6,917 research outputs found
Differential-Algebraic Equations and Beyond: From Smooth to Nonsmooth Constrained Dynamical Systems
The present article presents a summarizing view at differential-algebraic
equations (DAEs) and analyzes how new application fields and corresponding
mathematical models lead to innovations both in theory and in numerical
analysis for this problem class. Recent numerical methods for nonsmooth
dynamical systems subject to unilateral contact and friction illustrate the
topicality of this development.Comment: Preprint of Book Chapte
Deflation for semismooth equations
Variational inequalities can in general support distinct solutions. In this
paper we study an algorithm for computing distinct solutions of a variational
inequality, without varying the initial guess supplied to the solver. The
central idea is the combination of a semismooth Newton method with a deflation
operator that eliminates known solutions from consideration. Given one root of
a semismooth residual, deflation constructs a new problem for which a
semismooth Newton method will not converge to the known root, even from the
same initial guess. This enables the discovery of other roots. We prove the
effectiveness of the deflation technique under the same assumptions that
guarantee locally superlinear convergence of a semismooth Newton method. We
demonstrate its utility on various finite- and infinite-dimensional examples
drawn from constrained optimization, game theory, economics and solid
mechanics.Comment: 24 pages, 3 figure
Nonsmooth Lagrangian mechanics and variational collision integrators
Variational techniques are used to analyze the problem of rigid-body dynamics with impacts. The theory of smooth Lagrangian mechanics is extended to a nonsmooth context appropriate for collisions, and it is shown in what sense the system is symplectic and satisfies a Noether-style momentum conservation theorem.
Discretizations of this nonsmooth mechanics are developed by using the methodology of variational discrete mechanics. This leads to variational integrators which are symplectic-momentum preserving and are consistent with the jump conditions given in the continuous theory. Specific examples of these methods are tested numerically, and the long-time stable energy behavior typical of variational methods is demonstrated
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Articular human joint modelling
Copyright @ Cambridge University Press 2009.The work reported in this paper encapsulates the theories and algorithms developed to drive the core analysis modules of the software which has been developed to model a musculoskeletal structure of anatomic joints. Due to local bone surface and contact geometry based joint kinematics, newly developed algorithms make the proposed modeller different from currently available modellers. There are many modellers that are capable of modelling gross human body motion. Nevertheless, none of the available modellers offer complete elements of joint modelling. It appears that joint modelling is an extension of their core analysis capability, which, in every case, appears to be musculoskeletal motion dynamics. It is felt that an analysis framework that is focused on human joints would have significant benefit and potential to be used in many orthopaedic applications. The local mobility of joints has a significant influence in human motion analysis, in understanding of joint loading, tissue behaviour and contact forces. However, in order to develop a bone surface based joint modeller, there are a number of major problems, from tissue idealizations to surface geometry discretization and non-linear motion analysis. This paper presents the following: (a) The physical deformation of biological tissues as linear or non-linear viscoelastic deformation, based on spring-dashpot elements. (b) The linear dynamic multibody modelling, where the linear formulation is established for small motions and is particularly useful for calculating the equilibrium position of the joint. This model can also be used for finding small motion behaviour or loading under static conditions. It also has the potential of quantifying the joint laxity. (c) The non-linear dynamic multibody modelling, where a non-matrix and algorithmic formulation is presented. The approach allows handling complex material and geometrical nonlinearity easily. (d) Shortest path algorithms for calculating soft tissue line of action geometries. The developed algorithms are based on calculating minimum âsurface massâ and âsurface covarianceâ. An improved version of the âsurface covarianceâ algorithm is described as âresidual covarianceâ. The resulting path is used to establish the direction of forces and moments acting on joints. This information is needed for linear or non-linear treatment of the joint motion. (e) The final contribution of the paper is the treatment of the collision. In the virtual world, the difficulty in analysing bodies in motion arises due to body interpenetrations. The collision algorithm proposed in the paper involves finding the shortest projected ray from one body to the other. The projection of the body is determined by the resultant forces acting on it due to soft tissue connections under tension. This enables the calculation of collision condition of non-convex objects accurately. After the initial collision detection, the analysis involves attaching special springs (stiffness only normal to the surfaces) at the âpotentially colliding pointsâ and motion of bodies is recalculated. The collision algorithm incorporates the rotation as well as translation. The algorithm continues until the joint equilibrium is achieved. Finally, the results obtained based on the software are compared with experimental results obtained using cadaveric joints
Geometric origin of mechanical properties of granular materials
Some remarkable generic properties, related to isostaticity and potential
energy minimization, of equilibrium configurations of assemblies of rigid,
frictionless grains are studied. Isostaticity -the uniqueness of the forces,
once the list of contacts is known- is established in a quite general context,
and the important distinction between isostatic problems under given external
loads and isostatic (rigid) structures is presented. Complete rigidity is only
guaranteed, on stability grounds, in the case of spherical cohesionless grains.
