Study on Parallel Processing for Efficient Flexible Multibody Analysis based on Subsystem Synthesis Method

Energy Technology Data Exchange (ETDEWEB)

Han, Jong-Boo; Song, Hajun; Kim, Sung-Soo [Chungnam Nat’l Univ., Daejeon (Korea, Republic of)

2017-06-15

Flexible multibody simulations are widely used in the industry to design mechanical systems. In flexible multibody dynamics, deformation coordinates are described either relatively in the body reference frame that is floating in the space or in the inertial reference frame. Moreover, these deformation coordinates are generated based on the discretization of the body according to the finite element approach. Therefore, the formulation of the flexible multibody system always deals with a huge number of degrees of freedom and the numerical solution methods require a substantial amount of computational time. Parallel computational methods are a solution for efficient computation. However, most of the parallel computational methods are focused on the efficient solution of large-sized linear equations. For multibody analysis, we need to develop an efficient formulation that could be suitable for parallel computation. In this paper, we developed a subsystem synthesis method for a flexible multibody system and proposed efficient parallel computational schemes based on the OpenMP API in order to achieve efficient computation. Simulations of a rotating blade system, which consists of three identical blades, were carried out with two different parallel computational schemes. Actual CPU times were measured to investigate the efficiency of the proposed parallel schemes.

Recursive thoughts on the simulation of the flexible multibody dynamics of slender offshore structures

Science.gov (United States)

Schilder, J.; Ellenbroek, M.; de Boer, A.

2017-12-01

In this work, the floating frame of reference formulation is used to create a flexible multibody model of slender offshore structures such as pipelines and risers. It is shown that due to the chain-like topology of the considered structures, the equation of motion can be expressed in terms of absolute interface coordinates. In the presented form, kinematic constraint equations are satisfied explicitly and the Lagrange multipliers are eliminated from the equations. Hence, the structures can be conveniently coupled to finite element or multibody models of for example seabed and vessel. The chain-like topology enables the efficient use of recursive solution procedures for both transient dynamic analysis and equilibrium analysis. For this, the transfer matrix method is used. In order to improve the convergence of the equilibrium analysis, the analytical solution of an ideal catenary is used as an initial configuration, reducing the number of required iterations.

Evolution of the DeNOC-based dynamic modelling for multibody systems

Directory of Open Access Journals (Sweden)

S. K. Saha

2013-01-01

Full Text Available Dynamic modelling of a multibody system plays very essential role in its analyses. As a result, several methods for dynamic modelling have evolved over the years that allow one to analyse multibody systems in a very efficient manner. One such method of dynamic modelling is based on the concept of the Decoupled Natural Orthogonal Complement (DeNOC matrices. The DeNOC-based methodology for dynamics modelling, since its introduction in 1995, has been applied to a variety of multibody systems such as serial, parallel, general closed-loop, flexible, legged, cam-follower, and space robots. The methodology has also proven useful for modelling of proteins and hyper-degree-of-freedom systems like ropes, chains, etc. This paper captures the evolution of the DeNOC-based dynamic modelling applied to different type of systems, and its benefits over other existing methodologies. It is shown that the DeNOC-based modelling provides deeper understanding of the dynamics of a multibody system. The power of the DeNOC-based modelling has been illustrated using several numerical examples.

Criteria of benchmark selection for efficient flexible multibody system formalisms

Directory of Open Access Journals (Sweden)

Valášek M.

2007-10-01

Full Text Available The paper deals with the selection process of benchmarks for testing and comparing efficient flexible multibody formalisms. The existing benchmarks are briefly summarized. The purposes for benchmark selection are investigated. The result of this analysis is the formulation of the criteria of benchmark selection for flexible multibody formalisms. Based on them the initial set of suitable benchmarks is described. Besides that the evaluation measures are revised and extended.

Flight Loads Prediction of High Aspect Ratio Wing Aircraft Using Multibody Dynamics

Directory of Open Access Journals (Sweden)

Michele Castellani

2016-01-01

Full Text Available A framework based on multibody dynamics has been developed for the static and dynamic aeroelastic analyses of flexible high aspect ratio wing aircraft subject to structural geometric nonlinearities. Multibody dynamics allows kinematic nonlinearities and nonlinear relationships in the forces definition and is an efficient and promising methodology to model high aspect ratio wings, which are known to be prone to structural nonlinear effects because of the high deflections in flight. The multibody dynamics framework developed employs quasi-steady aerodynamics strip theory and discretizes the wing as a series of rigid bodies interconnected by beam elements, representative of the stiffness distribution, which can undergo arbitrarily large displacements and rotations. The method is applied to a flexible high aspect ratio wing commercial aircraft and both trim and gust response analyses are performed in order to calculate flight loads. These results are then compared to those obtained with the standard linear aeroelastic approach provided by the Finite Element Solver Nastran. Nonlinear effects come into play mainly because of the need of taking into account the large deflections of the wing for flight loads computation and of considering the aerodynamic forces as follower forces.

Conference on Multibody Dynamics

CERN Document Server

Multibody Dynamics : Computational Methods and Applications

2014-01-01

By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical applications and nano-technologies. The chapters of this volume are based on the revised and extended versions of the selected scientific papers from amongst 255 original contributions that have been accepted to be presented within the program of the distinguished international ECCOMAS conference. It reflects state-of-the-art in the advances of multibody dynamics, providing excellent insight in the recen...

Nonlinear Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian

individually and next couple them by use of joints. This gives a high level of modelling flexibility, where parts of the structure with relative ease can be interchanged to analyze other possibilities in a design process, or if a higher detail level is wanted for some components. In a multibody formulation...... turbine blade with large nonlinear displacements it has shown most favorable to use the end points in the substructure for updating the moving frames. For speeding up dynamical simulations for use in e.g. active control or parameter studies, system reduction of substructures in the multibody formulation...... element parameters also can determine e.g. torsional stiffness and the position of the shear center. The method makes use of three node triangular elements where the different material layers in the blade profile are taken into consideration. The results are compared to a similar tool which makes use...

Recursive thoughts on the simulation of the flexible multibody dynamics of slender offshore structures

NARCIS (Netherlands)

Schilder, Jurnan Paul; Ellenbroek, Marcellinus Hermannus Maria; de Boer, A.

2017-01-01

In this work, the floating frame of reference formulation is used to create a flexible multibody model of slender offshore structures such as pipelines and risers. It is shown that due to the chain-like topology of the considered structures, the equation of motion can be expressed in terms of

ECCOMAS Thematic Conference on Multibody Dynamics

CERN Document Server

Fisette, Paul; Multibody Dynamics : Computational Methods and Applications

2013-01-01

This volume provides the international multibody dynamics community with an up-to-date view on the state of the art in this rapidly growing field of research which now plays a central role in the modeling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of industrial applications. This book contains selected contributions delivered at the ECCOMAS Thematic Conference on Multibody Dynamics, which was held in Brussels, Belgium and organized by the Université catholique de Louvain, from 4th to 7th July 2011.  Each paper reflects the State-of-Art in the application of Multibody Dynamics to different areas of engineering. They are enlarged and revised versions of the communications, which were enhanced in terms of self-containment and tutorial quality by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers which helps to appraise the potential for the application of multibody dynamics meth...

ECCOMAS Thematic Conference on Multibody Dynamics

CERN Document Server

Multibody Dynamics : Computational Methods and Applications

2016-01-01

This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems,and nanotechnologies.

Experimental validation of flexible multibody dynamics beam formulations

Energy Technology Data Exchange (ETDEWEB)

Bauchau, Olivier A., E-mail: olivier.bauchau@sjtu.edu.cn; Han, Shilei [University of Michigan-Shanghai Jiao Tong University Joint Institute (China); Mikkola, Aki; Matikainen, Marko K. [Lappeenranta University of Technology, Department of Mechanical Engineering (Finland); Gruber, Peter [Austrian Center of Competence in Mechatronics GmbH (Austria)

2015-08-15

In this paper, the accuracies of the geometrically exact beam and absolute nodal coordinate formulations are studied by comparing their predictions against an experimental data set referred to as the “Princeton beam experiment.” The experiment deals with a cantilevered beam experiencing coupled flap, lag, and twist deformations. In the absolute nodal coordinate formulation, two different beam elements are used. The first is based on a shear deformable approach in which the element kinematics is described using two nodes. The second is based on a recently proposed approach featuring three nodes. The numerical results for the geometrically exact beam formulation and the recently proposed three-node absolute nodal coordinate formulation agree well with the experimental data. The two-node beam element predictions are similar to those of linear beam theory. This study suggests that a careful and thorough evaluation of beam elements must be carried out to assess their ability to deal with the three-dimensional deformations typically found in flexible multibody systems.

Dynamics of underactuated multibody systems modeling, control and optimal design

CERN Document Server

Seifried, Robert

2014-01-01

Underactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.

General background and approach to multibody dynamics for space applications

Science.gov (United States)

Santini, Paolo; Gasbarri, Paolo

2009-06-01

Multibody dynamics for space applications is dictated by space environment such as space-varying gravity forces, orbital and attitude perturbations, control forces if any. Several methods and formulations devoted to the modeling of flexible bodies undergoing large overall motions were developed in recent years. Most of these different formulations were aimed to face one of the main problems concerning the analysis of spacecraft dynamics namely the reduction of computer simulation time. By virtue of this, the use of symbolic manipulation, recursive formulation and parallel processing algorithms were proposed. All these approaches fall into two categories, the one based on Newton/Euler methods and the one based on Lagrangian methods; both of them have their advantages and disadvantages although in general, Newtonian approaches lend to a better understanding of the physics of problems and in particular of the magnitude of the reactions and of the corresponding structural stresses. Another important issue which must be addressed carefully in multibody space dynamics is relevant to a correct choice of kinematics variables. In fact, when dealing with flexible multibody system the resulting equations include two different types of state variables, the ones associated with large (rigid) displacements and the ones associated with elastic deformations. These two sets of variables have generally two different time scales if we think of the attitude motion of a satellite whose period of oscillation, due to the gravity gradient effects, is of the same order of magnitude as the orbital period, which is much bigger than the one associated with the structural vibration of the satellite itself. Therefore, the numerical integration of the equations of the system represents a challenging problem. This was the abstract and some of the arguments that Professor Paolo Santini intended to present for the Breakwell Lecture; unfortunately a deadly disease attacked him and shortly took him

Brownian dynamics simulations of a flexible polymer chain which includes continuous resistance and multibody hydrodynamic interactions

Science.gov (United States)

Butler, Jason E.; Shaqfeh, Eric S. G.

2005-01-01

Using methods adapted from the simulation of suspension dynamics, we have developed a Brownian dynamics algorithm with multibody hydrodynamic interactions for simulating the dynamics of polymer molecules. The polymer molecule is modeled as a chain composed of a series of inextensible, rigid rods with constraints at each joint to ensure continuity of the chain. The linear and rotational velocities of each segment of the polymer chain are described by the slender-body theory of Batchelor [J. Fluid Mech. 44, 419 (1970)]. To include hydrodynamic interactions between the segments of the chain, the line distribution of forces on each segment is approximated by making a Legendre polynomial expansion of the disturbance velocity on the segment, where the first two terms of the expansion are retained in the calculation. Thus, the resulting linear force distribution is specified by a center of mass force, couple, and stresslet on each segment. This method for calculating the hydrodynamic interactions has been successfully used to simulate the dynamics of noncolloidal suspensions of rigid fibers [O. G. Harlen, R. R. Sundararajakumar, and D. L. Koch, J. Fluid Mech. 388, 355 (1999); J. E. Butler and E. S. G. Shaqfeh, J. Fluid Mech. 468, 204 (2002)]. The longest relaxation time and center of mass diffusivity are among the quantities calculated with the simulation technique. Comparisons are made for different levels of approximation of the hydrodynamic interactions, including multibody interactions, two-body interactions, and the "freely draining" case with no interactions. For the short polymer chains studied in this paper, the results indicate a difference in the apparent scaling of diffusivity with polymer length for the multibody versus two-body level of approximation for the hydrodynamic interactions.

Numerical methods in multibody dynamics

CERN Document Server

Eich-Soellner, Edda

1998-01-01

Today computers play an important role in the development of complex mechanical systems, such as cars, railway vehicles or machines. Efficient simulation of these systems is only possible when based on methods that explore the strong link between numerics and computational mechanics. This book gives insight into modern techniques of numerical mathematics in the light of an interesting field of applications: multibody dynamics. The important interaction between modeling and solution techniques is demonstrated by using a simplified multibody model of a truck. Different versions of this mechanical model illustrate all key concepts in static and dynamic analysis as well as in parameter identification. The book focuses in particular on constrained mechanical systems. Their formulation in terms of differential-algebraic equations is the backbone of nearly all chapters. The book is written for students and teachers in numerical analysis and mechanical engineering as well as for engineers in industrial research labor...

Multibody dynamical modeling for spacecraft docking process with spring-damper buffering device: A new validation approach

Science.gov (United States)

Daneshjou, Kamran; Alibakhshi, Reza

2018-01-01

In the current manuscript, the process of spacecraft docking, as one of the main risky operations in an on-orbit servicing mission, is modeled based on unconstrained multibody dynamics. The spring-damper buffering device is utilized here in the docking probe-cone system for micro-satellites. Owing to the impact occurs inevitably during docking process and the motion characteristics of multibody systems are remarkably affected by this phenomenon, a continuous contact force model needs to be considered. Spring-damper buffering device, keeping the spacecraft stable in an orbit when impact occurs, connects a base (cylinder) inserted in the chaser satellite and the end of docking probe. Furthermore, by considering a revolute joint equipped with torsional shock absorber, between base and chaser satellite, the docking probe can experience both translational and rotational motions simultaneously. Although spacecraft docking process accompanied by the buffering mechanisms may be modeled by constrained multibody dynamics, this paper deals with a simple and efficient formulation to eliminate the surplus generalized coordinates and solve the impact docking problem based on unconstrained Lagrangian mechanics. By an example problem, first, model verification is accomplished by comparing the computed results with those recently reported in the literature. Second, according to a new alternative validation approach, which is based on constrained multibody problem, the accuracy of presented model can be also evaluated. This proposed verification approach can be applied to indirectly solve the constrained multibody problems by minimum required effort. The time history of impact force, the influence of system flexibility and physical interaction between shock absorber and penetration depth caused by impact are the issues followed in this paper. Third, the MATLAB/SIMULINK multibody dynamic analysis software will be applied to build impact docking model to validate computed results and

Integration of car-body flexibility into train-track coupling system dynamics analysis

Science.gov (United States)

Ling, Liang; Zhang, Qing; Xiao, Xinbiao; Wen, Zefeng; Jin, Xuesong

2018-04-01

The resonance vibration of flexible car-bodies greatly affects the dynamics performances of high-speed trains. In this paper, we report a three-dimensional train-track model to capture the flexible vibration features of high-speed train carriages based on the flexible multi-body dynamics approach. The flexible car-body is modelled using both the finite element method (FEM) and the multi-body dynamics (MBD) approach, in which the rigid motions are obtained by using the MBD theory and the structure deformation is calculated by the FEM and the modal superposition method. The proposed model is applied to investigate the influence of the flexible vibration of car-bodies on the dynamics performances of train-track systems. The dynamics performances of a high-speed train running on a slab track, including the car-body vibration behaviour, the ride comfort, and the running safety, calculated by the numerical models with rigid and flexible car-bodies are compared in detail. The results show that the car-body flexibility not only significantly affects the vibration behaviour and ride comfort of rail carriages, but also can has an important influence on the running safety of trains. The rigid car-body model underestimates the vibration level and ride comfort of rail vehicles, and ignoring carriage torsional flexibility in the curving safety evaluation of trains is conservative.

Topology optimization of a flexible multibody system with variable-length bodies described by ALE–ANCF

DEFF Research Database (Denmark)

Sun, Jialiang; Tian, Qiang; Hu, Haiyan

2018-01-01

Recent years have witnessed the application of topology optimization to flexible multibody systems (FMBS) so as to enhance their dynamic performances. In this study, an explicit topology optimization approach is proposed for an FMBS with variable-length bodies via the moving morphable components...... (MMC). Using the arbitrary Lagrangian–Eulerian (ALE) formulation, the thin plate elements of the absolute nodal coordinate formulation (ANCF) are used to describe the platelike bodies with variable length. For the thin plate element of ALE–ANCF, the elastic force and additional inertial force, as well...

Constraint Embedding Technique for Multibody System Dynamics

Science.gov (United States)

Woo, Simon S.; Cheng, Michael K.

2011-01-01

Multibody dynamics play a critical role in simulation testbeds for space missions. There has been a considerable interest in the development of efficient computational algorithms for solving the dynamics of multibody systems. Mass matrix factorization and inversion techniques and the O(N) class of forward dynamics algorithms developed using a spatial operator algebra stand out as important breakthrough on this front. Techniques such as these provide the efficient algorithms and methods for the application and implementation of such multibody dynamics models. However, these methods are limited only to tree-topology multibody systems. Closed-chain topology systems require different techniques that are not as efficient or as broad as those for tree-topology systems. The closed-chain forward dynamics approach consists of treating the closed-chain topology as a tree-topology system subject to additional closure constraints. The resulting forward dynamics solution consists of: (a) ignoring the closure constraints and using the O(N) algorithm to solve for the free unconstrained accelerations for the system; (b) using the tree-topology solution to compute a correction force to enforce the closure constraints; and (c) correcting the unconstrained accelerations with correction accelerations resulting from the correction forces. This constraint-embedding technique shows how to use direct embedding to eliminate local closure-loops in the system and effectively convert the system back to a tree-topology system. At this point, standard tree-topology techniques can be brought to bear on the problem. The approach uses a spatial operator algebra approach to formulating the equations of motion. The operators are block-partitioned around the local body subgroups to convert them into aggregate bodies. Mass matrix operator factorization and inversion techniques are applied to the reformulated tree-topology system. Thus in essence, the new technique allows conversion of a system with

Nonlinear model order reduction for flexible multibody dynamics: a modal derivatives approach

Energy Technology Data Exchange (ETDEWEB)

Wu, Long, E-mail: L.Wu-1@tudelft.nl [Delft University of Technology, Faculty of Mechanical, Maritime and Materials Engineering (Netherlands); Tiso, Paolo, E-mail: ptiso@ethz.ch [ETH Zürich, Institute for Mechanical Systems (Switzerland)

2016-04-15

An effective reduction technique is presented for flexible multibody systems, for which the elastic deflection could not be considered small. We consider here the planar beam systems undergoing large elastic rotations, in the floating frame description. The proposed method enriches the classical linear reduction basis with modal derivatives stemming from the derivative of the eigenvalue problem. Furthermore, the Craig–Bampton method is applied to couple the different reduced components. Based on the linear projection, the configuration-dependent internal force can be expressed as cubic polynomials in the reduced coordinates. Coefficients of these polynomials can be precomputed for efficient runtime evaluation. The numerical results show that the modal derivatives are essential for the correct approximation of the nonlinear elastic deflection with respect to the body reference. The proposed reduction method constitutes a natural and effective extension of the classical linear modal reduction in the floating frame.

Geometric nonlinear effects on the planar dynamics of a pivoted flexible beam encountering a point-surface impact

International Nuclear Information System (INIS)

Li Qing; Wang Tianshu; Ma Xingrui

2009-01-01

Flexible-body modeling with geometric nonlinearities remains a hot topic of research by applications in multibody system dynamics undergoing large overall motions. However, the geometric nonlinear effects on the impact dynamics of flexible multibody systems have attracted significantly less attention. In this paper, a point-surface impact problem between a rigid ball and a pivoted flexible beam is investigated. The Hertzian contact law is used to describe the impact process, and the dynamic equations are formulated in the floating frame of reference using the assumed mode method. The two important geometric nonlinear effects of the flexible beam are taken into account, i.e., the longitudinal foreshortening effect due to the transverse deformation, and the stress stiffness effect due to the axial force. The simulation results show that good consistency can be obtained with the nonlinear finite element program ABAQUS/Explicit if proper geometric nonlinearities are included in the floating frame formulation. Specifically, only the foreshortening effect should be considered in a pure transverse impact for efficiency, while the stress stiffness effect should be further considered in an oblique case with much more computational effort. It also implies that the geometric nonlinear effects should be considered properly in the impact dynamic analysis of more general flexible multibody systems

Substructured multibody molecular dynamics.

Energy Technology Data Exchange (ETDEWEB)

Grest, Gary Stephen; Stevens, Mark Jackson; Plimpton, Steven James; Woolf, Thomas B. (Johns Hopkins University, Baltimore, MD); Lehoucq, Richard B.; Crozier, Paul Stewart; Ismail, Ahmed E.; Mukherjee, Rudranarayan M. (Rensselaer Polytechnic Institute, Troy, NY); Draganescu, Andrei I.

2006-11-01

We have enhanced our parallel molecular dynamics (MD) simulation software LAMMPS (Large-scale Atomic/Molecular Massively Parallel Simulator, lammps.sandia.gov) to include many new features for accelerated simulation including articulated rigid body dynamics via coupling to the Rensselaer Polytechnic Institute code POEMS (Parallelizable Open-source Efficient Multibody Software). We use new features of the LAMMPS software package to investigate rhodopsin photoisomerization, and water model surface tension and capillary waves at the vapor-liquid interface. Finally, we motivate the recipes of MD for practitioners and researchers in numerical analysis and computational mechanics.

Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads

Directory of Open Access Journals (Sweden)

Gerardo Peláez

2018-06-01

Full Text Available Input shaping is an Optimal Control feedforward strategy whose ability to define how and when a flexible dynamical system defined by Ordinary Differential Equations (ODEs and computer controlled would move into its operative space, without command induced unwanted dynamics, has been exhaustively demonstrated. This work examines the issue of Embedded Internet of Things (IoT Input Shaping with regard to real time control of multibody oscillatory systems whose dynamics are better described by differential algebraic equations (DAEs. An overhead crane hanging a double link multibody payload has been appointed as a benchmark case; it is a multibody, multimode system. This might be worst scenario to implement Input Shaping. The reasons can be found in the wide array of constraints that arise. Firstly, the reliability of the multibody model was tested on a Functional Mock-Up Interface (FMI with the two link payload suspended from the trolley by comparing the experimental video tapping signals in time domain faced with the signals extracted from the multibody model. The FFTs of the simulated and the experimental signal contain the same frequency harmonics only with somewhat different power due to the real world light damping in the joints. The application of this approach may be extended to other cases i.e., the usefulness of mobile hydraulic cranes is limited because the payload is supported by an overhead cable under tension that allows oscillation to occur during crane motion. If the payload size is not negligible small when compared with the cable length may introduce an additional oscillatory mode that creates a multibody double pendulum. To give the insight into the double pendulum dynamics by Lagrangian methods two slender rods as payloads are analyzed dealing with the overhead crane and a composite revolute-revolute joint is proposed to model the cable of the hydraulic crane, both assumptions facilitates an affordable analysis. This allows

Dynamics and Embedded Internet of Things Input Shaping Control for Overhead Cranes Transporting Multibody Payloads.

Science.gov (United States)

Peláez, Gerardo; Vaugan, Joshua; Izquierdo, Pablo; Rubio, Higinio; García-Prada, Juan Carlos

2018-06-04

Input shaping is an Optimal Control feedforward strategy whose ability to define how and when a flexible dynamical system defined by Ordinary Differential Equations (ODEs) and computer controlled would move into its operative space, without command induced unwanted dynamics, has been exhaustively demonstrated. This work examines the issue of Embedded Internet of Things (IoT) Input Shaping with regard to real time control of multibody oscillatory systems whose dynamics are better described by differential algebraic equations (DAEs). An overhead crane hanging a double link multibody payload has been appointed as a benchmark case; it is a multibody, multimode system. This might be worst scenario to implement Input Shaping. The reasons can be found in the wide array of constraints that arise. Firstly, the reliability of the multibody model was tested on a Functional Mock-Up Interface (FMI) with the two link payload suspended from the trolley by comparing the experimental video tapping signals in time domain faced with the signals extracted from the multibody model. The FFTs of the simulated and the experimental signal contain the same frequency harmonics only with somewhat different power due to the real world light damping in the joints. The application of this approach may be extended to other cases i.e., the usefulness of mobile hydraulic cranes is limited because the payload is supported by an overhead cable under tension that allows oscillation to occur during crane motion. If the payload size is not negligible small when compared with the cable length may introduce an additional oscillatory mode that creates a multibody double pendulum. To give the insight into the double pendulum dynamics by Lagrangian methods two slender rods as payloads are analyzed dealing with the overhead crane and a composite revolute-revolute joint is proposed to model the cable of the hydraulic crane, both assumptions facilitates an affordable analysis. This allows developing a general

A comparative study on effective dynamic modeling methods for flexible pipe

Energy Technology Data Exchange (ETDEWEB)

Lee, Chang Ho; Hong, Sup; Kim, Hyung Woo [Korea Research Institute of Ships and Ocean Engineering, Daejeon (Korea, Republic of); Kim, Sung Soo [Chungnam National University, Daejeon (Korea, Republic of)

2015-07-15

In this paper, in order to select a suitable method that is applicable to the large deflection with a small strain problem of pipe systems in the deep seabed mining system, the finite difference method with lumped mass from the field of cable dynamics and the substructure method from the field of flexible multibody dynamics were compared. Due to the difficulty of obtaining experimental results from an actual pipe system in the deep seabed mining system, a thin cantilever beam model with experimental results was employed for the comparative study. Accuracy of the methods was investigated by comparing the experimental results and simulation results from the cantilever beam model with different numbers of elements. Efficiency of the methods was also examined by comparing the operational counts required for solving equations of motion. Finally, this cantilever beam model with comparative study results can be promoted to be a benchmark problem for the flexible multibody dynamics.

Rigid multibody system dynamics with uncertain rigid bodies

Energy Technology Data Exchange (ETDEWEB)

Batou, A., E-mail: anas.batou@univ-paris-est.fr; Soize, C., E-mail: christian.soize@univ-paris-est.fr [Universite Paris-Est, Laboratoire Modelisation et Simulation Multi Echelle, MSME UMR 8208 CNRS (France)

2012-03-15

This paper is devoted to the construction of a probabilistic model of uncertain rigid bodies for multibody system dynamics. We first construct a stochastic model of an uncertain rigid body by replacing the mass, the center of mass, and the tensor of inertia by random variables. The prior probability distributions of the stochastic model are constructed using the maximum entropy principle under the constraints defined by the available information. The generators of independent realizations corresponding to the prior probability distribution of these random quantities are further developed. Then several uncertain rigid bodies can be linked to each other in order to calculate the random response of a multibody dynamical system. An application is proposed to illustrate the theoretical development.

Planar multibody dynamics formulation, programming and applications

CERN Document Server

Nikravesh, Parviz E

2007-01-01

Introduction Multibody Mechanical Systems Types of Analyses Methods of Formulation Computer Programming Application Examples Unit System Remarks Preliminaries Reference Axes Scalars and Vectors Matrices Vector, Array, and Matrix Differentiation Equations and Expressions Remarks Problems Fundamentals of Kinematics A Particle Kinematics of a Rigid Body Definitions Remarks Problems Fundamentals of Dynamics Newton's Laws of Motion Dynamics of a Body Force Elements Applied Forces Reaction Force Remarks Problems Point-Coordinates: Kinematics Multipoint

System Theory Aspects of Multi-Body Dynamics.

Science.gov (United States)

1978-08-18

systems are described from a system theory point of view. Various system theory concepts and research topics which have applicability to this class of...systems are identified and briefly described. The subject of multi-body dynamics is presented in a vector space setting and is related to system theory concepts. (Author)

A Coupled Helicopter Rotor/Fuselage Dynamics Model Using Finite Element Multi-body

Directory of Open Access Journals (Sweden)

Cheng Qi-you

2016-01-01

Full Text Available To develop a coupled rotor/flexible fuselage model for vibration reduction studies, the equation of coupled rotor-fuselage is set up based on the theory of multi-body dynamics, and the dynamic analysis model is established with the software MSC.ADMAS and MSC.NASTRAN. The frequencies and vibration acceleration responses of the system are calculated with the model of coupled rotor-fuselage, and the results are compared with those of uncoupled modeling method. Analysis results showed that compared with uncoupled model, the dynamic characteristic obtained by the model of coupled rotor-fuselage are some different. The intrinsic frequency of rotor is increased with the increase of rotational velocities. The results also show that the flying speed has obvious influence on the vibration acceleration responses of the fuselage. The vibration acceleration response in the vertical direction is much higher at the low speed and high speed flight conditions.

Simbody: multibody dynamics for biomedical research.

Science.gov (United States)

Sherman, Michael A; Seth, Ajay; Delp, Scott L

Multibody software designed for mechanical engineering has been successfully employed in biomedical research for many years. For real time operation some biomedical researchers have also adapted game physics engines. However, these tools were built for other purposes and do not fully address the needs of biomedical researchers using them to analyze the dynamics of biological structures and make clinically meaningful recommendations. We are addressing this problem through the development of an open source, extensible, high performance toolkit including a multibody mechanics library aimed at the needs of biomedical researchers. The resulting code, Simbody, supports research in a variety of fields including neuromuscular, prosthetic, and biomolecular simulation, and related research such as biologically-inspired design and control of humanoid robots and avatars. Simbody is the dynamics engine behind OpenSim, a widely used biomechanics simulation application. This article reviews issues that arise uniquely in biomedical research, and reports on the architecture, theory, and computational methods Simbody uses to address them. By addressing these needs explicitly Simbody provides a better match to the needs of researchers than can be obtained by adaptation of mechanical engineering or gaming codes. Simbody is a community resource, free for any purpose. We encourage wide adoption and invite contributions to the code base at https://simtk.org/home/simbody.

Masticatory biomechanics in the rabbit: a multi-body dynamics analysis.

Science.gov (United States)

Watson, Peter J; Gröning, Flora; Curtis, Neil; Fitton, Laura C; Herrel, Anthony; McCormack, Steven W; Fagan, Michael J

2014-10-06

Multi-body dynamics is a powerful engineering tool which is becoming increasingly popular for the simulation and analysis of skull biomechanics. This paper presents the first application of multi-body dynamics to analyse the biomechanics of the rabbit skull. A model has been constructed through the combination of manual dissection and three-dimensional imaging techniques (magnetic resonance imaging and micro-computed tomography). Individual muscles are represented with multiple layers, thus more accurately modelling muscle fibres with complex lines of action. Model validity was sought through comparing experimentally measured maximum incisor bite forces with those predicted by the model. Simulations of molar biting highlighted the ability of the masticatory system to alter recruitment of two muscle groups, in order to generate shearing or crushing movements. Molar shearing is capable of processing a food bolus in all three orthogonal directions, whereas molar crushing and incisor biting are predominately directed vertically. Simulations also show that the masticatory system is adapted to process foods through several cycles with low muscle activations, presumably in order to prevent rapidly fatiguing fast fibres during repeated chewing cycles. Our study demonstrates the usefulness of a validated multi-body dynamics model for investigating feeding biomechanics in the rabbit, and shows the potential for complementing and eventually reducing in vivo experiments.

Constraint Embedding for Multibody System Dynamics

Science.gov (United States)

Jain, Abhinandan

2009-01-01

This paper describes a constraint embedding approach for the handling of local closure constraints in multibody system dynamics. The approach uses spatial operator techniques to eliminate local-loop constraints from the system and effectively convert the system into tree-topology systems. This approach allows the direct derivation of recursive O(N) techniques for solving the system dynamics and avoiding the expensive steps that would otherwise be required for handling the closedchain dynamics. The approach is very effective for systems where the constraints are confined to small-subgraphs within the system topology. The paper provides background on the spatial operator O(N) algorithms, the extensions for handling embedded constraints, and concludes with some examples of such constraints.

Parallel Evolutionary Optimization of Multibody Systems with Application to Railway Dynamics

Energy Technology Data Exchange (ETDEWEB)

Eberhard, Peter [University of Erlangen-Nuremberg, Institute of Applied Mechanics (Germany)], E-mail: eberhard@ltm.uni-erlangen.de; Dignath, Florian [University of Stuttgart, Institute B of Mechanics (Germany)], E-mail: fd@mechb.uni-stuttgart.de; Kuebler, Lars [University of Erlangen-Nuremberg, Institute of Applied Mechanics (Germany)], E-mail: kuebler@ltm.uni-erlangen.de

2003-03-15

The optimization of multibody systems usually requires many costly criteria computations since the equations of motion must be evaluated by numerical time integration for each considered design. For actively controlled or flexible multibody systems additional difficulties arise as the criteria may contain non-differentiable points or many local minima. Therefore, in this paper a stochastic evolution strategy is used in combination with parallel computing in order to reduce the computation times whilst keeping the inherent robustness. For the parallelization a master-slave approach is used in a heterogeneous workstation/PC cluster. The pool-of-tasks concept is applied in order to deal with the frequently changing workloads of different machines in the cluster. In order to analyze the performance of the parallel optimization method, the suspension of an ICE passenger coach, modeled as an elastic multibody system, is optimized simultaneously with regard to several criteria including vibration damping and a criterion related to safety against derailment. The iterative and interactive nature of a typical optimization process for technical systems is emphasized.

Parallel Evolutionary Optimization of Multibody Systems with Application to Railway Dynamics

International Nuclear Information System (INIS)

Eberhard, Peter; Dignath, Florian; Kuebler, Lars

2003-01-01

The optimization of multibody systems usually requires many costly criteria computations since the equations of motion must be evaluated by numerical time integration for each considered design. For actively controlled or flexible multibody systems additional difficulties arise as the criteria may contain non-differentiable points or many local minima. Therefore, in this paper a stochastic evolution strategy is used in combination with parallel computing in order to reduce the computation times whilst keeping the inherent robustness. For the parallelization a master-slave approach is used in a heterogeneous workstation/PC cluster. The pool-of-tasks concept is applied in order to deal with the frequently changing workloads of different machines in the cluster. In order to analyze the performance of the parallel optimization method, the suspension of an ICE passenger coach, modeled as an elastic multibody system, is optimized simultaneously with regard to several criteria including vibration damping and a criterion related to safety against derailment. The iterative and interactive nature of a typical optimization process for technical systems is emphasized

Elastic Multibody Dynamics A Direct Ritz Approach

CERN Document Server

Bremer, H

2008-01-01

This textbook is an introduction to and exploration of a number of core topics in the field of applied mechanics: On the basis of Lagrange's Principle, a Central Equation of Dynamics is presented which yields a unified view on existing methods. From these, the Projection Equation is selected for the derivation of the motion equations of holonomic and of non-holonomic systems. The method is applied to rigid multibody systems where the rigid body is defined such that, by relaxation of the rigidity constraints, one can directly proceed to elastic bodies. A decomposition into subsystems leads to a minimal representation and to a recursive representation, respectively, of the equations of motion. Applied to elastic multibody systems one obtains, along with the use of spatial operators, a straight-on procedure for the interconnected partial and ordinary differential equations and the corresponding boundary conditions. The spatial operators are eventually applied to a RITZ series for approximation. The resulting equ...

Dynamic analysis of multibody system immersed in a fluid medium

International Nuclear Information System (INIS)

Wu, R.W.; Liu, L.K.; Levy, S.

1977-01-01

This paper is concerned primarily with the development and evaluation of an analysis method for the reponse prediction of immersed systems to seismic and other dynamic excitations. For immersed multibody systems, the hydrodynamic interaction causes coupled motion among the solid bodies. Also, under intense external excitations, impact between bodies may occur. The complex character of such systems inhibit the use of conventional analytical solutions in closed form. Therefore, approximate numerical schemes have been devised. For an incompressible, inviscid fluid, the hydrodynamic forces exerted by the fluid on solid bodies are determined to be linearly proportional to the acceleration of the vibrating solid bodies; i.e., the presence of the fluid only affects the inertia of the solid body system. A finite element computer program has been developed for computing this hydrodynamic (or added) mass effect. This program can be used to determine the hydrodynamic mass of a two-dimensional fluid field with solid bodies of arbitrary geometry. Triangular elements and linear pressure interpolation function are used to discretize the fluid region. The component element method is used to determine the dynamic response of the multibody system to externally applied mechanical loading or support excitation. The present analysis method for predicting the dynamic response of submerged multibody system is quite general and pertains to any number of solid bodies. However in this paper, its application is demonstrated only for 4 and 25 body systems. (Auth.)

Roller-chain Drives Mechanics using Multibody Dynamics Tools

DEFF Research Database (Denmark)

Ambrosio, Jorge A. C.; Hansen, John Michael

1999-01-01

An integrated model for the simulation of roller-chain drives based on a multibody dynamics methodology is presented here in order to describeits complex dynamic behavior. The chain is modeled by masses lumped at the roller locations and connected by translational spring-damper elements in order ...... engagement on the sprockets responsible for the polygonal effect is thoroughly analyzed and the induced impulsive forces developed during that action are treated by a strategy where kinematic constraints between sprockets and rollers are added and deleted....

Event-based scenario manager for multibody dynamics simulation of heavy load lifting operations in shipyards

Directory of Open Access Journals (Sweden)

Sol Ha

2016-01-01

Full Text Available This paper suggests an event-based scenario manager capable of creating and editing a scenario for shipbuilding process simulation based on multibody dynamics. To configure various situation in shipyards and easily connect with multibody dynamics, the proposed method has two main concepts: an Actor and an Action List. The Actor represents the anatomic unit of action in the multibody dynamics and can be connected to a specific component of the dynamics kernel such as the body and joint. The user can make a scenario up by combining the actors. The Action List contains information for arranging and executing the actors. Since the shipbuilding process is a kind of event-based sequence, all simulation models were configured using Discrete EVent System Specification (DEVS formalism. The proposed method was applied to simulations of various operations in shipyards such as lifting and erection of a block and heavy load lifting operation using multiple cranes.

