-type="as-char" svg:width="0.4154in" svg:height="0.2047in" draw:z-index="16"><draw:object>
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   <text:h text:style-name="P5" text:outline-level="4">Reduce index of DAE.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Scale tolerance to reflect units conversion from DDM.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Calculate initial conditions to the maximum precision always.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Use full Newton-Raphson method to avoid divergence.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Smalltalk</text:h>
   <text:h text:style-name="P4" text:outline-level="3">User defined functions can use DLL&apos;s.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Replace BUG message with something appropriate.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Break fillSimEqn to fillSimJacob and fillSimError.</text:h>
   <text:h text:style-name="P4" text:outline-level="3">Collect garbage after MbDMatrixLinkedList solves.</text:h>
   <text:h text:style-name="P2" text:outline-level="1">IDEAS</text:h>
   <text:h text:style-name="P3" text:outline-level="2">ASIC chip for OODS and other software.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">Make software into hardware for speed and copy protection.</text:h>
   <text:h text:style-name="P3" text:outline-level="2">OOP chip, OOP OS, OOP apps. OOP everything.</text:h>
   <text:h text:style-name="P2" text:outline-level="1">FIGURES</text:h>
   <text:p text:style-name="P1"/>
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