1,974 research outputs found

    Variational Bonded Discrete Element Method with Manifold Optimization

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    This paper proposes a novel approach that combines variational integration with the bonded discrete element method (BDEM) to achieve faster and more accurate fracture simulations. The approach leverages the efficiency of implicit integration and the accuracy of BDEM in modeling fracture phenomena. We introduce a variational integrator and a manifold optimization approach utilizing a nullspace operator to speed up the solving of quaternion-constrained systems. Additionally, the paper presents an element packing and surface reconstruction method specifically designed for bonded discrete element methods. Results from the experiments prove that the proposed method offers 2.8 to 12 times faster state-of-the-art methods

    Design of decorative 3D models: from geodesic ornaments to tangible assemblies

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    L'obiettivo di questa tesi è sviluppare strumenti utili per creare opere d'arte decorative digitali in 3D. Uno dei processi decorativi più comunemente usati prevede la creazione di pattern decorativi, al fine di abbellire gli oggetti. Questi pattern possono essere dipinti sull'oggetto di base o realizzati con l'applicazione di piccoli elementi decorativi. Tuttavia, la loro realizzazione nei media digitali non è banale. Da un lato, gli utenti esperti possono eseguire manualmente la pittura delle texture o scolpire ogni decorazione, ma questo processo può richiedere ore per produrre un singolo pezzo e deve essere ripetuto da zero per ogni modello da decorare. D'altra parte, gli approcci automatici allo stato dell'arte si basano sull'approssimazione di questi processi con texturing basato su esempi o texturing procedurale, o con sistemi di riproiezione 3D. Tuttavia, questi approcci possono introdurre importanti limiti nei modelli utilizzabili e nella qualità dei risultati. Il nostro lavoro sfrutta invece i recenti progressi e miglioramenti delle prestazioni nel campo dell'elaborazione geometrica per creare modelli decorativi direttamente sulle superfici. Presentiamo una pipeline per i pattern 2D e una per quelli 3D, e dimostriamo come ognuna di esse possa ricreare una vasta gamma di risultati con minime modifiche dei parametri. Inoltre, studiamo la possibilità di creare modelli decorativi tangibili. I pattern 3D generati possono essere stampati in 3D e applicati a oggetti realmente esistenti precedentemente scansionati. Discutiamo anche la creazione di modelli con mattoncini da costruzione, e la possibilità di mescolare mattoncini standard e mattoncini custom stampati in 3D. Ciò consente una rappresentazione precisa indipendentemente da quanto la voxelizzazione sia approssimativa. I principali contributi di questa tesi sono l'implementazione di due diverse pipeline decorative, un approccio euristico alla costruzione con mattoncini e un dataset per testare quest'ultimo.The aim of this thesis is to develop effective tools to create digital decorative 3D artworks. Real-world art often involves the use of decorative patterns to enrich objects. These patterns can be painted on the base or might be realized with the application of small decorative elements. However, their creation in digital media is not trivial. On the one hand, users can manually perform texture paint or sculpt each decoration, in a process that can take hours to produce a single piece and needs to be repeated from the ground up for every model that needs to be decorated. On the other hand, automatic approaches in state of the art rely on approximating these processes with procedural or by-example texturing or with 3D reprojection. However, these approaches can introduce significant limitations in the models that can be used and in the quality of the results. Instead, our work exploits the recent advances and performance improvements in the geometry processing field to create decorative patterns directly on surfaces. We present a pipeline for 2D and one for 3D patterns and demonstrate how each of them can recreate a variety of results with minimal tweaking of the parameters. Furthermore, we investigate the possibility of creating decorative tangible models. The 3D patterns we generate can be 3D printed and applied to previously scanned real-world objects. We also discuss the creation of models with standard building bricks and the possibility of mixing standard and custom 3D-printed bricks. This allows for a precise representation regardless of the coarseness of the voxelization. The main contributions of this thesis are the implementation of two different decorative pipelines, a heuristic approach to brick construction, and a dataset to test the latter

    Numerical resolution of the Navier-Stokes equations with parallel programming for the analysis of heat and mass transfer phenomena.