On the constraints violation in forward dynamics of multibody systems

Energy Technology Data Exchange (ETDEWEB)

Marques, Filipe [University of Minho, Department of Mechanical Engineering (Portugal); Souto, António P. [University of Minho, Department of Textile Engineering (Portugal); Flores, Paulo, E-mail: pflores@dem.uminho.pt [University of Minho, Department of Mechanical Engineering (Portugal)

2017-04-15

It is known that the dynamic equations of motion for constrained mechanical multibody systems are frequently formulated using the Newton–Euler’s approach, which is augmented with the acceleration constraint equations. This formulation results in the establishment of a mixed set of partial differential and algebraic equations, which are solved in order to predict the dynamic behavior of general multibody systems. The classical solution of the equations of motion is highly prone to constraints violation because the position and velocity constraint equations are not fulfilled. In this work, a general and comprehensive methodology to eliminate the constraints violation at the position and velocity levels is offered. The basic idea of the described approach is to add corrective terms to the position and velocity vectors with the intent to satisfy the corresponding kinematic constraint equations. These corrective terms are evaluated as a function of the Moore–Penrose generalized inverse of the Jacobian matrix and of the kinematic constraint equations. The described methodology is embedded in the standard method to solve the equations of motion based on the technique of Lagrange multipliers. Finally, the effectiveness of the described methodology is demonstrated through the dynamic modeling and simulation of different planar and spatial multibody systems. The outcomes in terms of constraints violation at the position and velocity levels, conservation of the total energy and computational efficiency are analyzed and compared with those obtained with the standard Lagrange multipliers method, the Baumgarte stabilization method, the augmented Lagrangian formulation, the index-1 augmented Lagrangian, and the coordinate partitioning method.

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Science.gov (United States)

Torres-Moreno, José Luis; Blanco-Claraco, José Luis; Giménez-Fernández, Antonio; Sanjurjo, Emilio; Naya, Miguel Ángel

2016-01-01

This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics. PMID:26959027

A Component Mode Synthesis Algorithm for Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian; Nielsen, Søren R.K.

2009-01-01

A system reduction scheme related to a multibody formulation of wind turbine dynamics is devised. Each substructure is described in its own frame of reference, which is moving freely in the vicinity of the moving substructure, in principle without any constraints to the rigid body part of the mot......A system reduction scheme related to a multibody formulation of wind turbine dynamics is devised. Each substructure is described in its own frame of reference, which is moving freely in the vicinity of the moving substructure, in principle without any constraints to the rigid body part...... of the motion of the substructure. The system reduction is based on a component mode synthesis method, where the response of the internal degrees of freedom of the substructure is described as the quasi-static response induced by the boundary degrees of freedom via the constraint modes superimposed...

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Directory of Open Access Journals (Sweden)

José Luis Torres-Moreno

2016-03-01

Full Text Available This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs. Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF and the unscented Kalman filter (UKF, in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics.

6 DOF articulated-arm robot and mobile platform: Dynamic modelling as Multibody System and its validation via Experimental Modal Analysis.

Science.gov (United States)

Toledo Fuentes, A.; Kipfmueller, M.; José Prieto, M. A.

2017-10-01

Mobile manipulators are becoming a key instrument to increase the flexibility in industrial processes. Some of their requirements include handling of objects with different weights and sizes and their “fast” transportation, without jeopardizing production workers and machines. The compensation of forces affecting the system dynamic is therefore needed to avoid unwanted oscillations and tilting by sudden accelerations and decelerations. One general solution may be the implementation of external positioning elements to active stabilize the system. To accomplish the approach, the dynamic behavior of a robotic arm and a mobile platform was investigated to develop the stabilization mechanism using multibody simulations. The methodology used was divided into two phases for each subsystem: their natural frequencies and modal shapes were obtained using experimental modal analyses. Then, based on these experimental results, multibody simulation models (MBS) were set up and its dynamical parameters adjusted. Their modal shapes together with their obtained natural frequencies allowed a quantitative and qualitative analysis. In summary, the MBS models were successfully validated with the real subsystems, with a maximal percentage error of 15%. These models will serve as the basis for future steps in the design of the external actuators and its control strategy using a co-simulation tool.

Thermal shock induced dynamics of a spacecraft with a flexible deploying boom

Science.gov (United States)

Shen, Zhenxing; Li, Huijian; Liu, Xiaoning; Hu, Gengkai

2017-12-01

The dynamics in the process of deployment of a flexible extendible boom as a deployable structure on the spacecraft is studied. For determining the thermally induced vibrations of the boom subjected to an incident solar heat flux, an axially moving thermal-dynamic beam element based on the absolute nodal coordinate formulation which is able to precisely describe the large displacement, rotation and deformation of flexible body is presented. For the elastic forces formulation of variable-length beam element, the enhanced continuum mechanics approach is adopted, which can eliminate the Poisson locking effect, and take into account the tension-bending-torsion coupling deformations. The main body of the spacecraft, modeled as a rigid body, is described using the natural coordinates method. In the derived nonlinear thermal-dynamic equations of rigid-flexible multibody system, the mass matrix is time-variant, and a pseudo damping matrix which is without actual energy dissipation, and a heat conduction matrix which is relative to the moving speed and the number of beam element are arisen. Numerical results give the dynamic and thermal responses of the nonrotating and spinning spacecraft, respectively, and show that thermal shock has a significant influence on the dynamics of spacecraft.

Multibody simulations of trolleybus vertical dynamics and influences of spring-damper structural elements

Directory of Open Access Journals (Sweden)

Polach P.

2008-11-01

Full Text Available Vertical dynamic properties of the ŠKODA 21 Tr low-floor trolleybus were investigated on an artificial test track when driving with a real vehicle and when simulating driving with a multibody model along a virtual test track. Driving along the artificial test track was aimed to determine vertical dynamic properties of the real trolleybus and on the basis of them to verify computer trolleybus models. Time histories and extreme values of the air springs relative deflections are the monitored quantities. Due to differences of the experiments and the computer simulations results the influences of the characteristics of the spring-damper structural elements of the axles suspension and the radial characteristics of the tires used in the trolleybus multibody model on the extreme values of the monitored quantities are evaluated.

Multibody dynamic analysis using a rotation-free shell element with corotational frame

Science.gov (United States)

Shi, Jiabei; Liu, Zhuyong; Hong, Jiazhen

2018-03-01

Rotation-free shell formulation is a simple and effective method to model a shell with large deformation. Moreover, it can be compatible with the existing theories of finite element method. However, a rotation-free shell is seldom employed in multibody systems. Using a derivative of rigid body motion, an efficient nonlinear shell model is proposed based on the rotation-free shell element and corotational frame. The bending and membrane strains of the shell have been simplified by isolating deformational displacements from the detailed description of rigid body motion. The consistent stiffness matrix can be obtained easily in this form of shell model. To model the multibody system consisting of the presented shells, joint kinematic constraints including translational and rotational constraints are deduced in the context of geometric nonlinear rotation-free element. A simple node-to-surface contact discretization and penalty method are adopted for contacts between shells. A series of analyses for multibody system dynamics are presented to validate the proposed formulation. Furthermore, the deployment of a large scaled solar array is presented to verify the comprehensive performance of the nonlinear shell model.

Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints

Directory of Open Access Journals (Sweden)

Yufei Liu

2015-01-01

Full Text Available This paper investigates the dynamic of a flexible robotic manipulator (FRM which consists of rigid driving base, flexible links, and flexible joints. With considering the motion fluctuations caused by the coupling effect, such as the motor parameters and mechanism inertias, as harmonic disturbances, the system investigated in this paper remains a parametrically excited system. An elastic restraint model of the FRM with elastic joints (FRMEJ is proposed, which considers the elastic properties of the connecting joints between the flexible arm and the driving base, as well as the harmonic disturbances aroused by the electromechanical coupling effect. As a consequence, the FRMEJ accordingly remains a flexible multibody system which conveys the effects of rigid-flexible couple and electromechanical couple. The Lagrangian function and Hamilton’s principle are used to establish the dynamic model of the FRMEJ. Based on the dynamic model proposed, the vibration power flow is introduced to show the vibration energy distribution. Numerical simulations are conducted to investigate the effect of the joint elasticities and the disturbance excitations, and the influences of the structure parameters and motion parameters on the vibration power flow are studied. The results obtained in this paper contribute to the structure design, motion optimization, and vibration control of FRMs.

System Reduction in Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian; Nielsen, Søren R.K.

2009-01-01

Abstract A system reduction scheme is devised related to a multibody formulation from which the dynamic response of a wind turbine is determined. In this formulation each substructure is described in its own frame of reference, which is moving freely in the vicinity of the moving substructure....... The Ritz bases spanning the reduced system comprises of rigid body modes and some dynamic low-frequency elastic eigenmodes compatible to the kinematic constraints of the related substructure. The high-frequency elastic modes are presumed to cause merely quasi-static displacements, and thus are included...... in the expansion via a quasi-static correction. The results show that by using the derived reduction scheme it is only necessary with 2 dynamical modes for the blade substructure when the remaining modes are treated as quasi-static. Moreover, it is shown that it has little to none effect if the gyroscopic...

Advances in Chimera Grid Tools for Multi-Body Dynamics Simulations and Script Creation

Science.gov (United States)

Chan, William M.

2004-01-01

This viewgraph presentation contains information about (1) Framework for multi-body dynamics - Geometry Manipulation Protocol (GMP), (2) Simulation procedure using Chimera Grid Tools (CGT) and OVERFLOW-2 (3) Further recent developments in Chimera Grid Tools OVERGRID, Grid modules, Script library and (4) Future work.

How to combine binary collision approximation and multi-body potential for molecular dynamics

International Nuclear Information System (INIS)

Saito, Seiki; Nakamura, Hiroaki; Takayama, Arimichi; Ito, Atsushi M.; Kenmotsu, Takahiro

2010-01-01

Our group has been developing a hybrid simulation of the molecular dynamics (MD) and the binary collision approximation (BCA) simulation. One of the main problems of this hybridization model is that the multi-body potential suddenly appears at the moment when the simulation method switches from the BCA to the MD. This instantaneously emerged multi-body potential causes the acceleration or deceleration of atoms of the system. To solve this problem, the kinetic energy of atoms should be corrected to conserve the total energy in the system. This paper gives the solution. The hybrid simulation for hydrogen atom injection into a graphite material is executed in order to demonstrate the solution. (author)

Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates

Energy Technology Data Exchange (ETDEWEB)

Dombrowski, Stefan von [Institute of Robotics and Mechatronics, German Aerospace Center (DLR) (Germany)], E-mail: stefan.von.dombrowski@dlr.de

2002-11-15

To consider large deformation problems in multibody system simulations a finite element approach, called absolute nodal coordinate.formulation,has been proposed. In this formulation absolute nodal coordinates and their material derivatives are applied to represent both deformation and rigid body motion. The choice of nodal variables allows a fully nonlinear representation of rigid body motion and can provide the exact rigid body inertia in the case of large rotations. The methodology is especially suited for but not limited to modeling of beams, cables and shells in multibody dynamics.This paper summarizes the absolute nodal coordinate formulation for a 3D Euler-Bernoulli beam model, in particular the definition of nodal variables, corresponding generalized elastic and inertia forces and equations of motion. The element stiffness matrix is a nonlinear function of the nodal variables even in the case of linearized strain/displacement relations. Nonlinear strain/displacement relations can be calculated from the global displacements using quadrature formulae.Computational examples are given which demonstrate the capabilities of the applied methodology. Consequences of the choice of shape.functions on the representation of internal forces are discussed. Linearized strain/displacement modeling is compared to the nonlinear approach and significant advantages of the latter, when using the absolute nodal coordinate formulation, are outlined.

Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates

International Nuclear Information System (INIS)

Dombrowski, Stefan von

2002-01-01

To consider large deformation problems in multibody system simulations a finite element approach, called absolute nodal coordinate.formulation,has been proposed. In this formulation absolute nodal coordinates and their material derivatives are applied to represent both deformation and rigid body motion. The choice of nodal variables allows a fully nonlinear representation of rigid body motion and can provide the exact rigid body inertia in the case of large rotations. The methodology is especially suited for but not limited to modeling of beams, cables and shells in multibody dynamics.This paper summarizes the absolute nodal coordinate formulation for a 3D Euler-Bernoulli beam model, in particular the definition of nodal variables, corresponding generalized elastic and inertia forces and equations of motion. The element stiffness matrix is a nonlinear function of the nodal variables even in the case of linearized strain/displacement relations. Nonlinear strain/displacement relations can be calculated from the global displacements using quadrature formulae.Computational examples are given which demonstrate the capabilities of the applied methodology. Consequences of the choice of shape.functions on the representation of internal forces are discussed. Linearized strain/displacement modeling is compared to the nonlinear approach and significant advantages of the latter, when using the absolute nodal coordinate formulation, are outlined

Virtual design software for mechanical system dynamics using transfer matrix method of multibody system and its application

Directory of Open Access Journals (Sweden)

Hai-gen Yang

2015-09-01

Full Text Available The complex mechanical systems such as high-speed trains, multiple launch rocket system, self-propelled artillery, and industrial robots are becoming increasingly larger in scale and more complicated in structure. Designing these products often requires complex model design, multibody system dynamics calculation, and analysis of large amounts of data repeatedly. In recent 20 years, the transfer matrix method of multibody system has been widely applied in engineering fields and welcomed at home and in abroad for the following features: without global dynamic equations of the system, low orders of involved system matrices, high computational efficiency, and high programming. In order to realize the rapid and visual simulation for complex mechanical system virtual design using transfer matrix method of multibody system, a virtual design software named MSTMMSim is designed and implemented. In the MSTMMSim, the transfer matrix method of multibody system is used as the solver for dynamic modeling and calculation; the Open CASCADE is used for solid geometry modeling. Various auxiliary analytical tools such as curve plot and animation display are provided in the post-processor to analyze and process the simulation results. Two numerical examples are given to verify the validity and accuracy of the software, and a multiple launch rocket system engineering example is given at the end of this article to show that the software provides a powerful platform for complex mechanical systems simulation and virtual design.

Modelling of joints with clearance and friction in multibody dynamic simulation of automotive differentials

OpenAIRE

Virlez, Geoffrey; Bruls, Olivier; Tromme, Emmanuel; Duysinx, Pierre

2012-01-01

Defects in kinematic joints can sometimes highly influence the simulation response of the whole multibody system within which these joints are included. For instance, the clearance, the friction, the lubrication and the flexibility affect the transient behaviour, reduce the component life and produce noise and vibration for classical joints such as prismatic, cylindric or universal joint. In this work, a new 3D cylindrical joint model which accounts for the clearance, the misalignment and the...

Comparative multibody dynamics analysis of falls from playground climbing frames

OpenAIRE

Forero Rueda, Manuel A.; Gilchrist, M. D.

2009-01-01

This paper shows the utility of multibody dynamics in evaluating changes in injury related parameters of the head and lower limbs of children following falls from playground climbing frames. A particular fall case was used as a starting point to analyze the influence of surface properties, posture of the body at impact, and intermediate collisions against the climbing frame before impacting the ground. Simulations were made using the 6-year-old pedestrian MADYMO rigid body model and scaled he...

Multibody Systems

DEFF Research Database (Denmark)

Wagner, Falko Jens

1999-01-01

Multibody Systems is one area, in which methods for solving DAEs are of special interst. This chapter is about multibody systems, why they result in DAE systems and what kind of problems that can arise when dealing with multibody systems and formulating their corresponding DAE system....

Biomechanical Analysis and Evaluation Technology Using Human Multi-Body Dynamic Model

Energy Technology Data Exchange (ETDEWEB)

Kim, Yoon Hyuk; Shin, June Ho; Khurelbaatar, Tsolmonbaatar [Kyung Hee University, Yongin (Korea, Republic of)

2011-10-15

This paper presents the biomechanical analysis and evaluation technology of musculoskeletal system by multi-body human dynamic model and 3-D motion capture data. First, medical image based geometric model and material properties of tissue were used to develop the human dynamic model and 3-D motion capture data based motion analysis techniques were develop to quantify the in-vivo joint kinematics, joint moment, joint force, and muscle force. Walking and push-up motion was investigated using the developed model. The present model and technologies would be useful to apply the biomechanical analysis and evaluation of human activities.

System Reduction in Nonlinear Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian; Nielsen, Søren R.K.; Rubak, Rune

2007-01-01

In this paper the system reduction in nonlinear multibody dynamics of wind turbines is investigated for various updating schemes of the moving frame of reference. In one case, the moving frame of reference is updated to a stiff body, relative to which the elastic deformations are fixed at one end....... In the other case, the stiff body motion is defined as the chord line connecting the end points of the beam, and the elastic deformations are simply supported at the end points. The system reduction is performed by discretizing the spatial motion into a set of rigid body modes and linear elastic eigenmodes...

Attitude and Configuration Control of Flexible Multi-Body Spacecraft

Science.gov (United States)

Cho, Sung-Ki; Cochran, John E., Jr.

2002-06-01

Multi-body spacecraft attitude and configuration control formulations based on the use of collaborative control theory are considered. The control formulations are based on two-player, nonzero-sum, differential game theory applied using a Nash strategy. It is desired that the control laws allow different components of the multi-body system to perform different tasks. For example, it may be desired that one body points toward a fixed star while another body in the system slews to track another satellite. Although similar to the linear quadratic regulator formulation, the collaborative control formulation contains a number of additional design parameters because the problem is formulated as two control problems coupled together. The use of the freedom of the partitioning of the total problem into two coupled control problems and the selection of the elements of the cross-coupling matrices are specific problems addressed in this paper. Examples are used to show that significant improvement in performance, as measured by realistic criteria, of collaborative control over conventional linear quadratic regulator control can be achieved by using proposed design guidelines.

Attitude and Configuration Control of Flexible Multi-Body Spacecraft

Directory of Open Access Journals (Sweden)

Sungki Cho

2002-06-01

Full Text Available Multi-body spacecraft attitude and configuration control formulations based on the use of collaborative control theory are considered. The control formulations are based on two-player, nonzero-sum, differential game theory applied using a Nash strategy. It is desired that the control laws allow different components of the multi-body system to perform different tasks. For example, it may be desired that one body points toward a fixed star while another body in the system slews to track another satellite. Although similar to the linear quadratic regulator formulation, the collaborative control formulation contains a number of additional design parameters because the problem is formulated as two control problems coupled together. The use of the freedom of the partitioning of the total problem into two coupled control problems and the selection of the elements of the cross-coupling matrices are specific problems addressed in this paper. Examples are used to show that significant improvement in performance, as measured by realistic criteria, of collaborative control over conventional linear quadratic regulator control can be achieved by using proposed design guidelines.

GPU accelerated tandem traversal of blocked bounding volume hierarchy collision detection for multibody dynamics

DEFF Research Database (Denmark)

Damkjær, Jesper; Erleben, Kenny

2009-01-01

and a simultaneous descend in the tandem traversal. The data structure design and traversal are highly specialized for exploiting the parallel threads in the NVIDIA GPUs. As proof-of-concept we demonstrate a GPU implementation for a multibody dynamics simulation, showing an approximate speedup factor of up to 8...

A new version of transfer matrix method for multibody systems

Energy Technology Data Exchange (ETDEWEB)

Rui, Xiaoting, E-mail: ruixt@163.net [Nanjing University of Science and Technology, Institute of Launch Dynamics (China); Bestle, Dieter, E-mail: bestle@b-tu.de [Brandenburg University of Technology, Engineering Mechanics and Vehicle Dynamics (Germany); Zhang, Jianshu, E-mail: zhangdracpa@sina.com; Zhou, Qinbo, E-mail: zqb912-new@163.com [Nanjing University of Science and Technology, Institute of Launch Dynamics (China)

2016-10-15

In order to avoid the global dynamics equations and increase the computational efficiency for multibody system dynamics (MSD), the transfer matrix method of multibody system (MSTMM) has been developed and applied very widely in research and engineering in recent 20 years. It differs from ordinary methods in multibody system dynamics with respect to the feature that there is no need for a global dynamics equation, and it uses low-order matrices for high computational efficiency. For linear systems, MSTMM is exact even if continuous elements like beams are involved. The discrete time MSTMM, however, has to use local linearization. In order to release the method from such approximations, a new version of MSTMM is presented in this paper where translational and angular accelerations, on the one hand, and internal forces and moments, on the other hand, are used as state variables. Already linear relationships among these quantities are utilized, which results in new element transfer matrices and algorithms making the study of multibody systems as simple as the study of single bodies. The proposed approach also allows combining MSTMM with any general numerical integration procedure. Some numerical examples of MSD are given to demonstrate the proposed method.

Model Reduction in Co-Rotated Multi-Body Dynamics Based on the Dual Craig-Bampton Method

NARCIS (Netherlands)

Weerathunge Kadawathagedara, S.T.; Rixen, D.J.

2011-01-01

A new reduction method for dynamical analsis of multi-body systems is presented in this paper. It fundamentally differs from the ones previously published in the way kinematical constraints are handled. Our approach is based on component mode synthesis, but the specificity of articulated mechanism,

A combined multibody and finite element approach for dynamic interaction analysis of high-speed train and railway structure including post-derailment behavior during an earthquake

International Nuclear Information System (INIS)

Tanabe, M; Wakui, H; Sogabe, M; Matsumoto, N; Tanabe, Y

2010-01-01

A combined multibody and finite element approach is given to solve the dynamic interaction of a Shinkansen train (high-speed train in Japan) and the railway structure including post-derailment during an earthquake effectively. The motion of the train is expressed in multibody dynamics. Efficient mechanical models to express interactions between wheel and track structure including post-derailment are given. Rail and track elements expressed in multibody dynamics and FEM are given to solve contact problems between wheel and long railway components effectively. The motion of a railway structure is modeled with various finite elements and rail and track elements. The computer program has been developed for the dynamic interaction analysis of a Shinkansen train and railway structure including post derailment during an earthquake. Numerical examples are demonstrated.

An Explicit Formulation of Singularity-Free Dynamic Equations of Mechanical Systems in Lagrangian Form---Part Two: Multibody Systems

Directory of Open Access Journals (Sweden)

Pål Johan From

2012-04-01

Full Text Available This paper presents the explicit dynamic equations of multibody mechanical systems. This is the second paper on this topic. In the first paper the dynamics of a single rigid body from the Boltzmann--Hamel equations were derived. In this paper these results are extended to also include multibody systems. We show that when quasi-velocities are used, the part of the dynamic equations that appear from the partial derivatives of the system kinematics are identical to the single rigid body case, but in addition we get terms that come from the partial derivatives of the inertia matrix, which are not present in the single rigid body case. We present for the first time the complete and correct derivation of multibody systems based on the Boltzmann--Hamel formulation of the dynamics in Lagrangian form where local position and velocity variables are used in the derivation to obtain the singularity-free dynamic equations. The final equations are written in global variables for both position and velocity. The main motivation of these papers is to allow practitioners not familiar with differential geometry to implement the dynamic equations of rigid bodies without the presence of singularities. Presenting the explicit dynamic equations also allows for more insight into the dynamic structure of the system. Another motivation is to correct some errors commonly found in the literature. Unfortunately, the formulation of the Boltzmann-Hamel equations used here are presented incorrectly. This has been corrected by the authors, but we present here, for the first time, the detailed mathematical details on how to arrive at the correct equations. We also show through examples that using the equations presented here, the dynamics of a single rigid body is reduced to the standard equations on a Lagrangian form, for example Euler's equations for rotational motion and Euler--Lagrange equations for free motion.

Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

Science.gov (United States)

Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

2018-03-01

This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

Evaluation of constraint stabilization procedures for multibody dynamical systems

Science.gov (United States)

Park, K. C.; Chiou, J. C.

1987-01-01

Comparative numerical studies of four constraint treatment techniques for the simulation of general multibody dynamic systems are presented, and results are presented for the example of a classical crank mechanism and for a simplified version of the seven-link manipulator deployment problem. The staggered stabilization technique (Park, 1986) is found to yield improved accuracy and robustness over Baumgarte's (1972) technique, the singular decomposition technique (Walton and Steeves, 1969), and the penalty technique (Lotstedt, 1979). Furthermore, the staggered stabilization technique offers software modularity, and the only data each solution module needs to exchange with the other is a set of vectors plus a common module to generate the gradient matrix of the constraints, B.

Modeling Multibody Systems with Uncertainties. Part I: Theoretical and Computational Aspects

International Nuclear Information System (INIS)

Sandu, Adrian; Sandu, Corina; Ahmadian, Mehdi

2006-01-01

This study explores the use of generalized polynomial chaos theory for modeling complex nonlinear multibody dynamic systems in the presence of parametric and external uncertainty. The polynomial chaos framework has been chosen because it offers an efficient computational approach for the large, nonlinear multibody models of engineering systems of interest, where the number of uncertain parameters is relatively small, while the magnitude of uncertainties can be very large (e.g., vehicle-soil interaction). The proposed methodology allows the quantification of uncertainty distributions in both time and frequency domains, and enables the simulations of multibody systems to produce results with 'error bars'. The first part of this study presents the theoretical and computational aspects of the polynomial chaos methodology. Both unconstrained and constrained formulations of multibody dynamics are considered. Direct stochastic collocation is proposed as less expensive alternative to the traditional Galerkin approach. It is established that stochastic collocation is equivalent to a stochastic response surface approach. We show that multi-dimensional basis functions are constructed as tensor products of one-dimensional basis functions and discuss the treatment of polynomial and trigonometric nonlinearities. Parametric uncertainties are modeled by finite-support probability densities. Stochastic forcings are discretized using truncated Karhunen-Loeve expansions. The companion paper 'Modeling Multibody Dynamic Systems With Uncertainties. Part II: Numerical Applications' illustrates the use of the proposed methodology on a selected set of test problems. The overall conclusion is that despite its limitations, polynomial chaos is a powerful approach for the simulation of multibody systems with uncertainties

Evaluating the reliability of multi-body mechanisms: A method considering the uncertainties of dynamic performance

International Nuclear Information System (INIS)

Wu, Jianing; Yan, Shaoze; Zuo, Ming J.

2016-01-01

Mechanism reliability is defined as the ability of a certain mechanism to maintain output accuracy under specified conditions. Mechanism reliability is generally assessed by the classical direct probability method (DPM) derived from the first order second moment (FOSM) method. The DPM relies strongly on the analytical form of the dynamic solution so it is not applicable to multi-body mechanisms that have only numerical solutions. In this paper, an indirect probability model (IPM) is proposed for mechanism reliability evaluation of multi-body mechanisms. IPM combines the dynamic equation, degradation function and Kaplan–Meier estimator to evaluate mechanism reliability comprehensively. Furthermore, to reduce the amount of computation in practical applications, the IPM is simplified into the indirect probability step model (IPSM). A case study of a crank–slider mechanism with clearance is investigated. Results show that relative errors between the theoretical and experimental results of mechanism reliability are less than 5%, demonstrating the effectiveness of the proposed method. - Highlights: • An indirect probability model (IPM) is proposed for mechanism reliability evaluation. • The dynamic equation, degradation function and Kaplan–Meier estimator are used. • Then the simplified form of indirect probability model is proposed. • The experimental results agree well with the predicted results.

Air rudder mechanism dynamics considering two elements:Joint clearance and link flexibility

Energy Technology Data Exchange (ETDEWEB)

Li, Yuntao; Quan, Qiquan; Li, He; Tang, Dewei; Li, Zhonghong; Fan, Wenyang; Deng, Zongquan [Harbin Institute of Technology, Harbin (China)

2017-07-15

Both the impact phenomenon in the clearance revolute joint and the link deformation will influence the dynamics of the air rudder transmission mechanism, which could reduce the flight quality of an aircraft. Given the effect of the two elements, a feasible simulation method with two improvements of previous methods is proposed to analyze the dynamic characteristics of the mechanism. In previous studies, the parameters of the contact force model in multi-body dynamics software were generally determined by experience, which may cause uncertainty in the calculation precision of the contact force. Furthermore, it is difficult to solve for the elastic link deformation in the practical mechanism using the available analytical methods due to the complicated section of the link. In this paper, a Continuous contact force (CCF) model was proposed and embedded in the ADAMS by developing a routine of the CCF model. Then, the flexible model was obtained by ANSYS to obtain the elastic link deformation. The experimental results indicate that the proposed simulation method can be effectively applied to predict the dynamic behavior of the mechanism.

Static analysis of large-scale multibody system using joint coordinates and spatial algebra operator.

Science.gov (United States)

Omar, Mohamed A

2014-01-01

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations.

Multi-Body Ski Jumper Model with Nonlinear Dynamic Inversion Muscle Control for Trajectory Optimization

Directory of Open Access Journals (Sweden)

Patrick Piprek

2018-02-01

Full Text Available This paper presents an approach to model a ski jumper as a multi-body system for an optimal control application. The modeling is based on the constrained Newton-Euler-Equations. Within this paper the complete multi-body modeling methodology as well as the musculoskeletal modeling is considered. For the musculoskeletal modeling and its incorporation in the optimization model, we choose a nonlinear dynamic inversion control approach. This approach uses the muscle models as nonlinear reference models and links them to the ski jumper movement by a control law. This strategy yields a linearized input-output behavior, which makes the optimal control problem easier to solve. The resulting model of the ski jumper can then be used for trajectory optimization whose results are compared to literature jumps. Ultimately, this enables the jumper to get a very detailed feedback of the flight. To achieve the maximal jump length, exact positioning of his body with respect to the air can be displayed.

Linking rigid multibody systems via controllable thin fluid films

DEFF Research Database (Denmark)

Estupinan, Edgar Alberto; Santos, Ilmar

2009-01-01

, this paper gives a theoretical contribution to the combined fields of fluid–structure interaction and vibration control. The methodology is applied to a reciprocating linear compressor, where the dynamics of the mechanical components are described with help of multibody dynamics. The crank is linked......This work deals with the mathematical modelling of multibody systems interconnected via thin fluid films. The dynamics of the fluid films can be actively controlled by means of different types of actuators, allowing significant vibration reduction of the system components. In this framework...... to the rotor via a thin fluid film, where the hydrodynamic pressure is described by the Reynolds equation, which is modified to accommodate the controllable lubrication conditions. The fluid film forces are coupled to the set of nonlinear equations that describes the dynamics of the reciprocating linear...

A 3D Finite Element Method for Flexible Multibody Systems

International Nuclear Information System (INIS)

Gerstmayr, Johannes; Schoeberl, Joachim

2006-01-01

An efficient finite element (FE) formulation for the simulation of multibody systems is derived from Hamilton's principle. According to the classical assumptions of multibody systems, a large rotation formulation has been chosen, where large rotations and large displacements, but only small deformations of the single bodies are taken into account. The strain tensor is linearized with respect to a co-rotated frame. The present approach uses absolute coordinates for the degrees of freedom and forms an alternative to the floating frame of reference formulation that is based on relative coordinates and describes deformation with respect to a co-rotated frame. Due to the modified strain tensor, the present formulation distinguishes significantly from standard nodal based nonlinear FE methods. Constraints are defined in integral form for every pair of surfaces of two bodies. This leads to a small number of constraint equations and avoids artificial stress singularities. The resulting mass and stiffness matrices are constant apart from a transformation based on a single rotation matrix for each body. The particular structure of this transformation allows to prevent from the usually expensive factorization of the system Jacobian within implicit time--integration methods. The present method has been implemented and tested with the FE-package NGSolve and specific 3D examples are verified with a standard beam formulation

Unconditionally Energy Stable Implicit Time Integration: Application to Multibody System Analysis and Design

DEFF Research Database (Denmark)

Chen, Shanshin; Tortorelli, Daniel A.; Hansen, John Michael

1999-01-01

of ordinary diffferential equations is employed to avoid the instabilities associated with the direct integrations of differential-algebraic equations. To extend the unconditional stability of the implicit Newmark method to nonlinear dynamic systems, a discrete energy balance is enforced. This constraint......Advances in computer hardware and improved algorithms for multibody dynamics over the past decade have generated widespread interest in real-time simulations of multibody mechanics systems. At the heart of the widely used algorithms for multibody dynamics are a choice of coordinates which define...... the kinmatics of the system, and a choice of time integrations algorithms. The current approach uses a non-dissipative implict Newmark method to integrate the equations of motion defined in terms of the independent joint coordinates of the system. The reduction of the equations of motion to a minimal set...

Study on the Dynamics of Laser Gyro Strapdown Inertial Measurement Unit System Based on Transfer Matrix Method for Multibody System

Directory of Open Access Journals (Sweden)

Gangli Chen

2013-01-01

Full Text Available The dynamic test precision of the strapdown inertial measurement unit (SIMU is the basis of estimating accurate motion of various vehicles such as warships, airplanes, spacecrafts, and missiles. So, it is paid great attention in the above fields to increase the dynamic precision of SIMU by decreasing the vibration of the vehicles acting on the SIMU. In this paper, based on the transfer matrix method for multibody system (MSTMM, the multibody system dynamics model of laser gyro strapdown inertial measurement unit (LGSIMU is developed; the overall transfer equation of the system is deduced automatically. The computational results show that the frequency response function of the LGSIMU got by the proposed method and Newton-Euler method have good agreements. Further, the vibration reduction performance and the attitude error responses under harmonic and random excitations are analyzed. The proposed method provides a powerful technique for studying dynamics of LGSIMU because of using MSTMM and its following features: without the global dynamics equations of the system, high programming, low order of system matrix, and high computational speed.

Dynamics and genetic fuzzy neural network vibration control design of a smart flexible four-bar linkage mechanism

International Nuclear Information System (INIS)

Rong Bao; Rui Xiaoting; Tao Ling

2012-01-01

In this paper, a dynamic modeling method and an active vibration control scheme for a smart flexible four-bar linkage mechanism featuring piezoelectric actuators and strain gauge sensors are presented. The dynamics of this smart mechanism is described by the Discrete Time Transfer Matrix Method of Multibody System (MS-DTTMM). Then a nonlinear fuzzy neural network control is employed to suppress the vibration of this smart mechanism. For improving the dynamic performance of the fuzzy neural network, a genetic algorithm based on the MS-DTTMM is designed offline to tune the initial parameters of the fuzzy neural network. The MS-DTTMM avoids the global dynamics equations of the system, which results in the matrices involved are always very small, so the computational efficiency of the dynamic analysis and control system optimization can be greatly improved. Formulations of the method as well as a numerical simulation are given to demonstrate the proposed dynamic method and control scheme.

Comparative multibody dynamics analysis of falls from playground climbing frames.

Science.gov (United States)

Forero Rueda, M A; Gilchrist, M D

2009-10-30

This paper shows the utility of multibody dynamics in evaluating changes in injury related parameters of the head and lower limbs of children following falls from playground climbing frames. A particular fall case was used as a starting point to analyze the influence of surface properties, posture of the body at impact, and intermediate collisions against the climbing frame before impacting the ground. Simulations were made using the 6-year-old pedestrian MADYMO rigid body model and scaled head contact characteristics. Energy absorbing surfaces were shown to reduce injury severity parameters by up to 30-80% of those of rigid surfaces, depending on impact posture and surface. Collisions against components of a climbing frame during a fall can increase injury severity of the final impact of the head with the ground by more than 90%. Negligible changes are associated with lower limb injury risks when different surfacing materials are used. Computer reconstructions of actual falls that are intended to quantify the severity of physical injuries rely on accurate knowledge of initial conditions prior to falling, intermediate kinematics of the fall and the orientation of the body when it impacts against the ground. Multibody modelling proved to be a valuable tool to analyze the quality of eyewitness information and analyze the relative injury risk associated with changes in components influencing fall injuries from playground climbing frames. Such simulations can also support forensic investigations by evaluating alternative hypotheses for the sequence of kinematic motion of falls which result in known injuries.

Modeling multibody systems with uncertainties. Part II: Numerical applications

Energy Technology Data Exchange (ETDEWEB)

Sandu, Corina, E-mail: csandu@vt.edu; Sandu, Adrian; Ahmadian, Mehdi [Virginia Polytechnic Institute and State University, Mechanical Engineering Department (United States)

2006-04-15

This study applies generalized polynomial chaos theory to model complex nonlinear multibody dynamic systems operating in the presence of parametric and external uncertainty. Theoretical and computational aspects of this methodology are discussed in the companion paper 'Modeling Multibody Dynamic Systems With Uncertainties. Part I: Theoretical and Computational Aspects .In this paper we illustrate the methodology on selected test cases. The combined effects of parametric and forcing uncertainties are studied for a quarter car model. The uncertainty distributions in the system response in both time and frequency domains are validated against Monte-Carlo simulations. Results indicate that polynomial chaos is more efficient than Monte Carlo and more accurate than statistical linearization. The results of the direct collocation approach are similar to the ones obtained with the Galerkin approach. A stochastic terrain model is constructed using a truncated Karhunen-Loeve expansion. The application of polynomial chaos to differential-algebraic systems is illustrated using the constrained pendulum problem. Limitations of the polynomial chaos approach are studied on two different test problems, one with multiple attractor points, and the second with a chaotic evolution and a nonlinear attractor set. The overall conclusion is that, despite its limitations, generalized polynomial chaos is a powerful approach for the simulation of multibody dynamic systems with uncertainties.

