A port-Hamiltonian formulation of flexible structures. Modelling and structure-preserving finite element discretization

Despite the large literature on port-Hamiltonian (pH) formalism, elasticity problems in higher geometrical dimensions have almost never been considered. This work establishes the connection between port-Hamiltonian distributed systems and elasticity problems. The originality resides in three major contributions. First, the novel pH formulation of plate models and coupled thermoelastic phenomena is presented. The use of tensor calculus is mandatory for continuum mechanical models and the inclusion of tensor variables is necessary to obtain an equivalent and intrinsic, i.e. coordinate free, pH description. Second, a finite element based discretization technique, capable of preserving the structure of the infinite-dimensional problem at a discrete level, is developed and validated. The discretization of elasticity problems requires the use of non-standard finite elements. Nevertheless, the numerical implementation is performed thanks to well-established open-source libraries, providing external users with an easy to use tool for simulating flexible systems in pH form. Third, flexible multibody systems are recast in pH form by making use of a floating frame description valid under small deformations assumptions. This reformulation include all kinds of linear elastic models and exploits the intrinsic modularity of pH systems

Automated Model Generation and Observer Design for Interconnected Systems : a Port-Hamiltonian Approach

Vernetzte Systeme stellen einen unverzichtbaren Teil moderner Gesellschaften dar. Mit dem Ausrollen neuer Kommunikationstechnologien und in Folge der fortgeschrittenen Nutzung von Synergiepotenzialen entstanden in den letzten Jahren vernetzte Systeme ungeahnten Ausmaßes. Aufgrund der Komplexität dieser Systeme, gelangen bestehende Modellierungs- und Beobachterentwurfsmethoden an ihre Grenzen. Modelle und Beobachter können deshalb häufig nur unter erheblichen Vereinfachungen entwickelt werden. Die vorliegende Dissertation schafft Abhilfe. Leitgedanke ist es, die Vorgänge der Modellerzeugung und des Beobachterentwurfs zu automatisieren. Hierzu werden in dieser Arbeit automatisierbare Modellierungs- und Beobachtermethoden auf Basis der Port-Hamiltonschen Systemtheorie entwickelt. Diese Methoden sind in einem Software-Prototyp namens AMOTO implementiert. In zwei Fallstudien wird AMOTO jeweils zur automatisierten Modellherleitung und zum automatisierten Beobachterentwurf eingesetzt. Computersimulationen weisen in beiden Fallstudien die Funktionstüchtigkeit der erzeugten Modelle und Beobachter nach und zeigen, dass diese genauere Ergebnisse liefern, als Modelle und Beobachter, die mit Methoden des bisherigen Stands der Technik entwickelt wurden. Dies unterstreicht die praktische Nutzbarkeit des vorgestellten Ansatzes. Es zeigt sich ferner, dass der Ansatz auf eine große Klasse vernetzter Systeme anwendbar ist. Somit leisten die Methoden, Algorithmen und Werkzeuge aus dieser Arbeit einen wichtigen Beitrag zur Bewältigung zukünftiger Herausforderungen in vernetzen Systemen

Automated Model Generation and Observer Design for Interconnected Systems : A Port-Hamiltonian Approach

This work addresses the automated generation of physical-based models and model-based observers. We develop port-Hamiltonian methods, which for the first time allow a complete and consistent automation of these two processes for a large class of interconnected systems

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version

Model Order Reduction

An increasing complexity of models used to predict real-world systems leads to the need for algorithms to replace complex models with far simpler ones, while preserving the accuracy of the predictions. This three-volume handbook covers methods as well as applications. This third volume focuses on applications in engineering, biomedical engineering, computational physics and computer science