Real-time fluid simulations under smoothed particle hydrodynamics for coupled kinematic modelling in robotic applications

Although solids and fluids can be conceived as continuum media, applications of solid and fluid dynamics differ greatly from each other in their theoretical models and their physical behavior. That is why the computer simulators of each turn to be very disparate and case-oriented. The aim of this research work, captured in this thesis book, is to find a fluid dynamics model that can be implemented in near real-time with GPU processing and that can be adapted to typically large scales found in robotic devices in action with fluid media. More specifically, the objective is to develop these fast fluid simulations, comprising different solid body dynamics, to find a viable time kinematic solution for robotics. The tested cases are: i) the case of a fluid in a closed channel flowing across a cylinder, ii) the case of a fluid flowing across a controlled profile, and iii), the case of a free surface fluid control during pouring. The implementation of the former cases settles the formulations and constraints to the latter applications. The results will allow the reader not only to sustain the implemented models but also to break down the software implementation concepts for better comprehension. A fast GPU-based fluid dynamics simulation is detailed in the main implementation. The results show that it can be used in real-time to allow robotics to perform a blind pouring task with a conventional controller and no special sensing systems nor knowledge-driven prediction models would be necessary.Aunque los sólidos y los fluidos pueden concebirse como medios continuos, las aplicaciones de la dinámica de sólidos y fluidos difieren mucho entre sí en sus modelos teóricos y su comportamiento físico. Es por eso que los simuladores por computadora de cada uno son muy dispares y están orientados al caso de su aplicación. El objetivo de este trabajo de investigación, capturado en este libro de tesis, es encontrar un modelo de dinámica de fluidos que se pueda implementar cercano al tiempo real con procesamiento GPU y que se pueda adaptar a escalas típicamente grandes que se encuentran en dispositivos robóticos en acción con medios fluidos. Específicamente, el propósito es desarrollar estas simulaciones de fluidos rápidos, que comprenden diferentes dinámicas de cuerpos sólidos, para encontrar una solución cinemática viable para robótica. Los casos probados son: i) el caso de un fluido en canal cerrado que fluye a través de un cilindro, ii) el caso de un fluido que fluye a través de un alabe controlado, y iii), el caso del control de un fluido de superficie libre durante el vertido. La implementación de estos primeros casos establece las formulaciones y limitaciones de aplicaciones futuras. Los resultados permitirán al lector no solo sostener los modelos implementados sino también desglosar los conceptos de la implementación en software para una mejor comprensión. En la implementación principal se consigue una simulación rápida de dinámica de fluidos basada en GPU. Los resultados muestran que esta implementación se puede utilizar en tiempo real para permitir que la robótica realice una tarea de vertido ciego con un controlador convencional sin que sea necesario algún sistema de sensado especial ni algún modelo predictivo basados en el conocimiento.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Carmen Martínez Arévalo.- Secretario: Luis Santiago Garrido Bullón.- Vocal: Benjamín Hernández Arreguí

Theoretical and numerical methods for predicting ship-wave impact generated sea spray