Modeling multibody systems with uncertainties. Part II: Numerical applications

International Nuclear Information System (INIS)

Sandu, Corina; Sandu, Adrian; Ahmadian, Mehdi

2006-01-01

This study applies generalized polynomial chaos theory to model complex nonlinear multibody dynamic systems operating in the presence of parametric and external uncertainty. Theoretical and computational aspects of this methodology are discussed in the companion paper 'Modeling Multibody Dynamic Systems With Uncertainties. Part I: Theoretical and Computational Aspects .In this paper we illustrate the methodology on selected test cases. The combined effects of parametric and forcing uncertainties are studied for a quarter car model. The uncertainty distributions in the system response in both time and frequency domains are validated against Monte-Carlo simulations. Results indicate that polynomial chaos is more efficient than Monte Carlo and more accurate than statistical linearization. The results of the direct collocation approach are similar to the ones obtained with the Galerkin approach. A stochastic terrain model is constructed using a truncated Karhunen-Loeve expansion. The application of polynomial chaos to differential-algebraic systems is illustrated using the constrained pendulum problem. Limitations of the polynomial chaos approach are studied on two different test problems, one with multiple attractor points, and the second with a chaotic evolution and a nonlinear attractor set. The overall conclusion is that, despite its limitations, generalized polynomial chaos is a powerful approach for the simulation of multibody dynamic systems with uncertainties

Multibody system dynamics and mechatronics. Plenary lecture

Energy Technology Data Exchange (ETDEWEB)

Hiller, M.H.; Hirsch, K. [Duisburg-Essen Univ., Duisburg (Germany). Faculty of Engineering

2006-02-15

Mechatronics as an interdisciplinary combination of domains of mechanical engineering, electrical engineering, electronics, and computer science has developed in industry and universities since the eighties of the last century, and it is meanwhile fully established in many technical areas. The main focus of the mechatronic approach is to extend and to complete the design process of mechanical and more general engineering systems by incorporating from the very beginning sensors and controllers - which includes also the required information processing - and thus being able to generate partly intelligent products. The components and modules of such systems originate from mechanical engineering, from electrical engineering or from other engineering domains. Methods for describing and designing these components and modules are based in the fields of applied mechanics, electrical engineering, system theory, control and automation theory, and information processing. In particular, in mechatronic systems like robots, manipulation systems, machine tools, or all kinds of vehicles, the multibody systems approach offers a powerful tool to model the mechanical properties of the system in an appropriate manner. In this paper, methodologies for the development of formalisms and software for modeling and simulation of multibody and mechatronic systems will be presented and illustrated by examples from automotive systems and robotics. (orig.)

On computing stress in polymer systems involving multi-body potentials from molecular dynamics simulation

Science.gov (United States)

Fu, Yao; Song, Jeong-Hoon

2014-08-01

Hardy stress definition has been restricted to pair potentials and embedded-atom method potentials due to the basic assumptions in the derivation of a symmetric microscopic stress tensor. Force decomposition required in the Hardy stress expression becomes obscure for multi-body potentials. In this work, we demonstrate the invariance of the Hardy stress expression for a polymer system modeled with multi-body interatomic potentials including up to four atoms interaction, by applying central force decomposition of the atomic force. The balance of momentum has been demonstrated to be valid theoretically and tested under various numerical simulation conditions. The validity of momentum conservation justifies the extension of Hardy stress expression to multi-body potential systems. Computed Hardy stress has been observed to converge to the virial stress of the system with increasing spatial averaging volume. This work provides a feasible and reliable linkage between the atomistic and continuum scales for multi-body potential systems.

Measurement and correlation of high frequency behaviors of a very flexible beam undergoing large deformation

International Nuclear Information System (INIS)

Lee, Jae Wook; Kim, Hyun Woo; Ku, Hi Chun; Yoo, Wan Suk

2009-01-01

A correlation method of high frequency behaviors of a very flexible beam undergoing large displacement is presented. The suggested method based on the experimental modal analysis leads to more accurate correlation results because it directly uses the modal parameters of each mode achieved from experiment. First, the modal testing and the parameter identification method are suggested for flexible multibody dynamics. Due to the flexibility of a very thin beam, traditional testing methods such as impact hammer or contact type accelerometer are not working well. The suggested measurement with high speed camera, even though the test beam is very flexible, is working well. Using measurements with a high speed camera, modal properties until the 5th mode are measured. And After measuring each damping ratio until the 5th mode, a generic damping model is constructed using inverse modal transformation technique. It's very interesting that the modal transformation technique can be also applied even in the ANCF simulation which uses the global displacement and finite slope as the nodal coordinates. The results of experiment and simulation are compared until the 5th mode frequency, respectively, by using ANCF forced vibration analysis. Through comparison between numerical simulation and experiment, this study showed that the proposed generic damping matrix, modal testing and parameter identification method is very proper in flexible multibody dynamic problems undergoing large deformation

Attitude coordination of multi-HUG formation based on multibody system theory

Science.gov (United States)

Xue, Dong-yang; Wu, Zhi-liang; Qi, Er-mai; Wang, Yan-hui; Wang, Shu-xin

2017-04-01

Application of multiple hybrid underwater gliders (HUGs) is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field (APF) approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.

Preliminary results on the dynamics of large and flexible space structures in Halo orbits

Science.gov (United States)

Colagrossi, Andrea; Lavagna, Michèle

2017-05-01

The global exploration roadmap suggests, among other ambitious future space programmes, a possible manned outpost in lunar vicinity, to support surface operations and further astronaut training for longer and deeper space missions and transfers. In particular, a Lagrangian point orbit location - in the Earth- Moon system - is suggested for a manned cis-lunar infrastructure; proposal which opens an interesting field of study from the astrodynamics perspective. Literature offers a wide set of scientific research done on orbital dynamics under the Three-Body Problem modelling approach, while less of it includes the attitude dynamics modelling as well. However, whenever a large space structure (ISS-like) is considered, not only the coupled orbit-attitude dynamics should be modelled to run more accurate analyses, but the structural flexibility should be included too. The paper, starting from the well-known Circular Restricted Three-Body Problem formulation, presents some preliminary results obtained by adding a coupled orbit-attitude dynamical model and the effects due to the large structure flexibility. In addition, the most relevant perturbing phenomena, such as the Solar Radiation Pressure (SRP) and the fourth-body (Sun) gravity, are included in the model as well. A multi-body approach has been preferred to represent possible configurations of the large cis-lunar infrastructure: interconnected simple structural elements - such as beams, rods or lumped masses linked by springs - build up the space segment. To better investigate the relevance of the flexibility effects, the lumped parameters approach is compared with a distributed parameters semi-analytical technique. A sensitivity analysis of system dynamics, with respect to different configurations and mechanical properties of the extended structure, is also presented, in order to highlight drivers for the lunar outpost design. Furthermore, a case study for a large and flexible space structure in Halo orbits around

Validation of Multibody Program to Optimize Simulated Trajectories II Parachute Simulation with Interacting Forces

Science.gov (United States)

Raiszadeh, Behzad; Queen, Eric M.; Hotchko, Nathaniel J.

2009-01-01

A capability to simulate trajectories of multiple interacting rigid bodies has been developed, tested and validated. This capability uses the Program to Optimize Simulated Trajectories II (POST 2). The standard version of POST 2 allows trajectory simulation of multiple bodies without force interaction. In the current implementation, the force interaction between the parachute and the suspended bodies has been modeled using flexible lines, allowing accurate trajectory simulation of the individual bodies in flight. The POST 2 multibody capability is intended to be general purpose and applicable to any parachute entry trajectory simulation. This research paper explains the motivation for multibody parachute simulation, discusses implementation methods, and presents validation of this capability.

Constraint elimination in dynamical systems

Science.gov (United States)

Singh, R. P.; Likins, P. W.

1989-01-01

Large space structures (LSSs) and other dynamical systems of current interest are often extremely complex assemblies of rigid and flexible bodies subjected to kinematical constraints. A formulation is presented for the governing equations of constrained multibody systems via the application of singular value decomposition (SVD). The resulting equations of motion are shown to be of minimum dimension.

Substructuring of multibody systems for numerical transfer path analysis in internal combustion engines

Science.gov (United States)

Acri, Antonio; Offner, Guenter; Nijman, Eugene; Rejlek, Jan

2016-10-01

Noise legislations and the increasing customer demands determine the Noise Vibration and Harshness (NVH) development of modern commercial vehicles. In order to meet the stringent legislative requirements for the vehicle noise emission, exact knowledge of all vehicle noise sources and their acoustic behavior is required. Transfer path analysis (TPA) is a fairly well established technique for estimating and ranking individual low-frequency noise or vibration contributions via the different transmission paths. Transmission paths from different sources to target points of interest and their contributions can be analyzed by applying TPA. This technique is applied on test measurements, which can only be available on prototypes, at the end of the designing process. In order to overcome the limits of TPA, a numerical transfer path analysis methodology based on the substructuring of a multibody system is proposed in this paper. Being based on numerical simulation, this methodology can be performed starting from the first steps of the designing process. The main target of the proposed methodology is to get information of noise sources contributions of a dynamic system considering the possibility to have multiple forces contemporary acting on the system. The contributions of these forces are investigated with particular focus on distribute or moving forces. In this paper, the mathematical basics of the proposed methodology and its advantages in comparison with TPA will be discussed. Then, a dynamic system is investigated with a combination of two methods. Being based on the dynamic substructuring (DS) of the investigated model, the methodology proposed requires the evaluation of the contact forces at interfaces, which are computed with a flexible multi-body dynamic (FMBD) simulation. Then, the structure-borne noise paths are computed with the wave based method (WBM). As an example application a 4-cylinder engine is investigated and the proposed methodology is applied on the

Gear fatigue damage for a 500 kW wind turbine exposed to increasing turbulence using a flexible multibody model

DEFF Research Database (Denmark)

Jørgensen, Martin Felix; Pedersen, Niels Leergaard; Sørensen, Jens Nørkær

2014-01-01

This paper investigates gear tooth fatigue damage in a 500 kW wind turbine using FLEX5 and own multibody code. FLEX5 provides the physical wind eld, rotor and generator torque and the multibody code is used for obtaining gear tooth reaction forces in the planetary gearbox. Dierent turbulence levels...... and therefore increased fatigue damage levels. This article contributes to a better understanding of gear fatigue damage when turbulence is increased (e.g. in the center of large wind farms or at places where turbulence is pronounced)....

Path lumping: An efficient algorithm to identify metastable path channels for conformational dynamics of multi-body systems

Science.gov (United States)

Meng, Luming; Sheong, Fu Kit; Zeng, Xiangze; Zhu, Lizhe; Huang, Xuhui

2017-07-01

Constructing Markov state models from large-scale molecular dynamics simulation trajectories is a promising approach to dissect the kinetic mechanisms of complex chemical and biological processes. Combined with transition path theory, Markov state models can be applied to identify all pathways connecting any conformational states of interest. However, the identified pathways can be too complex to comprehend, especially for multi-body processes where numerous parallel pathways with comparable flux probability often coexist. Here, we have developed a path lumping method to group these parallel pathways into metastable path channels for analysis. We define the similarity between two pathways as the intercrossing flux between them and then apply the spectral clustering algorithm to lump these pathways into groups. We demonstrate the power of our method by applying it to two systems: a 2D-potential consisting of four metastable energy channels and the hydrophobic collapse process of two hydrophobic molecules. In both cases, our algorithm successfully reveals the metastable path channels. We expect this path lumping algorithm to be a promising tool for revealing unprecedented insights into the kinetic mechanisms of complex multi-body processes.

Hard real-time multibody simulations using ARM-based embedded systems

Energy Technology Data Exchange (ETDEWEB)

Pastorino, Roland, E-mail: roland.pastorino@kuleuven.be, E-mail: rpastorino@udc.es; Cosco, Francesco, E-mail: francesco.cosco@kuleuven.be; Naets, Frank, E-mail: frank.naets@kuleuven.be; Desmet, Wim, E-mail: wim.desmet@kuleuven.be [KU Leuven, PMA division, Department of Mechanical Engineering (Belgium); Cuadrado, Javier, E-mail: javicuad@cdf.udc.es [Universidad de La Coruña, Laboratorio de Ingeniería Mecánica (Spain)

2016-05-15

The real-time simulation of multibody models on embedded systems is of particular interest for controllers and observers such as model predictive controllers and state observers, which rely on a dynamic model of the process and are customarily executed in electronic control units. This work first identifies the software techniques and tools required to easily write efficient code for multibody models to be simulated on ARM-based embedded systems. Automatic Programming and Source Code Translation are the two techniques that were chosen to generate source code for multibody models in different programming languages. Automatic Programming is used to generate procedural code in an intermediate representation from an object-oriented library and Source Code Translation is used to translate the intermediate representation automatically to an interpreted language or to a compiled language for efficiency purposes. An implementation of these techniques is proposed. It is based on a Python template engine and AST tree walkers for Source Code Generation and on a model-driven translator for the Source Code Translation. The code is translated from a metalanguage to any of the following four programming languages: Python-Numpy, Matlab, C++-Armadillo, C++-Eigen. Two examples of multibody models were simulated: a four-bar linkage with multiple loops and a 3D vehicle steering system. The code for these examples has been generated and executed on two ARM-based single-board computers. Using compiled languages, both models could be simulated faster than real-time despite the low resources and performance of these embedded systems. Finally, the real-time performance of both models was evaluated when executed in hard real-time on Xenomai for both embedded systems. This work shows through measurements that Automatic Programming and Source Code Translation are valuable techniques to develop real-time multibody models to be used in embedded observers and controllers.

Hard real-time multibody simulations using ARM-based embedded systems

International Nuclear Information System (INIS)

Pastorino, Roland; Cosco, Francesco; Naets, Frank; Desmet, Wim; Cuadrado, Javier

2016-01-01

The real-time simulation of multibody models on embedded systems is of particular interest for controllers and observers such as model predictive controllers and state observers, which rely on a dynamic model of the process and are customarily executed in electronic control units. This work first identifies the software techniques and tools required to easily write efficient code for multibody models to be simulated on ARM-based embedded systems. Automatic Programming and Source Code Translation are the two techniques that were chosen to generate source code for multibody models in different programming languages. Automatic Programming is used to generate procedural code in an intermediate representation from an object-oriented library and Source Code Translation is used to translate the intermediate representation automatically to an interpreted language or to a compiled language for efficiency purposes. An implementation of these techniques is proposed. It is based on a Python template engine and AST tree walkers for Source Code Generation and on a model-driven translator for the Source Code Translation. The code is translated from a metalanguage to any of the following four programming languages: Python-Numpy, Matlab, C++-Armadillo, C++-Eigen. Two examples of multibody models were simulated: a four-bar linkage with multiple loops and a 3D vehicle steering system. The code for these examples has been generated and executed on two ARM-based single-board computers. Using compiled languages, both models could be simulated faster than real-time despite the low resources and performance of these embedded systems. Finally, the real-time performance of both models was evaluated when executed in hard real-time on Xenomai for both embedded systems. This work shows through measurements that Automatic Programming and Source Code Translation are valuable techniques to develop real-time multibody models to be used in embedded observers and controllers.

Experimental studies of control concepts for a parallel manipulator with flexible links

International Nuclear Information System (INIS)

Burkhardt, Markus; Eberhard, Peter; Seifried, Robert

2015-01-01

Control of flexible multibody systems, such as flexible manipulators, is a challenging task. This is especially true if end-effector trajectory tracking is aspired. On the one hand, these systems require a large number of generalized coordinates to describe their dynamical behavior accurately. On the other hand, only a small subset of these values can be measured or reconstructed on-the-fly. Hence, it is difficult, if not nearly impossible, to use a state controller. In addition, flexible systems are under actuated, i.e. they possess less control inputs than generalized coordinates. In case of a non-collocated output controller, which is the case for end-effector trajectory tracking, the closed loop of the system might lose passivity and is non-minimum phase. In order to achieve end-effector trajectory tracking, exact and approximate feed-forward controls can be applied. In this work, two different versions of such concepts are compared experimentally. These model-based concepts are computed off-line and they supply, next to the required input values, a C1 -continuous solution of the complete state vector which can be used for feedback control. If the system is non-minimum phase, a two-sided boundary value problem has to be solved and the solution includes a pre-actuation as well as a post-actuation phase. While the exact method incorporates all dynamical effects of the flexible multibody system, the approximate concepts neglect certain implications, for example the dynamical effects due to the flexibility. In addition to the presentation of the theoretical basics of the control approaches and the underlying models, this contribution addresses some of the crucial obstacles, which have to be overcome for the operation of the test bench, e.g., signal conditioning, state reconstruction and friction compensation. Since the installed sensors do not allow the direct measurement of the end effector position, image tracking is used to judge the quality of the different

Development of Constraint Force Equation Methodology for Application to Multi-Body Dynamics Including Launch Vehicle Stage Seperation

Science.gov (United States)

Pamadi, Bandu N.; Toniolo, Matthew D.; Tartabini, Paul V.; Roithmayr, Carlos M.; Albertson, Cindy W.; Karlgaard, Christopher D.

2016-01-01

The objective of this report is to develop and implement a physics based method for analysis and simulation of multi-body dynamics including launch vehicle stage separation. The constraint force equation (CFE) methodology discussed in this report provides such a framework for modeling constraint forces and moments acting at joints when the vehicles are still connected. Several stand-alone test cases involving various types of joints were developed to validate the CFE methodology. The results were compared with ADAMS(Registered Trademark) and Autolev, two different industry standard benchmark codes for multi-body dynamic analysis and simulations. However, these two codes are not designed for aerospace flight trajectory simulations. After this validation exercise, the CFE algorithm was implemented in Program to Optimize Simulated Trajectories II (POST2) to provide a capability to simulate end-to-end trajectories of launch vehicles including stage separation. The POST2/CFE methodology was applied to the STS-1 Space Shuttle solid rocket booster (SRB) separation and Hyper-X Research Vehicle (HXRV) separation from the Pegasus booster as a further test and validation for its application to launch vehicle stage separation problems. Finally, to demonstrate end-to-end simulation capability, POST2/CFE was applied to the ascent, orbit insertion, and booster return of a reusable two-stage-to-orbit (TSTO) vehicle concept. With these validation exercises, POST2/CFE software can be used for performing conceptual level end-to-end simulations, including launch vehicle stage separation, for problems similar to those discussed in this report.

Transfer matrix method for dynamics modeling and independent modal space vibration control design of linear hybrid multibody system

Science.gov (United States)

Rong, Bao; Rui, Xiaoting; Lu, Kun; Tao, Ling; Wang, Guoping; Ni, Xiaojun

2018-05-01

In this paper, an efficient method of dynamics modeling and vibration control design of a linear hybrid multibody system (MS) is studied based on the transfer matrix method. The natural vibration characteristics of a linear hybrid MS are solved by using low-order transfer equations. Then, by constructing the brand-new body dynamics equation, augmented operator and augmented eigenvector, the orthogonality of augmented eigenvector of a linear hybrid MS is satisfied, and its state space model expressed in each independent model space is obtained easily. According to this dynamics model, a robust independent modal space-fuzzy controller is designed for vibration control of a general MS, and the genetic optimization of some critical control parameters of fuzzy tuners is also presented. Two illustrative examples are performed, which results show that this method is computationally efficient and with perfect control performance.

A computational procedure for the dynamics of flexible beams within multibody systems. Ph.D. Thesis Final Technical Report

Science.gov (United States)

Downer, Janice Diane

1990-01-01

The dynamic analysis of three dimensional elastic beams which experience large rotational and large deformational motions are examined. The beam motion is modeled using an inertial reference for the translational displacements and a body-fixed reference for the rotational quantities. Finite strain rod theories are then defined in conjunction with the beam kinematic description which accounts for the effects of stretching, bending, torsion, and transverse shear deformations. A convected coordinate representation of the Cauchy stress tensor and a conjugate strain definition is introduced to model the beam deformation. To treat the beam dynamics, a two-stage modification of the central difference algorithm is presented to integrate the translational coordinates and the angular velocity vector. The angular orientation is then obtained from the application of an implicit integration algorithm to the Euler parameter/angular velocity kinematical relation. The combined developments of the objective internal force computation with the dynamic solution procedures result in the computational preservation of total energy for undamped systems. The present methodology is also extended to model the dynamics of deployment/retrieval of the flexible members. A moving spatial grid corresponding to the configuration of a deployed rigid beam is employed as a reference for the dynamic variables. A transient integration scheme which accurately accounts for the deforming spatial grid is derived from a space-time finite element discretization of a Hamiltonian variational statement. The computational results of this general deforming finite element beam formulation are compared to reported results for a planar inverse-spaghetti problem.

Applications of Lie Group Theory to the Modeling and Control of Multibody Systems

International Nuclear Information System (INIS)

Mladenova, Clementina D.

1999-01-01

This paper reviews our research activities concerning the modeling and control of rigid and elastic joint multibody mechanical systems, including some investigations into nonholonomic systems. Bearing in mind the different parameterizations of the rotation group in three-dimensional space SO(3), and the fact that the properties of the parameterization more or less influence the efficiency of the dynamics model, here the so-called vector parameter is used for parallel considerations of rigid body motion and of rigid and elastic joint multibody mechanical systems. Besides the fundamental role of this study, the vector-parameter approach is efficient in its computational aspect and quite convenient for real time simulation and control. The consideration of the mechanical system on the configuration space of pure vector parameters with a group structure opens the possibilities for the Lie group theory to be applied in problems of dynamics and control

Gear fatigue damage for a 500 kW wind turbine exposed to increasing turbulence using a flexible multibody model

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Martin Felix Jørgensen

2014-04-01

Full Text Available This paper investigates gear tooth fatigue damage in a 500 kW wind turbine using FLEX5 and own multibody code. FLEX5 provides the physical wind field, rotor and generator torque and the multibody code is used for obtaining gear tooth reaction forces in the planetary gearbox. Different turbulence levels are considered and the accumulated fatigue damage levels are compared. An example where the turbulence/fatigue sensitivity could be important, is in the middle of a big wind farm. Interior wind turbines in large wind farms will always operate in the wake of other wind turbines, causing increased turbulence and therefore increased fatigue damage levels. This article contributes to a better understanding of gear fatigue damage when turbulence is increased (e.g. in the center of large wind farms or at places where turbulence is pronounced.

Effects of structural flexibility of wings in flapping flight of butterfly.

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Senda, Kei; Obara, Takuya; Kitamura, Masahiko; Yokoyama, Naoto; Hirai, Norio; Iima, Makoto

2012-06-01

The objective of this paper is to clarify the effects of structural flexibility of wings of a butterfly in flapping flight. For this purpose, a dynamics model of a butterfly is derived by Lagrange's method, where the butterfly is considered as a rigid multi-body system. The panel method is employed to simulate the flow field and the aerodynamic forces acting on the wings. The mathematical model is validated by the agreement of the numerical result with the experimentally measured data. Then, periodic orbits of flapping-of-wings flights are parametrically searched in order to fly the butterfly models. Almost periodic orbits are found, but they are unstable. Deformation of the wings is modeled in two ways. One is bending and its effect on the aerodynamic forces is discussed. The other is passive wing torsion caused by structural flexibility. Numerical simulations demonstrate that flexible torsion reduces the flight instability.

Effects of structural flexibility of wings in flapping flight of butterfly

International Nuclear Information System (INIS)

Senda, Kei; Yokoyama, Naoto; Obara, Takuya; Kitamura, Masahiko; Hirai, Norio; Iima, Makoto

2012-01-01

The objective of this paper is to clarify the effects of structural flexibility of wings of a butterfly in flapping flight. For this purpose, a dynamics model of a butterfly is derived by Lagrange’s method, where the butterfly is considered as a rigid multi-body system. The panel method is employed to simulate the flow field and the aerodynamic forces acting on the wings. The mathematical model is validated by the agreement of the numerical result with the experimentally measured data. Then, periodic orbits of flapping-of-wings flights are parametrically searched in order to fly the butterfly models. Almost periodic orbits are found, but they are unstable. Deformation of the wings is modeled in two ways. One is bending and its effect on the aerodynamic forces is discussed. The other is passive wing torsion caused by structural flexibility. Numerical simulations demonstrate that flexible torsion reduces the flight instability. (paper)

Physical essence of the multibody contact-sliding at atomic scale

Science.gov (United States)

Han, Xuesong

2014-01-01

Investigation the multibody contact-sliding occurred at atomic discrete contact spot will play an important role in determine the origin of tribology behavior and evaluates the micro-mechanical property of nanomaterials and thus optimizing the design of surface texture. This paper carries out large scale parallel molecular dynamics simulation on contact-sliding at atomic scale to uncover the special physical essence. The research shows that some kind of force field exists between nanodot pair and the interaction can be expressed by the linear combination of exponential function while the effective interaction distance limited in 1 angstrom for nanodot with several tens of nanometer diameter. The variation tendency about the interaction force between nanodot array is almost the same between nanodot pairs and thus the interaction between two nanodot array can be characterized by parallel mechanical spring. Multibody effect which dominates the interaction between atoms or molecules will gradually diminish with the increasing of length scales.

Dynamic Model of a Rotating Flexible Arm-Flexible Root Mechanism Driven by a Shaft Flexible in Torsion

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S.Z. Ismail

2006-01-01

Full Text Available This paper presents a dynamic model of a rotating flexible beam carrying a payload at its tip. The model accounts for the driving shaft and the arm root flexibilities. The finite element method and the Lagrangian dynamics are used in deriving the equations of motion with the small deformation theory assumptions and the Euler-Bernoulli beam theory. The obtained model is a nonlinear-coupled system of differential equations. The model is simulated for different combinations of shaft and root flexibilities and arm properties. The simulation results showed that the root flexibility is an important factor that should be considered in association with the arm and shaft flexibilities, as its dynamics influence the motor motion. Moreover, the effect of system non-linearity on the dynamic behavior is investigated by simulating the equivalent linearized system and it was found to be an important factor that should be considered, particularly when designing a control strategy for practical implementation.

Investigating the running abilities of Tyrannosaurus rex using stress-constrained multibody dynamic analysis

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William I. Sellers

2017-07-01

Full Text Available The running ability of Tyrannosaurus rex has been intensively studied due to its relevance to interpretations of feeding behaviour and the biomechanics of scaling in giant predatory dinosaurs. Different studies using differing methodologies have produced a very wide range of top speed estimates and there is therefore a need to develop techniques that can improve these predictions. Here we present a new approach that combines two separate biomechanical techniques (multibody dynamic analysis and skeletal stress analysis to demonstrate that true running gaits would probably lead to unacceptably high skeletal loads in T. rex. Combining these two approaches reduces the high-level of uncertainty in previous predictions associated with unknown soft tissue parameters in dinosaurs, and demonstrates that the relatively long limb segments of T. rex—long argued to indicate competent running ability—would actually have mechanically limited this species to walking gaits. Being limited to walking speeds contradicts arguments of high-speed pursuit predation for the largest bipedal dinosaurs like T. rex, and demonstrates the power of multiphysics approaches for locomotor reconstructions of extinct animals.

A High Performance Computing Approach to the Simulation of Fluid Solid Interaction Problems with Rigid and Flexible Components (Open Access Publisher’s Version)

Science.gov (United States)

2014-08-01

enhances flow incompressibility [20]. This correction takes into account the velocity of neighboring markers through a mean velocity evaluated within...interactions between individual markers; i.e., the right hand side of Eqs. (7) and (8), are accounted for, the total rigid body force and torque due to the...coordinate formulation. In: Proceedings of the ASME 2005 IDETC/ CIE . Orlando, Florida (2005). [35] Shabana A.: Flexible multibody dynamics: Review of

Optimal reduction of flexible dynamic system

International Nuclear Information System (INIS)

Jankovic, J.

1994-01-01

Dynamic system reduction is basic procedure in various problems of active control synthesis of flexible structures. In this paper is presented direct method for system reduction by explicit extraction of modes included in reduced model form. Criterion for optimal system discrete approximation in synthesis reduced dynamic model is also presented. Subjected method of system decomposition is discussed in relation to the Schur method of solving matrix algebraic Riccati equation as condition for system reduction. By using exposed method procedure of flexible system reduction in addition with corresponding example is presented. Shown procedure is powerful in problems of active control synthesis of flexible system vibrations

An Efficient Method for Synthesis of Planar Multibody Systems including Shape of Bodies as Design Variables

DEFF Research Database (Denmark)

Hansen, Michael R.; Hansen, John Michael

1998-01-01

A point contact joint has been developed and implemented in a joint coordinate based planar multibody dynamics analysis program that also supports revolute and translational joints. Further, a segment library for the definition of the contours of the point contact joints has been integrated...

A study of the kinematic characteristic of a coupling device between the buffer system and the flexible pipe of a deep-seabed mining system

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Oh Jae-Won

2014-09-01

Full Text Available This paper concerns the kinematic characteristics of a coupling device in a deep-seabed mining system. This coupling device connects the buffer system and the flexible pipe. The motion of the buffer system, flexible pipe and mining robot are affected by the coupling device. So the coupling device should be considered as a major factor when this device is designed. Therefore, we find a stable kinematic device, and apply it to the design coupling device through this study. The kinematic characteristics of the coupling device are analyzed by multi-body dynamics simulation method, and finite element method. The dynamic analysis model was built in the commercial software DAFUL. The Fluid Structure Interaction (FSI method is applied to build the deep-seabed environment. Hydrodynamic force and moment are applied in the dynamic model for the FSI method. The loads and deformation of flexible pipe are estimated for analysis results of the kinematic characteristics

A study of the kinematic characteristic of a coupling device between the buffer system and the flexible pipe of a deep-seabed mining system

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Jae-Won Oh

2014-09-01

Full Text Available This paper concerns the kinematic characteristics of a coupling device in a deep-seabed mining system. This coupling device connects the buffer system and the flexible pipe. The motion of the buffer system, flexible pipe and mining robot are affected by the coupling device. So the coupling device should be considered as a major factor when this device is designed. Therefore, we find a stable kinematic device, and apply it to the design coupling device through this study. The kinematic characteristics of the coupling device are analyzed by multi-body dynamics simulation method, and finite element method. The dynamic analysis model was built in the commercial software DAFUL. The Fluid Structure Interaction (FSI method is applied to build the deep-seabed environment. Hydrodynamic force and moment are applied in the dynamic model for the FSI method. The loads and deformation of flexible pipe are estimated for analysis results of the kinematic characteristics.

Method of Obtaining High Resolution Intrinsic Wire Boom Damping Parameters for Multi-Body Dynamics Simulations

Science.gov (United States)

Yew, Alvin G.; Chai, Dean J.; Olney, David J.

2010-01-01

The goal of NASA's Magnetospheric MultiScale (MMS) mission is to understand magnetic reconnection with sensor measurements from four spinning satellites flown in a tight tetrahedron formation. Four of the six electric field sensors on each satellite are located at the end of 60- meter wire booms to increase measurement sensitivity in the spin plane and to minimize motion coupling from perturbations on the main body. A propulsion burn however, might induce boom oscillations that could impact science measurements if oscillations do not damp to values on the order of 0.1 degree in a timely fashion. Large damping time constants could also adversely affect flight dynamics and attitude control performance. In this paper, we will discuss the implementation of a high resolution method for calculating the boom's intrinsic damping, which was used in multi-body dynamics simulations. In summary, experimental data was obtained with a scaled-down boom, which was suspended as a pendulum in vacuum. Optical techniques were designed to accurately measure the natural decay of angular position and subsequently, data processing algorithms resulted in excellent spatial and temporal resolutions. This method was repeated in a parametric study for various lengths, root tensions and vacuum levels. For all data sets, regression models for damping were applied, including: nonlinear viscous, frequency-independent hysteretic, coulomb and some combination of them. Our data analysis and dynamics models have shown that the intrinsic damping for the baseline boom is insufficient, thereby forcing project management to explore mitigation strategies.

Gain in computational efficiency by vectorization in the dynamic simulation of multi-body systems

Science.gov (United States)

Amirouche, F. M. L.; Shareef, N. H.

1991-01-01

An improved technique for the identification and extraction of the exact quantities associated with the degrees of freedom at the element as well as the flexible body level is presented. It is implemented in the dynamic equations of motions based on the recursive formulation of Kane et al. (1987) and presented in a matrix form, integrating the concepts of strain energy, the finite-element approach, modal analysis, and reduction of equations. This technique eliminates the CPU intensive matrix multiplication operations in the code's hot spots for the dynamic simulation of the interconnected rigid and flexible bodies. A study of a simple robot with flexible links is presented by comparing the execution times on a scalar machine and a vector-processor with and without vector options. Performance figures demonstrating the substantial gains achieved by the technique are plotted.

Indirect Inverse Substructuring Method for Multibody Product Transport System with Rigid and Flexible Coupling

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Jun Wang

2015-01-01

Full Text Available The aim of this paper is to develop a new frequency response function- (FRF- based indirect inverse substructuring method without measuring system-level FRFs in the coupling DOFs for the analysis of the dynamic characteristics of a three-substructure coupled product transport system with rigid and flexible coupling. By enforcing the dynamic equilibrium conditions at the coupling coordinates and the displacement compatibility conditions, a closed-form analytical solution to inverse substructuring analysis of multisubstructure coupled product transport system is derived based on the relationship of easy-to-monitor component-level FRFs and the system-level FRFs at the coupling coordinates. The proposed method is validated by a lumped mass-spring-damper model, and the predicted coupling dynamic stiffness is compared with the direct computation, showing exact agreement. The method developed offers an approach to predict the unknown coupling dynamic stiffness from measured FRFs purely. The suggested method may help to obtain the main controlling factors and contributions from the various structure-borne paths for product transport system.

Development of Viscoelastic Multi-Body Simulation and Impact Response Analysis of a Ballasted Railway Track under Cyclic Loading

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Daisuke Nishiura

2017-06-01

Full Text Available Simulation of a large number of deformable bodies is often difficult because complex high-level modeling is required to address both multi-body contact and viscoelastic deformation. This necessitates the combined use of a discrete element method (DEM and a finite element method (FEM. In this study, a quadruple discrete element method (QDEM was developed for dynamic analysis of viscoelastic materials using a simpler algorithm compared to the standard FEM. QDEM easily incorporates the contact algorithm used in DEM. As the first step toward multi-body simulation, the fundamental performance of QDEM was investigated for viscoelastic analysis. The amplitude and frequency of cantilever elastic vibration were nearly equal to those obtained by the standard FEM. A comparison of creep recovery tests with an analytical solution showed good agreement between them. In addition, good correlation between the attenuation degree and the real physical viscosity was confirmed for viscoelastic vibration analysis. Therefore, the high accuracy of QDEM in the fundamental analysis of infinitesimal viscoelastic deformations was verified. Finally, the impact response of a ballast and sleeper under cyclic loading on a railway track was analyzed using QDEM as an application of deformable multi-body dynamics. The results showed that the vibration of the ballasted track was qualitatively in good agreement with the actual measurements. Moreover, the ballast layer with high friction reduced the ballasted track deterioration. This study suggests that QDEM, as an alternative to DEM and FEM, can provide deeper insights into the contact dynamics of a large number of deformable bodies.

Application of stabilization techniques in the dynamic analysis of multibody systems

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Hajžman M.

2007-11-01

Full Text Available This paper is intended to the discussion of possible methods for the solution of the motion equations of constrained multibody systems. They can be formulated in the form of differential-algebraic equations and their numerical solution brings the problems of constraint violation and numerical stability. Therefore special methods were proposed to handle these problems. Various approaches for the numerical solution of equations are briefly reviewed and the application of the Baumgarte’s stabilization method on testing examples is shown. The paper was motivated by the effort to find the suitable solution methods for the equations of motion in the form of differentialalgebraic equations using the MATLAB standard computational system.

An investigation of the structural dynamic behaviour of a vehicle transmission by means of multibody simulation; Untersuchung des strukturdynamischen und akustischen Verhaltens eines Fahrzeuggetriebes mit MKS

Energy Technology Data Exchange (ETDEWEB)

Gross, Volker [ZF Friedrichshafen AG, Friedrichshafen (Germany)

2011-07-01

The legal regulations and the customers' requirements as regards vehicle comfort are growing more and more stringent. This also includes the transmission systems, as they are expected not so show any obvious acoustic or dynamic weaknesses. Modern simulation methods permit evaluation and optimization of structure-borne and airborne noise in the early stage of development. Especially the FE method is a well-established technique for the simulation of structure-borne sound. With regard to complex transmissions, multibody simulations (MBS) can provide valuable insights for a realistic evaluation of the dynamic behaviour of a transmission. This is demonstrated using a truck transmission as an example. (orig.)

Comparison between vertical acceleration data from acquired signals and multibody model for an off-road vehicle

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Cristian Padilha Fontoura

2018-02-01

Full Text Available SAE Mini Baja competitions require efforts in developing a reliable vehicle project that enables their teams to manage time and resources wisely. Vehicle simulations are one the best ways to deal with these conditions and prevent failure during a test. This work outlines the methodology that was carried out for validating the multibody dynamics model of a Mini Baja vehicle through vertical acceleration data acquisition. The data was acquired with the vehicle in different sets of obstacles, based on those seen in previously held competitions. Simulation was done through ADAMS/Car, with the vehicle’s multibody model being simulated in different three-dimensional roads, counterpart to those where data acquisition took place. Simulation data, when compared to acquired acceleration signals for most of the obstacles, exhibited equivalence. Additional data computation revealed that the spectra in the frequency domain presented most severe loads concentrated between 0 and 20 Hz, incoming mostly from road unevenness. Gathering such data, by the presented approach can assist future analyses and guide the Baja Team in defining an improved project by predicting its dynamic behavior.

Constraint treatment techniques and parallel algorithms for multibody dynamic analysis. Ph.D. Thesis

Science.gov (United States)

Chiou, Jin-Chern

1990-01-01

Computational procedures for kinematic and dynamic analysis of three-dimensional multibody dynamic (MBD) systems are developed from the differential-algebraic equations (DAE's) viewpoint. Constraint violations during the time integration process are minimized and penalty constraint stabilization techniques and partitioning schemes are developed. The governing equations of motion, a two-stage staggered explicit-implicit numerical algorithm, are treated which takes advantage of a partitioned solution procedure. A robust and parallelizable integration algorithm is developed. This algorithm uses a two-stage staggered central difference algorithm to integrate the translational coordinates and the angular velocities. The angular orientations of bodies in MBD systems are then obtained by using an implicit algorithm via the kinematic relationship between Euler parameters and angular velocities. It is shown that the combination of the present solution procedures yields a computationally more accurate solution. To speed up the computational procedures, parallel implementation of the present constraint treatment techniques, the two-stage staggered explicit-implicit numerical algorithm was efficiently carried out. The DAE's and the constraint treatment techniques were transformed into arrowhead matrices to which Schur complement form was derived. By fully exploiting the sparse matrix structural analysis techniques, a parallel preconditioned conjugate gradient numerical algorithm is used to solve the systems equations written in Schur complement form. A software testbed was designed and implemented in both sequential and parallel computers. This testbed was used to demonstrate the robustness and efficiency of the constraint treatment techniques, the accuracy of the two-stage staggered explicit-implicit numerical algorithm, and the speed up of the Schur-complement-based parallel preconditioned conjugate gradient algorithm on a parallel computer.