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    Aquesta tesi analitza mètodes numèrics per resoldre les equacions de Navier-Stokes en dinàmica de fluids computacional (CFD, per les sigles en anglès). La investigació es centra a des- envolupar una visió profunda de diferents mètodes numèrics i la seva aplicació a diversos fenòmens de transport. S’aplica una metodologia pas a pas, que abarca l’anàlisi de volums fi- nits i mètodes espectrals, la validació de models i la verificació de codis a través de l’anàlisi de casos d’estudi de convecció-difusió, flux de fluids i turbulència. La investigació revela l’efecte de diferents esquemes d’aproximació a la solució numèrica i emfatitza la importància d’una representació física precisa juntament amb la solidesa matemàtica. S’examina la convergència del mètode de resolució d’equacions iteratiu pel que fa a la naturalesa de la física de l’estudi, i cal destacar la necessitat de tècniques de relaxació apropiades. A més, s’explora el mètode de passos fraccionats per resoldre el fort acoblament de pressió-velocitat a les equacions de Navier-Stokes, mentre es considera l’addició d’altres fenòmens de transport. L’anàlisi de fluxes turbulents mostra la cascada d’energia a l’espai de Fourier i l’efecte del truncament a causa de la discretització espacial o espectral, abordat per l’aplicació de models simplificats, com ara Large Eddy Simulation (LES), aconseguint una solució aproximada amb un menor cost computacional. A més, s’analitza la implementació de la computació en paral·lel utilitzant l’estàndard MPI, emfatitzant-ne l’escalabilitat i el potencial per abordar les demandes creixents de l’anàlisi CFD en els camps de l’enginyeria. En general, aquesta recerca proporciona informació valuosa sobre els mètodes numèrics per a les equacions de Navier-Stokes, la seva aplicació a CFD i les implicacions pràctiques per als processos d’enginyeriaEsta tesis analiza métodos numéricos para resolver las ecuaciones de Navier-Stokes en dinámica de fluidos computacional (CFD, por sus siglas en Inglés). La investigación se centra en desarrollar una visión profunda de distintos métodos numéricos y su aplicación a diversos fenómenos de transporte. Se aplica una metodología paso a paso, que abarca el análisis de volúmenes finitos y métodos espectrales, validación de modelos y verificación de códigos a través del analisis de casos de estudio de convección-difusión, flujo de fluidos y turbulencia. La investigación revela el efecto de diferentes esquemas de aproximación en la solución numérica y enfatiza la importancia de una representación física precisa junto con la solidez matemática. Se examina la convergencia del método de resolución de equaciones iterativo con respecto a la naturaleza de la física del estudio, destacando la necesidad de técnicas de relajación apropiadas. Además, se explora el método de pasos fraccionados para resolver el fuerte acoplamiento de presión-velocidad en las ecuaciones de Navier-Stokes, mientras se considera la adición de otros fenómenos de transporte. El análisis de flujos turbulentos muestra la cascada de energía en el espacio de Fourier y el efecto del truncamiento debido a la discretización espacial o espectral, abordado por la aplicación de modelos simplificados, como Large Eddy Simulation (LES), logrando una solución aproximada con un menor costo computacional. Además, se analiza la implementación de la computación en paralelo utilizando el estándar MPI, enfatizando su escalabilidad y potencial para abordar las crecientes demandas del análisis CFD en los campos de la ingeniería. En general, esta investigación proporciona información valiosa sobre los métodos numéricos para las ecuaciones de Navier-Stokes, su aplicación a CFD y sus implicaciones prácticas para los procesos de ingenieríaThis thesis analyzes numerical methods for solving the Navier-Stokes equations in computational fluid dynamics (CFD). The research focuses on developing a deep insight into different numerical techniques and their application to various transport phenomena. A step-by-step methodology is applied, encompassing the analysis of finite volume and spectral methods, model validation, and code verification with the study of convection-diffusion, fluid flow, and turbulence study cases. The investigation reveals the effect of different approximation schemes on the numerical solution and emphasizes the importance of accurate physics representation alongside mathematical robustness. The convergence of the numerical solver is examined concerning the nature of the studied physics, highlighting the need for appropriate relaxation techniques. Additionally, the fractional step method is explored to solve the strong pressure-velocity coupling in the Navier-Stokes equations while considering the addition of other transport phenomena. The analysis of turbulent flows showcases the energy cascade in the Fourier space and its truncation effect due to spatial or spectral discretization, addressed by the application of simplified models, such as Large Eddy Simulation (LES), capable of approximating the solution with reduced computational cost. Furthermore, the implementation of parallel computing using the MPI standard is discussed, emphasizing its scalability and potential for addressing the growing demands of CFD analysis in engineering fields. Overall, this research provides valuable insights into numerical methods for the Navier-Stokes equations, their application to CFD, and their practical implications for engineering processe