Otherwise, the network of contacts might deform elastically in response to load
increments, even though grains are rigid. This sets an uuper bound on the
contact coordination number. The approximation of small displacements (ASD)
allows to draw analogies with other model systems studied in statistical
mechanics, such as minimum paths on a lattice. It also entails the uniqueness
of the equilibrium state (the list of contacts itself is geometrically
determined) for cohesionless grains, and thus the absence of plastic
dissipation. Plasticity and hysteresis are due to the lack of such uniqueness
and may stem, apart from intergranular friction, from small, but finite,
rearrangements, in which the system jumps between two distinct potential energy
minima, or from bounded tensile contact forces. The response to load increments
is discussed. On the basis of past numerical studies, we argue that, if the ASD
is valid, the macroscopic displacement field is the solution to an elliptic
boundary value problem (akin to the Stokes problem).Comment: RevTex, 40 pages, 26 figures. Close to published paper. Misprints and
minor errors correcte
A simplified approach to the topology optimization of structures in case of unilateral material/supports
A simplified method to cope with the topology optimization of trussâlike structures in case of unilateral behavior of material or supports is presented. The conventional formulation for volumeâconstrained compliance minimization is enriched with a set of stress constraints that enforce a suitable version of the DruckerâPrager strength criterion in order to prevent the arising of tensile (or compressive) members
in the whole domain or within limited regions in the vicinity of the supports. The adopted numerical framework combines an ad hoc selection strategy along with the use of aggregation techniques that succeed in driving the energyâbased minimization towards feasible designs through the enforcement of a limited number of stress constraints. Numerical simulations assess the proposed optimization framework in comparison with methods that are based on a full nonâlinear modeling of unilateral material/supports. An extension to the safety analysis of structures made of noâtension material is also highlighted
Virtual Constraints and Hybrid Zero Dynamics for Realizing Underactuated Bipedal Locomotion
Underactuation is ubiquitous in human locomotion and should be ubiquitous in
bipedal robotic locomotion as well. This chapter presents a coherent theory for
the design of feedback controllers that achieve stable walking gaits in
underactuated bipedal robots. Two fundamental tools are introduced, virtual
constraints and hybrid zero dynamics. Virtual constraints are relations on the
state variables of a mechanical model that are imposed through a time-invariant
feedback controller. One of their roles is to synchronize the robot's joints to
an internal gait phasing variable. A second role is to induce a low dimensional
system, the zero dynamics, that captures the underactuated aspects of a robot's
model, without any approximations. To enhance intuition, the relation between
physical constraints and virtual constraints is first established. From here,
the hybrid zero dynamics of an underactuated bipedal model is developed, and
its fundamental role in the design of asymptotically stable walking motions is
established. The chapter includes numerous references to robots on which the
highlighted techniques have been implemented.Comment: 17 pages, 4 figures, bookchapte
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