Coupling characteristics of rigid body motion and elastic deformation of a 3-PRR parallel manipulator with flexible links

International Nuclear Information System (INIS)

Zhang Xuping; Mills, James K.; Cleghorn, William L.

2009-01-01

Modeling of multibody dynamics with flexible links is a challenging task, which not only involves the effect of rigid body motion on elastic deformations, but also includes the influence of elastic deformations on rigid body motion. This paper presents coupling characteristics of rigid body motions and elastic motions of a 3-PRR parallel manipulator with three flexible intermediate links. The intermediate links are modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions based on the assumed mode method (AMM). Using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight to the design and control of the parallel manipulator with flexible intermediate links

Dynamics of Multibody Systems Near Lagrangian Points

Science.gov (United States)

Wong, Brian

This thesis examines the dynamics of a physically connected multi-spacecraft system in the vicinity of the Lagrangian points of a Circular Restricted Three-Body System. The spacecraft system is arranged in a wheel-spoke configuration with smaller and less massive satellites connected to a central hub using truss/beams or tether connectors. The kinematics of the system is first defined, and the kinetic, gravitational potential energy and elastic potential energy of the system are derived. The Assumed Modes Method is used to discretize the continuous variables of the system, and a general set of ordinary differential equations describing the dynamics of the connectors and the central hub are obtained using the Lagrangian method. The flexible body dynamics of the tethered and truss connected systems are examined using numerical simulations. The results show that these systems experienced only small elastic deflections when they are naturally librating or rotating at moderate angular velocities, and these deflections have relatively small effect on the attitude dynamics of the systems. Based on these results, it is determined that the connectors can be modeled as rigid when only the attitude dynamics of the system is of interest. The equations of motion of rigid satellites stationed at the Lagrangian points are linearized, and the stability conditions of the satellite are obtained from the linear equations. The required conditions are shown to be similar to those of geocentric satellites. Study of the linear equations also revealed the resonant conditions of rigid Lagrangian point satellites, when a librational natural frequency of the satellite matches the frequency of its station-keeping orbit leading to large attitude motions. For tethered satellites, the linear analysis shows that the tethers are in stable equilibrium when they lie along a line joining the two primary celestial bodies of the Three-Body System. Numerical simulations are used to study the long term

Dynamic analysis of horizontal axis wind turbine by thin-walled beam theory

Science.gov (United States)

Wang, Jianhong; Qin, Datong; Lim, Teik C.

2010-08-01

A mixed flexible-rigid multi-body mathematical model is applied to predict the dynamic performance of a wind turbine system. Since the tower and rotor are both flexible thin-walled structures, a consistent expression for their deformations is applied, which employs a successive series of transformations to locate any point on the blade and tower relative to an inertial coordinate system. The kinetic and potential energy terms of each flexible body and rigid body are derived for use in the Lagrange approach to formulate the wind turbine system's governing equation. The mode shapes are then obtained from the free vibration solution, while the distributions of dynamic stress and displacement of the tower and rotor are computed from the forced vibration response analysis. Using this dynamic model, the influence of the tower's stiffness on the blade tip deformation is studied. From the analysis, it is evident that the proposed model not only inherits the simplicity of the traditional 1-D beam element, but also able to provide detailed information about the tower and rotor response due to the incorporation of the flexible thin-walled beam theory.

An Improved Rigid Multibody Model for the Dynamic Analysis of the Planetary Gearbox in a Wind Turbine

Directory of Open Access Journals (Sweden)

Wenguang Yang

2016-01-01

Full Text Available This paper proposes an improved rigid multibody model for the dynamic analysis of the planetary gearbox in a wind turbine. The improvements mainly include choosing the inertia frame as the reference frame of the carrier, the ring, and the sun and adding a new degree of freedom for each planet. An element assembly method is introduced to build the model, and a time-varying mesh stiffness model is presented. A planetary gear study case is employed to verify the validity of the improved model. Comparisons between the improvement model and the traditional model show that the natural characteristics are very close; the improved model can obtain the right equivalent moment of inertia of the planetary gear in the transient simulation, and all the rotation speeds satisfy the transmission relationships well; harmonic resonance and resonance modulation phenomena can be found in their vibration signals. The improved model is applied in a multistage gearbox dynamics analysis to reveal the prospects of the model. Modal analysis and transient analysis with and without time-varying mesh stiffness considered are conducted. The rotation speeds from the transient analysis are consistent with the theory, and resonance modulation can be found in the vibration signals.

Aggregation of flexible polyelectrolytes: Phase diagram and dynamics.

Science.gov (United States)

Tom, Anvy Moly; Rajesh, R; Vemparala, Satyavani

2017-10-14

Similarly charged polymers in solution, known as polyelectrolytes, are known to form aggregated structures in the presence of oppositely charged counterions. Understanding the dependence of the equilibrium phases and the dynamics of the process of aggregation on parameters such as backbone flexibility and charge density of such polymers is crucial for insights into various biological processes which involve biological polyelectrolytes such as protein, DNA, etc. Here, we use large-scale coarse-grained molecular dynamics simulations to obtain the phase diagram of the aggregated structures of flexible charged polymers and characterize the morphology of the aggregates as well as the aggregation dynamics, in the presence of trivalent counterions. Three different phases are observed depending on the charge density: no aggregation, a finite bundle phase where multiple small aggregates coexist with a large aggregate and a fully phase separated phase. We show that the flexibility of the polymer backbone causes strong entanglement between charged polymers leading to additional time scales in the aggregation process. Such slowing down of the aggregation dynamics results in the exponent, characterizing the power law decay of the number of aggregates with time, to be dependent on the charge density of the polymers. These results are contrary to those obtained for rigid polyelectrolytes, emphasizing the role of backbone flexibility.

Docking of flexible ligands to flexible receptors in solution by molecular dynamics simulation

NARCIS (Netherlands)

Mangoni, R; Roccatano, D; Di Nola, A

1999-01-01

In this paper, a method of simulating the docking of small flexible ligands to flexible receptors in water is reported. The method is based on molecular dynamics simulations and is an extension of an algorithm previously reported by Di Nola et al, (Di Nola et al,, Proteins 1994;19:174-182), The

A multibody motorcycle model with rigid-ring tyres: formulation and validation

Science.gov (United States)

Leonelli, Luca; Mancinelli, Nicolò

2015-06-01

The aim of this paper is the development and validation of a three-dimensional multibody motorcycle model including a rigid-ring tyre model, taking into account both the slopes and elevation of the road surface. In order to achieve accurate assessment of ride and handling performances of a road racing motorcycle, a tyre model capable of reproducing the dynamic response to actual road excitation is required. While a number of vehicle models with such feature are available for car application, the extension to the motorcycle modelling has not been addressed yet. To do so, a novel parametrisation for the general motorcycle kinematics is proposed, using a mixed reference point and relative coordinates approach. The resulting description, developed in terms of dependent coordinates, makes it possible to include the rigid-ring kinematics as well as road elevation and slopes, without affecting computational efficiency. The equations of motion for the whole multibody system are derived symbolically and the constraint equations arising from the dependent coordinate formulation are handled using the position and velocity vector projection technique. The resulting system of equations is integrated in time domain using a standard ordinary differential equation (ODE) algorithm. Finally, the model is validated with respect to experimentally measured data in both time and frequency domains.

Flight Dynamics of Flexible Aircraft with Aeroelastic and Inertial Force Interactions

Science.gov (United States)

Nguyen, Nhan T.; Tuzcu, Ilhan

2009-01-01

This paper presents an integrated flight dynamic modeling method for flexible aircraft that captures coupled physics effects due to inertial forces, aeroelasticity, and propulsive forces that are normally present in flight. The present approach formulates the coupled flight dynamics using a structural dynamic modeling method that describes the elasticity of a flexible, twisted, swept wing using an equivalent beam-rod model. The structural dynamic model allows for three types of wing elastic motion: flapwise bending, chordwise bending, and torsion. Inertial force coupling with the wing elasticity is formulated to account for aircraft acceleration. The structural deflections create an effective aeroelastic angle of attack that affects the rigid-body motion of flexible aircraft. The aeroelastic effect contributes to aerodynamic damping forces that can influence aerodynamic stability. For wing-mounted engines, wing flexibility can cause the propulsive forces and moments to couple with the wing elastic motion. The integrated flight dynamics for a flexible aircraft are formulated by including generalized coordinate variables associated with the aeroelastic-propulsive forces and moments in the standard state-space form for six degree-of-freedom flight dynamics. A computational structural model for a generic transport aircraft has been created. The eigenvalue analysis is performed to compute aeroelastic frequencies and aerodynamic damping. The results will be used to construct an integrated flight dynamic model of a flexible generic transport aircraft.

Organizing for Flexibility: Addressing Dynamic Capabilities and Organization Design

OpenAIRE

van der Weerdt, Niels; Volberda, Henk; Verwaal, Ernst; Stienstra, Marten

2014-01-01

The increasingly dynamic nature of organizational environments has led the research community to study organizational flexibility. Although the research literature stresses the complexity of the organizational flexibility construct, it lacks a comprehensive empirical study addressing the relationships among various dimensions of organizational flexibility. This chapter develops a theoretical framework specifying the linkages between types of flexibility and organization design characteristics...

A model partitioning method based on dynamic decoupling for the efficient simulation of multibody systems

Energy Technology Data Exchange (ETDEWEB)

Papadopoulos, Alessandro Vittorio, E-mail: alessandro.papadopoulos@control.lth.se [Lund University, Department of Automatic Control (Sweden); Leva, Alberto, E-mail: alberto.leva@polimi.it [Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria (Italy)

2015-06-15

The presence of different time scales in a dynamic model significantly hampers the efficiency of its simulation. In multibody systems the fact is particularly relevant, as the mentioned time scales may be very different, due, for example, to the coexistence of mechanical components controled by electronic drive units, and may also appear in conjunction with significant nonlinearities. This paper proposes a systematic technique, based on the principles of dynamic decoupling, to partition a model based on the time scales that are relevant for the particular simulation studies to be performed and as transparently as possible for the user. In accordance with said purpose, peculiar to the technique is its neat separation into two parts: a structural analysis of the model, which is general with respect to any possible simulation scenario, and a subsequent decoupled integration, which can conversely be (easily) tailored to the study at hand. Also, since the technique does not aim at reducing but rather at partitioning the model, the state space and the physical interpretation of the dynamic variables are inherently preserved. Moreover, the proposed analysis allows us to define some novel indices relative to the separability of the system, thereby extending the idea of “stiffness” in a way that is particularly keen to its use for the improvement of simulation efficiency, be the envisaged integration scheme monolithic, parallel, or even based on cosimulation. Finally, thanks to the way the analysis phase is conceived, the technique is naturally applicable to both linear and nonlinear models. The paper contains a methodological presentation of the proposed technique, which is related to alternatives available in the literature so as to evidence the peculiarities just sketched, and some application examples illustrating the achieved advantages and motivating the major design choice from an operational viewpoint.

A joint-space numerical model of metabolic energy expenditure for human multibody dynamic system.

Science.gov (United States)

Kim, Joo H; Roberts, Dustyn

2015-09-01

Metabolic energy expenditure (MEE) is a critical performance measure of human motion. In this study, a general joint-space numerical model of MEE is derived by integrating the laws of thermodynamics and principles of multibody system dynamics, which can evaluate MEE without the limitations inherent in experimental measurements (phase delays, steady state and task restrictions, and limited range of motion) or muscle-space models (complexities and indeterminacies from excessive DOFs, contacts and wrapping interactions, and reliance on in vitro parameters). Muscle energetic components are mapped to the joint space, in which the MEE model is formulated. A constrained multi-objective optimization algorithm is established to estimate the model parameters from experimental walking data also used for initial validation. The joint-space parameters estimated directly from active subjects provide reliable MEE estimates with a mean absolute error of 3.6 ± 3.6% relative to validation values, which can be used to evaluate MEE for complex non-periodic tasks that may not be experimentally verifiable. This model also enables real-time calculations of instantaneous MEE rate as a function of time for transient evaluations. Although experimental measurements may not be completely replaced by model evaluations, predicted quantities can be used as strong complements to increase reliability of the results and yield unique insights for various applications. Copyright © 2015 John Wiley & Sons, Ltd.

Optimal control of stretching process of flexible solar arrays on spacecraft based on a hybrid optimization strategy

Directory of Open Access Journals (Sweden)

Qijia Yao

2017-07-01

Full Text Available The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated, and a hybrid optimization strategy based on Gauss pseudospectral method (GPM and direct shooting method (DSM is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions. The results indicate that the method is effective with good robustness. Keywords: Motion planning, Multibody spacecraft, Optimal control, Gauss pseudospectral method, Direct shooting method

Particle-based solid for nonsmooth multidomain dynamics

Science.gov (United States)

Nordberg, John; Servin, Martin

2018-04-01

A method for simulation of elastoplastic solids in multibody systems with nonsmooth and multidomain dynamics is developed. The solid is discretised into pseudo-particles using the meshfree moving least squares method for computing the strain tensor. The particle's strain and stress tensor variables are mapped to a compliant deformation constraint. The discretised solid model thus fit a unified framework for nonsmooth multidomain dynamics simulations including rigid multibodies with complex kinematic constraints such as articulation joints, unilateral contacts with dry friction, drivelines, and hydraulics. The nonsmooth formulation allows for impact impulses to propagate instantly between the rigid multibody and the solid. Plasticity is introduced through an associative perfectly plastic modified Drucker-Prager model. The elastic and plastic dynamics are verified for simple test systems, and the capability of simulating tracked terrain vehicles driving on a deformable terrain is demonstrated.

An Evaluation of Explicit Receptor Flexibility in Molecular Docking Using Molecular Dynamics and Torsion Angle Molecular Dynamics.

Science.gov (United States)

Armen, Roger S; Chen, Jianhan; Brooks, Charles L

2009-10-13

Incorporating receptor flexibility into molecular docking should improve results for flexible proteins. However, the incorporation of explicit all-atom flexibility with molecular dynamics for the entire protein chain may also introduce significant error and "noise" that could decrease docking accuracy and deteriorate the ability of a scoring function to rank native-like poses. We address this apparent paradox by comparing the success of several flexible receptor models in cross-docking and multiple receptor ensemble docking for p38α mitogen-activated protein (MAP) kinase. Explicit all-atom receptor flexibility has been incorporated into a CHARMM-based molecular docking method (CDOCKER) using both molecular dynamics (MD) and torsion angle molecular dynamics (TAMD) for the refinement of predicted protein-ligand binding geometries. These flexible receptor models have been evaluated, and the accuracy and efficiency of TAMD sampling is directly compared to MD sampling. Several flexible receptor models are compared, encompassing flexible side chains, flexible loops, multiple flexible backbone segments, and treatment of the entire chain as flexible. We find that although including side chain and some backbone flexibility is required for improved docking accuracy as expected, docking accuracy also diminishes as additional and unnecessary receptor flexibility is included into the conformational search space. Ensemble docking results demonstrate that including protein flexibility leads to to improved agreement with binding data for 227 active compounds. This comparison also demonstrates that a flexible receptor model enriches high affinity compound identification without significantly increasing the number of false positives from low affinity compounds.

Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening

Directory of Open Access Journals (Sweden)

Qinghua Zhang

2014-01-01

Full Text Available In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation motion constraints, and dynamic constraints of the moving platform are considered. Based on the different speed of the moving platform, numerical simulation results using the conventional zero-order approximation coupling model and the proposed firstorder approximation coupling model show that the effect of “dynamic stiffening” term on dynamic characteristics of the system is insignificant and can be neglected, and the zero-order approximation coupling model is enough precisely for catching essentially dynamic characteristics of the system. Then, the commercial software ANSYS 13.0 is used to confirm the validity of the zero-order approximation coupling model.

Flexible Multi-Body Spacecraft Simulator: Design, Construction, and Experiments

Science.gov (United States)

2017-12-01

required analysis. The first step in applying Pontryagin’s Principle is writing the control Hamiltonian: ( , , , ) ( , , ) ( , , )TH x u t F x u t f...of holes allows the adapter plate to be fastened to the MBSS top plate. 26 The base and link are designed to be modular and expandable. The link...https://www.quanser.com/products/2-dof-serial-flexible-joint/ 79 INITIAL DISTRIBUTION LIST 1. Defense Technical Information Center Ft. Belvoir

Scaling of the dynamics of flexible Lennard-Jones chains

DEFF Research Database (Denmark)

Veldhorst, Arno; Dyre, J. C.; Schrøder, Thomas

2014-01-01

functions of excess entropy) which has been observed in simulations of both molecular and polymeric systems. Doing molecular dynamics simulations of flexible Lennard-Jones chains (LJC) with rigid bonds, we here provide the first detailed test of the isomorph theory applied to flexible chain molecules. We...

Inspiration from nature: dynamic modelling of the musculoskeletal structure of the seahorse tail.

Science.gov (United States)

Praet, Tomas; Adriaens, Dominique; Van Cauter, Sofie; Masschaele, Bert; De Beule, Matthieu; Verhegghe, Benedict

2012-10-01

Technological advances are often inspired by nature, considering that engineering is frequently faced by the same challenges as organisms in nature. One such interesting challenge is creating a structure that is at the same time stiff in a certain direction, yet flexible in another. The seahorse tail combines both radial stiffness and bending flexibility in a particularly elegant way: even though the tail is covered in a protective armour, it still shows sufficient flexibility to fully function as a prehensile organ. We therefore study the complex mechanics and dynamics of the musculoskeletal system of the seahorse tail from an engineering point of view. The seahorse tail derives its combination of flexibility and resilience from a chain of articulating skeletal segments. A versatile dynamic model of those segments was constructed, on the basis of automatic recognition of joint positions and muscle attachments. Both muscle structures that are thought to be responsible for ventral and ventral-lateral tail bending, namely the median ventral muscles and the hypaxial myomere muscles, were included in the model. Simulations on the model consist mainly of dynamic multi-body simulations. The results show that the sequential structure of uniformly shaped bony segments can remain flexible because of gliding joints that connect the corners of the segments. Radial stiffness on the other hand is obtained through the support that the central vertebra provides to the tail plating. Such insights could help in designing biomedical instruments that specifically require both high bending flexibility and radial stiffness (e.g. flexible stents and steerable catheters). Copyright © 2012 John Wiley & Sons, Ltd.

Exploring the magnetization dynamics of NiFe/Pt multilayers in flexible substrates

Energy Technology Data Exchange (ETDEWEB)

Corrêa, M.A., E-mail: marciocorrea@dfte.ufrn.br [Departamento de Física Teórica e Experimental, Universidade Federal do Rio Grande do Norte, 59078-900 Natal, RN (Brazil); Dutra, R.; Marcondes, T.L. [Centro Brasileiro de Pesquisas Físicas, Rua Dr. Xavier Sigaud, 150, Urca, 22290-180 Rio de Janeiro, RJ (Brazil); Mori, T.J.A. [Laboratório Nacional de Luz Síncrotron, Rua Giuseppe Máximo Scolfaro, 1000, Guará, 13083-100 Campinas, SP (Brazil); Bohn, F. [Departamento de Física Teórica e Experimental, Universidade Federal do Rio Grande do Norte, 59078-900 Natal, RN (Brazil); Sommer, R.L. [Centro Brasileiro de Pesquisas Físicas, Rua Dr. Xavier Sigaud, 150, Urca, 22290-180 Rio de Janeiro, RJ (Brazil)

2016-09-15

Highlights: • Magnetic properties of multilayers grown onto flexible substrates were investigated. • Experimental and theoretical magnetization dynamics results are presented. • The flexible substrates become promising candidate for rf-frequency devices. - Abstract: We investigate the structural and magnetic properties, and the magnetization dynamics in Ni{sub 81}Fe{sub 19}/Pt multilayer systems grown onto rigid and flexible substrates. The structural characterization shows evidence of a superlattice behavior, while the quasi-static magnetization characterization reveal a weak magnetic anisotropy induced in the multilayers. The magnetization dynamics is investigated through the magnetoimpedance effect. We employ a theoretical approach to describe the experimental magnetoimpedance effect and verify the influence of the effective damping parameter on the magnetization dynamics. Experimental data and theoretical results are in agreement and suggest that the multilayers present high effective damping parameter. Moreover, our experiments raise an interesting issue on the possibility of achieving considerable MI% values, even for systems with weak magnetic anisotropy and high damping parameter grown onto flexible substrates.

Exploration of molecular interactions in cholesterol superlattices: effect of multibody interactions.

Science.gov (United States)

Huang, Juyang

2002-08-01

Experimental evidences have indicated that cholesterol may adapt highly regular lateral distributions (i.e., superlattices) in a phospholipid bilayer. We investigated the formations of superlattices at cholesterol mole fraction of 0.154, 0.25, 0.40, and 0.5 using Monte Carlo simulation. We found that in general, conventional pairwise-additive interactions cannot produce superlattices. Instead, a multibody (nonpairwise) interaction is required. Cholesterol superlattice formation reveals that although the overall interaction between cholesterol and phospholipids is favorable, it contains two large opposing components: an interaction favoring cholesterol-phospholipid mixing and an unfavorable acyl chain multibody interaction that increases nonlinearly with the number of cholesterol contacts. The magnitudes of interactions are in the order of kT. The physical origins of these interactions can be explained by our umbrella model. They most likely come from the requirement for polar phospholipid headgroups to cover the nonpolar cholesterol to avoid the exposure of cholesterol to water and from the sharp decreasing of acyl chain conformation entropy due to cholesterol contact. This study together with our previous work demonstrate that the driving force of cholesterol-phospholipid mixing is a hydrophobic interaction, and multibody interactions dominate others over a wide range of cholesterol concentration.

Integrating Multibody Simulation and CFD: toward Complex Multidisciplinary Design Optimization

Science.gov (United States)

Pieri, Stefano; Poloni, Carlo; Mühlmeier, Martin

This paper describes the use of integrated multidisciplinary analysis and optimization of a race car model on a predefined circuit. The objective is the definition of the most efficient geometric configuration that can guarantee the lowest lap time. In order to carry out this study it has been necessary to interface the design optimization software modeFRONTIER with the following softwares: CATIA v5, a three dimensional CAD software, used for the definition of the parametric geometry; A.D.A.M.S./Motorsport, a multi-body dynamic simulation software; IcemCFD, a mesh generator, for the automatic generation of the CFD grid; CFX, a Navier-Stokes code, for the fluid-dynamic forces prediction. The process integration gives the possibility to compute, for each geometrical configuration, a set of aerodynamic coefficients that are then used in the multiboby simulation for the computation of the lap time. Finally an automatic optimization procedure is started and the lap-time minimized. The whole process is executed on a Linux cluster running CFD simulations in parallel.

Schemes for applying active lubrication to main engine bearings

DEFF Research Database (Denmark)

Estupinan, Edgar Alberto; Santos, Ilmar

2009-01-01

-difference method. The computed bearing fluid film forces are coupled to the set of nonlinear equations that describes the dynamics of the reciprocating engine, obtained with the help of multibody dynamics (rigid components) and finite elements method (flexible components). The main equations that govern...

Planar reorientation maneuvers of space multibody systems using internal controls

Science.gov (United States)

Reyhanoglu, Mahmut; Mcclamroch, N. H.

1992-01-01

In this paper a reorientation maneuvering strategy for an interconnection of planar rigid bodies in space is developed. It is assumed that there are no exogeneous torques, and torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero in this paper. The maneuver strategy uses the nonintegrability of the expression for the angular momentum. We demonstrate that large-angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is briefly summarized. Specifications and computer simulations of a specific reorientation maneuver, and the corresponding control strategies, are described.

Coupling dynamic analysis of spacecraft with multiple cylindrical tanks and flexible appendages

Science.gov (United States)

Wu, Wen-Jun; Yue, Bao-Zeng; Huang, Hua

2016-02-01

This paper is mainly concerned with the coupling dynamic analysis of a complex spacecraft consisting of one main rigid platform, multiple liquid-filled cylindrical tanks, and a number of flexible appendages. Firstly, the carrier potential function equations of liquid in the tanks are deduced according to the wall boundary conditions. Through employing the Fourier-Bessel series expansion method, the dynamic boundaries conditions on a curved free-surface under a low-gravity environment are transformed to general simple differential equations and the rigid-liquid coupled sloshing dynamic state equations of liquid in tanks are obtained. The state vectors of rigid-liquid coupled equations are composed with the modal coordinates of the relative potential function and the modal coordinates of wave height. Based on the Bernoulli-Euler beam theory and the D'Alembert's principle, the rigid-flexible coupled dynamic state equations of flexible appendages are directly derived, and the coordinate transform matrixes of maneuvering flexible appendages are precisely computed as time-varying. Then, the coupling dynamics state equations of the overall system of the spacecraft are modularly built by means of the Lagrange's equations in terms of quasi-coordinates. Lastly, the coupling dynamic performances of a typical complex spacecraft are studied. The availability and reliability of the presented method are also confirmed.

Dynamics of an articulated shell type flexible rotor

International Nuclear Information System (INIS)

Suleman, M.; Khan, M.Z.; Nazeer, M.M.

2001-01-01

An ultra high speed articulated shell type flexible rotor supported by low stiffness flexible bearing encounters a number of dynamic problems while traversing towards or from the service speed. The major and critical problems that arise are: Synchronous and Sub-synchronous vibration due to instabilities. Structural resonances and rubs due to eccentricities of structure and magnetic bearing. The symptoms of these troubles, their root causes and remedial measures are highlighted and discussed in this work. (author)

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

Science.gov (United States)

Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

2017-08-01

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

ELASTO-KINEMATIC COMPUTATIONAL MODEL OF SUSPENSION WITH FLEXIBLE SUPPORTING ELEMENTS

Directory of Open Access Journals (Sweden)

Tomáš Vrána

2016-04-01

Full Text Available This paper analyzes the impact of flexibility of individual supporting elements of independent suspension on its elasto-kinematic characteristics. The toe and camber angle are the geometric parameters of the suspension, which waveforms and their changes under the action of vertical, longitudinal and transverse forces affect the stability of the vehicle. To study these dependencies, the computational multibody system (MBS model of axle suspension in the system HyperWorks is created. There are implemented Finite-Element-Method (FEM models reflecting the flexibility of the main supporting elements. These are subframe, the longitudinal arms, transverse arms and knuckle. Flexible models are developed using Component Mode Synthesis (CMS by Craig-Bampton. The model further comprises force elements, such as helical springs, shock absorbers with a stop of the wheel and the anti-roll bar. Rubber-metal bushings are modeled flexibly, using nonlinear deformation characteristics. Simulation results are validated by experimental measurements of geometric parameters of real suspension.

Null Space Integration Method for Constrained Multibody Systems with No Constraint Violation

International Nuclear Information System (INIS)

Terze, Zdravko; Lefeber, Dirk; Muftic, Osman

2001-01-01

A method for integrating equations of motion of constrained multibody systems with no constraint violation is presented. A mathematical model, shaped as a differential-algebraic system of index 1, is transformed into a system of ordinary differential equations using the null-space projection method. Equations of motion are set in a non-minimal form. During integration, violations of constraints are corrected by solving constraint equations at the position and velocity level, utilizing the metric of the system's configuration space, and projective criterion to the coordinate partitioning method. The method is applied to dynamic simulation of 3D constrained biomechanical system. The simulation results are evaluated by comparing them to the values of characteristic parameters obtained by kinematics analysis of analyzed motion based unmeasured kinematics data

Heat flux expressions that satisfy the conservation laws in atomistic system involving multibody potentials

Energy Technology Data Exchange (ETDEWEB)

Fu, Yao, E-mail: Yao.Fu@colorado.edu; Song, Jeong-Hoon, E-mail: JH.Song@colorado.edu

2015-08-01

Heat flux expressions are derived for multibody potential systems by extending the original Hardy's methodology and modifying Admal & Tadmor's formulas. The continuum thermomechanical quantities obtained from these two approaches are easy to compute from molecular dynamics (MD) results, and have been tested for a constant heat flux model in two distinctive systems: crystalline iron and polyethylene (PE) polymer. The convergence criteria and affecting parameters, i.e. spatial and temporal window size, and specific forms of localization function are found to be different between the two systems. The conservation of mass, momentum, and energy are discussed and validated within this atomistic–continuum bridging.

Heat flux expressions that satisfy the conservation laws in atomistic system involving multibody potentials

International Nuclear Information System (INIS)

Fu, Yao; Song, Jeong-Hoon

2015-01-01

Heat flux expressions are derived for multibody potential systems by extending the original Hardy's methodology and modifying Admal & Tadmor's formulas. The continuum thermomechanical quantities obtained from these two approaches are easy to compute from molecular dynamics (MD) results, and have been tested for a constant heat flux model in two distinctive systems: crystalline iron and polyethylene (PE) polymer. The convergence criteria and affecting parameters, i.e. spatial and temporal window size, and specific forms of localization function are found to be different between the two systems. The conservation of mass, momentum, and energy are discussed and validated within this atomistic–continuum bridging

Comparison and Implementation of a Rigid and a Flexible Multibody Planetary Gearbox Model

DEFF Research Database (Denmark)

Jørgensen, Martin Felix; Pedersen, Niels Leergaard; Sørensen, Jens Nørkær

2014-01-01

We propose algorithms for developing (1) a rigid (constrained) and (2) a flexible planetary gearbox model. The two methods are compared against each other and advantages/disadvantages of each method are discussed. The rigid model (1) has gear tooth reaction forces expressed by Lagrange multipliers...... between one and two gear teeth in mesh. The final results are from modelling the planetary gearbox in a 500 kW wind turbine which we also described in Jørgensen et al. (2013)........ The flexible approach (2) is being compared with the gear tooth forces from the rigid approach, first without damping and second the influence of damping is examined. Variable stiffness as a function of base circle arc length is implemented in the flexible approach such that it handles the realistic switch...

The Direct Effect of Flexible Walls on Fontan Connection Fluid Dynamics

Science.gov (United States)

Tree, Mike; Fagan, Kiley; Yoganathan, Ajit

2014-11-01

The current standard treatment for sufferers of congenital heart defects is the palliative Fontan procedure. The Fontan procedure results in an anastomosis of major veins directly to the branched pulmonary arteries bypassing the dysfunctional ventricle. This total cavopulmonary connection (TCPC) extends life past birth, but Fontan patients still suffer long-term complications like decreased exercise capacity, protein-losing enteropathy, and pulmonary arteriovenous malformations (PAVM). These complications have direct ties to fluid dynamics within the connection. Previous experimental and computation studies of Fontan connection fluid dynamics employed rigid vessel models. More recent studies utilize flexible models, but a direct comparison of the fundamental fluid dynamics between rigid and flexible vessels only exists for a computational model, without a direct experimental validation. Thus, this study was a direct comparison of fluid dynamics within a rigid and two compliant idealized TCPCs. 2D particle image velocimetry measurements were collected at the connection center plane. Results include power loss, hepatic flow distribution, fluid shear stress, and flow structure recognition. The effect of flexible walls on these values and clinical impact will be discussed.

Creation of 3D Multi-Body Orthodontic Models by Using Independent Imaging Sensors

Directory of Open Access Journals (Sweden)

Armando Viviano Razionale

2013-02-01

Full Text Available In the field of dental health care, plaster models combined with 2D radiographs are widely used in clinical practice for orthodontic diagnoses. However, complex malocclusions can be better analyzed by exploiting 3D digital dental models, which allow virtual simulations and treatment planning processes. In this paper, dental data captured by independent imaging sensors are fused to create multi-body orthodontic models composed of teeth, oral soft tissues and alveolar bone structures. The methodology is based on integrating Cone-Beam Computed Tomography (CBCT and surface structured light scanning. The optical scanner is used to reconstruct tooth crowns and soft tissues (visible surfaces through the digitalization of both patients’ mouth impressions and plaster casts. These data are also used to guide the segmentation of internal dental tissues by processing CBCT data sets. The 3D individual dental tissues obtained by the optical scanner and the CBCT sensor are fused within multi-body orthodontic models without human supervisions to identify target anatomical structures. The final multi-body models represent valuable virtual platforms to clinical diagnostic and treatment planning.

Chaotic dynamics of flexible Euler-Bernoulli beams

Energy Technology Data Exchange (ETDEWEB)

Awrejcewicz, J., E-mail: awrejcew@p.lodz.pl [Department of Automation, Biomechanics and Mechatronics, Lodz University of Technology, 1/15 Stefanowski St., 90-924 Lodz, Poland and Department of Vehicles, Warsaw University of Technology, 84 Narbutta St., 02-524 Warsaw (Poland); Krysko, A. V., E-mail: anton.krysko@gmail.com [Department of Applied Mathematics and Systems Analysis, Saratov State Technical University, Politehnicheskaya 77, 410054 Saratov (Russian Federation); Kutepov, I. E., E-mail: iekutepov@gmail.com; Zagniboroda, N. A., E-mail: tssrat@mail.ru; Dobriyan, V., E-mail: Dobriy88@yandex.ru; Krysko, V. A., E-mail: tak@san.ru [Department of Mathematics and Modeling, Saratov State Technical University, Politehnicheskaya 77, 410054 Saratov (Russian Federation)

2013-12-15

Mathematical modeling and analysis of spatio-temporal chaotic dynamics of flexible simple and curved Euler-Bernoulli beams are carried out. The Kármán-type geometric non-linearity is considered. Algorithms reducing partial differential equations which govern the dynamics of studied objects and associated boundary value problems are reduced to the Cauchy problem through both Finite Difference Method with the approximation of O(c{sup 2}) and Finite Element Method. The obtained Cauchy problem is solved via the fourth and sixth-order Runge-Kutta methods. Validity and reliability of the results are rigorously discussed. Analysis of the chaotic dynamics of flexible Euler-Bernoulli beams for a series of boundary conditions is carried out with the help of the qualitative theory of differential equations. We analyze time histories, phase and modal portraits, autocorrelation functions, the Poincaré and pseudo-Poincaré maps, signs of the first four Lyapunov exponents, as well as the compression factor of the phase volume of an attractor. A novel scenario of transition from periodicity to chaos is obtained, and a transition from chaos to hyper-chaos is illustrated. In particular, we study and explain the phenomenon of transition from symmetric to asymmetric vibrations. Vibration-type charts are given regarding two control parameters: amplitude q{sub 0} and frequency ω{sub p} of the uniformly distributed periodic excitation. Furthermore, we detected and illustrated how the so called temporal-space chaos is developed following the transition from regular to chaotic system dynamics.

Dynamics of flexible fibers transported in confined viscous flows

Science.gov (United States)

Cappello, Jean; Duprat, Camille; Du Roure, Olivia; Nagel, Mathias; Gallaire, François; Lindner, Anke

2017-11-01

The dynamics of elongated objects has been extensively studied in unbounded media as for example the sedimentation of fibers at low Reynolds numbers. It has recently been shown that these transport dynamics are strongly modified by bounding walls. Here we focus on the dynamics of flexible fibers confined by the top and bottom walls of a microchannel and transported in pressure-driven flows. We combine well-controlled microfluidic experiments and simulations using modified Brinkmann equations. We control shape, orientation, and mechanical properties of our fibers using micro-fabrication techniques and in-situ characterization methods. These elastic fibers can be deformed by viscous and pressure forces leading to very rich transport dynamics coupling lateral drift with shape evolution. We show that the bending of a perpendicular fiber is proportional to an elasto-viscous number and we fully characterize the influence of the confinement on the deformation of the fiber. Experiments on parallel flexible fibers reveal the existence of a buckling threshold. The European Research Council is acknowledged for funding the work through a consolidator Grant (ERC PaDyFlow 682367).

Real time control of the flexible dynamics of orbital launch vehicles

NARCIS (Netherlands)

Bos, van den J.; Steinbuch, M.; Gutierrez, H.M.

2011-01-01

During this traineeship the flexible dynamics of orbital launch vehicles are estimated and controlled in real time, using distributed fiber-Bragg sensor arrays for motion estimation and cold gas thrusters for control. The use of these cold-gas thrusters to actively control flexible modes is the main

Dynamics and Control of a Flexible Solar Sail

OpenAIRE

Jiafu Liu; Siyuan Rong; Fan Shen; Naigang Cui

2014-01-01

Solar sail can merely make use of solar radiation pressure (SRP) force as the thrust for space missions. The attitude dynamics is obtained for the highly flexible solar sail with control vanes, sliding masses, and a gimbaled control boom. The vibration equations are derived considering the geometric nonlinearity of the sail structure subjected to the forces generated by the control vanes, solar radiation pressure (SRP), and sliding masses. Then the dynamic models for attitude/vibration contr...

Modal resonant dynamics of cables with a flexible support: A modulated diffraction problem

Science.gov (United States)

Guo, Tieding; Kang, Houjun; Wang, Lianhua; Liu, Qijian; Zhao, Yueyu

2018-06-01

Modal resonant dynamics of cables with a flexible support is defined as a modulated (wave) diffraction problem, and investigated by asymptotic expansions of the cable-support coupled system. The support-cable mass ratio, which is usually very large, turns out to be the key parameter for characterizing cable-support dynamic interactions. By treating the mass ratio's inverse as a small perturbation parameter and scaling the cable tension properly, both cable's modal resonant dynamics and the flexible support dynamics are asymptotically reduced by using multiple scale expansions, leading finally to a reduced cable-support coupled model (i.e., on a slow time scale). After numerical validations of the reduced coupled model, cable-support coupled responses and the flexible support induced coupling effects on the cable, are both fully investigated, based upon the reduced model. More explicitly, the dynamic effects on the cable's nonlinear frequency and force responses, caused by the support-cable mass ratio, the resonant detuning parameter and the support damping, are carefully evaluated.

Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

Science.gov (United States)

Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

2018-03-01

Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

Moving loads on flexible structures presented in the floating frame of reference formulation

Energy Technology Data Exchange (ETDEWEB)

Hartweg, Stefan, E-mail: stefan.hartweg@web.de; Heckmann, Andreas, E-mail: andreas.heckmann@dlr.de [German Aerospace Center (DLR), Institute of System Dynamics and Control (Germany)

2016-06-15

The introduction of moving loads in the Floating Frame of Reference Formulation is presented. We derive the kinematics and governing equations of motion of a general flexible multibody system and their extension to moving loads. The equivalence of convective effects with Coriolis and centripetal forces is shown. These effects are measured numerically and their significance in moving loads traveling at high speed is confirmed. A method is presented to handle discontinuities when moving loads separate from the flexible structure. The method is extended from beam models to general flexible structures obtained by means of the Finite Element Method. An interpolation method for the deformation field of the modal representation of these bodies is introduced.The work is concluded by application of the method to modern mechanical problems in numerical simulations.