Spray generated by ships traveling in cold oceans often leads to topside ice accretion, which can be dangerous to vessels. To develop a full methodology of goal based design for ice accretion there are two critical knowledge gaps, both of which are complex to close, and require new methods and techniques. One is a comparison of ice accretion rates for different structures in the same icing conditions. The second knowledge gap is validation data that compares predicted ice growth rates for all types of ship and offshore structures against observed values. Estimation of the spray flux is a first step in predicting icing accumulation. The amount of spray water, the duration of exposure to the spray, and the frequency at which the spray is generated are all important parameters in estimating the spray flux. Most existing spray flux formulae are based on field observations from small fishing vessels. They consider meteorological and oceanographic parameters but neglect the vessel behavior. Ship heave and pitch motions, together with ship speed and heading relative to the waves, determine the frequency of spray events. Thus the existing formulae are not generally applicable to different sizes and types of vessels. The current study develops simple methods to quantify spray properties in terms that can be applied to vessels of any size or type, which consequently addresses the first knowledge gap. Formulae to estimate water content and spray duration are derived based on principles of energy conservation and dimensional analysis. To estimate spray frequency considering ship motions, a theoretical model is proposed. The model inputs are restricted to ship’s principal particulars, operating conditions, and environmental conditions. Wave-induced motions are estimated using semi-empirical analytical expressions. A novel spray threshold is developed to separate deck wetness frequency from spray frequency. Spray flux estimates are validated against full-scale field measurements available in the open literature and reasonable agreement was obtained. The complex interaction between the structure and a multi-phase fluid, including spray are not fully understood. Limitations of field measurements and model experiments encourage the use of numerical simulation to understand the formation of such spray. In this study, full-scale simulation models of wave-generated sea spray are also developed by implementing a smooth particle hydrodynamics (SPH) method. A three-dimensional (3D) numerical wave tank equipped with a flap-type wave maker and a wave absorber is created to produce regular waves of various heights and steepness. A full-scale medium-size fishing vessel (MFV) is modeled to impact waves in head sea conditions at various forward speeds. Moving ship dynamics with three degree-of-freedom (3-DOF) in waves are resolved instead of mimicking a relative ship speed. The resultant spray water amount is measured using a numerical collection box and compared against field measurements and the theoretical model, where a reasonable agreement is found. The model is able to distinguish between green water and spray water. A multi-phase two-dimensional (2D) simulation is also performed that demonstrates the role of wind in the fragmentation of water sheets into droplets and their distributions over the deck. The simulation results indicate energy released from a surging ship significantly contributes to the generation of spray. An investigation was also performed to explore means to speed up the computationally intensive SPH simulations. A comparison with a traditional CPU (central processing unit) clusters with GPU (graphics processing unit) was performed where GPUs demonstrated faster executions. All the SPH simulations were run on GPUs

Cell mechanics in flow: algorithms and applications

The computer simulations are pervasively used to improve the knowledge about biophysical phenomena and to quantify effects which are difficult to study experimentally. Generally, the numerical methods and models are desired to be as accurate as possible on the chosen length and time scales, but, at the same time, affordable in terms of computations. Until recently, the cell mechanics and blood flow phenomena on the sub-micron resolution could not be rigorously studied using computer simulations. However, within the last decade, advances in methods and hardware catalyzed the development of models for cells mechanics and blood flow modeling which, previously, were considered to be not feasible. In this context, a model should accurately describe a phenomenon, be computationally affordable, and be flexible to be applied to study different biophysical changes. This thesis focuses on the development of the new methods, models, and high-performance software implementation that expand the class of problems which can be studied numerically using particle-based methods. Microvascular networks have complex geometry, often without any symmetry, and to study them we need to tackle computational domains with several inlets and outlets. However, an absence of appropriate boundary conditions for particle- based methods hampers study of the blood flow in these domains. Another obstacle to model complex blood flow problems is the absence the highperformance software. This problem restricts the applicability of the of particlebased cell flow models to relatively small systems. Although there are several validated red blood cell models, to date, there are no models for suspended eukaryotic cells. The present thesis addresses these issues. We introduce new open boundary conditions for particle-based systems and apply them to study blood flow in a part of a microvascular network. We develop a software demonstrating outstanding performance on the largest supercomputers and used it to study blood flow in microfluidic devices. Finally, we present a new eukaryotic cell model which helps in quantifying the effect of sub-cellular components on the cell mechanics during deformations in microfluidic devices

Interactive Three-Dimensional Simulation and Visualisation of Real Time Blood Flow in Vascular Networks

