10,177 research outputs found
INTERPOLATION OF RIGID-BODY MOTION AND GALERKIN METHODS FOR FLEXIBLE MULTIBODY DYNAMICS
Traditionally, flexible multibody dynamics problems are formulated as initial value problems: initial states of the system are given and solving for the equations of motion yields the dynamic response. Many practical problems, however, are boundary rather than initial value problems; two-point and periodic boundary problems, in particular, are quite common. For instance, the trajectory optimization of robotic arms and spacecrafts is formulated as a two-point boundary value problem; determination of the periodic dynamic response of helicopter and wind turbine blades is formulated as a periodic boundary value problem; the analysis of the stability of these periodic solutions is another important of problem.
The objective of this thesis is to develop a unified solution procedure for both initial and boundary value problems. Galerkin methods provide a suitable framework for the development of such solvers. Galerkin methods require interpolation schemes that approximate the unknown rigid-body motion fields. Novel interpolation schemes for rigid-body motions are proposed based on minimization of eighted distance measures of rigid-body motions. Based on the proposed interpolation schemes, a unified continuous/discontinuous Galerkin solver is developed for the formulation of geometrically exact beams, for the determination of solutions of initial and periodic boundary value problems, for the stability analysis of periodic solutions, and for the optimal control/optimization problems of flexible multibody systems
On singular values decomposition and patterns for human motion analysis and simulation
We are interested in human motion characterization and automatic motion simulation. The apparent redun- dancy of the humanoid w.r.t its explicit tasks lead to the problem of choosing a plausible movement in the framework of redun- dant kinematics. This work explores the intrinsic relationships between singular value decomposition at kinematic level and optimization principles at task level and joint level. Two task- based schemes devoted to simulation of human motion are then proposed and analyzed. These results are illustrated by motion captures, analyses and task-based simulations. Pattern of singular values serve as a basis for a discussion concerning the similarity of simulated and real motions
A fast immersed boundary method for external incompressible viscous flows using lattice Green's functions
A new parallel, computationally efficient immersed boundary method for
solving three-dimensional, viscous, incompressible flows on unbounded domains
is presented. Immersed surfaces with prescribed motions are generated using the
interpolation and regularization operators obtained from the discrete delta
function approach of the original (Peskin's) immersed boundary method. Unlike
Peskin's method, boundary forces are regarded as Lagrange multipliers that are
used to satisfy the no-slip condition. The incompressible Navier-Stokes
equations are discretized on an unbounded staggered Cartesian grid and are
solved in a finite number of operations using lattice Green's function
techniques. These techniques are used to automatically enforce the natural
free-space boundary conditions and to implement a novel block-wise adaptive
grid that significantly reduces the run-time cost of solutions by limiting
operations to grid cells in the immediate vicinity and near-wake region of the
immersed surface. These techniques also enable the construction of practical
discrete viscous integrating factors that are used in combination with
specialized half-explicit Runge-Kutta schemes to accurately and efficiently
solve the differential algebraic equations describing the discrete momentum
equation, incompressibility constraint, and no-slip constraint. Linear systems
of equations resulting from the time integration scheme are efficiently solved
using an approximation-free nested projection technique. The algebraic
properties of the discrete operators are used to reduce projection steps to
simple discrete elliptic problems, e.g. discrete Poisson problems, that are
compatible with recent parallel fast multipole methods for difference
equations. Numerical experiments on low-aspect-ratio flat plates and spheres at
Reynolds numbers up to 3,700 are used to verify the accuracy and physical
fidelity of the formulation.Comment: 32 pages, 9 figures; preprint submitted to Journal of Computational
Physic
Liquid-gas-solid flows with lattice Boltzmann: Simulation of floating bodies
This paper presents a model for the simulation of liquid-gas-solid flows by
means of the lattice Boltzmann method. The approach is built upon previous
works for the simulation of liquid-solid particle suspensions on the one hand,
and on a liquid-gas free surface model on the other. We show how the two
approaches can be unified by a novel set of dynamic cell conversion rules. For
evaluation, we concentrate on the rotational stability of non-spherical rigid
bodies floating on a plane water surface - a classical hydrostatic problem
known from naval architecture. We show the consistency of our method in this
kind of flows and obtain convergence towards the ideal solution for the
measured heeling stability of a floating box.Comment: 22 pages, Preprint submitted to Computers and Mathematics with
Applications Special Issue ICMMES 2011, Proceedings of the Eighth
International Conference for Mesoscopic Methods in Engineering and Scienc
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