Multibody neutrino exchange in a neutron star neutrino sea and border effects

CERN Document Server

Abada, A; Rodríguez-Quintero, J; Abada, As

1998-01-01

The interaction due to the exchange of massless neutrinos between neutrons is a long-range force. Border effects on this multibody exchange inside a dense core are studied and computed analytically in 1 + 1 dimensions. We demonstrate in this work that a proper treatment of the star's border effect automatically incorporates the condensate contribution as a consequence of the appropriate boundary conditions for the neutrino Feynman propagator inside the star. The total multibody exchange contribution is infrared-safe and vanishes exactly in 1 + 1 dimensions. The general conclusion of this work is that the border effect does not modify the result that neutrino exchange is infrared-safe. This toy model prepares the ground and gives the tools for the study of the realistic 3 + 1 star.

Gender consistency and flexibility: using dynamics to understand the relationship between gender and adjustment.

Science.gov (United States)

DiDonato, Matthew D; Martin, Carol L; Hessler, Eric E; Amazeen, Polemnia G; Hanish, Laura D; Fabes, Richard A

2012-04-01

Controversy surrounds questions regarding the influence of being gender consistent (i.e., having and expressing gendered characteristics that are consistent with one's biological sex) versus being gender flexible (i.e., having and expressing gendered characteristics that vary from masculine to feminine as circumstances arise) on children's adjustment outcomes, such as self-esteem, positive emotion, or behavior problems. Whereas evidence supporting the consistency hypothesis is abundant, little support exists for the flexibility hypothesis. To shed new light on the flexibility hypothesis, we explored children's gendered behavior from a dynamical perspective that highlighted variability and flexibility in addition to employing a conventional approach that emphasized stability and consistency. Conventional mean-level analyses supported the consistency hypothesis by revealing that gender atypical behavior was related to greater maladjustment, and dynamical analyses supported the flexibility hypothesis by showing that flexibility of gendered behavior over time was related to positive adjustment. Integrated analyses showed that gender typical behavior was related to the adjustment of children who were behaviorally inflexible, but not for those who were flexible. These results provided a more comprehensive understanding of the relation between gendered behavior and adjustment in young children and illustrated for the first time the feasibility of applying dynamical analyses to the study of gendered behavior.

A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

Directory of Open Access Journals (Sweden)

Wu Ren

2014-01-01

Full Text Available Stress signal is difficult to obtain in the health monitoring of multibody manipulator. In order to solve this problem, a soft sensor method is presented. In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary variable. By establishing the mathematical relationship between them, a soft sensor model is proposed. In the model, the stress information can be deduced by angle information which can be easily measured for such structures by experiments. Finally, test of ground and wall working conditions is done on a multibody manipulator test rig. The results show that the stress calculated by the proposed method is closed to the test one. Thus, the stress signal is easier to get than the traditional method. All of these prove that the model is correct and the method is feasible.

Nonlinear model and attitude dynamics of flexible spacecraft with large amplitude slosh

Science.gov (United States)

Deng, Mingle; Yue, Baozeng

2017-04-01

This paper is focused on the nonlinearly modelling and attitude dynamics of spacecraft coupled with large amplitude liquid sloshing dynamics and flexible appendage vibration. The large amplitude fuel slosh dynamics is included by using an improved moving pulsating ball model. The moving pulsating ball model is an equivalent mechanical model that is capable of imitating the whole liquid reorientation process. A modification is introduced in the capillary force computation in order to more precisely estimate the settling location of liquid in microgravity or zero-g environment. The flexible appendage is modelled as a three dimensional Bernoulli-Euler beam and the assumed modal method is employed to derive the nonlinear mechanical model for the overall coupled system of liquid filled spacecraft with appendage. The attitude maneuver is implemented by the momentum transfer technique, and a feedback controller is designed. The simulation results show that the liquid sloshing can always result in nutation behavior, but the effect of flexible deformation of appendage depends on the amplitude and direction of attitude maneuver performed by spacecraft. Moreover, it is found that the liquid sloshing and the vibration of flexible appendage are coupled with each other, and the coupling becomes more significant with more rapid motion of spacecraft. This study reveals that the appendage's flexibility has influence on the liquid's location and settling time in microgravity. The presented nonlinear system model can provide an important reference for the overall design of the modern spacecraft composed of rigid platform, liquid filled tank and flexible appendage.

Modelamento Multicorpo do Sistema Musculoesquelético/Multibody modeling of the Musculoskeletal System

Directory of Open Access Journals (Sweden)

José Elias Tomazini

2012-12-01

Full Text Available Vários sistemas podem ser tratados com formalismos multicorpos: mecanismos de máquinas em geral, robôs industriais e manipuladores, estruturas espaciais, motores e, ainda, sistemas biomecânicos. A locomoção ou marcha humana e animal podem ser estudadas através de formalismos multicorpos.Nos últimos anos, diversos trabalhos relacionados à biomecânica, e utilizando formalismos multicorpos, têm sido apresentados. Muitos estudos in vitro e in vivo têm sido realizados, objetivando descrever o potencial de sobrecarga nas articulações do corpo humano e de modelos animais. O objetivo desta revisão foi apresentar estudos envolvendo o modelamento matemático aplicado à bioengenharia, biomecânica e engenharia biomédica. Conclui-se que o modelamento matemático é uma ferramenta muito útil, barata e não invasiva que vem contribuir nos estudos envolvendo o sistema multicorpo mecânico e complexo, que é o corpo humano. Several systems can be treated with multibody formalisms: mechanisms of general machinery, industrial robots and manipulators, space structures, engines, and also biomechanical systems. The locomotion or human gait can be studied using multibody formalisms. Several studies related to biomechanics, and using multibody formalisms, have been presented in recent years. Many studies in vitro and in vivo have been carried out, aiming to describe the potential overload in the joints of the human body and animal models. The aim of this review was to present studies involving mathematical modeling applied to bioengineering, biomechanics and biomedical engineering. We have concluded that mathematical modeling is a useful, inexpensive and noninvasive tool which comes to contribute in studies involving the mechanical and complex multibody system which is the human body.

Organizational flexibility as a strategic option: fostering dynamic capabilities of hospitals.

Science.gov (United States)

Dias, Casimiro; Escoval, Ana

2014-01-01

The main purpose of this article is to examine how the internal and external dimensions of organizational flexibility impact hospital performance. Results reveal that matching internal and external flexibilities contributes to the development of capabilities to adopt new strategic options. Such interactions have a significant impact in terms of hospital performance. A cluster of dynamic hospitals, which is characterised by high levels of both internal and external flexibilities, (instead of that have high levels of both internal and external flexibilities) was found to have the double level of performance compared with other clusters. The implications for research and managerial practice are discussed. Copyright © 2014 Longwoods Publishing.

Global sensitivity analysis of the joint kinematics during gait to the parameters of a lower limb multi-body model.

Science.gov (United States)

El Habachi, Aimad; Moissenet, Florent; Duprey, Sonia; Cheze, Laurence; Dumas, Raphaël

2015-07-01

Sensitivity analysis is a typical part of biomechanical models evaluation. For lower limb multi-body models, sensitivity analyses have been mainly performed on musculoskeletal parameters, more rarely on the parameters of the joint models. This study deals with a global sensitivity analysis achieved on a lower limb multi-body model that introduces anatomical constraints at the ankle, tibiofemoral, and patellofemoral joints. The aim of the study was to take into account the uncertainty of parameters (e.g. 2.5 cm on the positions of the skin markers embedded in the segments, 5° on the orientation of hinge axis, 2.5 mm on the origin and insertion of ligaments) using statistical distributions and propagate it through a multi-body optimisation method used for the computation of joint kinematics from skin markers during gait. This will allow us to identify the most influential parameters on the minimum of the objective function of the multi-body optimisation (i.e. the sum of the squared distances between measured and model-determined skin marker positions) and on the joint angles and displacements. To quantify this influence, a Fourier-based algorithm of global sensitivity analysis coupled with a Latin hypercube sampling is used. This sensitivity analysis shows that some parameters of the motor constraints, that is to say the distances between measured and model-determined skin marker positions, and the kinematic constraints are highly influencing the joint kinematics obtained from the lower limb multi-body model, for example, positions of the skin markers embedded in the shank and pelvis, parameters of the patellofemoral hinge axis, and parameters of the ankle and tibiofemoral ligaments. The resulting standard deviations on the joint angles and displacements reach 36° and 12 mm. Therefore, personalisation, customisation or identification of these most sensitive parameters of the lower limb multi-body models may be considered as essential.

Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

Science.gov (United States)

Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin

2017-05-01

For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.

Feasibility of Applying Controllable Lubrication to Dynamically Loaded Journal Bearings

DEFF Research Database (Denmark)

Estupinan, Edgar Alberto; Santos, Ilmar

2009-01-01

A multibody dynamic model of the main mechanical components of a hermetic reciprocating compressor is presented in this work. Considering that some of the mechanical elements are interconnected via thin fluid films, the multibody dynamic model is coupled to the equations from the dynamics...... of the fluid films, based on fluid film theory. For a dynamically loaded journal bearing, the fluid film pressure distribution can be computed by numerically solving the Reynolds equation, by means of finite-difference method. Particularly, in this study the main focus is on the lubrication behavior...... and reaction forces in a reciprocating compressor have a cyclic behavior, periodic oil pressure injection rules based on the instantaneous crank angle and load bearing condition can be established. In this paper, several bearing configurations working under different oil pressure injection rules conditions...

The systematics of the deexcitation of hot nuclei and the onset of multibody decay

International Nuclear Information System (INIS)

Bowman, D.R.; Peaslee, G.F.; Colonna, N.

1989-03-01

Results from the asymmetric reactions 80 and 100 MeV/uLa + C are presented and compared to earlier work with the same system at 18 and 50 MeV/u. Fragment-fragment correlations, cross sections, and distributions in velocity space indicate the continued dominance of a quasi-binary decay mechanism with increased emission of light charged particles. The distributions in velocity also indicate a progression toward a ''fireball'' type of reaction mechanism. However, the angular distributions of the emitted fragments are incompatible with statistical production mechanisms that have successfully explained the lower energy results, and indicate the dynamical nature of the emission process. Dalitz plots of triple complex fragment coincidences are presented in order to investigate the nature of the multibody decays. 18 refs., 9 figs

Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots.

Science.gov (United States)

Bengoa, Pablo; Zubizarreta, Asier; Cabanes, Itziar; Mancisidor, Aitziber; Pinto, Charles; Mata, Sara

2017-08-23

The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software.

Dynamic Beam Solutions for Real-Time Simulation and Control Development of Flexible Rockets

Science.gov (United States)

Su, Weihua; King, Cecilia K.; Clark, Scott R.; Griffin, Edwin D.; Suhey, Jeffrey D.; Wolf, Michael G.

2016-01-01

In this study, flexible rockets are structurally represented by linear beams. Both direct and indirect solutions of beam dynamic equations are sought to facilitate real-time simulation and control development for flexible rockets. The direct solution is completed by numerically integrate the beam structural dynamic equation using an explicit Newmark-based scheme, which allows for stable and fast transient solutions to the dynamics of flexile rockets. Furthermore, in the real-time operation, the bending strain of the beam is measured by fiber optical sensors (FOS) at intermittent locations along the span, while both angular velocity and translational acceleration are measured at a single point by the inertial measurement unit (IMU). Another study in this paper is to find the analytical and numerical solutions of the beam dynamics based on the limited measurement data to facilitate the real-time control development. Numerical studies demonstrate the accuracy of these real-time solutions to the beam dynamics. Such analytical and numerical solutions, when integrated with data processing and control algorithms and mechanisms, have the potential to increase launch availability by processing flight data into the flexible launch vehicle's control system.

Stability Result For Dynamic Inversion Devised to Control Large Flexible Aircraft

Science.gov (United States)

Gregory, Irene M.

2001-01-01

High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper is an initial attempt to establish global stability results for dynamic inversion methodology as applied to a large, flexible aircraft. This work builds on a previous result for rigid fighter aircraft and adds a new level of complexity that is the flexible aircraft dynamics, which cannot be ignored even in the most basic flight control. The results arise from observations of the control laws designed for a new generation of the High-Speed Civil Transport aircraft.

Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

International Nuclear Information System (INIS)

Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

2014-01-01

Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

2014-10-15

Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

Stochastic Dynamics Underlying Cognitive Stability and Flexibility.

Directory of Open Access Journals (Sweden)

Kai Ueltzhöffer

2015-06-01

updating and dopaminergic modulation of cognitive flexibility. These results show that stochastic dynamical systems can implement the basic computations underlying cognitive stability and flexibility and explain neurobiological bases of individual differences.

Finite element methods in a simulation code for offshore wind turbines

Science.gov (United States)

Kurz, Wolfgang

1994-06-01

Offshore installation of wind turbines will become important for electricity supply in future. Wind conditions above sea are more favorable than on land and appropriate locations on land are limited and restricted. The dynamic behavior of advanced wind turbines is investigated with digital simulations to reduce time and cost in development and design phase. A wind turbine can be described and simulated as a multi-body system containing rigid and flexible bodies. Simulation of the non-linear motion of such a mechanical system using a multi-body system code is much faster than using a finite element code. However, a modal representation of the deformation field has to be incorporated in the multi-body system approach. The equations of motion of flexible bodies due to deformation are generated by finite element calculations. At Delft University of Technology the simulation code DUWECS has been developed which simulates the non-linear behavior of wind turbines in time domain. The wind turbine is divided in subcomponents which are represented by modules (e.g. rotor, tower etc.).

Tuned resonant mass or inerter-based absorbers: unified calibration with quasi-dynamic flexibility and inertia correction

DEFF Research Database (Denmark)

Krenk, Steen; Høgsberg, Jan Becker

2016-01-01

effects are included via a flexibility and an inertia coefficient, accounting for the effect of the non-resonant modes. The design procedure starts from a selected level of dynamic amplification and then determines the device parameters for an equivalent dynamic system, in which the background flexibility...

Search for Exclusive Multibody Non-DD Decays at the ψ(3770) Resonance

International Nuclear Information System (INIS)

Huang, G.S.; Miller, D.H.; Pavlunin, V.; Sanghi, B.; Shipsey, I.P.J.; Adams, G.S.; Cravey, M.; Cummings, J.P.; Danko, I.; Napolitano, J.; He, Q.; Muramatsu, H.; Park, C.S.; Thorndike, E.H.; Coan, T.E.; Gao, Y.S.; Liu, F.; Artuso, M.; Boulahouache, C.; Blusk, S.

2006-01-01

Using data collected at the ψ(3770) resonance with the CLEO-c detector at the Cornell e + e - storage ring, we present searches for 25 charmless decay modes of the ψ(3770), mostly multibody final states. No evidence for charmless decays is found

A Simple Approach to Dynamic Optimisation of Flexible Optical Networks with Practical Application

Directory of Open Access Journals (Sweden)

Vic Grout

2017-05-01

Full Text Available This paper provides an initial introduction to, and definition of, the ‘Dynamically Powered Relays for a Flexible Optical Network’ (DPR-FON problem for opto-electro-optical (OEO regenerators used in optical networks. In such networks, optical transmission parameters can be varied dynamically as traffic patterns change. This will provide different bandwidths, but also change the regeneration limits as a result. To support this flexibility, OEOs (‘relays’ may be switched on and off as required, thus saving power. DPR-FON is shown to be NP-complete; consequently, solving such a dynamic problem in real-time requires a fast heuristic capable of delivering an acceptable approximation to the optimal configuration with low complexity. In this paper, just such an algorithm is developed, implemented, and evaluated against more computationally-demanding alternatives for two known cases. A number of real-world extensions are considered as the paper develops, combining to produce the ‘Generalised Dynamically Powered Relays for a Flexible Optical Network’ (GDPR-FON problem. This, too, is analysed and an associated fast heuristic proposed, along with an exploration of the further research that is required.

Feasibility of Applying Controllable Lubrication Techniques to Reciprocating Machines

DEFF Research Database (Denmark)

Pulido, Edgar Estupinan

of the reciprocating engine, obtained with the help of multibody dynamics (rigid components) and finite elements method (flexible components), and the global system of equations is numerically solved. The analysis of the results was carried out with focus on the behaviour of the journal orbits, maximum fluid film...

Constraint Embedding for Vehicle Suspension Dynamics

OpenAIRE

Jain Abhinandan; Kuo Calvin; Jayakumar Paramsothy; Cameron Jonathan

2016-01-01

The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with ...

COMPARATIVE EFFECT OF STATIC AND DYNAMIC STRETCHING EXERCISE TO IMPROVE FLEXIBILITY OF HAMSTRING MUSCLES AMONG NON ATHLETES

Directory of Open Access Journals (Sweden)

Jibi Paul

2014-10-01

Full Text Available Background: Stretching exercises have been routinely used in persons with hamstring tightness and athletes to increase flexibility of muscle and to reduce joint injuries. Many studies have reported effect of static and dynamic stretching on flexibility of this muscle. Finding the best method to improve flexibility of hamstring muscle is important for athletes and individuals to reduce their injuries. Objective of the study was to find out the effect of static stretching exercise and dynamic stretching exercise on flexibility of hamstring muscle and also to compare the effect of static and dynamic stretching exercise on flexibility of hamstring muscle. Methods: This was a comparative experimental study with seventy four female healthy subjects from physiotherapy department of KPJ Healthcare University College, Malaysia. Convenient sampling method used to select the samples. The subjects were selected by inclusion criteria and randomly divided equally in to two with 37 subjects in each group. Static stretching exercise and dynamic stretching exercise were given as intervention program for four weeks respectively for experimental and control group. Pre and post data of restricted range of movement for knee extension was measured using goniometry and documented separately for both group. Result: In experimental and control group, pre-post statistical analysis found significant effect in increase of hamstring flexibility with P<0.0001, for right and left side. Comparative study between experimental and control group found that static stretching exercise have significant effect in increase of hamstring flexibility for right and left side with P<0.04. Conclusion: This study concluded that static stretching exercise is more effective to improve hamstring flexibility compared to dynamic stretching exercise.

The study about planetary gearbox virtual prototyping with nonlinear gear contact characteristics

International Nuclear Information System (INIS)

Yin Huabing; Zhou Guangming

2010-01-01

The virtual prototypes of gear transmission system built in most multi-body dynamic software have difficulties in describing the gear mesh characteristics. The gear mesh contact is modelled as rigid contact and this is not accurate for the gear mesh contact, which is elastic or flexible. The gear contact formula used in the multi-body dynamic software does not reveal the gear contact nonlinear stiffness characteristic. The model built with gear meshing contact is difficult to solve because of its time-consuming algorithm. In the paper a new method is put forward to build the virtual prototype of planetary gearbox system according to the nonlinear mesh stiffness and mesh phase obtained through FEM models. This new FEM method of gear mesh stiffness calculation is much more accurate than the common formulas. The gear mesh nonlinear stiffness of sun gear- pinion and pinion-ring gear of all the planetary gear sets in gearbox are obtained through MATALB code, which is used to read and plot the analyzing result data. The gear mesh phase differences between different pinions with suns or rings of different planetary gear set can be also obtained. With all these data modelled in simulink (or other software) and integrated with the multi-body dynamic planetary gearbox model and the gear meshing contact problem in multi-body gear models is solved easily and accurately. The interfaces for gear mesh stiffness and mesh phases are designed for multi-body dynamic model and simulink. The nonlinear planetary gear set prototyping models are integrated to become the whole planetary gear box model and the whole vehicle system model built in multi-body dynamic software can be integrated to simulate different duty conditions. At last high speed input is put into the nonlinear planetary transmission model and the different duty cases are simulated. The dynamic characteristics of different parts are obtained. The dynamic characteristic comparison between nonlinear and linear models is made

Dynamic Characteristics of Micro-Beams Considering the Effect of Flexible Supports

Directory of Open Access Journals (Sweden)

Zuo-Yang Zhong

2013-11-01

Full Text Available Normally, the boundaries are assumed to allow small deflections and moments for MEMS beams with flexible supports. The non-ideal boundary conditions have a significant effect on the qualitative dynamical behavior. In this paper, by employing the principle of energy equivalence, rigorous theoretical solutions of the tangential and rotational equivalent stiffness are derived based on the Boussinesq’s and Cerruti’s displacement equations. The non-dimensional differential partial equation of the motion, as well as coupled boundary conditions, are solved analytically using the method of multiple time scales. The closed-form solution provides a direct insight into the relationship between the boundary conditions and vibration characteristics of the dynamic system, in which resonance frequencies increase with the nonlinear mechanical spring effect but decrease with the effect of flexible supports. The obtained results of frequencies and mode shapes are compared with the cases of ideal boundary conditions, and the differences between them are contrasted on frequency response curves. The influences of the support material property on the equivalent stiffness and resonance frequency shift are also discussed. It is demonstrated that the proposed model with the flexible supports boundary conditions has significant effect on the rigorous quantitative dynamical analysis of the MEMS beams. Moreover, the proposed analytical solutions are in good agreement with those obtained from finite element analyses.

Efficient dynamic simulation of flexible link manipulators with PID control

NARCIS (Netherlands)

Aarts, Ronald G.K.M.; Jonker, Jan B.; Mook, D.T.; Balachandran, B.

2001-01-01

For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set

Nonlinear Dynamics of the Woodpecker Toy

NARCIS (Netherlands)

Leine, R.I.; Glocker, C.; Campen, van D.H.

2001-01-01

This paper studies bifurcations in systems with impact andfriction, modeled with a rigid multibody approach. Knowledgefrom the field of Nonlinear Dynamics is therefore combined withtheory from the field of Nonsmooth Mechanics. The nonlineardynamics is studied of a commercial wooden toy. The toyshows

The effect of warm-up, static stretching and dynamic stretching on hamstring flexibility in previously injured subjects

Directory of Open Access Journals (Sweden)

Murray Elaine

2009-04-01

Full Text Available Abstract Background Warm-up and stretching are suggested to increase hamstring flexibility and reduce the risk of injury. This study examined the short-term effects of warm-up, static stretching and dynamic stretching on hamstring flexibility in individuals with previous hamstring injury and uninjured controls. Methods A randomised crossover study design, over 2 separate days. Hamstring flexibility was assessed using passive knee extension range of motion (PKE ROM. 18 previously injured individuals and 18 uninjured controls participated. On both days, four measurements of PKE ROM were recorded: (1 at baseline; (2 after warm-up; (3 after stretch (static or dynamic and (4 after a 15-minute rest. Participants carried out both static and dynamic stretches, but on different days. Data were analysed using Anova. Results Across both groups, there was a significant main effect for time (p 0.05. Using ANCOVA to adjust for the non-significant (p = 0.141 baseline difference between groups, the previously injured group demonstrated a greater response to warm-up and static stretching, however this was not statistically significant (p = 0.05. Conclusion Warm-up significantly increased hamstring flexibility. Static stretching also increased hamstring flexibility, whereas dynamic did not, in agreement with previous findings on uninjured controls. The effect of warm-up and static stretching on flexibility was greater in those with reduced flexibility post-injury, but this did not reach statistical significance. Further prospective research is required to validate the hypothesis that increased flexibility improves outcomes. Trial Registration ACTRN12608000638336

Efficient approach for simulating response of multi-body structure in reactor core subjected to seismic loading

International Nuclear Information System (INIS)

Zhang Hongkun; Cen Song; Wang Haitao; Cheng Huanyu

2012-01-01

An efficient 3D approach is proposed for simulating the complicated responses of the multi-body structure in reactor core under seismic loading. By utilizing the rigid-body and connector functions of the software Abaqus, the multi-body structure of the reactor core is simplified as a mass-point system interlinked by spring-dashpot connectors. And reasonable schemes are used for determining various connector coefficients. Furthermore, a scripting program is also complied for the 3D parametric modeling. Numerical examples show that, the proposed method can not only produce the results which satisfy the engineering requirements, but also improve the computational efficiency more than 100 times. (authors)

Dynamics modeling for a rigid-flexible coupling system with nonlinear deformation field

International Nuclear Information System (INIS)

Deng Fengyan; He Xingsuo; Li Liang; Zhang Juan

2007-01-01

In this paper, a moving flexible beam, which incorporates the effect of the geometrically nonlinear kinematics of deformation, is investigated. Considering the second-order coupling terms of deformation in the longitudinal and transverse deflections, the exact nonlinear strain-displacement relations for a beam element are described. The shear strains formulated by the present modeling method in this paper are zero, so it is reasonable to use geometrically nonlinear deformation fields to demonstrate and simplify a flexible beam undergoing large overall motions. Then, considering the coupling terms of deformation in two dimensions, finite element shape functions of a beam element and Lagrange's equations are employed for deriving the coupling dynamical formulations. The complete expression of the stiffness matrix and all coupling terms are included in the formulations. A model consisting of a rotating planar flexible beam is presented. Then the frequency and dynamical response are studied, and the differences among the zero-order model, first-order coupling model and the new present model are discussed. Numerical examples demonstrate that a 'stiffening beam' can be obtained, when more coupling terms of deformation are added to the longitudinal and transverse deformation field. It is shown that the traditional zero-order and first-order coupling models may not provide an exact dynamic model in some cases

Dynamic interaction between rotor and axially-magnetized passive magnetic bearing considering magnetic eccentricity

DEFF Research Database (Denmark)

Enemark, Søren; Santos, Ilmar

2014-01-01

with a multibody system composed of rigid rotor and flexible foundation. The magnetic eccentricities of the shaft magnets are modelled using the distances (amplitudes) and directions (phase angles) between the shaft axis and the centre of the magnetic fields generated. A perturbation method, i.e. harmonic......-linear stiffness. In this investigation passive magnetic bearings using axially- aligned neodymium cylinder magnets are investigated. The cylinder magnets are axially magnetised for rotor as well as bearings. Compared to bearings with radial magnetisation, the magnetic stiffness of axially-aligned bearings...... is considerably lower, nevertheless they allow for asymmetric stiffness mounting, and it could be beneficial for rotor stabilization. A theoretical model is proposed to describe the non-linear rotor-bearing dynamics. It takes into account non-linear behaviour of the magnetic forces and their interaction...

Scaling of the dynamics of flexible Lennard-Jones chains

DEFF Research Database (Denmark)

Veldhorst, Arno; Dyre, Jeppe C.; Schrøder, Thomas

2015-01-01

The previous paper [A. A. Veldhorst et al., J. Chem. Phys. 141, 054904 (2014)] demonstrated that the isomorph theory explains the scaling properties of a liquid of flexible chains consisting of ten Lennard-Jones particles connected by rigid bonds. We here investigate the same model with harmonic......, dynamics, and the excess entropy are invariant. The Lennard-Jones chain liquid with harmonic bondsdoes have curves in the phase diagram along which the structure and dynamics are invariant. The excess entropy is not invariant on these curves, which we refer to as “pseudoisomorphs.” In particular......, this means that Rosenfeld’s excess-entropy scaling (the dynamics being a function of excess entropy only) does not apply for the Lennard-Jones chain with harmonic bonds...

The effect of warm-up, static stretching and dynamic stretching on hamstring flexibility in previously injured subjects.

LENUS (Irish Health Repository)

O'Sullivan, Kieran

2009-01-01

BACKGROUND: Warm-up and stretching are suggested to increase hamstring flexibility and reduce the risk of injury. This study examined the short-term effects of warm-up, static stretching and dynamic stretching on hamstring flexibility in individuals with previous hamstring injury and uninjured controls. METHODS: A randomised crossover study design, over 2 separate days. Hamstring flexibility was assessed using passive knee extension range of motion (PKE ROM). 18 previously injured individuals and 18 uninjured controls participated. On both days, four measurements of PKE ROM were recorded: (1) at baseline; (2) after warm-up; (3) after stretch (static or dynamic) and (4) after a 15-minute rest. Participants carried out both static and dynamic stretches, but on different days. Data were analysed using Anova. RESULTS: Across both groups, there was a significant main effect for time (p < 0.001). PKE ROM significantly increased with warm-up (p < 0.001). From warm-up, PKE ROM further increased with static stretching (p = 0.04) but significantly decreased after dynamic stretching (p = 0.013). The increased flexibility after warm-up and static stretching reduced significantly (p < 0.001) after 15 minutes of rest, but remained significantly greater than at baseline (p < 0.001). Between groups, there was no main effect for group (p = 0.462), with no difference in mean PKE ROM values at any individual stage of the protocol (p > 0.05). Using ANCOVA to adjust for the non-significant (p = 0.141) baseline difference between groups, the previously injured group demonstrated a greater response to warm-up and static stretching, however this was not statistically significant (p = 0.05). CONCLUSION: Warm-up significantly increased hamstring flexibility. Static stretching also increased hamstring flexibility, whereas dynamic did not, in agreement with previous findings on uninjured controls. The effect of warm-up and static stretching on flexibility was greater in those with reduced

Dynamic stability of an aerodynamically efficient motorcycle

Science.gov (United States)

Sharma, Amrit; Limebeer, David J. N.

2012-08-01

Motorcycles exhibit two potentially dangerous oscillatory modes known as 'wobble' and 'weave'. The former is reminiscent of supermarket castor shimmy, while the latter is a low frequency 'fish-tailing' motion that involves a combination of rolling, yawing, steering and side-slipping motions. These unwanted dynamic features, which can occur when two-wheeled vehicles are operated at speed, have been studied extensively. The aim of this paper is to use mathematical analysis to identify important stability trends in the on-going design of a novel aerodynamically efficient motorcycle known as the ECOSSE Spirit ES1. A mathematical model of the ES1 is developed using a multi-body dynamics software package called VehicleSim [Anon, VehicleSim Lisp Reference Manual Version 1.0, Mechanical Simulation Corporation, 2008. Available at http://www.carsim.com]. This high-fidelity motorcycle model includes realistic tyre-road contact geometry, a comprehensive tyre model, tyre relaxation and a flexible frame. A parameter set representative of a modern high-performance machine and rider is used. Local stability is investigated via the eigenvalues of the linearised models that are associated with equilibrium points of interest. A comprehensive study of the effects of frame flexibilities, acceleration, aerodynamics and tyre variations is presented, and an optimal passive steering compensator is derived. It is shown that the traditional steering damper cannot be used to stabilise the ES1 over its entire operating speed range. A simple passive compensator, involving an inerter is proposed. Flexibility can be introduced deliberately into various chassis components to change the stability characteristics of the vehicle; the implications of this idea are studied.

A modal analysis of flexible aircraft dynamics with handling qualities implications

Science.gov (United States)

Schmidt, D. K.

1983-01-01

A multivariable modal analysis technique is presented for evaluating flexible aircraft dynamics, focusing on meaningful vehicle responses to pilot inputs and atmospheric turbulence. Although modal analysis is the tool, vehicle time response is emphasized, and the analysis is performed on the linear, time-domain vehicle model. In evaluating previously obtained experimental pitch tracking data for a family of vehicle dynamic models, it is shown that flexible aeroelastic effects can significantly affect pitch attitude handling qualities. Consideration of the eigenvalues alone, of both rigid-body and aeroelastic modes, does not explain the simulation results. Modal analysis revealed, however, that although the lowest aeroelastic mode frequency was still three times greater than the short-period frequency, the rigid-body attitude response was dominated by this aeroelastic mode. This dominance was defined in terms of the relative magnitudes of the modal residues in selected vehicle responses.

A Flexible, Grid-Enabled Web Portal for GROMACS Molecular Dynamics Simulations

NARCIS (Netherlands)

van Dijk, Marc; Wassenaar, Tsjerk A; Bonvin, Alexandre M J J

2012-01-01

Molecular dynamics simulations are becoming a standard part of workflows in structural biology. They are used for tasks as diverse as assessing molecular flexibility, probing conformational changes, assessing the impact of mutations, or gaining information about molecular interactions. However,

A flexible, grid-enabled web portal for GROMACS molecular dynamics simulations

NARCIS (Netherlands)

van Dijk, M.; Wassenaar, T.A.; Bonvin, A.M.J.J.

2012-01-01

Molecular dynamics simulations are becoming a standard part of workflows in structural biology. They are used for tasks as diverse as assessing molecular flexibility, probing conformational changes, assessing the impact of mutations, or gaining information about molecular interactions. However,

The acute effects of stretching with vibration on dynamic flexibility in young female gymnasts.

Science.gov (United States)

Johnson, Aaron W; Warcup, Caisa N; Seeley, Matthew K; Eggett, Dennis; Feland, Jeffery B

2018-01-10

While stretching with vibration has been shown to improve static flexibility; the effect of stretching with vibration on dynamic flexibility is not well known. The purpose of this study was to examine the effectiveness of stretching with vibration on acute dynamic flexibility and jump height in novice and advanced competitive female gymnasts during a split jump. Female gymnast (n=27, age: 11.5 ± 1.7 years, Junior Olympic levels 5-10) participated in this cross-over study. Dynamic flexibility during gymnastic split jumps were video recorded and analyzed with Dartfish software. All participants completed both randomized stretching protocols with either the vibration platform turned on (VIB) (frequency of 30 Hz and 2 mm amplitude) or off (NoVIB) separated by 48 h. Participants performed 4 sets of three stretches on the vibration platform. Each stretch was held for 30 s with 5 s rest for a total of 7 min of stretch. Split jump flexibility decreased significantly from pre to post measurement in both VIB (-5.8°±5.9°) (p<0.001) and NoVIB (-2.6°±6.1°) (p=0.041) conditions (adjusted for gymnast level). This effect was greatest in lower skill level gymnasts (p=0.003), while the highest skill level gymnasts showed no significant decrease in the split jump (p=0.105). Jump height was not significantly different between conditions (p=0.892) or within groups (p=0.880). An acute session of static stretching with or without vibration immediately before performance does not alter jump height. Stretching with vibration immediately prior to gymnastics competition decreases split jump flexibility in lower level gymnasts more than upper level gymnasts.

Searches for $CP$ violation in multi-body charm decays and studies of radiation damage in the LHCb VELO detector

CERN Document Server

Chen, Shanzhen; Gersabeck, Marco

This thesis presents two searches for direct charge-parity ($CP$) violation in multi-body decays in the charm-sector at LHCb, the development of techniques for performing model-independent searches for direct $CP$ violation in multi-body decays, and the development of studies of radiation damage effects in the LHCb vertex detector. LHCb is a dedicated experiment to study New Physics in the decays of heavy hadrons at the Large Hadron Collider (LHC) at CERN. The detector includes a high precision vertex detector surrounding the $pp$ interaction region made with silicon strip sensors. Studies of the effects of radiation damage in LHC run-2 for the operation of this detector are presented and the determination of the operational bias voltages of the silicon strip sensors is discussed. An unbinned model independent technique for $CP$ violation searches in multi-body decays called the energy test is used for the first time. The selection and treatment of the coordinates used to describe the phase-space of the de...

Design methodology for flexible energy conversion systems accounting for dynamic performance

DEFF Research Database (Denmark)

Pierobon, Leonardo; Casati, Emiliano; Casella, Francesco

2014-01-01

This article presents a methodology to help in the definition of the optimal design of power generation systems. The innovative element is the integration of requirements on dynamic performance into the system design procedure. Operational flexibility is an increasingly important specification...

Advanced Dynamics Analytical and Numerical Calculations with MATLAB

CERN Document Server

Marghitu, Dan B

2012-01-01

Advanced Dynamics: Analytical and Numerical Calculations with MATLAB provides a thorough, rigorous presentation of kinematics and dynamics while using MATLAB as an integrated tool to solve problems. Topics presented are explained thoroughly and directly, allowing fundamental principles to emerge through applications from areas such as multibody systems, robotics, spacecraft and design of complex mechanical devices. This book differs from others in that it uses symbolic MATLAB for both theory and applications. Special attention is given to solutions that are solved analytically and numerically using MATLAB. The illustrations and figures generated with MATLAB reinforce visual learning while an abundance of examples offer additional support. This book also: Provides solutions analytically and numerically using MATLAB Illustrations and graphs generated with MATLAB reinforce visual learning for students as they study Covers modern technical advancements in areas like multibody systems, robotics, spacecraft and des...

A deformation model of flexible, HAMR objects for accurate propagation under perturbations and the self-shadowing effects

Science.gov (United States)

Channumsin, Sittiporn; Ceriotti, Matteo; Radice, Gianmarco

2018-02-01

A new type of space debris in near geosynchronous orbit (GEO) was recently discovered and later identified as exhibiting unique characteristics associated with high area-to-mass ratio (HAMR) objects, such as high rotation rates and high reflection properties. Observations have shown that this debris type is very sensitive to environmental disturbances, particularly solar radiation pressure, due to the fact that its motion depends on the actual effective area, orientation of that effective area, reflection properties and the area-to-mass ratio of the object is not stable over time. Previous investigations have modelled this type of debris as rigid bodies (constant area-to-mass ratios) or discrete deformed body; however, these simplifications will lead to inaccurate long term orbital predictions. This paper proposes a simple yet reliable model of a thin, deformable membrane based on multibody dynamics. The membrane is modelled as a series of flat plates, connected through joints, representing the flexibility of the membrane itself. The mass of the membrane, albeit low, is taken into account through lump masses at the joints. The attitude and orbital motion of this flexible membrane model is then propagated near GEO to predict its orbital evolution under the perturbations of solar radiation pressure, Earth's gravity field (J2), third body gravitational fields (the Sun and Moon) and self-shadowing. These results are then compared to those obtained for two rigid body models (cannonball and flat rigid plate). In addition, Monte Carlo simulations of the flexible model by varying initial attitude and deformation angle (different shape) are investigated and compared with the two rigid models (cannonball and flat rigid plate) over a period of 100 days. The numerical results demonstrate that cannonball and rigid flat plate are not appropriate to capture the true dynamical evolution of these objects, at the cost of increased computational time.