One of the challenges in cardiovascular disease management is the clinical decision-making process. When a clinician is dealing with complex and uncertain situations, the decision on whether or how to intervene is made based upon distinct information from diverse sources. There are several variables that can affect how the vascular system responds to treatment. These include: the extent of the damage and scarring, the efficiency of blood flow remodelling, and any associated pathology. Moreover, the effect of an intervention may lead to further unforeseen complications (e.g. another stenosis may be “hidden” further along the vessel). Currently, there is no tool for predicting or exploring such scenarios. This thesis explores the development of a highly adaptive real-time simulation of blood flow that considers patient specific data and clinician interaction. The simulation should model blood realistically, accurately, and through complex vascular networks in real-time. Developing robust flow scenarios that can be incorporated into the decision and planning medical tool set. The focus will be on specific regions of the anatomy, where accuracy is of the utmost importance and the flow can develop into specific patterns, with the aim of better understanding their condition and predicting factors of their future evolution. Results from the validation of the simulation showed promising comparisons with the literature and demonstrated a viability for clinical use

Research on real-time physics-based deformation for haptic-enabled medical simulation

This study developed a multiple effective visuo-haptic surgical engine to handle a variety of surgical manipulations in real-time. Soft tissue models are based on biomechanical experiment and continuum mechanics for greater accuracy. Such models will increase the realism of future training systems and the VR/AR/MR implementations for the operating room

Etude de la méthode de Boltzmann sur réseau pour la segmentation d'anévrismes cérébraux

Cerebral aneurysm is a fragile area on the wall of a blood vessel in the brain, which can rupture and cause major bleeding and cerebrovascular accident. The segmentation of cerebral aneurysm is a primordial step for diagnosis assistance, treatment and surgery planning. Unfortunately, manual segmentation is still an important part in clinical angiography but has become a burden given the huge amount of data generated by medical imaging systems. Automatic image segmentation techniques provides an essential way to easy and speed up clinical examinations, reduce the amount of manual interaction and lower inter operator variability. The main purpose of this PhD work is to develop automatic methods for cerebral aneurysm segmentation and measurement. The present work consists of three main parts. The first part deals with giant aneurysm segmentation containing lumen and thrombus. The methodology consists of first extracting the lumen and thrombus using a two-step procedure based on the LBM, and then refining the shape of the thrombus using level set technique. In this part the proposed method is also compared with manual segmentation, demonstrating its good segmentation accuracy. The second part concerns a LBM approach to vessel segmentation in 2D+t images and to cerebral aneurysm segmentation in 3D medical images through introducing a LBM D3Q27 model, which allows achieving a good segmentation and high robustness to noise. The last part investigates a true 4D segmentation model by considering the 3D+t data as a 4D hypervolume and using a D4Q81 lattice in LBM where time is considered in the same manner as for other three dimensions for the definition of particle moving directions in the LBM model.L'anévrisme cérébral est une région fragile de la paroi d'un vaisseau sanguin dans le cerveau, qui peut se rompre et provoquer des saignements importants et des accidents vasculaires cérébraux. La segmentation de l'anévrisme cérébral est une étape primordiale pour l'aide au diagnostic, le traitement et la planification chirurgicale. Malheureusement, la segmentation manuelle prend encore une part importante dans l'angiographie clinique et elle est devenue couteuse en temps de traitement étant donné la gigantesque quantité de données générées par les systèmes d'imagerie médicale. Les méthodes de segmentation automatique d'image constituent un moyen essentiel pour faciliter et accélérer l'examen clinique et pour réduire l'interaction manuelle et la variabilité inter-opérateurs. L'objectif principal de ce travail de thèse est de développer des méthodes automatiques pour la segmentation et la mesure des anévrismes. Le présent travail de thèse est constitué de trois parties principales. La première partie concerne la segmentation des anévrismes géants qui contiennent à la fois la lumière et le thrombus. La méthode consiste d'abord à extraire la lumière et le thrombus en utilisant une procédure en deux étapes, puis à affiner la forme du thrombus à l'aide de la méthode des courbes de niveaux. Dans cette partie, la méthode proposée est également comparée à la segmentation manuelle, démontrant sa bonne précision. La deuxième partie concerne une approche LBM pour la segmentation des vaisseaux dans des images 2D+t et de l'anévrisme cérébral dans les images en 3D. La dernière partie étudie un modèle de segmentation 4D en considérant les images 3D+t comme un hypervolume 4D et en utilisant un réseau LBM D4Q81, dans lequel le temps est considéré de la même manière que les trois autres dimensions pour la définition des directions de mouvement des particules dans la LBM, considérant les données 3D+t comme un hypervolume 4D et en utilisant un réseau LBM D4Q81. Des expériences sont réalisées sur des images synthétiques d'hypercube 4D et d'hypersphere 4D. La valeur de Dice sur l'image de l'hypercube avec et sans bruit montre que la méthode proposée est prometteuse pour la segmentation 4D et le débruitage