    Multi-field Visualisation via Trait-induced Merge Trees

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    In this work, we propose trait-based merge trees a generalization of merge trees to feature level sets, targeting the analysis of tensor field or general multi-variate data. For this, we employ the notion of traits defined in attribute space as introduced in the feature level sets framework. The resulting distance field in attribute space induces a scalar field in the spatial domain that serves as input for topological data analysis. The leaves in the merge tree represent those areas in the input data that are closest to the defined trait and thus most closely resemble the defined feature. Hence, the merge tree yields a hierarchy of features that allows for querying the most relevant and persistent features. The presented method includes different query methods for the tree which enable the highlighting of different aspects. We demonstrate the cross-application capabilities of this approach with three case studies from different domains

    Characterising the neck motor system of the blowfly

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    Flying insects use visual, mechanosensory, and proprioceptive information to control their movements, both when on the ground and when airborne. Exploiting visual information for motor control is significantly simplified if the eyes remain aligned with the external horizon. In fast flying insects, head rotations relative to the body enable gaze stabilisation during highspeed manoeuvres or externally caused attitude changes due to turbulent air. Previous behavioural studies into gaze stabilisation suffered from the dynamic properties of the supplying sensor systems and those of the neck motor system being convolved. Specifically, stabilisation of the head in Dipteran flies responding to induced thorax roll involves feed forward information from the mechanosensory halteres, as well as feedback information from the visual systems. To fully understand the functional design of the blowfly gaze stabilisation system as a whole, the neck motor system needs to be investigated independently. Through X-ray micro-computed tomography (μCT), high resolution 3D data has become available, and using staining techniques developed in collaboration with the Natural History Museum London, detailed anatomical data can be extracted. This resulted in a full 3- dimensional anatomical representation of the 21 neck muscle pairs and neighbouring cuticula structures which comprise the blowfly neck motor system. Currently, on the work presented in my PhD thesis, μCT data are being used to infer function from structure by creating a biomechanical model of the neck motor system. This effort aims to determine the specific function of each muscle individually, and is likely to inform the design of artificial gaze stabilisation systems. Any such design would incorporate both sensory and motor systems as well as the control architecture converting sensor signals into motor commands under the given physical constraints of the system as a whole.Open Acces

    TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors

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    Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have gained traction, notably for producing high-resolution tactile images. This work explores gel elastomer deformation simulation through a physics-based approach. While previous works in this direction usually adopt the explicit material point method (MPM), which has certain limitations in force simulation and rendering, we adopt the finite element method (FEM) and address the challenges in penetration and mesh distortion with incremental potential contact (IPC) method. As a result, we present a simulator named TacIPC, which can ensure numerically stable simulations while accommodating direct rendering and friction modeling. To evaluate TacIPC, we conduct three tasks: pseudo-image quality assessment, deformed geometry estimation, and marker displacement prediction. These tasks show its superior efficacy in reducing the sim-to-real gap. Our method can also seamlessly integrate with existing simulators. More experiments and videos can be found in the supplementary materials and on the website: https://sites.google.com/view/tac-ipc