A user's guide to the Flexible Spacecraft Dynamics and Control Program

Science.gov (United States)

Fedor, J. V.

1984-01-01

A guide to the use of the Flexible Spacecraft Dynamics Program (FSD) is presented covering input requirements, control words, orbit generation, spacecraft description and simulation options, and output definition. The program can be used in dynamics and control analysis as well as in orbit support of deployment and control of spacecraft. The program is applicable to inertially oriented spinning, Earth oriented or gravity gradient stabilized spacecraft. Internal and external environmental effects can be simulated.

Fast and accurate grid representations for atom-based docking with partner flexibility.

Science.gov (United States)

de Vries, Sjoerd J; Zacharias, Martin

2017-06-30

Macromolecular docking methods can broadly be divided into geometric and atom-based methods. Geometric methods use fast algorithms that operate on simplified, grid-like molecular representations, while atom-based methods are more realistic and flexible, but far less efficient. Here, a hybrid approach of grid-based and atom-based docking is presented, combining precalculated grid potentials with neighbor lists for fast and accurate calculation of atom-based intermolecular energies and forces. The grid representation is compatible with simultaneous multibody docking and can tolerate considerable protein flexibility. When implemented in our docking method ATTRACT, grid-based docking was found to be ∼35x faster. With the OPLSX forcefield instead of the ATTRACT coarse-grained forcefield, the average speed improvement was >100x. Grid-based representations may allow atom-based docking methods to explore large conformational spaces with many degrees of freedom, such as multiple macromolecules including flexibility. This increases the domain of biological problems to which docking methods can be applied. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

State and force observers based on multibody models and the indirect Kalman filter

Science.gov (United States)

Sanjurjo, Emilio; Dopico, Daniel; Luaces, Alberto; Naya, Miguel Ángel

2018-06-01

The aim of this work is to present two new methods to provide state observers by combining multibody simulations with indirect extended Kalman filters. One of the methods presented provides also input force estimation. The observers have been applied to two mechanism with four different sensor configurations, and compared to other multibody-based observers found in the literature to evaluate their behavior, namely, the unscented Kalman filter (UKF), and the indirect extended Kalman filter with simplified Jacobians (errorEKF). The new methods have some more computational cost than the errorEKF, but still much less than the UKF. Regarding their accuracy, both are better than the errorEKF. The method with input force estimation outperforms also the UKF, while the method without force estimation achieves results almost identical to those of the UKF. All the methods have been implemented as a reusable MATLAB® toolkit which has been released as Open Source in https://github.com/MBDS/mbde-matlab.

Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linea......This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations......, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

Flexible spacecraft dynamics, control and guidance technologies by giovanni campolo

CERN Document Server

Mazzini, Leonardo

2016-01-01

This book is an up-to-date compendium on spacecraft attitude and orbit control (AOC) that offers a systematic and complete treatment of the subject with the aim of imparting the theoretical and practical knowledge that is required by designers, engineers, and researchers. After an introduction on the kinematics of the flexible and agile space vehicles, the modern architecture and functions of an AOC system are described and the main AOC modes reviewed with possible design solutions and examples. The dynamics of the flexible body in space are then considered using an original Lagrangian approach suitable for the control applications of large space flexible structures. Subsequent chapters address optimal control theory, attitude control methods, and orbit control applications, including the optimal orbital transfer with finite and infinite thrust. The theory is integrated with a description of current propulsion systems, with the focus especially on the new electric propulsion systems and state of the art senso...

Simulation of Dynamic Behavior of the Flexible Wheel of the Double Harmonic Gear Transmission

Directory of Open Access Journals (Sweden)

Draghiţa Ianici

2014-06-01

Full Text Available The paper presents the construction and functioning of a new type the harmonic gear transmission named double harmonic gear transmission, which can be used in the construction drives of industrial robots. In the second part of this paper is presented the dynamic analysis of the double harmonic gear transmission, which is based on the results of the numerical simulations of the flexible wheel in case of its deformation with a mechanical wave generator with disc cam. Investigation of dynamic behavior of the flexible toothed wheel was performed by using the finite element method in SolidWorks Simulation software.

Nonlinear dynamics and modelling of various wooden toys with impact and friction

NARCIS (Netherlands)

Leine, R.I.; Campen, van D.H.; Glocker, C.

2003-01-01

In this paper, we study bifurcations in systems with impact and friction, modeled with a rigid multibody approach. Knowledge from the field of nonlinear dynamics is therefore combined with theory from the field of non-smooth mechanics. We study the nonlinear dynamics of three commercial wooden toys.

Dynamic multibody modeling for tethered space elevators

Science.gov (United States)

Williams, Paul

2009-08-01

This paper presents a fundamental modeling strategy for dealing with powered and propelled bodies moving along space tethers. The tether is divided into a large number of discrete masses, which are connected by viscoelastic springs. The tether is subject to the full range of forces expected in Earth orbit in a relatively simple manner. Two different models of the elevator dynamics are presented. In order to capture the effect of the elevator moving along the tether, the elevator dynamics are included as a separate body in both models. One model treats the elevator's motion dynamically, where propulsive and friction forces are applied to the elevator body. The second model treats the elevator's motion kinematically, where the distance along the tether is determined by adjusting the lengths of tether on either side of the elevator. The tether model is used to determine optimal configurations for the space elevator. A modal analysis of two different configurations is presented which show that the fundamental mode of oscillation is a pendular one around the anchor point with a period on the order of 160 h for the in-plane motion, and 24 h for the out-of-plane motion. Numerical simulation results of the effects of the elevator moving along the cable are presented for different travel velocities and different elevator masses.

MPLM On-Orbit Interface Dynamic Flexibility Modal Test

Science.gov (United States)

Bookout, Paul S.; Rodriguez, Pedro I.; Tinson, Ian; Fleming, Paolo

2001-01-01

Now that the International Space Station (ISS) is being constructed, payload developers have to not only verify the Shuttle-to-payload interface, but also the interfaces their payload will have with the ISS. The Multi Purpose Logistic Module (MPLM) being designed and built by Alenia Spazio in Torino, Italy is one such payload. The MPLM is the primary carrier for the ISS Payload Racks, Re-supply Stowage Racks, and the Resupply Stowage Platforms to re-supply the ISS with food, water, experiments, maintenance equipment and etc. During the development of the MPLM there was no requirement for verification of the on-orbit interfaces with the ISS. When this oversight was discovered, all the dynamic test stands had already been disassembled. A method was needed that would not require an extensive testing stand and could be completed in a short amount of time. The residual flexibility testing technique was chosen. The residual flexibility modal testing method consists of measuring the free-free natural frequencies and mode shapes along with the interface frequency response functions (FRF's). Analytically, the residual flexibility method has been investigated in detail by, MacNeal, Martinez, Carne, and Miller, and Rubin, but has not been implemented extensively for model correlation due to difficulties in data acquisition. In recent years improvement of data acquisition equipment has made possible the implementation of the residual flexibility method as in Admire, Tinker, and Ivey, and Klosterman and Lemon. The residual flexibility modal testing technique is applicable to a structure with distinct points (DOF) of contact with its environment, such as the MPLM-to-Station interface through the Common Berthing Mechanism (CBM). The CBM is bolted to a flange on the forward cone of the MPLM. During the fixed base test (to verify Shuttle interfaces) some data was gathered on the forward cone panels. Even though there was some data on the forward cones, an additional modal test was

Flexibility dynamics in clusters of residential demand response and distributed generation

NARCIS (Netherlands)

MacDougall, P.A.; Kok, J.K.; Warmer, C.; Roossien, B.

2013-01-01

Supply and demand response is a untapped resource in the current electrical system. However little work has been done to investigate the dynamics of utilizing such flexibility as well as the potential effects it could have on the infrastructure. This paper provides a starting point to seeing the

Flexibility damps macromolecular crowding effects on protein folding dynamics: Application to the murine prion protein (121-231)

Science.gov (United States)

Bergasa-Caceres, Fernando; Rabitz, Herschel A.

2014-01-01

A model of protein folding kinetics is applied to study the combined effects of protein flexibility and macromolecular crowding on protein folding rate and stability. It is found that the increase in stability and folding rate promoted by macromolecular crowding is damped for proteins with highly flexible native structures. The model is applied to the folding dynamics of the murine prion protein (121-231). It is found that the high flexibility of the native isoform of the murine prion protein (121-231) reduces the effects of macromolecular crowding on its folding dynamics. The relevance of these findings for the pathogenic mechanism are discussed.

Applied dynamics with applications to multibody and mechatronic systems

CERN Document Server

Moon, Francis C

1998-01-01

Applied Dynamics provides a modern and thorough examination of dynamics with specific emphasis on physical examples and applications such as: robotic systems, magnetic bearings, aerospace dynamics, and microelectromagnetic machines. Also includes the development of the method of virtual velocities based on the principle of virtual power

Dynamics and Control of a Flexible Solar Sail

Directory of Open Access Journals (Sweden)

Jiafu Liu

2014-01-01

Full Text Available Solar sail can merely make use of solar radiation pressure (SRP force as the thrust for space missions. The attitude dynamics is obtained for the highly flexible solar sail with control vanes, sliding masses, and a gimbaled control boom. The vibration equations are derived considering the geometric nonlinearity of the sail structure subjected to the forces generated by the control vanes, solar radiation pressure (SRP, and sliding masses. Then the dynamic models for attitude/vibration controller design and dynamic simulation are obtained, respectively. The linear quadratic regulator (LQR based and optimal proportional-integral (PI based controllers are designed for the coupled attitude/vibration models with constant disturbance torques caused by the center-of-mass (cm/center-of-pressure (cp offset, respectively. It can be concluded from the theoretical analysis and simulation results that the optimal PI based controller performs better than the LQR based controller from the view of eliminating the steady-state errors. The responses with and without the geometrical nonlinearity are performed, and the differences are observed and analyzed. And some suggestions are also presented.

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

Directory of Open Access Journals (Sweden)

Lianchao Sheng

2017-01-01

Full Text Available Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM, it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.

Flexible body dynamics in a local frame with explicitly predicted motion

DEFF Research Database (Denmark)

Kawamoto, A.; Krenk, Steen; Suzuki, A.

2010-01-01

This paper deals with formulation of dynamics of a moving flexible body in a local frame of reference. In a conventional approach the local frame is normally fixed to the corresponding body and always represents the positions and angles of the body: the positions and angles are represented by Car...

Simulation of Dynamics of a Flexible Miniature Airplane

Science.gov (United States)

Waszak, Martin R.

2005-01-01

A short report discusses selected aspects of the development of the University of Florida micro-aerial vehicle (UFMAV) basically, a miniature airplane that has a flexible wing and is representative of a new class of airplanes that would operate autonomously or under remote control and be used for surveillance and/or scientific observation. The flexibility of the wing is to be optimized such that passive deformation of the wing in the presence of aerodynamic disturbances would reduce the overall response of the airplane to disturbances, thereby rendering the airplane more stable as an observation platform. The aspect of the development emphasized in the report is that of computational simulation of dynamics of the UFMAV in flight, for the purpose of generating mathematical models for use in designing control systems for the airplane. The simulations are performed by use of data from a wind-tunnel test of the airplane in combination with commercial software, in which are codified a standard set of equations of motion of an airplane, and a set of mathematical routines to compute trim conditions and extract linear state space models.

Floating substructure flexibility of large-volume 10MW offshore wind turbine platforms in dynamic calculations

International Nuclear Information System (INIS)

Borg, Michael; Hansen, Anders Melchior; Bredmose, Henrik

2016-01-01

Designing floating substructures for the next generation of 10MW and larger wind turbines has introduced new challenges in capturing relevant physical effects in dynamic simulation tools. In achieving technically and economically optimal floating substructures, structural flexibility may increase to the extent that it becomes relevant to include in addition to the standard rigid body substructure modes which are typically described through linear radiation-diffraction theory. This paper describes a method for the inclusion of substructural flexibility in aero-hydro-servo-elastic dynamic simulations for large-volume substructures, including wave-structure interactions, to form the basis of deriving sectional loads and stresses within the substructure. The method is applied to a case study to illustrate the implementation and relevance. It is found that the flexible mode is significantly excited in an extreme event, indicating an increase in predicted substructure internal loads. (paper)

Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

International Nuclear Information System (INIS)

Kim, Sang-Myeong; Kim, Heungseob; Boo, Kwangsuck; Brennan, Michael J

2013-01-01

This paper describes an experimental study into the vibration control of a servo system comprising a servo motor and a flexible manipulator. Two modes of the system are controlled by using the servo motor and an accelerometer attached to the tip of the flexible manipulator. The control system is thus non-collocated. It consists of two electrical dynamic absorbers, each of which consists of a modal filter and, in case of an out-of-phase mode, a phase inverter. The experimental results show that each absorber acts as a mechanical dynamic vibration absorber attached to each mode and significantly reduces the settling time for the system response to a step input. (technical note)

The Contact Dynamics method: A nonsmooth story

Science.gov (United States)

Dubois, Frédéric; Acary, Vincent; Jean, Michel

2018-03-01

When velocity jumps are occurring, the dynamics is said to be nonsmooth. For instance, in collections of contacting rigid bodies, jumps are caused by shocks and dry friction. Without compliance at the interface, contact laws are not only non-differentiable in the usual sense but also multi-valued. Modeling contacting bodies is of interest in order to understand the behavior of numerous mechanical systems such as flexible multi-body systems, granular materials or masonry. These granular materials behave puzzlingly either like a solid or a fluid and a description in the frame of classical continuous mechanics would be welcome though far to be satisfactory nowadays. Jean-Jacques Moreau greatly contributed to convex analysis, functions of bounded variations, differential measure theory, sweeping process theory, definitive mathematical tools to deal with nonsmooth dynamics. He converted all these underlying theoretical ideas into an original nonsmooth implicit numerical method called Contact Dynamics (CD); a robust and efficient method to simulate large collections of bodies with frictional contacts and impacts. The CD method offers a very interesting complementary alternative to the family of smoothed explicit numerical methods, often called Distinct Elements Method (DEM). In this paper developments and improvements of the CD method are presented together with a critical comparative review of advantages and drawbacks of both approaches. xml:lang="fr"

Design and Dynamic Modeling of Flexible Rehabilitation Mechanical Glove

Science.gov (United States)

Lin, M. X.; Ma, G. Y.; Liu, F. Q.; Sun, Q. S.; Song, A. Q.

2018-03-01

Rehabilitation gloves are equipment that helps rehabilitation doctors perform finger rehabilitation training, which can greatly reduce the labour intensity of rehabilitation doctors and make more people receive finger rehabilitation training. In the light of the defects of the existing rehabilitation gloves such as complicated structure and stiff movement, a rehabilitation mechanical glove is designed, which provides driving force by using the air cylinder and adopts a rope-spring mechanism to ensure the flexibility of the movement. In order to fit the size of different hands, the bandage ring which can adjust size is used to make the mechanism fixed. In the interest of solve the complex problem of dynamic equation, dynamic simulation is carried out by using Adams to obtain the motion curve, which is easy to optimize the structure of ring position.

Application of partial differential equation modeling of the control/structural dynamics of flexible spacecraft

Science.gov (United States)

Taylor, Lawrence W., Jr.; Rajiyah, H.

1991-01-01

Partial differential equations for modeling the structural dynamics and control systems of flexible spacecraft are applied here in order to facilitate systems analysis and optimization of these spacecraft. Example applications are given, including the structural dynamics of SCOLE, the Solar Array Flight Experiment, the Mini-MAST truss, and the LACE satellite. The development of related software is briefly addressed.

Development of an anisotropic beam finite element for composite wind turbine blades in multibody system

DEFF Research Database (Denmark)

Kim, Taeseong; Hansen, Anders Melchior; Branner, Kim

2013-01-01

In this paper a new anisotropic beam finite element for composite wind turbine blades is developed and implemented into the aeroelastic nonlinear multibody code, HAWC2, intended to be used to investigate if use of anisotropic material layups in wind turbine blades can be tailored for improved...

Flexible Graphene Electrodes for Prolonged Dynamic ECG Monitoring

Directory of Open Access Journals (Sweden)

Cunguang Lou

2016-11-01

Full Text Available This paper describes the development of a graphene-based dry flexible electrocardiography (ECG electrode and a portable wireless ECG measurement system. First, graphene films on polyethylene terephthalate (PET substrates and graphene paper were used to construct the ECG electrode. Then, a graphene textile was synthesized for the fabrication of a wearable ECG monitoring system. The structure and the electrical properties of the graphene electrodes were evaluated using Raman spectroscopy, scanning electron microscopy (SEM, and alternating current impedance spectroscopy. ECG signals were then collected from healthy subjects using the developed graphene electrode and portable measurement system. The results show that the graphene electrode was able to acquire the typical characteristics and features of human ECG signals with a high signal-to-noise (SNR ratio in different states of motion. A week-long continuous wearability test showed no degradation in the ECG signal quality over time. The graphene-based flexible electrode demonstrates comfortability, good biocompatibility, and high electrophysiological detection sensitivity. The graphene electrode also combines the potential for use in long-term wearable dynamic cardiac activity monitoring systems with convenience and comfort for use in home health care of elderly and high-risk adults.

Adherence Evaluation of a MacPherson Suspension under EuSAMA Norm in a Mathematical Model and one Multibody

Directory of Open Access Journals (Sweden)

Juan J. Arbeláez-Toro

2013-11-01

Full Text Available A computational simulation is Implemented, in order to response to a problem of dynamics associated With The assessment of adherence in suspension systems. The process begins with the lifting of the most representative geometries of a MacPherson system of a Nissan Sentra B13, where each of the devices is created and assembled into a CAD software to give a dynamic solution on a CAE multibody package. Afterwards a mathematical model was created whose differential equations are generated substantiated on Newton's second law and this are resolved using Matlab-Simulink applications. Once the model developing process is over, the variables are fed with accurate information of the studied vehicle to obtain the graphs that give an answer to EuSAMA (European Shock Absorber Manufacturers Association test protocol for the adherence analysis. The results presented show the reliability of the developed models when compared with the experimental test; furthermore, it demonstrates that the decrease of the damping coefficient compromises the vehicle´s adherence on the track, affecting its stability and maneuverability.

Entropic Measure of Epistemic Uncertainties in Multibody System Models by Axiomatic Design

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Francesco Villecco

2017-06-01

Full Text Available In this paper, the use of the MaxInf Principle in real optimization problems is investigated for engineering applications, where the current design solution is actually an engineering approximation. In industrial manufacturing, multibody system simulations can be used to develop new machines and mechanisms by using virtual prototyping, where an axiomatic design can be employed to analyze the independence of elements and the complexity of connections forming a general mechanical system. In the classic theories of Fisher and Wiener-Shannon, the idea of information is a measure of only probabilistic and repetitive events. However, this idea is broader than the probability alone field. Thus, the Wiener-Shannon’s axioms can be extended to non-probabilistic events and it is possible to introduce a theory of information for non-repetitive events as a measure of the reliability of data for complex mechanical systems. To this end, one can devise engineering solutions consistent with the values of the design constraints analyzing the complexity of the relation matrix and using the idea of information in the metric space. The final solution gives the entropic measure of epistemic uncertainties which can be used in multibody system models, analyzed with an axiomatic design.

Implicit gas-kinetic unified algorithm based on multi-block docking grid for multi-body reentry flows covering all flow regimes

Science.gov (United States)

Peng, Ao-Ping; Li, Zhi-Hui; Wu, Jun-Lin; Jiang, Xin-Yu

2016-12-01

Based on the previous researches of the Gas-Kinetic Unified Algorithm (GKUA) for flows from highly rarefied free-molecule transition to continuum, a new implicit scheme of cell-centered finite volume method is presented for directly solving the unified Boltzmann model equation covering various flow regimes. In view of the difficulty in generating the single-block grid system with high quality for complex irregular bodies, a multi-block docking grid generation method is designed on the basis of data transmission between blocks, and the data structure is constructed for processing arbitrary connection relations between blocks with high efficiency and reliability. As a result, the gas-kinetic unified algorithm with the implicit scheme and multi-block docking grid has been firstly established and used to solve the reentry flow problems around the multi-bodies covering all flow regimes with the whole range of Knudsen numbers from 10 to 3.7E-6. The implicit and explicit schemes are applied to computing and analyzing the supersonic flows in near-continuum and continuum regimes around a circular cylinder with careful comparison each other. It is shown that the present algorithm and modelling possess much higher computational efficiency and faster converging properties. The flow problems including two and three side-by-side cylinders are simulated from highly rarefied to near-continuum flow regimes, and the present computed results are found in good agreement with the related DSMC simulation and theoretical analysis solutions, which verify the good accuracy and reliability of the present method. It is observed that the spacing of the multi-body is smaller, the cylindrical throat obstruction is greater with the flow field of single-body asymmetrical more obviously and the normal force coefficient bigger. While in the near-continuum transitional flow regime of near-space flying surroundings, the spacing of the multi-body increases to six times of the diameter of the single

Optimal Reference Strain Structure for Studying Dynamic Responses of Flexible Rockets

Science.gov (United States)

Tsushima, Natsuki; Su, Weihua; Wolf, Michael G.; Griffin, Edwin D.; Dumoulin, Marie P.

2017-01-01

In the proposed paper, the optimal design of reference strain structures (RSS) will be performed targeting for the accurate observation of the dynamic bending and torsion deformation of a flexible rocket. It will provide the detailed description of the finite-element (FE) model of a notional flexible rocket created in MSC.Patran. The RSS will be attached longitudinally along the side of the rocket and to track the deformation of the thin-walled structure under external loads. An integrated surrogate-based multi-objective optimization approach will be developed to find the optimal design of the RSS using the FE model. The Kriging method will be used to construct the surrogate model. For the data sampling and the performance evaluation, static/transient analyses will be performed with MSC.Natran/Patran. The multi-objective optimization will be solved with NSGA-II to minimize the difference between the strains of the launch vehicle and RSS. Finally, the performance of the optimal RSS will be evaluated by checking its strain-tracking capability in different numerical simulations of the flexible rocket.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

Science.gov (United States)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 34th and AIAA/ASME Adaptive Structures Forum, La Jolla, CA, Apr. 19-22, 1993, Technical Papers. Pts. 1-6

Science.gov (United States)

Topics addressed include the prediction of helicopter component loads using neural networks, spacecraft on-orbit coupled loads analysis, hypersonic flutter of a curved shallow panel with aerodynamic heating, thermal-acoustic fatigue of ceramic matrix composite materials, transition elements based on transfinite interpolation, damage progression in stiffened composite panels, a direct treatment of min-max dynamic response optimization problems, and sources of helicopter rotor hub inplane shears. Also discussed are dynamics of a layered elastic system, confidence bounds on structural reliability, mixed triangular space-time finite elements, advanced transparency development for USAF aircraft, a low-velocity impact on a graphite/PEEK, an automated mode-tracking strategy, transonic flutter suppression by a passive flap, a nonlinear response of composite panels to random excitation, an optimal placement of elastic supports on a simply supported plate, a probabilistic assessment of composite structures, a model for mode I failure of laminated composites, a residual flexibility approach to multibody dynamics,and multilayer piezoelectric actuators.

Attitude dynamics and control of spacecraft with a partially filled liquid tank and flexible panels

Science.gov (United States)

Liu, Feng; Yue, Baozeng; Zhao, Liangyu

2018-02-01

A liquid-filled flexible spacecraft is essentially a time-variant fully-coupled system, whose dynamics characteristics are closely associated with its motion features. This paper focuses on the mathematical modelling and attitude control of the spacecraft coupled with fuel sloshing dynamics and flexible solar panels vibration. The slosh motion is represented by a spherical pendulum, whose motion description method is improved by using split variable operation. Benefiting from this improvement, the nonlinear lateral sloshing and the rotary sloshing as well as the rigid motion of a liquid respect to the spacecraft can be approximately described. The assumed modes discretization method has been adopted to approximate the elastic displacements of the attached panels, and the coupled dynamics is derived by using the Lagrangian formulation. A variable substitution method is proposed to obtain the apparently-uncoupled mathematical model of the rigid-flexible-liquid spacecraft. After linearization, this model can be directly used for designing Lyapunov output-feedback attitude controller (OFAC). With only torque actuators, and attitude and rate sensors installed, this kind of attitude controller, as simulation results show, is capable of not only bringing the spacecraft to the desired orientation, but also suppressing the effect of flex and slosh on the attitude motion of the spacecraft.

Rigid-flexible coupling dynamics of three-dimensional hub-beams system

International Nuclear Information System (INIS)

Liu Jinyang; Lu Hao

2007-01-01

In the previous research of the coupling dynamics of a hub-beam system, coupling between the rotational motion of hub and the torsion deformation of beam is not taken into account since the system undergoes planar motion. Due to the small longitudinal deformation, coupling between the rotational motion of hub and the longitudinal deformation of beam is also neglected. In this paper, rigid-flexible coupling dynamics is extended to a hub-beams system with three-dimensional large overall motion. Not only coupling between the large overall motion and the bending deformation, but also coupling between the large overall motion and the torsional deformation are taken into account. In case of temperature increase, the longitudinal deformation caused by the thermal expansion is significant, such that coupling between the large overall motion and the longitudinal deformation is also investigated. Combining the characteristics of the hybrid coordinate formulation and the absolute nodal coordinate formulation, the system generalized coordinates include the relative nodal displacement and the slope of each beam element with respect to the body-fixed frame of the hub, and the variables related to the spatial large overall motion of the hub and beams. Based on precise strain-displacement relation, the geometric stiffening effect is taken into account, and the rigid-flexible coupling dynamic equations are derived using velocity variational principle. Finite element method is employed for discretization. Simulation of a hub-beams system is used to show the coupling effect between the large overall motion and the torsional deformation as well as the longitudinal deformation. Furthermore, conservation of energy in case of free motion is shown to verify the formulation

Subtle balance of tropoelastin molecular shape and flexibility regulates dynamics and hierarchical assembly.

Science.gov (United States)

Yeo, Giselle C; Tarakanova, Anna; Baldock, Clair; Wise, Steven G; Buehler, Markus J; Weiss, Anthony S

2016-02-01

The assembly of the tropoelastin monomer into elastin is vital for conferring elasticity on blood vessels, skin, and lungs. Tropoelastin has dual needs for flexibility and structure in self-assembly. We explore the structure-dynamics-function interplay, consider the duality of molecular order and disorder, and identify equally significant functional contributions by local and global structures. To study these organizational stratifications, we perturb a key hinge region by expressing an exon that is universally spliced out in human tropoelastins. We find a herniated nanostructure with a displaced C terminus and explain by molecular modeling that flexible helices are replaced with substantial β sheets. We see atypical higher-order cross-linking and inefficient assembly into discontinuous, thick elastic fibers. We explain this dysfunction by correlating local and global structural effects with changes in the molecule's assembly dynamics. This work has general implications for our understanding of elastomeric proteins, which balance disordered regions with defined structural modules at multiple scales for functional assembly.

Prediction of railway induced ground vibration through multibody and finite element modelling

Directory of Open Access Journals (Sweden)

G. Kouroussis

2013-04-01

Full Text Available The multibody approach is now recognized as a reliable and mature computer aided engineering tool. Namely, it is commonly used in industry for the design of road or railway vehicles. The paper presents a framework developed for predicting the vibrations induced by railway transportation. Firstly, the vehicle/track subsystem is simulated, on the basis of the home-made C++ library EasyDyn, by mixing the multibody model of the vehicle and the finite element model of the track, coupled to each other through the wheel/rail contact forces. Only the motion in the vertical plane is considered, assuming a total symmetry between left and right rails. This first step produces the time history of the forces exerted by the ballast on the foundation, which are then applied to a full 3-D FEM model of the soil, defined under the commercial software ABAQUS. The paper points out the contribution of the pitch motion of the bogies and carbodies which were neglected in previous publications, as well as the interest of the so-called coupled-lumped mass model (CLM to represent the influence of the foundation in the track model. The potentialities of the model are illustrated on the example of the Thalys high-speed train, riding at 300 km h−1 on the Belgian site of Mévergnies.

Applied dynamics

CERN Document Server

Schiehlen, Werner

2014-01-01

Applied Dynamics is an important branch of engineering mechanics widely applied to mechanical and automotive engineering, aerospace and biomechanics as well as control engineering and mechatronics. The computational methods presented are based on common fundamentals. For this purpose analytical mechanics turns out to be very useful where D’Alembert’s principle in the Lagrangian formulation proves to be most efficient. The method of multibody systems, finite element systems and continuous systems are treated consistently. Thus, students get a much better understanding of dynamical phenomena, and engineers in design and development departments using computer codes may check the results more easily by choosing models of different complexity for vibration and stress analysis.

Nonlinear dynamic modeling of a simple flexible rotor system subjected to time-variable base motions

Science.gov (United States)

Chen, Liqiang; Wang, Jianjun; Han, Qinkai; Chu, Fulei

2017-09-01

Rotor systems carried in transportation system or under seismic excitations are considered to have a moving base. To study the dynamic behavior of flexible rotor systems subjected to time-variable base motions, a general model is developed based on finite element method and Lagrange's equation. Two groups of Euler angles are defined to describe the rotation of the rotor with respect to the base and that of the base with respect to the ground. It is found that the base rotations would cause nonlinearities in the model. To verify the proposed model, a novel test rig which could simulate the base angular-movement is designed. Dynamic experiments on a flexible rotor-bearing system with base angular motions are carried out. Based upon these, numerical simulations are conducted to further study the dynamic response of the flexible rotor under harmonic angular base motions. The effects of base angular amplitude, rotating speed and base frequency on response behaviors are discussed by means of FFT, waterfall, frequency response curve and orbits of the rotor. The FFT and waterfall plots of the disk horizontal and vertical vibrations are marked with multiplications of the base frequency and sum and difference tones of the rotating frequency and the base frequency. Their amplitudes will increase remarkably when they meet the whirling frequencies of the rotor system.

xMDFF: molecular dynamics flexible fitting of low-resolution X-ray structures

International Nuclear Information System (INIS)

McGreevy, Ryan; Singharoy, Abhishek; Li, Qufei; Zhang, Jingfen; Xu, Dong; Perozo, Eduardo; Schulten, Klaus

2014-01-01

A new real-space refinement method for low-resolution X-ray crystallography is presented. The method is based on the molecular dynamics flexible fitting protocol targeted at addressing large-scale deformations of the search model to achieve refinement with minimal manual intervention. An explanation of the method is provided, augmented by results from the refinement of both synthetic and experimental low-resolution data, including an independent electrophysiological verification of the xMDFF-refined crystal structure of a voltage-sensor protein. X-ray crystallography remains the most dominant method for solving atomic structures. However, for relatively large systems, the availability of only medium-to-low-resolution diffraction data often limits the determination of all-atom details. A new molecular dynamics flexible fitting (MDFF)-based approach, xMDFF, for determining structures from such low-resolution crystallographic data is reported. xMDFF employs a real-space refinement scheme that flexibly fits atomic models into an iteratively updating electron-density map. It addresses significant large-scale deformations of the initial model to fit the low-resolution density, as tested with synthetic low-resolution maps of d-ribose-binding protein. xMDFF has been successfully applied to re-refine six low-resolution protein structures of varying sizes that had already been submitted to the Protein Data Bank. Finally, via systematic refinement of a series of data from 3.6 to 7 Å resolution, xMDFF refinements together with electrophysiology experiments were used to validate the first all-atom structure of the voltage-sensing protein Ci-VSP

xMDFF: molecular dynamics flexible fitting of low-resolution X-ray structures

Energy Technology Data Exchange (ETDEWEB)

McGreevy, Ryan; Singharoy, Abhishek [University of Illinois at Urbana-Champaign, Urbana, IL 61801 (United States); Li, Qufei [The University of Chicago, Chicago, IL 60637 (United States); Zhang, Jingfen; Xu, Dong [University of Missouri, Columbia, MO 65211 (United States); Perozo, Eduardo [The University of Chicago, Chicago, IL 60637 (United States); Schulten, Klaus, E-mail: kschulte@ks.uiuc.edu [University of Illinois at Urbana-Champaign, Urbana, IL 61801 (United States); University of Illinois at Urbana-Champaign, Urbana, IL 61801 (United States)

2014-09-01

A new real-space refinement method for low-resolution X-ray crystallography is presented. The method is based on the molecular dynamics flexible fitting protocol targeted at addressing large-scale deformations of the search model to achieve refinement with minimal manual intervention. An explanation of the method is provided, augmented by results from the refinement of both synthetic and experimental low-resolution data, including an independent electrophysiological verification of the xMDFF-refined crystal structure of a voltage-sensor protein. X-ray crystallography remains the most dominant method for solving atomic structures. However, for relatively large systems, the availability of only medium-to-low-resolution diffraction data often limits the determination of all-atom details. A new molecular dynamics flexible fitting (MDFF)-based approach, xMDFF, for determining structures from such low-resolution crystallographic data is reported. xMDFF employs a real-space refinement scheme that flexibly fits atomic models into an iteratively updating electron-density map. It addresses significant large-scale deformations of the initial model to fit the low-resolution density, as tested with synthetic low-resolution maps of d-ribose-binding protein. xMDFF has been successfully applied to re-refine six low-resolution protein structures of varying sizes that had already been submitted to the Protein Data Bank. Finally, via systematic refinement of a series of data from 3.6 to 7 Å resolution, xMDFF refinements together with electrophysiology experiments were used to validate the first all-atom structure of the voltage-sensing protein Ci-VSP.

CP violation in multibody decays of beauty baryons

Energy Technology Data Exchange (ETDEWEB)

Durieux, Gauthier

2016-08-15

Beauty baryons are being observed in large numbers in the LHCb detector. The rich kinematic distributions of their multibody decays are therefore becoming accessible and provide us with new opportunities to search for CP violation. We analyse the angular distributions of some three- and four-body decays of spin-1/2 baryons using the Jacob-Wick helicity formalism. The asymmetries that provide access to small differences of CP-odd phases between decay amplitudes of identical CP-even phases are notably discussed. The understanding gained on processes featuring specific resonant intermediate states allows us to establish which asymmetries are relevant for what purpose. It is for instance shown that some CP-odd angular asymmetries measured by the LHCb collaboration in the Λ{sub b}→Λφ→pπ K{sup +}K{sup -} decay are expected to vanish identically.

Vehicle dynamics modeling and simulation

CERN Document Server

Schramm, Dieter; Bardini, Roberto

2014-01-01

The authors examine in detail the fundamentals and mathematical descriptions of the dynamics of automobiles. In this context different levels of complexity will be presented, starting with basic single-track models up to complex three-dimensional multi-body models. A particular focus is on the process of establishing mathematical models on the basis of real cars and the validation of simulation results. The methods presented are explained in detail by means of selected application scenarios.

Constraint Embedding for Vehicle Suspension Dynamics

Directory of Open Access Journals (Sweden)

Jain Abhinandan

2016-06-01

Full Text Available The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle.

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

Science.gov (United States)

Jain, Abhinandan

2011-01-01

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component

Finite element formulation for dynamics of planar flexible multi-beam system

International Nuclear Information System (INIS)

Liu Zhuyong; Hong Jiazhen; Liu Jinyang

2009-01-01

In some previous geometric nonlinear finite element formulations, due to the use of axial displacement, the contribution of all the elements lying between the reference node of zero axial displacement and the element to the foreshortening effect should be taken into account. In this paper, a finite element formulation is proposed based on geometric nonlinear elastic theory and finite element technique. The coupling deformation terms of an arbitrary point only relate to the nodal coordinates of the element at which the point is located. Based on Hamilton principle, dynamic equations of elastic beams undergoing large overall motions are derived. To investigate the effect of coupling deformation terms on system dynamic characters and reduce the dynamic equations, a complete dynamic model and three reduced models of hub-beam are prospected. When the Cartesian deformation coordinates are adopted, the results indicate that the terms related to the coupling deformation in the inertia forces of dynamic equations have small effect on system dynamic behavior and may be neglected, whereas the terms related to coupling deformation in the elastic forces are important for system dynamic behavior and should be considered in dynamic equation. Numerical examples of the rotating beam and flexible beam system are carried out to demonstrate the accuracy and validity of this dynamic model. Furthermore, it is shown that a small number of finite elements are needed to obtain a stable solution using the present coupling finite element formulation

Fluid Dynamics of Clap-and-Fling with Highly Flexible Wings inspired by the Locomotion of Sea Butterflies

Science.gov (United States)

Zhou, Zhuoyu; Shoele, Kourosh; Adhikari, Deepak; Yen, Jeannette; Webster, Donald; Mittal, Rajat; Johns Hopkins University Team; Georgia Institute of Technology Team

2015-11-01

This study is motivated by the locomotion of sea butterflies (L. Helicina) which propel themselves in the water column using highly flexible wing-like parapodia. These animals execute a complex clap-and-fling with their highly flexible wings that is different from that of insects, and the fluid dynamics of which is not well understood. We use two models to study the fluid dyamics of these wings. In the first, we use prescribed wing kinematics that serve as a model of those observed for these animals. The second model is a fluid-structure interaction model where wing-like parapodia are modeled as flexible but inextensible membranes. The membrane properties, such as bending and stretching stiffness are modified such that the corresponding motion qualitatively matches the kinematics of L. helicina. Both models are used to examine the fluid dynamics of the clap-and-fling and its effectiveness in generating lift for these animals. Acknowledgement - research is supported by a grant from NSF.

A study on the Horizontal Control of a Seat for Heavy Machinery using a Phase Adjusting Technique

Directory of Open Access Journals (Sweden)

Kim Chae-sil.

2016-01-01

Full Text Available This study proposes a dynamic plant model to simulate the performance of a heavy equipment vehicle seat system. The system controls the transmission of vibration using a phase adjustment control method. First, a dynamic model for the flexible heavy equipment seat is proposed using a commercial multi-body dynamic analysis tool, ADAMS. This model is used as a plant model. Then a phase adjustment control mechanism for reducing the vibration and shock transmitted by the seat is applied to the driving dynamics control plant model. Angle control using the phase adjustment control was confirmed. This technique is expected to be the basis for a future commercial system.