Numerical investigation of fracture of polycrystalline ice under dynamic loading

Cohesive zone model is a promising technique for simulating fracture processes in brittle ice. In this work it is applied to investigate the fracture behavior of polycrystalline cylindrical samples under uniaxial loading conditions, four-point beam bending, and L-shaped beam bending. In each case, the simulation results are compared with the corresponding experimental data that was collected by other researchers. The model is based on the implicit finite element method combined with Park-Paulino-Roesler formulation for cohesive potential and includes an adaptive time stepping scheme, which takes into account the rate of damage and failure of cohesive zones. The benefit of the implicit scheme is that it allows larger time steps than explicit integration. Material properties and model parameters are calibrated using available experimental data for freshwater ice and sea ice samples. For polycrystalline ice, granular geometry is generated and cohesive zones are inserted between grains. Simulations are performed for samples with different grain sizes, and the resulting stress–strain and damage accumulation curves are recorded. Investigation of the dependency between the grain size and fracture strength shows a strengthening effect that is consistent with experimental results. The proposed framework is also applied to simulate the dynamic fracture processes in Lshaped beams of sea ice, in which case the cohesive zones are inserted between the elements of the mesh. Evolution of the stress distribution on the surface of the beam is modeled for the duration of the loading process, showing how it changes with progressive accumulation of damage in the material, as well as the development of cracks. An analytical formula is derived for estimating the breaking force based on the dimensions of the beam and the ice strength. Experimental data obtained from the 2014-2016 tests are re-evaluated with the aid of this new analysis. The computation is implemented efficiently with GPU acceleration, allowing to handle geometries with higher resolution than would be possible otherwise. Several technical contributions are described in detail including GPU-accelerated FEM implementation, an efficient way of creation of sparse matrix structure, and comparison of different unloading/reloading relations when using an implicit integration scheme. A mechanism for collision response allows modeling the interaction of fragmented material. To evaluate the collision forces, an algorithm for computing first and second point-triangle distance derivatives was developed. The source code is made available as open-source

CFD-DEM Modeling of Spouted Beds With Internal Devices Using PTV

195 p.Esta tesis se centra en la extracción de perfiles de velocidad de sólidos, tanto esféricos como irregulares, en un spouted bed y el análisis de estos valores bajo la influencia de diferentes dispositivos internos en el contactor y caudales. El análisis se ha centrado en un contactor cónico mientras que un contactor de perfil prismático también ha sido utilizado para analizar el efecto de esta geometría en la dinámica del sistema. Estos valores experimentales de sólidos regulares e irregulares han sido modelados y simulados a través de un modelo CFD-DEM en el que la fase continua y discreta se han acoplado, a fin de garantizar simulaciones realistas y capaces de predecir parámetros difíciles de obtener de manera experimental y cruciales para el diseño y escalado de estos tipos de lechos; como son los tiempos de ciclo de los sólidos y la distribución de tiempos de residencia del gas bajo diferentes condiciones. Estos parámetros determinan la capacidad de un sistema y la eficacia a la hora de utilizar el volumen del reactor

Electric field simulations and electric dipole investigations at the KATRIN main spectrometer

This thesis deals with the development of high-accuracy electric field simulation methods and experimental background investigations with the electric dipole method for the KATRIN experiment. Both fields of work are of crucial importance to obtain the targeted background level of 10 mcps for the investigation of the absolute neutrino mass scale with a sensitivity of 200 meV/c² at 90% C.L