    The dynamics and control of large space structures with distributed actuation

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    Future large space structures are likely to be constructed at much greater length-scales, and lower areal mass densities than has been achieved to-date. This could be enabled by ongoing developments in on-orbit manufacturing, whereby large structures are 3D-printed in space from raw feedstock materials. This thesis proposes and analyses a number of attitude control strategies which could be adopted for this next generation of ultra-lightweight, large space structures. Each of the strategies proposed makes use of distributed actuation, which is demonstrated early in the thesis to reduce structural deformations during attitude manoeuvres. All of the proposed strategies are considered to be particularly suitable for structures which are 3d-printed on-orbit, due to the relative simplicity of the actuators and ease with which the actuator placement or construction could be integrated with the on-orbit fabrication of the structure itself. The first strategy proposed is the use of distributed arrays of magnetorquer rods. First, distributed torques are shown to effectively rotate highly flexible structures. This is compared with torques applied to the centre-of-mass of the structure, which cause large surface deformations and can fail to enact a rotation. This is demonstrated using a spring-mass model of a planar structure with embedded actuators. A torque distribution algorithm is then developed to control an individually addressable array of actuators. Attitude control simulations are performed, using the array to control a large space structure, again modelled as a spring-mass system. The attitude control system is demonstrated to effectively detumble a representative 75×75m flexible structure, and perform slew manoeuvres, in the presence of both gravity-gradient torques and a realistic magnetic field model. The development of a Distributed Magnetorquer Demonstration Platform is then presented, a laboratory-scale implementation of the distributed magnetorquer array concept. The platform consists of 48 addressable magnetorquers, arranged with two perpendicular torquers at the nodes of a 5×5 grid. The control algorithms proposed previously in the thesis are implemented and tested on this hardware, demonstrating the practical feasibility of the concept. Results of experiments using a spherical air bearing and Helmholtz cage are presented, demonstrating rest-to-rest slew manoeuvres and detumbling around a single axis using the developed algorithms. The next attitude control strategy presented is the use of embedded current loops, conductive pathways which can be integrated with a spacecraft support structure and used to generate control torques through interaction with the Earth’s magnetic field. Length-scaling laws are derived by determining what fraction of a planar spacecraft’s mass would need to be allocated to the conductive current loops in order to produce a torque at least as large as the gravity gradient torque. Simulations are then performed of a flexible truss structure, modelled as a spring-mass system, for a range of structural flexibilities and a variety of current loop geometries. Simulations demonstrate rotation of the structure via the electromagnetic force on the current carrying elements, and are also used to characterise the structural deformations caused by the various current loop geometries. An attitude control simulation is then performed, demonstrating a 90◦ slew manoeuvre of a 250×250 m flexible structure through the use of three orthogonal sets of current loops embedded within the spacecraft. The final concept investigated in this thesis is a self-reconfiguring OrigamiSat, where reconfiguration of the proposed OrigamiSat is triggered by changes in the local surface optical properties of an origami structure to harness the solar radiation pressure induced acceleration. OrigamiSats are origami spacecraft with reflective panels which, when flat, operate as a conventional solar sail. Shape reconfiguration, i.e. “folding” of the origami design, allows the OrigamiSat to change operational modes, performing different functions as per mission requirements. For example, a flat OrigamiSat could be reconfigured into the shape of a parabolic reflector, before returning to the flat configuration when required to again operate as a solar sail, providing propellant-free propulsion. Shape reconfiguration or folding of OrigamiSats through the use of surface reflectivity modulation is investigated in this thesis. First, a simplified, folding facet model is used to perform a length-scaling analysis, and then a 2d multibody dynamics simulation is used to demonstrate the principle of solar radiation presure induced folding. A 3d multibody dynamics simulation is then developed and used to demonstrate shape reconfiguration for different origami folding patterns. Here, the attitude dynamics and shape reconfiguration of OrigamiSats are found to be highly coupled, and thus present a challenge from a control perspective. The problem of integrating attitude and shape control of a Miura-fold pattern OrigamiSat through the use of variable reflectivity is then investigated, and a control algorithm developed which uses surface reflectivity modulation of the OrigamiSat facets to enact shape reconfiguration and attitude manoeuvres simultaneously

    Computational and experimental studies of selected magnesium and ferrous sulfate hydrates: implications for the characterisation of extreme and extraterrestrial environments