Real-time Nyquist signaling with dynamic precision and flexible non-integer oversampling.

Science.gov (United States)

Schmogrow, R; Meyer, M; Schindler, P C; Nebendahl, B; Dreschmann, M; Meyer, J; Josten, A; Hillerkuss, D; Ben-Ezra, S; Becker, J; Koos, C; Freude, W; Leuthold, J

2014-01-13

We demonstrate two efficient processing techniques for Nyquist signals, namely computation of signals using dynamic precision as well as arbitrary rational oversampling factors. With these techniques along with massively parallel processing it becomes possible to generate and receive high data rate Nyquist signals with flexible symbol rates and bandwidths, a feature which is highly desirable for novel flexgrid networks. We achieved maximum bit rates of 252 Gbit/s in real-time.

Flight Dynamics Simulation Modeling and Control of a Large Flexible Tiltrotor Aircraft

Science.gov (United States)

2014-09-01

analyses as it retains a momentum theory type rotor system. Later, CAMRAD, a comprehensive aeromechanics and dynamics model capa- ble of multi-rotor and...isotropic, linearly elastic material. 8. All blades are identical. 9. Euler- Bernoulli beam theory is used, implying plane cross sections remain plane and...aircraft could be improved to achieve a higher fidelity structural response. Currently, flexible wings are modeled as Bernoulli beams. Actual aircraft

Mixed Finite Element Method for Static and Dynamic Contact Problems with Friction and Initial Gaps

Directory of Open Access Journals (Sweden)

Lanhao Zhao

2014-01-01

Full Text Available A novel mixed finite element method is proposed for static and dynamic contact problems with friction and initial gaps. Based on the characteristic of local nonlinearity for the problem, the system of forces acting on the contactor is divided into two parts: external forces and contact forces. The displacement of structure is chosen as the basic variable and the nodal contact force in contact region under local coordinate system is selected as the iteration variable to confine the nonlinear iteration process in the potential contact surface which is more numerically efficient. In this way, the sophisticated contact nonlinearity is revealed by the variety of the contact forces which are determined by the external load and the contact state stick, slip, or separation. Moreover, in the case of multibody contact problem, the flexibility matrix is symmetric and sparse; thus, the iterative procedure becomes easily carried out and much more economical. In the paper, both the finite element formulations and the iteration process are given in detail for static and dynamic contact problems. Four examples are included to demonstrate the accuracy and applicability of the presented method.

Dynamic characterization, monitoring and control of rotating flexible beam-mass structures via piezo-embedded techniques

Science.gov (United States)

Lai, Steven H.-Y.

1992-01-01

A variational principle and a finite element discretization technique were used to derive the dynamic equations for a high speed rotating flexible beam-mass system embedded with piezo-electric materials. The dynamic equation thus obtained allows the development of finite element models which accommodate both the original structural element and the piezoelectric element. The solutions of finite element models provide system dynamics needed to design a sensing system. The characterization of gyroscopic effect and damping capacity of smart rotating devices are addressed. Several simulation examples are presented to validate the analytical solution.

A multi-body vehicle for moving inside cluttered nuclear environment

International Nuclear Information System (INIS)

Littmann, F.; Chameaud, H.

1994-01-01

The paper presents the result of the TALOS (Technologies for Advanced locomotion Systems) programme. The general aim of the TALOS was to prove the feasibility of multi-body articulated vehicles for intervention missions in nuclear plant were high payload volume and mass are required, combined with great geometrical and obstacles constraints. This programme was based on one hand on the TLV (Train Like Vehicle) concept, developed by CEA ( Atomic Energy Commission) and on the other hand on the KfK experience on locomotion. The main difficulties of this programme were to find the mechanical linkage concept and the locomotion concept, and also to build an integrated mockup with linkage and locomotion concepts. (TEC). 4 refs., 5 figs

A multi-body vehicle for moving inside cluttered nuclear environment

Energy Technology Data Exchange (ETDEWEB)

Littmann, F.; Chameaud, H. [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances; Dorn, J. [Kernforschungszentrum Karlsruhe GmbH (Germany)

1994-12-31

The paper presents the result of the TALOS (Technologies for Advanced locomotion Systems) programme. The general aim of the TALOS was to prove the feasibility of multi-body articulated vehicles for intervention missions in nuclear plant were high payload volume and mass are required, combined with great geometrical and obstacles constraints. This programme was based on one hand on the TLV (Train Like Vehicle) concept, developed by CEA ( Atomic Energy Commission) and on the other hand on the KfK experience on locomotion. The main difficulties of this programme were to find the mechanical linkage concept and the locomotion concept, and also to build an integrated mockup with linkage and locomotion concepts. (TEC). 4 refs., 5 figs.

Concentration dependent carriers dynamics in CsPbBr3 perovskite nanocrystals film with transient grating

Science.gov (United States)

Wang, Yinghui; Wang, Yanting; Dev Verma, Sachin; Tan, Mingrui; Liu, Qinghui; Yuan, Qilin; Sui, Ning; Kang, Zhihui; Zhou, Qiang; Zhang, Han-Zhuang

2017-05-01

The concentration dependence of the carrier dynamics is a key parameter to describe the photo-physical properties of semiconductor films. Here, we investigate the carrier dynamics in the CsPbBr3 perovskite nanocrystal film by employing the transient grating (TG) technique with continuous bias light. The concentration of initial carriers is determined by the average number of photons per nanocrystals induced by pump light (⟨N⟩). The multi-body interaction would appear and accelerate the TG dynamics with ⟨N⟩. When ⟨N⟩ is more than 3.0, the TG dynamics slightly changes, which implies that the Auger recombination would be the highest order multi-body interaction in carrier recombination dynamics. The concentration of non-equilibrium carriers in the film is controlled by the average number of photons per nanocrystals excited by continuous bias light (⟨nne⟩). Increasing ⟨nne⟩ would improve the trapping-detrapping process by filling the trapping state, which would accelerate the carrier diffusion and add the complexity of the mono-molecular recombination mechanism. The results should be useful to further understand the mechanism of carrier dynamics in the CsPbBr3 perovskite nanocrystal film and of great importance for the operation of the corresponding optoelectronic devices.

Dynamical Simulations of a Flexible Rotor in Cylindrical Uncavitated and Cavitated Lubricated Journal Bearings

Directory of Open Access Journals (Sweden)

Alessandro Ruggiero

2018-04-01

Full Text Available Due to requirements of their operating conditions, such as high speed, high flexibility and high efficiency, rotating machines are designed to obtain larger operating ranges. These operating conditions can increase the risk of fluid-induced instability. In fact, the presence of non-linear fluid forces when the threshold speed is overcome by the rotational speed, can generate rotor lateral self-excited vibrations known as “oil whirl” or “oil whip”. These instabilities derive from the interaction between the rotor and the sliding bearing and they are typically sub-synchronous and they contribute to eventual rubbing between rotor and stator with consequent damage to the rotating machines. For these reasons, the aim of this paper is to numerically investigate the differences in the dynamic behaviour of a flexible rotor supported by cylindrical lubricated journal bearings. The study considers two different cases, uncavitated and cavitated lubricated films, in order to develop an original Matlab-Simulink algorithm for the numerical solution of the differential non-linear equations of motion of the unbalanced flexible rotor supported on hydrodynamic journal bearings. The bearings were modelled as uncavitated and cavitated (π-Film short bearings derived from classical Reynolds’ theory. Dynamic simulation allowed prediction of the shape and size of the orbit performed by the system and evaluation of the vibrating phenomena exerted by the rotor during the motion. The results show that cavitation completely modifies the behaviour of the system in every aspect. The analysis of the diagrams obtained showed that the proposed algorithm provides consistent results and represents a valuable instrument for dynamic analysis of rotating systems.

Lateral Dynamics of Flexible Rotors Supported by Controllable Gas Bearings Theory & Experiment

DEFF Research Database (Denmark)

Pierart Vásquez, Fabián Gonzalo; Santos, Ilmar

2015-01-01

Active gas bearings might represent a mechatronic answer to the growing industrial need for high performance turbomachinery. In this framework, the paper gives a theoretical and experimental contribution to the improvement of lateral dynamics of rotating machines. The work aims at demonstrating...... theoretically as well as experimentally the feasibility of applying active lubrication to gas journal bearings. The operation principle is to generate active forces by regulating the radial injection of a compressible lubricant (gas) by means of piezoelectric actuators mounted on the back of the bearing sleeve....... The active control principle is built using eddy-current sensor signals to detect the lateral motion of the rotor. A feedback law is used to couple the lateral dynamics of a flexible rotor-bearing system with the pneumatic and dynamic characteristics of a piezoelectric actuated valve system. A proportional...

Flexible Bayesian Dynamic Modeling of Covariance and Correlation Matrices

KAUST Repository

Lan, Shiwei

2017-11-08

Modeling covariance (and correlation) matrices is a challenging problem due to the large dimensionality and positive-definiteness constraint. In this paper, we propose a novel Bayesian framework based on decomposing the covariance matrix into variance and correlation matrices. The highlight is that the correlations are represented as products of vectors on unit spheres. We propose a variety of distributions on spheres (e.g. the squared-Dirichlet distribution) to induce flexible prior distributions for covariance matrices that go beyond the commonly used inverse-Wishart prior. To handle the intractability of the resulting posterior, we introduce the adaptive $\\\\Delta$-Spherical Hamiltonian Monte Carlo. We also extend our structured framework to dynamic cases and introduce unit-vector Gaussian process priors for modeling the evolution of correlation among multiple time series. Using an example of Normal-Inverse-Wishart problem, a simulated periodic process, and an analysis of local field potential data (collected from the hippocampus of rats performing a complex sequence memory task), we demonstrated the validity and effectiveness of our proposed framework for (dynamic) modeling covariance and correlation matrices.

Covalent dye attachment influences the dynamics and conformational properties of flexible peptides.

Directory of Open Access Journals (Sweden)

Manuel P Luitz

Full Text Available Fluorescence spectroscopy techniques like Förster resonance energy transfer (FRET and fluorescence correlation spectroscopy (FCS have become important tools for the in vitro and in vivo investigation of conformational dynamics in biomolecules. These methods rely on the distance-dependent quenching of the fluorescence signal of a donor fluorophore either by a fluorescent acceptor fluorophore (FRET or a non-fluorescent quencher, as used in FCS with photoinduced electron transfer (PET. The attachment of fluorophores to the molecule of interest can potentially alter the molecular properties and may affect the relevant conformational states and dynamics especially of flexible biomolecules like intrinsically disordered proteins (IDP. Using the intrinsically disordered S-peptide as a model system, we investigate the impact of terminal fluorescence labeling on the molecular properties. We perform extensive molecular dynamics simulations on the labeled and unlabeled peptide and compare the results with in vitro PET-FCS measurements. Experimental and simulated timescales of end-to-end fluctuations were found in excellent agreement. Comparison between simulations with and without labels reveal that the π-stacking interaction between the fluorophore labels traps the conformation of S-peptide in a single dominant state, while the unlabeled peptide undergoes continuous conformational rearrangements. Furthermore, we find that the open to closed transition rate of S-peptide is decreased by at least one order of magnitude by the fluorophore attachment. Our approach combining experimental and in silico methods provides a benchmark for the simulations and reveals the significant effect that fluorescence labeling can have on the conformational dynamics of small biomolecules, at least for inherently flexible short peptides. The presented protocol is not only useful for comparing PET-FCS experiments with simulation results but provides a strategy to minimize the

Impact of the variation in dynamic vehicle load on flexible pavement responses

Science.gov (United States)

Ahsanuzzaman, Md

The purpose of this research was to evaluate the dynamic variation in asphalt pavement critical responses due to dynamic tire load variations. An attempt was also made to develop generalized regression equations to predict the dynamic response variation in flexible pavement under various dynamic load conditions. The study used an extensive database of computed pavement response histories for five different types of sites (smooth, rough, medium rough, very rough and severely rough), two different asphalt pavement structures (thin and thick) at two temperatures (70 °F and 104 °F), subjected to a tandem axle dual tire at three speeds 25, 37 and 50 mph (40, 60 and 80 km/h). All pavement responses were determined using the 3D-Move Analysis program (Version 1.2) developed by University of Nevada, Reno. A new term called Dynamic Response Coefficient (DRC) was introduced in this study to address the variation in critical pavement responses due to dynamic loads as traditionally measured by the Dynamic Load Coefficient (DLC). While DLC represents the additional varying component of the tire load, DRC represents the additional varying component of the response value (standard deviation divided by mean response). In this study, DRC was compared with DLC for five different sites based on the roughness condition of the sites. Previous studies showed that DLC varies with vehicle speed and suspension types, and assumes a constant value for the whole pavement structure (lateral and vertical directions). On the other hand, in this study, DRC was found to be significantly varied with the asphalt pavement and function of pavement structure, road roughness conditions, temperatures, vehicle speeds, suspension types, and locations of the point of interest in the pavement. A major contribution of the study is that the variation of pavement responses due to dynamic load in a flexible pavement system can be predicted with generalized regression equations. Fitting parameters (R2) in the

Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot

Science.gov (United States)

Lei, Jingtao; Yu, Huangying; Wang, Tianmiao

2016-01-01

The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.

Finite-size effects on multibody neutrino exchange

CERN Document Server

Abada, A; Rodríguez-Quintero, J; Abada, As

1998-01-01

The effect of multibody massless neutrino exchanges between neutrons inside a finite-size neutron star is studied. We use an effective Lagrangian, which incorporates the effect of the neutrons on the neutrinos. Following Schwinger, it is shown that the total interaction energy density is computed by comparing the zero point energy of the neutrino sea with and without the star. It has already been shown that in an infinite-size star the total energy due to neutrino exchange vanishes exactly. The opposite claim that massless neutrino exchange would produce a huge energy is due to an improper summation of an infrared-divergent quantity. The same vanishing of the total energy has been proved exactly in the case of a finite star in a one-dimensional toy model. Here we study the three-dimensional case. We first consider the effect of a sharp star border, assumed to be a plane. We find that there is a non- vanishing of the zero point energy density difference between the inside and the outside due to the refraction ...

Floating substructure flexibility of large-volume 10MW offshore wind turbine platforms in dynamic calculations

DEFF Research Database (Denmark)

Borg, Michael; Hansen, Anders Melchior; Bredmose, Henrik

2016-01-01

to the extent that it becomes relevant to include in addition to the standard rigid body substructure modes which are typically described through linear radiation-diffraction theory. This paper describes a method for the inclusion of substructural flexibility in aero-hydro-servo-elastic dynamic simulations...

Study of the railway vehicle suspension using the multibody method

Directory of Open Access Journals (Sweden)

Gheorghe GHITA

2011-12-01

Full Text Available The article presents a mathematical model for the study of a passenger coach hunting motion using the multibody approach. The model comprises the lateral displacement, rolling and yawing motions for the main constitutive elements: axles, bogies and case. The equation system is written applying energetic methods. The forced vibrations determined by the irregular profile of the tracks are considered. The wheel – rail contact forces are expressed using the creepage coefficients established according to Kalker's linear theory. The equations system is solved through numeric methods using specialized calculus programs. The response of the system – passenger coach on a tangent track, the critical speed and the influence of the constructive characteristics of the coach on its performances are determined.

The effect of loading time on flexible pavement dynamic response: a finite element analysis

Science.gov (United States)

Yin, Hao; Solaimanian, Mansour; Kumar, Tanmay; Stoffels, Shelley

2007-12-01

Dynamic response of asphalt concrete (AC) pavements under moving load is a key component for accurate prediction of flexible pavement performance. The time and temperature dependency of AC materials calls for utilizing advanced material characterization and mechanistic theories, such as viscoelasticity and stress/strain analysis. In layered elastic analysis, as implemented in the new Mechanistic-Empirical Pavement Design Guide (MEPDG), the time dependency is accounted for by calculating the loading times at different AC layer depths. In this study, the time effect on pavement response was evaluated by means of the concept of “pseudo temperature.” With the pavement temperature measured from instrumented thermocouples, the time and temperature dependency of AC materials was integrated into one single factor, termed “effective temperature.” Via this effective temperature, pavement responses under a transient load were predicted through finite element analysis. In the finite element model, viscoelastic behavior of AC materials was characterized through relaxation moduli, while the layers with unbound granular material were assumed to be in an elastic mode. The analysis was conducted for two different AC mixtures in a simplified flexible pavement structure at two different seasons. Finite element analysis results reveal that the loading time has a more pronounced impact on pavement response in the summer for both asphalt types. The results indicate that for reasonable prediction of dynamic response in flexible pavements, the effect of the depth-dependent loading time on pavement temperature should be considered.

Dynamic Analysis of Wind Turbine Towers on Flexible Foundations

Directory of Open Access Journals (Sweden)

S. Adhikari

2012-01-01

Full Text Available Offshore wind turbines are considered as an essential part to develop sustainable, alternative energy sources. The structures themselves are both slender and highly flexible, with a subsea foundation typically consisting of a single large diameter monopile. They are subject to intense wind and wave loadings, with the result that significant movement of both the exposed structure and the upper part of the monopile can occur. Although the structures are intended for design life of 25 to 30 years, very little is known about the long term behaviour of these structures. This paper characterizes the dynamic behaviour of these structures. A simplified approach has been proposed for the free vibration analysis of wind turbines taking the effect of foundation into account. The method is based on an Euler-Bernoulli beam-column with elastic end supports. The elastic end-supports are considered to model the flexible nature of the interaction of these systems with the foundation. A closed-form expression of the characteristic equation governing all the natural frequencies of the system has been derived. Theoretical developments are explained by practical numerical examples. Analytical as well as a new experimental approach has been proposed to determine the parameters for the foundation. Some design issues of wind turbine towers are discussed from the point of view of the foundation parameters.

Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB

OpenAIRE

Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

2013-01-01

The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE a...

An account of cognitive flexibility and inflexibility for a complex dynamic task

OpenAIRE

De Obeso Orendain, Alberto; Wood, Sharon

2012-01-01

Problem solving involves adapting known problem solving methods and strategies to the task at hand (Schunn & Reder, 2001) and cognitive flexibility is considered to be “the human ability to adapt the cognitive processing strategies to face new and unexpected conditions of the environment” (Cañas et al., 2005, p. 95). This work presents an ACT-R 6.0 model of complex problem solving behavior for the dynamic microworld game FireChief (Omodei & Wearing, 1995) that models the performance of partic...

Dynamic simulation of a planar flexible boom for tokamak in-vessel operations

International Nuclear Information System (INIS)

Ambrosino, G.; Celentano, G.; Garofalo, F.; Maisonnier, D.

1991-01-01

In this paper we present a dynamic model for the analysis of the vibrations of a planar articulated flexible boom to be used for tokamak in-vessel maintenance operations. The peculiarity of the mechanical structure of the boom enables us to consider separately the oscillations in the horizontal and vertical planes so that two separate models can be constructed for describing these phenomena. The results of simulations based on booms like that proposed for NET in-vessel operations are presented. (orig.)

Multi-body simulation of a canine hind limb: model development, experimental validation and calculation of ground reaction forces

Directory of Open Access Journals (Sweden)

Wefstaedt Patrick

2009-11-01

Full Text Available Abstract Background Among other causes the long-term result of hip prostheses in dogs is determined by aseptic loosening. A prevention of prosthesis complications can be achieved by an optimization of the tribological system which finally results in improved implant duration. In this context a computerized model for the calculation of hip joint loadings during different motions would be of benefit. In a first step in the development of such an inverse dynamic multi-body simulation (MBS- model we here present the setup of a canine hind limb model applicable for the calculation of ground reaction forces. Methods The anatomical geometries of the MBS-model have been established using computer tomography- (CT- and magnetic resonance imaging- (MRI- data. The CT-data were collected from the pelvis, femora, tibiae and pads of a mixed-breed adult dog. Geometric information about 22 muscles of the pelvic extremity of 4 mixed-breed adult dogs was determined using MRI. Kinematic and kinetic data obtained by motion analysis of a clinically healthy dog during a gait cycle (1 m/s on an instrumented treadmill were used to drive the model in the multi-body simulation. Results and Discussion As a result the vertical ground reaction forces (z-direction calculated by the MBS-system show a maximum deviation of 1.75%BW for the left and 4.65%BW for the right hind limb from the treadmill measurements. The calculated peak ground reaction forces in z- and y-direction were found to be comparable to the treadmill measurements, whereas the curve characteristics of the forces in y-direction were not in complete alignment. Conclusion In conclusion, it could be demonstrated that the developed MBS-model is suitable for simulating ground reaction forces of dogs during walking. In forthcoming investigations the model will be developed further for the calculation of forces and moments acting on the hip joint during different movements, which can be of help in context with the in

Open-loop position tracking control of a piezoceramic flexible beam using a dynamic hysteresis compensator

International Nuclear Information System (INIS)

Nguyen, Phuong-Bac; Choi, Seung-Bok

2010-01-01

This paper proposes a novel hysteresis compensator to enhance control accuracy in open-loop position tracking control of a piezoceramic flexible beam. The proposed hysteresis compensator consists of two components: a rate-independent hysteresis compensator and a nonlinear filter. The compensator is formulated based on the inverse Preisach model, while the weight coefficients of the filter are identified adaptively using a recursive least square (RLS) algorithm. In this work, two dynamic hysteresis compensators (or rate-independent hysteresis compensators) are developed by adopting two different nonlinear filters: Volterra and bilinear filters. In order to demonstrate the improved control accuracy of the proposed dynamic compensators, a flexible beam associated with the piezoceramic actuator is modeled using the finite element method (FEM) and Euler–Bernoulli beam theory. The beam model is then integrated with the proposed hysteresis model to achieve accurate position tracking control at the tip of the beam. An experimental investigation on the tip position tracking control is undertaken by realizing three different hysteresis compensators: a rate-independent hysteresis compensator, a rate-dependent hysteresis compensator with a Volterra nonlinear filter and a rate-independent hysteresis compensator with a bilinear nonlinear filter. It is shown that the proposed dynamic hysteresis compensators can provide much better tracking control accuracy than conventional rate-independent hysteresis compensators

Linking Flexible-Dynamic Team Structures through Distributed Leadership: A Qualitative Evaluation with Single Design Case Approach and Application of Roster Method

Directory of Open Access Journals (Sweden)

Aykut BERBER

2012-09-01

Full Text Available Fierce competition in every sector has forced companies to re-design their structures towards being more customer-focused, faster and more responsive. In this vein, there is rising dominance of flexible-dynamic team structures in organizations and these teams are, most of the times, self-managed. Among these team structures, leadership characteristics are not only observed in official team leaders but such characteristics are distributed among team members. The concept of "leading without leaders" has gained scholarly interest and in this paper, aim is to evaluate and combine constructs of distributed leadership and flexible-dynamic team structures within a single design case approach. Local division of a multinational company that operates in luxury cosmetics sector is selected. In-depth interviews were conducted at the company site, and flexible-dynamic team structures were examined in detail. As a second tool, Roster method is applied to see existence and strength of distributed leadership among different departments. Findings supported that organizational structure of this company has become more flexible-dynamic with distributed leadership characteristics seen across all departments. These findings were significant because our selected company entered into Turkey market twice and the second entry has been operationally successful. Arguments are offered regarding differences between two periods and further implications are suggested in relation to adoption of a new and more responsive company structure. Structural changes between two periods constituted the focal point of this research.

A Non-smooth Newton Method for Multibody Dynamics

International Nuclear Information System (INIS)

Erleben, K.; Ortiz, R.

2008-01-01

In this paper we deal with the simulation of rigid bodies. Rigid body dynamics have become very important for simulating rigid body motion in interactive applications, such as computer games or virtual reality. We present a novel way of computing contact forces using a Newton method. The contact problem is reformulated as a system of non-linear and non-smooth equations, and we solve this system using a non-smooth version of Newton's method. One of the main contribution of this paper is the reformulation of the complementarity problems, used to model impacts, as a system of equations that can be solved using traditional methods.

The effect of dynamic stretching on hamstrings flexibility with respect to the spino-pelvic rhythm.

Science.gov (United States)

Hasebe, Kiyotaka; Okubo, Yu; Kaneoka, Koji; Takada, Kohei; Suzuki, Daisuke; Sairyo, Koichi

2016-01-01

To ascertain the dynamic stretch effects of flexibility of the hamstrings on lumbar spine and pelvic kinematics. Tight hamstrings are positively correlated with low back pain. However, it is unclear how flexibility of the hamstrings affects spino-pelvic rhythm. Twelve healthy men participated in the study. The straight leg raising (SLR) angle, finger floor distance (FFD), and spino-pelvic rhythm was measured before and after the 6-week stretching protocol. The forward bending task was divided into 4 phases. The paired t-test was used to determine significant differences before and after the FFD, SLR angle, lumbar motion, and pelvic motion, and spino-pelvic rhythm in each phase (phamstrings are important for preventing low back pain.

Structural dynamics and aerodynamics measurements of biologically inspired flexible flapping wings

International Nuclear Information System (INIS)

Wu, P; Stanford, B K; Ifju, P G; Saellstroem, E; Ukeiley, L

2011-01-01

Flapping wing flight as seen in hummingbirds and insects poses an interesting unsteady aerodynamic problem: coupling of wing kinematics, structural dynamics and aerodynamics. There have been numerous studies on the kinematics and aerodynamics in both experimental and computational cases with both natural and artificial wings. These studies tend to ignore wing flexibility; however, observation in nature affirms that passive wing deformation is predominant and may be crucial to the aerodynamic performance. This paper presents a multidisciplinary experimental endeavor in correlating a flapping micro air vehicle wing's aeroelasticity and thrust production, by quantifying and comparing overall thrust, structural deformation and airflow of six pairs of hummingbird-shaped membrane wings of different properties. The results show that for a specific spatial distribution of flexibility, there is an effective frequency range in thrust production. The wing deformation at the thrust-productive frequencies indicates the importance of flexibility: both bending and twisting motion can interact with aerodynamic loads to enhance wing performance under certain conditions, such as the deformation phase and amplitude. By measuring structural deformations under the same aerodynamic conditions, beneficial effects of passive wing deformation can be observed from the visualized airflow and averaged thrust. The measurements and their presentation enable observation and understanding of the required structural properties for a thrust effective flapping wing. The intended passive responses of the different wings follow a particular pattern in correlation to their aerodynamic performance. Consequently, both the experimental technique and data analysis method can lead to further studies to determine the design principles for micro air vehicle flapping wings.

Structural dynamics and aerodynamics measurements of biologically inspired flexible flapping wings

Energy Technology Data Exchange (ETDEWEB)

Wu, P; Stanford, B K; Ifju, P G [Department of Mechanical and Aerospace Engineering, MAE-A 231, University of Florida, Gainesville, FL 32611 (United States); Saellstroem, E; Ukeiley, L, E-mail: diccidwp@ufl.edu [Department of Mechanical and Aerospace Engineering, University of Florida, Shalimar, FL 32579 (United States)

2011-03-15

Flapping wing flight as seen in hummingbirds and insects poses an interesting unsteady aerodynamic problem: coupling of wing kinematics, structural dynamics and aerodynamics. There have been numerous studies on the kinematics and aerodynamics in both experimental and computational cases with both natural and artificial wings. These studies tend to ignore wing flexibility; however, observation in nature affirms that passive wing deformation is predominant and may be crucial to the aerodynamic performance. This paper presents a multidisciplinary experimental endeavor in correlating a flapping micro air vehicle wing's aeroelasticity and thrust production, by quantifying and comparing overall thrust, structural deformation and airflow of six pairs of hummingbird-shaped membrane wings of different properties. The results show that for a specific spatial distribution of flexibility, there is an effective frequency range in thrust production. The wing deformation at the thrust-productive frequencies indicates the importance of flexibility: both bending and twisting motion can interact with aerodynamic loads to enhance wing performance under certain conditions, such as the deformation phase and amplitude. By measuring structural deformations under the same aerodynamic conditions, beneficial effects of passive wing deformation can be observed from the visualized airflow and averaged thrust. The measurements and their presentation enable observation and understanding of the required structural properties for a thrust effective flapping wing. The intended passive responses of the different wings follow a particular pattern in correlation to their aerodynamic performance. Consequently, both the experimental technique and data analysis method can lead to further studies to determine the design principles for micro air vehicle flapping wings.

Weak decays of doubly heavy baryons. Multi-body decay channels

Energy Technology Data Exchange (ETDEWEB)

Shi, Yu-Ji; Wang, Wei; Xing, Ye; Xu, Ji [Shanghai Jiao Tong University, INPAC, Shanghai Key Laboratory for Particle Physics and Cosmology, MOE Key Laboratory for Particle Physics, Astrophysics and Cosmology, School of Physics and Astronomy, Shanghai (China)

2018-01-15

The newly-discovered Ξ{sub cc}{sup ++} decays into the Λ{sub c}{sup +}K{sup -}π{sup +}π{sup +}, but the experimental data has indicated that this decay is not saturated by any two-body intermediate state. In this work, we analyze the multi-body weak decays of doubly heavy baryons Ξ{sub cc}, Ω{sub cc}, Ξ{sub bc}, Ω{sub bc}, Ξ{sub bb} and Ω{sub bb}, in particular the three-body nonleptonic decays and four-body semileptonic decays. We classify various decay modes according to the quark-level transitions and present an estimate of the typical branching fractions for a few golden decay channels. Decay amplitudes are then parametrized in terms of a few SU(3) irreducible amplitudes. With these amplitudes, we find a number of relations for decay widths, which can be examined in future. (orig.)

Effect of manual therapy versus proprioceptive neuromuscular facilitation in dynamic balance, mobility and flexibility in field hockey players. A randomized controlled trial.

Science.gov (United States)

Espí-López, Gemma V; López-Martínez, Susana; Inglés, Marta; Serra-Añó, Pilar; Aguilar-Rodríguez, Marta

2018-04-22

To compare the effectiveness of a specific Manual Therapy (MT) protocol applied to field hockey players (FHP), versus a Proprioceptive Neuromuscular Facilitation (PNF) protocol, in the improvement of dynamic balance, active range of movement and lumbar flexibility one-week and four-weeks after the treatment. Randomized controlled trial. Participants were assigned to 2 groups: MT and PNF. 30 min' sessions were performed once a week for three weeks. Three evaluations were performed: basal, one-week and four-weeks post-treatment. University of Valencia (Spain). 22 in MT group and 20 in PNF group. Dynamic Balance, measured with Star Excursion Balance Test; Active Range of Motion (ROM), using a manual goniometer and Lumbar Flexibility, assessed with Fingertip-to-floor test. Both groups significantly improved in lateral and medial dynamic balance one-week post-treatment (p < 0.05); but the improvement in the MT group lasted until the fourth-week after treatment in both reaches (lateral and medial) (p < 0.05). MT group also obtained significant improvements in dorsal flexion of the ankle in the fourth-week post-treatment (p < 0.05) and in lumbar flexibility one-week post-treatment (p < 0.05). MT and PNF improve dynamic balance one-week post-treatment; however, the improvement obtained through MT is maintained four-weeks later. Only MT improves dorsal flexion of the ankle four-weeks post-treatment and lumbar flexibility one-week post-treatment. Copyright © 2018 Elsevier Ltd. All rights reserved.

Layout design optimization of dynamic environment flexible manufacturing systems

Directory of Open Access Journals (Sweden)

Jaber Abu Qudeiri

2015-06-01

Full Text Available The proper positioning of machine tools in flexible manufacturing system is one of the factors that lead to increase in production efficiency. Choosing the optimum position of machine tools curtails the total part handling cost between machine tools within the flexible manufacturing system. In this article, a two-stage approach is presented to investigate the best locations of the machine tools in flexible manufacturing system. The location of each machine tool is selected from the available specific and fixed locations in such a way that it will result in best throughput of the flexible manufacturing system. In the first stage of the two-stage approach, the throughput of randomly selected locations of the machine tool in flexible manufacturing system is computed by proposing a production simulation system. The production simulation system utilizes genetic algorithms to find the locations of the machine tools in flexible manufacturing system that achieve the maximum throughput of the flexible manufacturing system. In the second stage, the generated locations are fed into artificial neural network to find a relation between a machine tool’s location and the throughput that can be used to predict the throughput for any other set of locations. Artificial neural network will result in mitigating the computational time.

Dynamical computation of constrained flexible systems using a modal Udwadia-Kalaba formulation: Application to musical instruments.

Science.gov (United States)

Antunes, J; Debut, V

2017-02-01

Most musical instruments consist of dynamical subsystems connected at a number of constraining points through which energy flows. For physical sound synthesis, one important difficulty deals with enforcing these coupling constraints. While standard techniques include the use of Lagrange multipliers or penalty methods, in this paper, a different approach is explored, the Udwadia-Kalaba (U-K) formulation, which is rooted on analytical dynamics but avoids the use of Lagrange multipliers. This general and elegant formulation has been nearly exclusively used for conceptual systems of discrete masses or articulated rigid bodies, namely, in robotics. However its natural extension to deal with continuous flexible systems is surprisingly absent from the literature. Here, such a modeling strategy is developed and the potential of combining the U-K equation for constrained systems with the modal description is shown, in particular, to simulate musical instruments. Objectives are twofold: (1) Develop the U-K equation for constrained flexible systems with subsystems modelled through unconstrained modes; and (2) apply this framework to compute string/body coupled dynamics. This example complements previous work [Debut, Antunes, Marques, and Carvalho, Appl. Acoust. 108, 3-18 (2016)] on guitar modeling using penalty methods. Simulations show that the proposed technique provides similar results with a significant improvement in computational efficiency.

xMDFF: molecular dynamics flexible fitting of low-resolution X-ray structures.

Science.gov (United States)

McGreevy, Ryan; Singharoy, Abhishek; Li, Qufei; Zhang, Jingfen; Xu, Dong; Perozo, Eduardo; Schulten, Klaus

2014-09-01

X-ray crystallography remains the most dominant method for solving atomic structures. However, for relatively large systems, the availability of only medium-to-low-resolution diffraction data often limits the determination of all-atom details. A new molecular dynamics flexible fitting (MDFF)-based approach, xMDFF, for determining structures from such low-resolution crystallographic data is reported. xMDFF employs a real-space refinement scheme that flexibly fits atomic models into an iteratively updating electron-density map. It addresses significant large-scale deformations of the initial model to fit the low-resolution density, as tested with synthetic low-resolution maps of D-ribose-binding protein. xMDFF has been successfully applied to re-refine six low-resolution protein structures of varying sizes that had already been submitted to the Protein Data Bank. Finally, via systematic refinement of a series of data from 3.6 to 7 Å resolution, xMDFF refinements together with electrophysiology experiments were used to validate the first all-atom structure of the voltage-sensing protein Ci-VSP.

Nonlinear Dynamic Behavior of a Flexible Structure to Combined External Acoustic and Parametric Excitation

Directory of Open Access Journals (Sweden)

Paulo S. Varoto

2006-01-01

Full Text Available Flexible structures are frequently subjected to multiple inputs when in the field environment. The accurate determination of the system dynamic response to multiple inputs depends on how much information is available from the excitation sources that act on the system under study. Detailed information include, but are not restricted to appropriate characterization of the excitation sources in terms of their variation in time and in space for the case of distributed loads. Another important aspect related to the excitation sources is how inputs of different nature contribute to the measured dynamic response. A particular and important driving mechanism that can occur in practical situations is the parametric resonance. Another important input that occurs frequently in practice is related to acoustic pressure distributions that is a distributed type of loading. In this paper, detailed theoretical and experimental investigations on the dynamic response of a flexible cantilever beam carrying a tip mass to simultaneously applied external acoustic and parametric excitation signals have been performed. A mathematical model for transverse nonlinear vibration is obtained by employing Lagrange’s equations where important nonlinear effects such as the beam’s curvature and quadratic viscous damping are accounted for in the equation of motion. The beam is driven by two excitation sources, a sinusoidal motion applied to the beam’s fixed end and parallel to its longitudinal axis and a distributed sinusoidal acoustic load applied orthogonally to the beam’s longitudinal axis. The major goal here is to investigate theoretically as well as experimentally the dynamic behavior of the beam-lumped mass system under the action of these two excitation sources. Results from an extensive experimental work show how these two excitation sources interacts for various testing conditions. These experimental results are validated through numerically simulated results

Dynamic Responses of Flexible Cylinders with Low Mass Ratio

Science.gov (United States)

Olaoye, Abiodun; Wang, Zhicheng; Triantafyllou, Michael

2017-11-01

Flexible cylinders with low mass ratios such as composite risers are attractive in the offshore industry because they require lower top tension and are less likely to buckle under self-weight compared to steel risers. However, their relatively low stiffness characteristics make them more vulnerable to vortex induced vibrations. Additionally, numerical investigation of the dynamic responses of such structures based on realistic conditions is limited by high Reynolds number, complex sheared flow profile, large aspect ratio and low mass ratio challenges. In the framework of Fourier spectral/hp element method, the current technique employs entropy-viscosity method (EVM) based large-eddy simulation approach for flow solver and fictitious added mass method for structure solver. The combination of both methods can handle fluid-structure interaction problems at high Reynolds number with low mass ratio. A validation of the numerical approach is provided by comparison with experiments.

Analysis the complex interaction among flexible nanoparticles and materials surface in the mechanical polishing process

Energy Technology Data Exchange (ETDEWEB)

Han Xuesong, E-mail: hanxuesongphd@yahoo.com.cn [School of Mechanical Engineering, Tianjin University, 300072 (China); Gan, Yong X. [Department of Mechanical, Industrial and Manufacturing Engineering, University of Toledo, OH 43606 (United States)

2011-02-01

Mechanical polishing (MP), being the important technique of realizing the surface planarization, has already been widely applied in the area of microelectronic manufacturing and computer manufacturing technology. The surface planarization in the MP is mainly realized by mechanical process which depended on the microdynamic behavior of nanoparticle. The complex multibody interaction among nanoparticles and materials surface is different from interaction in the macroscopic multibody system which makes the traditional classical materials machining theory cannot accurately uncover the mystery of the surface generation in the MP. Large-scale classical molecular dynamic (MD) simulation of interaction among nanoparticles and solid surface has been carried out to investigate the physical essence of surface planarization. The particles with small impact angle can generate more uniform global planarization surface but the materials removal rate is lower. The shear interaction between particle and substrate may induce large friction torque and lead to the rotation of particle. The translation plus rotation makes the nanoparticle behaved like micro-milling tool. The results show that the nanoparticles may aggregrate together and form larger cluster thus deteriorate surface the quality. This MD simulation results illuminate that the f inal planarized surface can only be acquired by synergic behavior of all particles using various means such as cutting, impacting, scratching, indentation and so on.

