多自由度剛体折紙構造の設計と幾何学的非線形解析

京都大学新制・課程博士博士(工学)甲第24576号工博第5082号新制||工||1973(附属図書館)京都大学大学院工学研究科建築学専攻(主査)教授 大崎 純, 教授 竹脇 出, 教授 聲高 裕治学位規則第4条第1項該当Doctor of Philosophy (Engineering)Kyoto UniversityDFA

B-Spline based uncertainty quantification for stochastic analysis

The consideration of uncertainties has become inevitable in state-of-the-art science and technology. Research in the field of uncertainty quantification has gained much importance in the last decades. The main focus of scientists is the identification of uncertain sources, the determination and hierarchization of uncertainties, and the investigation of their influences on system responses. Polynomial chaos expansion, among others, is suitable for this purpose, and has asserted itself as a versatile and powerful tool in various applications. In the last years, its combination with any kind of dimension reduction methods has been intensively pursued, providing support for the processing of high-dimensional input variables up to now. Indeed, this is also referred to as the curse of dimensionality and its abolishment would be considered as a milestone in uncertainty quantification. At this point, the present thesis starts and investigates spline spaces, as a natural extension of polynomials, in the field of uncertainty quantification. The newly developed method 'spline chaos', aims to employ the more complex, but thereby more flexible, structure of splines to counter harder real-world applications where polynomial chaos fails. Ordinarily, the bases of polynomial chaos expansions are orthogonal polynomials, which are replaced by B-spline basis functions in this work. Convergence of the new method is proved and emphasized by numerical examples, which are extended to an accuracy analysis with multi-dimensional input. Moreover, by solving several stochastic differential equations, it is shown that the spline chaos is a generalization of multi-element Legendre chaos and superior to it. Finally, the spline chaos accounts for solving partial differential equations and results in a stochastic Galerkin isogeometric analysis that contributes to the efficient uncertainty quantification of elliptic partial differential equations. A general framework in combination with an a priori error estimation of the expected solution is provided

Geometrically Consistent Aerodynamic Optimization using an Isogeometric Discontinuous Galerkin Method

International audienceThe objective of the current work is to define a design optimization methodology in aerodynamics, in which all numerical components are based on a unique geometrical representation, consistent with Computer-Aided Design (CAD) standards. In particular, the design is parameterized by Non-Uniform Rational B-Splines (NURBS), the computational domain is automatically constructed using rational Bézier elements extracted from NURBS boundaries without any approximation and the resolution of the flow equations relies on an adaptive Discontinuous Galerkin (DG) method based on rational representations. A Bayesian framework is used to optimize NURBS control points, in a single-or multi-objective, constrained, global optimization framework. The resulting methodology is therefore fully CAD-consistent, high-order in space and time, includes local adaption and shock capturing capabilities, and exhibits high parallelization performance. The proposed methods are described in details and their properties are established. Finally, two design optimization problems are provided as illustrations: the shape optimization of an airfoil in transonic regime, for drag reduction with lift constraint, and the multi-objective optimization of the control law of a morphing airfoil in subsonic regime, regarding the time-averaged lift, the minimum instantaneous lift and the energy consumption

Advances and Trends in Mathematical Modelling, Control and Identification of Vibrating Systems

This book introduces novel results on mathematical modelling, parameter identification, and automatic control for a wide range of applications of mechanical, electric, and mechatronic systems, where undesirable oscillations or vibrations are manifested. The six chapters of the book written by experts from international scientific community cover a wide range of interesting research topics related to: algebraic identification of rotordynamic parameters in rotor-bearing system using finite element models; model predictive control for active automotive suspension systems by means of hydraulic actuators; model-free data-driven-based control for a Voltage Source Converter-based Static Synchronous Compensator to improve the dynamic power grid performance under transient scenarios; an exact elasto-dynamics theory for bending vibrations for a class of flexible structures; motion profile tracking control and vibrating disturbance suppression for quadrotor aerial vehicles using artificial neural networks and particle swarm optimization; and multiple adaptive controllers based on B-Spline artificial neural networks for regulation and attenuation of low frequency oscillations for large-scale power systems. The book is addressed for both academic and industrial researchers and practitioners, as well as for postgraduate and undergraduate engineering students and other experts in a wide variety of disciplines seeking to know more about the advances and trends in mathematical modelling, control and identification of engineering systems in which undesirable oscillations or vibrations could be presented during their operation

Advanced Techniques for Design and Manufacturing in Marine Engineering

Modern engineering design processes are driven by the extensive use of numerical simulations; naval architecture and ocean engineering are no exception. Computational power has been improved over the last few decades; therefore, the integration of different tools such as CAD, FEM, CFD, and CAM has enabled complex modeling and manufacturing problems to be solved in a more feasible way. Classical naval design methodology can take advantage of this integration, giving rise to more robust designs in terms of shape, structural and hydrodynamic performances, and the manufacturing process.This Special Issue invites researchers and engineers from both academia and the industry to publish the latest progress in design and manufacturing techniques in marine engineering and to debate the current issues and future perspectives in this research area. Suitable topics for this issue include, but are not limited to, the following:CAD-based approaches for designing the hull and appendages of sailing and engine-powered boats and comparisons with traditional techniques;Finite element method applications to predict the structural performance of the whole boat or of a portion of it, with particular attention to the modeling of the material used;Embedded measurement systems for structural health monitoring;Determination of hydrodynamic efficiency using experimental, numerical, or semi-empiric methods for displacement and planning hulls;Topology optimization techniques to overcome traditional scantling criteria based on international standards;Applications of additive manufacturing to derive innovative shapes for internal reinforcements or sandwich hull structures

Toolpath Smoothing using Clothoids for High Speed CNC Machines

As a result of this research, new methods for CNC toolpath smoothing were developed. Utilising these methods can increase the speed, decrease vibrations and improve the cut quality of a CNC machine. In the developed techniques, Euler spirals have been used to smooth the corners

Path planning for mobile robots in the real world: handling multiple objectives, hierarchical structures and partial information

Autonomous robots in real-world environments face a number of challenges even to accomplish apparently simple tasks like moving to a given location. We present four realistic scenarios in which robot navigation takes into account partial information, hierarchical structures, and multiple objectives. We start by discussing navigation in indoor environments shared with people, where routes are characterized by effort, risk, and social impact. Next, we improve navigation by computing optimal trajectories and implementing human-friendly local navigation behaviors. Finally, we move to outdoor environments, where robots rely on uncertain traversability estimations and need to account for the risk of getting stuck or having to change route