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    Magnesium sulfate hydrates are considered important rock-forming minerals on the outer three Galilean moons of Jupiter (i.e., Europa, Ganymede, Callisto) and, alongside ferrous sulfate hydrates, are promising candidate minerals for the widespread sulfate deposits that occur in the equatorial region of Mars. In such extraterrestrial environments, these minerals experience extreme high-pressure conditions in the interiour of the Galilean moons and low temperature conditions on the surface of these moons and Mars. The aim of this thesis is to understand the structural stability, compressibility, and thermal expansion of these compounds in such extreme environments and aid their identification in ongoing and future space missions. Most magnesium sulfate hydrates lack accurate reference elastic tensors, which hinders their seismological identification in lander missions on the icy moons of the outer solar system, as envisioned for the near future. In this thesis, the accuracy of recent advancements in density functional theory to predict the compressibility and elastic constants of icy satellite candidate minerals (i.e., epsomite (MgSO₄·7H₂O), gypsum (CaSO₄·2H₂O), carbon dioxide (CO₂), and benzene (C₆H₆)) was assessed by benchmarking them against experimental reference data from the literature. Key findings are that density functional theory calculations do not yield elastic constants accurate enough to be used as a reference for the seismic exploration of icy moons. However, the bulk compressibility of such materials is very accurately reproduced by density functional theory, which was therefore used to predict the compressibility of the icy satellite candidate minerals starkeyite (MgSO₄·4H₂O) and cranswickite (MgSO₄·4H₂O). Knowledge of the compressibility of such minerals is critical to model mantle processes (e.g., salt diaprisim, plate tectonics, subduction) and the density structure of the outer three Galilean moons. The thermal expansion and structural stability of three sulfate minerals (i.e., rozenite (FeSO₄·4H₂O), starkeyite, and cranswickite) was characterised for the first time using neutron diffraction. Cranswickite transforms to starkeyite at 330 K, well above the maximum surface temperature of 308 K hitherto reported on Mars. Starkeyite likely undergoes a structural phase transition at around 245 K. The structure of this proposed low-temperature polymorph could not be determined but would be of great interest since the temperature drops below 245 K on equatorial Mars at night-time. Starkeyite was also studied by means of synchrotron X-ray diffraction but suffered radiation damage. No phase transition was observed in rozenite from 290 – 21 K, which contrasts with Raman data reported in the literature, where sharpening of vibrational modes upon cooling was misinterpreted as mode splitting and evidence for two phase transitions at temperatures relevant to the Martian surface. First-principles phonon frequency calculations provide evidence supporting the absence of vibrational mode splitting. A workflow to obtain reliable reference Raman spectra for space exploration was proposed and an optical centre stick for the simultaneous acquisition of neutron diffraction and Raman spectroscopy data at the HRPD instrument was commissioned. Lastly, the structure of a polymorph of hexahydrite (MgSO₄·6H₂O), most recently proposed in the literature, was shown to be unambiguously wrong

    Extensional rheometry of mobile fluids. Part I: OUBER, an optimized uniaxial and biaxial extensional rheometer

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    We present a numerical optimization of a "6-arm cross-slot" device, yielding several three-dimensional shapes of fluidic channels designed to impose close approximations to ideal uniaxial (or biaxial) stagnation point extensional flow under the constraints of having four inlets and two outlets (or two inlets and four outlets) and Newtonian creeping flow conditions. Of the various numerically-generated geometries, one is selected as being most suitable for fabrication at the microscale, and numerical simulations with the Oldroyd-B and Phan-Thien and Tanner models confirm that the optimal flow fields in the chosen geometry are observed for both constant viscosity and shear thinning viscoelastic fluids. Fabrication of the geometry, which we name the optimized uniaxial and biaxial extensional rheometer (OUBER), is achieved with high precision at the microscale by selective laser-induced etching of a fused-silica substrate. Employing a viscous Newtonian fluid with a refractive index matched to that of the optically transparent microfluidic device, we conduct microtomographic-particle image velocimetry in order to resolve the flow field at low Reynolds number (< 0.1) in a substantial volume around the stagnation point. The flow velocimetry confirms the accurate imposition of the desired and predicted flows, with pure extensional flow at an essentially uniform deformation rate being applied over a wide region around the stagnation point. In Part II of this paper [Haward et al., J. Rheol. submitted (2023)], pressure drop measurements in the OUBER geometry will be used to assess the uniaxial and biaxial extensional rheometry of dilute polymeric solutions, in comparison to measurements made in planar extension using an optimized-shape cross-slot extensional rheometer (OSCER, Haward et al, Phys. Rev. Lett., 2012)
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