Efficiency Analysis of a Wave Power Generation System by Using Multibody Dynamics

International Nuclear Information System (INIS)

Kim, Min Soo; Sohn, Jeong Hyun; Kim, Jung Hee; Sung, Yong Jun

2016-01-01

The energy absorption efficiency of a wave power generation system is calculated as the ratio of the wave power to the power of the system. Because absorption efficiency depends on the dynamic behavior of the wave power generation system, a dynamic analysis of the wave power generation system is required to estimate the energy absorption efficiency of the system. In this study, a dynamic analysis of the wave power generation system under wave loads is performed to estimate the energy absorption efficiency. RecurDyn is employed to carry out the dynamic analysis of the system, and the Morison equation is used for the wave load model. According to the results, the lower the wave height and the shorter the period, the higher is the absorption efficiency of the system

Efficiency Analysis of a Wave Power Generation System by Using Multibody Dynamics

Energy Technology Data Exchange (ETDEWEB)

Kim, Min Soo; Sohn, Jeong Hyun [Pukyong National Univ., Busan (Korea, Republic of); Kim, Jung Hee; Sung, Yong Jun [INGINE Inc., Seoul (Korea, Republic of)

2016-06-15

The energy absorption efficiency of a wave power generation system is calculated as the ratio of the wave power to the power of the system. Because absorption efficiency depends on the dynamic behavior of the wave power generation system, a dynamic analysis of the wave power generation system is required to estimate the energy absorption efficiency of the system. In this study, a dynamic analysis of the wave power generation system under wave loads is performed to estimate the energy absorption efficiency. RecurDyn is employed to carry out the dynamic analysis of the system, and the Morison equation is used for the wave load model. According to the results, the lower the wave height and the shorter the period, the higher is the absorption efficiency of the system.

Extended dynamic oligopolies with flexible workforce and isoelastic price function

Directory of Open Access Journals (Sweden)

Akio Matsumoto

2016-11-01

Full Text Available Single-product oligopolies without product differentiation are examined with linear production, production adjustment, flexible workforce and investment costs. The price function is assumed to be hyperbolic which makes the nonlinearity of the model much stronger than in the case of linear price function examined earlier in the literature. The best responses of the firms are determined which are not monotonic in contrast to the linear case. The set of all steady states is then characterized and in the case of a duopoly it is illustrated. The asymptotical behavior of the steady states is examined by using simulation. We analyze the effects of such costs on the industry dynamics and compare them to the prediction by the well known model with hyperbolic price function and no product adjustment and investments costs.

A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

Science.gov (United States)

Kwon, Dong-Soo; Book, Wayne J.

1991-01-01

The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

Measuring $CP$ violation and mixing in charm with inclusive self-conjugate multibody decay modes

CERN Document Server

Malde, S.; Wilkinson, G.

2015-05-28

Time-dependent studies of inclusive charm decays to multibody self-conjugate final states can be used to determine the indirect $CP$-violating observable $A_\\Gamma$ and the mixing observable $y_{CP}$, provided that the fractional $CP$-even content of the final state, $F_+$, is known. This approach can yield significantly improved sensitivity compared with the conventional method that relies on decays to $CP$ eigenstates. In particular, $D \\to \\pi^+\\pi^-\\pi^0$ appears to be an especially powerful channel, given its relatively large branching fraction and the high value of $F_+$ that has recently been measured at charm threshold.

Beams dynamics optimisation of LINAC4 structures for increased operational flexibility

CERN Document Server

Bellodi, G; Garcia Tudela, M; Hein, L M; Lallement, J B; Lombardi, A M; Posocco, P A; Sargsyan, E; Stovall, J

2010-01-01

Linac4 is a new 160 MeV, 40 mA pulsed beam current H- accelerator which will be the source of particles for all proton accelerators at CERN. Construction started in October 2008, and beam commissioning of the 3 MeV front-end is scheduled for early next year. A baseline design of the linac beam dynamics was completed 2 years ago and validated by a systematic campaign of transverse and longitudinal error studies to assess tolerance limits and machine activation levels. Recent studies have been mainly focused on optimising this design to achieve both a smoother performance for nominal beam conditions and to gain operational flexibility for non-nominal scenarios. These include a review of the chopper beam dynamics design, a re-definition of the DTL and CCDTL inter-tank regions and a study of operational schemes for reduced beam currents (either permanent or in pulse-to-pulse mode). These studies have been carried out in parallel to first specifications for a beam commissioning strategy of the linac and its low-en...

RPI-MATLAB-simulator

DEFF Research Database (Denmark)

Williams, J.; Lu, Y.; Abel, Sarah Maria Niebe

2013-01-01

main goals: 1. Provide an intuitive and easily extendable platform for research and education in multibody dynamics; 2. Maintain an evolving code base of useful algorithms and analysis tools for multibody dynamics problems. Although research often focuses on a specific subset of problems, work too...

Flexible Carbon Aerogels

Directory of Open Access Journals (Sweden)

Marina Schwan

2016-09-01

Full Text Available Carbon aerogels are highly porous materials with a large inner surface area. Due to their high electrical conductivity they are excellent electrode materials in supercapacitors. Their brittleness, however, imposes certain limitations in terms of applicability. In that context, novel carbon aerogels with varying degree of flexibility have been developed. These highly porous, light aerogels are characterized by a high surface area and possess pore structures in the micrometer range, allowing for a reversible deformation of the aerogel network. A high ratio of pore size to particle size was found to be crucial for high flexibility. For dynamic microstructural analysis, compression tests were performed in-situ within a scanning electron microscope allowing us to directly visualize the microstructural flexibility of an aerogel. The flexible carbon aerogels were found to withstand between 15% and 30% of uniaxial compression in a reversible fashion. These findings might stimulate further research and new application fields directed towards flexible supercapacitors and batteries.

Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

Modeling and control of a flexible space robot to capture a tumbling debris

Science.gov (United States)

Dubanchet, Vincent

After 60 years of intensive satellite launches, the number of drifting objects in Earth orbits is reaching a shifting point, where human intervention is becoming necessary to reduce the threat of collision. Indeed, a 200 year forecast, known as the "Kessler syndrome", states that space access will be greatly compromised if nothing is done to address the proliferation of these debris. Scientist J.-C. Liou from the National Aeronautics and Space Administration (NASA) has shown that the current trend could be reversed if at least five massive objects, such as dead satellites or rocket upper stages, were de-orbited each year. Among the various technical concepts considered for debris removal, robotics has emerged, over the last 30 years, as one of the most promising solutions. The International Space Station (ISS) already possesses fully operational robotic arms, and other missions have explored the potential of a manipulator embedded onto a satellite. During two of the latter, key capabilities have been demonstrated for on-orbit servicing, and prove to be equally useful for the purpose of debris removal. This thesis focuses on the close range capture of a tumbling debris by a robotic arm with light-weight flexible segments. This phase includes the motion planning and the control of a space robot, in order to smoothly catch a target point on the debris. The validation of such technologies is almost impossible on Earth and leads to prohibitive costs when performed on orbit. Therefore, the modeling and simulation of flexible multi-body systems has been investigated thoroughly, and is likewise a strong contribution of the thesis. Based on these models, an experimental validation is proposed by reproducing the on-orbit kinematics on a test bench made up of two industrial manipulators and driven by a real-time dynamic simulation. In a nutshell, the thesis is built around three main parts: the modeling of a space robot, the design of control laws, and their validation on a

High protein flexibility and reduced hydration water dynamics are key pressure adaptive strategies in prokaryotes

KAUST Repository

Martinez, N.

2016-09-06

Water and protein dynamics on a nanometer scale were measured by quasi-elastic neutron scattering in the piezophile archaeon Thermococcus barophilus and the closely related pressure-sensitive Thermococcus kodakarensis, at 0.1 and 40 MPa. We show that cells of the pressure sensitive organism exhibit higher intrinsic stability. Both the hydration water dynamics and the fast protein and lipid dynamics are reduced under pressure. In contrast, the proteome of T. barophilus is more pressure sensitive than that of T. kodakarensis. The diffusion coefficient of hydration water is reduced, while the fast protein and lipid dynamics are slightly enhanced with increasing pressure. These findings show that the coupling between hydration water and cellular constituents might not be simply a master-slave relationship. We propose that the high flexibility of the T. barophilus proteome associated with reduced hydration water may be the keys to the molecular adaptation of the cells to high hydrostatic pressure.

High protein flexibility and reduced hydration water dynamics are key pressure adaptive strategies in prokaryotes

KAUST Repository

Martinez, N.; Michoud, Gregoire; Cario, A.; Ollivier, J.; Franzetti, B.; Jebbar, M.; Oger, P.; Peters, J.

2016-01-01

Water and protein dynamics on a nanometer scale were measured by quasi-elastic neutron scattering in the piezophile archaeon Thermococcus barophilus and the closely related pressure-sensitive Thermococcus kodakarensis, at 0.1 and 40 MPa. We show that cells of the pressure sensitive organism exhibit higher intrinsic stability. Both the hydration water dynamics and the fast protein and lipid dynamics are reduced under pressure. In contrast, the proteome of T. barophilus is more pressure sensitive than that of T. kodakarensis. The diffusion coefficient of hydration water is reduced, while the fast protein and lipid dynamics are slightly enhanced with increasing pressure. These findings show that the coupling between hydration water and cellular constituents might not be simply a master-slave relationship. We propose that the high flexibility of the T. barophilus proteome associated with reduced hydration water may be the keys to the molecular adaptation of the cells to high hydrostatic pressure.

Sub-discretized surface model with application to contact mechanics in multi-body simulation

Energy Technology Data Exchange (ETDEWEB)

Johnson, S; Williams, J

2008-02-28

The mechanics of contact between rough and imperfectly spherical adhesive powder grains are often complicated by a variety of factors, including several which vary over sub-grain length scales. These include several traction factors that vary spatially over the surface of the individual grains, including high energy electron and acceptor sites (electrostatic), hydrophobic and hydrophilic sites (electrostatic and capillary), surface energy (general adhesion), geometry (van der Waals and mechanical), and elasto-plastic deformation (mechanical). For mechanical deformation and reaction, coupled motions, such as twisting with bending and sliding, as well as surface roughness add an asymmetry to the contact force which invalidates assumptions for popular models of contact, such as the Hertzian and its derivatives, for the non-adhesive case, and the JKR and DMT models for adhesive contacts. Though several contact laws have been offered to ameliorate these drawbacks, they are often constrained to particular loading paths (most often normal loading) and are relatively complicated for computational implementation. This paper offers a simple and general computational method for augmenting contact law predictions in multi-body simulations through characterization of the contact surfaces using a hierarchically-defined surface sub-discretization. For the case of adhesive contact between powder grains in low stress regimes, this technique can allow a variety of existing contact laws to be resolved across scales, allowing for moments and torques about the contact area as well as normal and tangential tractions to be resolved. This is especially useful for multi-body simulation applications where the modeler desires statistical distributions and calibration for parameters in contact laws commonly used for resolving near-surface contact mechanics. The approach is verified against analytical results for the case of rough, elastic spheres.

Bifurcation and nonlinear dynamic analysis of a flexible rotor supported by relative short gas journal bearings

International Nuclear Information System (INIS)

Wang, C.-C.; Jang, M.-J.; Yeh, Y.-L.

2007-01-01

This paper studies the bifurcation and nonlinear behaviors of a flexible rotor supported by relative short gas film bearings. A time-dependent mathematical model for gas journal bearings is presented. The finite difference method with successive over relation method is employed to solve the Reynolds' equation. The system state trajectory, Poincare maps, power spectra, and bifurcation diagrams are used to analyze the dynamic behavior of the rotor and journal center in the horizontal and vertical directions under different operating conditions. The analysis reveals a complex dynamic behavior comprising periodic and subharmonic response of the rotor and journal center. This paper shows how the dynamic behavior of this type of system varies with changes in rotor mass and rotational velocity. The results of this study contribute to a further understanding of the nonlinear dynamics of gas film rotor-bearing systems

Finite Element Multibody Simulation of a Breathing Crack in a Rotor with a Cohesive Zone Model

OpenAIRE

Liong, Rugerri Toni; Proppe, Carsten

2013-01-01

The breathing mechanism of a transversely cracked shaft and its influence on a rotor system that appears due to shaft weight and inertia forces is studied. The presence of a crack reduces the stiffness of the rotor system and introduces a stiffness variation during the revolution of the shaft. Here, 3D finite element (FE) model and multibody simulation (MBS) are introduced to predict and to analyse the breathing mechanism on a transverse cracked shaft. It is based on a cohesive zone model (CZ...

Process Improvement Through Tool Integration in Aero-Mechanical Design

Science.gov (United States)

Briggs, Clark

2010-01-01

Emerging capabilities in commercial design tools promise to significantly improve the multi-disciplinary and inter-disciplinary design and analysis coverage for aerospace mechanical engineers. This paper explores the analysis process for two example problems of a wing and flap mechanical drive system and an aircraft landing gear door panel. The examples begin with the design solid models and include various analysis disciplines such as structural stress and aerodynamic loads. Analytical methods include CFD, multi-body dynamics with flexible bodies and structural analysis. Elements of analysis data management, data visualization and collaboration are also included.

On the modeling of the intervertebral joint in multibody models for the spine

International Nuclear Information System (INIS)

Christophy, Miguel; Curtin, Maurice; Faruk Senan, Nur Adila; Lotz, Jeffrey C.; O’Reilly, Oliver M.

2013-01-01

The need to develop feasible computational musculoskeletal models of the spine has led to the development of several multibody models. Central features in these works are models for the ligaments, muscles, and intervertebral joint. The purpose of the present paper is to show how experimental measurements of joint stiffnesses can be properly incorporated using a bushing element. The required refinements to existing bushing force functions in musculoskeletal software platforms are discussed and further implemented using a SpineBushing element specific to the intervertebral joint. Four simple lumbar spine models are then used to illustrate the accompanying improvements. Electronic supplemental material for this article includes a complementary review of formulations of stiffness matrices for the intervertebral joint

Dealing with Flexible Modes in 6 DOFs Robust Servo Control

NARCIS (Netherlands)

Oomen, T.A.E.; Bosgra, O.H.; Angelis, G.Z.

2007-01-01

Control of high performance multi-input multi-output electromechanical systems with flexible dynamics is investigated. Present feedforward and feedback control design approaches mainly focus on rigid-body plant behaviour. To achieve higher performance, flexible dynamics should be explicitly

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

Energy Technology Data Exchange (ETDEWEB)

Peng Xuebing, E-mail: pengxb@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China); Yuan Jianjun; Zhang Weijun [Research Institute of Robotics, Mechanical Engineering School, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240 (China); Yang Yang; Song Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China)

2012-08-15

Highlights: Black-Right-Pointing-Pointer A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. Black-Right-Pointing-Pointer The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4-6. Black-Right-Pointing-Pointer The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. Black-Right-Pointing-Pointer The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

International Nuclear Information System (INIS)

Peng Xuebing; Yuan Jianjun; Zhang Weijun; Yang Yang; Song Yuntao

2012-01-01

Highlights: ► A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. ► The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4–6. ► The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. ► The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Nonlinear Dynamic Response of an Unbalanced Flexible Rotor Supported by Elastic Bearings Lubricated with Piezo-Viscous Polar Fluids

Directory of Open Access Journals (Sweden)

Mustapha Lahmar

2015-04-01

Full Text Available On the basis of the V. K. Stokes micro-continuum theory, the effects of couple stresses on the nonlinear dynamic response of the unbalanced Jeffcott’s flexible rotor supported by layered hydrodynamic journal bearings is presented in this paper. A nonlinear transient modified Reynolds’ equation is derived and discretized by the finite element method to obtain the fluid-film pressure field as well as the film thickness by means of the implicit Euler method. The nonlinear orbits of the rotor center are determined by solving the nonlinear differential equations of motion with the explicit Euler’s scheme taking into account the flexibility of rotor. According to the obtained results, the combined effects of couple stresses due to the presence of polymer additives in lubricant and the pressure dependent viscosity on the nonlinear dynamic response of the rotor-bearing system are significant and cannot be ignored or overlooked. As expected, these effects are more noticeable for polymers characterized by higher length molecular chains.

Optimal dynamic performance for high-precision actuators/stages

International Nuclear Information System (INIS)

Preissner, C.; Lee, S.-H.; Royston, T. J.; Shu, D.

2002-01-01

System dynamic performance of actuator/stage groups, such as those found in optical instrument positioning systems and other high-precision applications, is dependent upon both individual component behavior and the system configuration. Experimental modal analysis techniques were implemented to determine the six degree of freedom stiffnesses and damping for individual actuator components. These experimental data were then used in a multibody dynamic computer model to investigate the effect of stage group configuration. Running the computer model through the possible stage configurations and observing the predicted vibratory response determined the optimal stage group configuration. Configuration optimization can be performed for any group of stages, provided there is stiffness and damping data available for the constituent pieces

Hydrodynamics of a flexible plate between pitching rigid plates

Science.gov (United States)

Kim, Junyoung; Kim, Daegyoum

2017-11-01

The dynamics of a flexible plate have been studied as a model problem in swimming and flying of animals and fluid-structure interaction of plants and flags. Motivated by fish schooling and an array of sea grasses, we investigate the dynamics of a flexible plate closely placed between two pitching rigid plates. In most studies on passive deformation of the flexible plate, the plate is immersed in a uniform flow or a wavy flow. However, in this study, the flexible plate experiences periodic deformation by the oscillatory flow generated by the prescribed pitching motion of the rigid plates. In our model, the pitching axes of the rigid plates and the clamping position of the flexible plate are aligned on the same line. The flexible plate shows various responses depending on length and pitching frequency of rigid plates, thickness of a flexible plate, and free-stream velocity. To find the effect of each variable on the response of the flexible plate, amplitude of a trailing edge and modal contribution of a flapping motion are compared, and flow structure around the flexible plate is examined.

Error-transparent evolution: the ability of multi-body interactions to bypass decoherence

International Nuclear Information System (INIS)

Vy, Os; Jacobs, Kurt; Wang Xiaoting

2013-01-01

We observe that multi-body interactions, unlike two-body interactions, can implement any unitary operation on an encoded system in such a way that the evolution is uninterrupted by noise that the encoding is designed to protect against. Such ‘error-transparent’ evolution is distinct from that usually considered in quantum computing, as the latter is merely correctable. We prove that the minimum body-ness required to protect (i) a qubit from a single type of Pauli error, (ii) a target qubit from a controller with such errors and (iii) a single qubit from all errors is three-body, four-body and five-body, respectively. We also discuss applications to computing, coherent feedback control and quantum metrology. Finally, we evaluate the performance of error-transparent evolution for some examples using numerical simulations. (paper)

A Variable Interval Rescheduling Strategy for Dynamic Flexible Job Shop Scheduling Problem by Improved Genetic Algorithm

Directory of Open Access Journals (Sweden)

Lei Wang

2017-01-01

Full Text Available In real-world manufacturing systems, production scheduling systems are often implemented under random or dynamic events like machine failure, unexpected processing times, stochastic arrival of the urgent orders, cancellation of the orders, and so on. These dynamic events will lead the initial scheduling scheme to be nonoptimal and/or infeasible. Hence, appropriate dynamic rescheduling approaches are needed to overcome the dynamic events. In this paper, we propose a dynamic rescheduling method based on variable interval rescheduling strategy (VIRS to deal with the dynamic flexible job shop scheduling problem considering machine failure, urgent job arrival, and job damage as disruptions. On the other hand, an improved genetic algorithm (GA is proposed for minimizing makespan. In our improved GA, a mix of random initialization population by combining initialization machine and initialization operation with random initialization is designed for generating high-quality initial population. In addition, the elitist strategy (ES and improved population diversity strategy (IPDS are used to avoid falling into the local optimal solution. Experimental results for static and several dynamic events in the FJSP show that our method is feasible and effective.

Modeling of Flexible Beams for Robotic Manipulators

International Nuclear Information System (INIS)

Martins, Jorge; Ayala Botto, Miguel; Costa, Jose sa da

2002-01-01

This work treats the problem of modeling robotic manipulators with structural flexibility. A mathematical model of a planar manipulator with a single flexible link is developed. This model is capable of reproducing nonlinear dynamic effects, such as the beam stiffening due to the centrifugal forces induced by the rotation of the joints, giving it the capability to predict reliable dynamic behaviors for a wide range of applications. On the other hand, the model complexity is reduced, in order to keep it amenable for analysis and controller design. The models found in current literature for control design of flexible manipulator arms present dynamic limitations for the sake of real time implementation in a control scheme. These limitations are the result of premature linearization in the formulation of the dynamics equations. In this paper, this common linearization is presented and their dynamic limitations uncovered. An alternative reliable model is then presented. The model is founded on two basic assumptions: inextensibility of the neutral fiber and moderate rotations of the cross sections in order to account for the foreshortening of the beam due to bending. Simulation and experimental results show that the proposed model has the closest dynamic behavior to the real beam

Tunnel flexibility effect on the ground surface acceleration response

Science.gov (United States)

Baziar, Mohammad Hassan; Moghadam, Masoud Rabeti; Choo, Yun Wook; Kim, Dong-Soo

2016-09-01

Flexibility of underground structures relative to the surrounding medium, referred to as the flexibility ratio, is an important factor that influences their dynamic interaction. This study investigates the flexibility effect of a box-shaped subway tunnel, resting directly on bedrock, on the ground surface acceleration response using a numerical model verified against dynamic centrifuge test results. A comparison of the ground surface acceleration response for tunnel models with different flexibility ratios revealed that the tunnels with different flexibility ratios influence the acceleration response at the ground surface in different ways. Tunnels with lower flexibility ratios have higher acceleration responses at short periods, whereas tunnels with higher flexibility ratios have higher acceleration responses at longer periods. The effect of the flexibility ratio on ground surface acceleration is more prominent in the high range of frequencies. Furthermore, as the flexibility ratio of the tunnel system increases, the acceleration response moves away from the free field response and shifts towards the longer periods. Therefore, the flexibility ratio of the underground tunnels influences the peak ground acceleration (PGA) at the ground surface, and may need to be considered in the seismic zonation of urban areas.

Constrained Multi-Body Dynamics for Modular Underwater Robots — Theory and Experiments

DEFF Research Database (Denmark)

Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens

2018-01-01

This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint...... on a BlueROV vehicle to determine the model parameters. The applicability of the modelling approach is assessed by comparing experimental data to simulations of an equivalent model synthesised using the proposed theory....

Bio-Inspired Flexible Cellular Actuating Systems

Science.gov (United States)

2013-11-21

S. Hong, “Robust adaptive boundary control of a flexible marine riser with vessel dynamics,” Automatica, vol. 47, pp. 722–732, 2011. [22] D. H...conditionally accepted. [6] W. He, S. S. Ge, B. V. E. How, Y. S. Choo, and K. S. Hong, “Robust adaptive boundary control of a flexible marine riser ... flexible robotic actuators, often represented by a distributed parameter system or a partial differential equation. We establish a model-guided

The Modelling of Axially Translating Flexible Beams

Science.gov (United States)

Theodore, R. J.; Arakeri, J. H.; Ghosal, A.

1996-04-01

The axially translating flexible beam with a prismatic joint can be modelled by using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, a non-dimensional form of the Euler Bernoulli beam equation is presented, obtained by using the concept of group velocity, and also the conditions under which separation of variables and assumed modes method can be used. The use of clamped-mass boundary conditions leads to a time-dependent frequency equation for the translating flexible beam. A novel method is presented for solving this time dependent frequency equation by using a differential form of the frequency equation. The assume mode/Lagrangian formulation of dynamics is employed to derive closed form equations of motion. It is shown by using Lyapunov's first method that the dynamic responses of flexural modal variables become unstable during retraction of the flexible beam, which the dynamic response during extension of the beam is stable. Numerical simulation results are presented for the uniform axial motion induced transverse vibration for a typical flexible beam.

Dynamic analysis of floating wave energy generation system with mooring system

International Nuclear Information System (INIS)

Choi, Gyu Seok; Sohn, Jeong Hyun

2013-01-01

In this study, dynamic behaviors of a wave energy generation system (WEGS) that converts wave energy into electric energy are analyzed using multibody dynamics techniques. Many studies have focused on reducing the effects of a mooring system on the motion of a WEGS. Several kinematic constraints and force elements are employed in the modeling stage. Three dimensional wave load equations are used to implement wave loads. The dynamic behaviors of a WEGS are analyzed under several wave conditions by using MSC/ADAMS, and the rotating speed of the generating shaft is investigated for predicting the electricity capacity. The dynamic behaviors of a WEGS with a mooring system are compared with those of a WEGS without a mooring system. Stability evaluation of a WEGS is carried out through simulation under extreme wave load

Sliding mode-based lateral vehicle dynamics control using tyre force measurements

Science.gov (United States)

Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

2015-11-01

In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

Molecular Dynamics Simulations of a Flexible Polyethylene: A Protein-Like Behaviour in a Water Solvent

CERN Document Server

Kretov, D A

2005-01-01

We used molecular dynamics (MD) simulations to study the density and the temperature behaviour of a flexible polyethylene (PE) subjected to various heating conditions and to investigate the PE chain conformational changes in a water solvent. First, we have considered the influence of the heating process on the final state of the polymeric system and the sensitivity of its thermodynamic characteristics (density, energy, etc.) for different heating regimes. For this purpose three different simulations were performed: fast, moderate, and slow heating. Second, we have investigated the PE chain conformational dynamics in water solvent for various simulation conditions and various configurations of the environment. From the obtained results we have got the pictures of the PE dynamical motions in water. We have observed a protein-like behaviour of the PE chain, like that of the DNA and the proteins in water, and have also estimated the rates of the conformational changes. For the MD simulations we used the optimized...

Integrated control of lateral and vertical vehicle dynamics based on multi-agent system

Science.gov (United States)

Huang, Chen; Chen, Long; Yun, Chaochun; Jiang, Haobin; Chen, Yuexia

2014-03-01

The existing research of the integrated chassis control mainly focuses on the different evaluation indexes and control strategy. Among the different evaluation indexes, the comprehensive properties are usually not considered based on the non-linear superposition principle. But, the control strategy has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, based on belief, desire and intention(BDI)-agent model framework, the TYRE agent, electric power steering(EPS) agent and active suspension system(ASS) agent are proposed. In the system(SYS) agent, the coordination mechanism is employed to manage interdependences and conflicts among other agents, so as to improve the flexibility, adaptability, and robustness of the global control system. Due to the existence of the simulation demand of dynamic performance, the vehicle multi-body dynamics model is established by SIMPACK. And then the co-simulation analysis is conducted to evaluate the proposed multi-agent system(MAS) controller. The simulation results demonstrate that the MAS has good effect on the performance of EPS and ASS. Meantime, the better road feeling for the driver is provided considering the multiple and complex driving traffic. Finally, the MAS rapid control prototyping is built to conduct the real vehicle test. The test results are consistent to the simulation results, which verifies the correctness of simulation. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.

VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H∞ CONTROL

Directory of Open Access Journals (Sweden)

Roberd Saragih

2012-06-01

Full Text Available This paper is concerned with the vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. Light flexible manipulators have a variety of applications, most significantly in space exploration,manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagrange's formulation of dynamics.The H∞ controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H∞ controller.

Molecular Dynamics of Flexible Polar Cations in a Variable Confined Space: Toward Exceptional Two-Step Nonlinear Optical Switches.

Science.gov (United States)

Xu, Wei-Jian; He, Chun-Ting; Ji, Cheng-Min; Chen, Shao-Li; Huang, Rui-Kang; Lin, Rui-Biao; Xue, Wei; Luo, Jun-Hua; Zhang, Wei-Xiong; Chen, Xiao-Ming

2016-07-01

The changeable molecular dynamics of flexible polar cations in the variable confined space between inorganic chains brings about a new type of two-step nonlinear optical (NLO) switch with genuine "off-on-off" second harmonic generation (SHG) conversion between one NLO-active state and two NLO-inactive states. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Simulating Dynamics of the System of Articulated Rigid Bodies with Joint Friction

Directory of Open Access Journals (Sweden)

M. V. Michaylyuk

2016-01-01

Full Text Available The subject of the work is to simulate dynamics of the system of articulated rigid bodies in the virtual environment complexes. The work aim is to develop algorithms and methods to simulate the multi-body system dynamics with joint friction to ensure all calculations in real time in line with visual realistic behavior of objects in a scene.The paper describes the multibody system based on a maximal set of coordinates, and to simulate the joint friction is used a Coulomb's law of dry friction. Joints are described using the holonomic constraints and their derivatives that specify the constraints on velocities of joined bodies. Based on The Coulomb’s law a correlation for the friction impulse values has been derived as an inequality. If the friction impulse performs a constraint that is a lack of relative motion of two joint-joined bodies, there is a static friction in the joint. Otherwise, there is a dynamic friction in the joint. Using a semi-implicit Euler method allows us to describe dynamics of articulated rigid bodies with joint friction as a system of linear algebraic equations and inequalities for the unknown velocities and impulse values.To solve the obtained system of equations and inequalities is used an iterative method of sequential impulses, which sequentially processes constraints for each joint with impulse calculation and its application to the joined bodies rather than considers the entire system. To improve the method convergence, at each iteration the calculated impulses are accumulated for their further using as an initial approximation at the next step of simulation.The proposed algorithms and methods have been implemented in the training complex dynamics subsystem, developed in SRISA RAS. Evaluation of these methods and algorithms has demonstrated their full adequacy to requirements for virtual environment systems and training complexes.

Combining the Vortex Particle-Mesh method with a Multi-Body System solver for the simulation of self-propelled articulated swimmers

Science.gov (United States)

Bernier, Caroline; Gazzola, Mattia; Ronsse, Renaud; Chatelain, Philippe

2017-11-01

We present a 2D fluid-structure interaction simulation method with a specific focus on articulated and actuated structures. The proposed algorithm combines a viscous Vortex Particle-Mesh (VPM) method based on a penalization technique and a Multi-Body System (MBS) solver. The hydrodynamic forces and moments acting on the structure parts are not computed explicitly from the surface stresses; they are rather recovered from the projection and penalization steps within the VPM method. The MBS solver accounts for the body dynamics via the Euler-Lagrange formalism. The deformations of the structure are dictated by the hydrodynamic efforts and actuation torques. Here, we focus on simplified swimming structures composed of neutrally buoyant ellipses connected by virtual joints. The joints are actuated through a simple controller in order to reproduce the swimming patterns of an eel-like swimmer. The method enables to recover the histories of torques applied on each hinge along the body. The method is verified on several benchmarks: an impulsively started elastically mounted cylinder and free swimming articulated fish-like structures. Validation will be performed by means of an experimental swimming robot that reproduces the 2D articulated ellipses.

A GPU Parallelization of the Absolute Nodal Coordinate Formulation for Applications in Flexible Multibody Dynamics

Science.gov (United States)

2012-02-17

to be solved. Disclaimer: Reference herein to any specific commercial company , product, process, or service by trade name, trademark...data processing rather than data caching and control flow. To make use of this computational power, NVIDIA introduced a general purpose parallel...GPU implementations were run on an Intel Nehalem Xeon E5520 2.26GHz processor with an NVIDIA Tesla C2070 graphics card for varying numbers of

Dynamic analysis of hybrid energy systems under flexible operation and variable renewable generation – Part II: Dynamic cost analysis

International Nuclear Information System (INIS)

Garcia, Humberto E.; Mohanty, Amit; Lin, Wen-Chiao; Cherry, Robert S.

2013-01-01

Dynamic analysis of HES (hybrid energy systems) under flexible operation and variable renewable generation is considered in this two-part communication to better understand various challenges and opportunities associated with the high system variability arising from the integration of renewable energy into the power grid. Advanced HES solutions are investigated in which multiple forms of energy commodities, such as electricity and chemical products, may be exchanged. In particular, a comparative dynamic cost analysis is conducted in this part two of the communication to determine best HES options. The cost function includes a set of metrics for computing fixed costs, such as fixed operations and maintenance and overnight capital costs, and also variable operational costs, such as cost of operational variability, variable operations and maintenance cost, and cost of environmental impact, together with revenues. Assuming natural gas, coal, and nuclear as primary heat sources, preliminary results identify the level of renewable penetration at which a given advanced HES option (e.g., a nuclear hybrid) becomes increasingly more economical than a traditional electricity-only generation solution. Conditions are also revealed under which carbon resources may be better utilized as carbon sources for chemical production rather than as combustion material for electricity generation. - Highlights: ► Dynamic analysis of HES to investigate challenges related to renewable penetration. ► Evaluation of dynamic synergies among HES constituents on system performance. ► Comparison of traditional versus advanced HES candidates. ► Dynamic cost analysis of HES candidates to investigate their economic viability. ► Identification of conditions under which an energy commodity may be best utilized

A multi-body dynamics approach to a cable simulator for kites

NARCIS (Netherlands)

Breukels, J.; Ockels, W.J.

2007-01-01

For the purpose of ultimately building a fully dynamic simulation of kites, an investigation is launched into a viable model of the cable with which the kite is attached to the ground. In the model proposed in this paper, only the slow modes of motion are taken into account due to the fact that only

Propulsion via flexible flapping in granular media

Science.gov (United States)

Peng, Zhiwei; Ding, Yang; Pietrzyk, Kyle; Elfring, Gwynn; Pak, On Shun

2017-11-01

Biological locomotion in nature is often achieved by the interaction between a flexible body and its surrounding medium. The interaction of a flexible body with granular media is less understood compared with viscous fluids partially due to its complex rheological properties. In this work, we explore the effect of flexibility on granular propulsion by considering a simple mechanical model in which a rigid rod is connected to a torsional spring that is under a displacement actuation using a granular resistive force theory. Through a combined numerical and asymptotic investigation, we characterize the propulsive dynamics of such a flexible flapper in relation to the actuation amplitude and spring stiffness, and we compare these dynamics with those observed in a viscous fluid. In addition, we demonstrate that the maximum possible propulsive force can be obtained in the steady propulsion limit with a finite spring stiffness and large actuation amplitude. These results may apply to the development of synthetic locomotive systems that exploit flexibility to move through complex terrestrial media. Funding for Z.P. and Y.D. was partially provided by NSFC 394 Grant No. 11672029 and NSAF-NSFC Grant No. U1530401.

The Use of IMMUs in a Water Environment: Instrument Validation and Application of 3D Multi-Body Kinematic Analysis in Medicine and Sport.

Science.gov (United States)

Mangia, Anna Lisa; Cortesi, Matteo; Fantozzi, Silvia; Giovanardi, Andrea; Borra, Davide; Gatta, Giorgio

2017-04-22

The aims of the present study were the instrumental validation of inertial-magnetic measurements units (IMMUs) in water, and the description of their use in clinical and sports aquatic applications applying customized 3D multi-body models. Firstly, several tests were performed to map the magnetic field in the swimming pool and to identify the best volume for experimental test acquisition with a mean dynamic orientation error lower than 5°. Successively, the gait and the swimming analyses were explored in terms of spatiotemporal and joint kinematics variables. The extraction of only spatiotemporal parameters highlighted several critical issues and the joint kinematic information has shown to be an added value for both rehabilitative and sport training purposes. Furthermore, 3D joint kinematics applied using the IMMUs provided similar quantitative information than that of more expensive and bulky systems but with a simpler and faster setup preparation, a lower time consuming processing phase, as well as the possibility to record and analyze a higher number of strides/strokes without limitations imposed by the cameras.

Stabilization of computational procedures for constrained dynamical systems

Science.gov (United States)

Park, K. C.; Chiou, J. C.

1988-01-01

A new stabilization method of treating constraints in multibody dynamical systems is presented. By tailoring a penalty form of the constraint equations, the method achieves stabilization without artificial damping and yields a companion matrix differential equation for the constraint forces; hence, the constraint forces are obtained by integrating the companion differential equation for the constraint forces in time. A principal feature of the method is that the errors committed in each constraint condition decay with its corresponding characteristic time scale associated with its constraint force. Numerical experiments indicate that the method yields a marked improvement over existing techniques.

A painless and constraint-free method to estimate viscoelastic passive dynamics of limbs' joints to support diagnosis of neuromuscular diseases.

Science.gov (United States)

Venture, Gentiane; Nakamura, Yoshihiko; Yamane, Katsu; Hirashima, Masaya

2007-01-01

Though seldom identified, the human joints dynamics is important in the fields of medical robotics and medical research. We present a general solution to estimate in-vivo and simultaneously the passive dynamics of the human limbs' joints. It is based on the use of the multi-body description of the human body and its kinematics and dynamics computations. The linear passive joint dynamics of the shoulders and the elbows: stiffness, viscosity and friction, is estimated simultaneously using the linear least squares method. Acquisition of movements is achieved with an optical motion capture studio on one examinee during the clinical diagnosis of neuromuscular diseases. Experimental results are given and discussed.

Design and Dynamics Analysis of a Bio-Inspired Intermittent Hopping Robot for Planetary Surface Exploration

Directory of Open Access Journals (Sweden)

Long Bai

2012-10-01

Full Text Available A small, bio-inspired and minimally actuated intermittent hopping robot for planetary surface exploration is proposed in this paper. The robot uses a combined-geared six-bar linkage/spring mechanism, which has a possible rich trajectory and metamorphic characteristics and, due to this, the robot is able to recharge, lock/release and jump by using just a micro-power motor as the actuator. Since the robotic system has a closed-chain structure and employs underactuated redundant motion, the constrained multi-body dynamics are derived with time-varying driving parameters and ground unilateral constraint both taken into consideration. In addition, the established dynamics equations, mixed of higher order differential and algebraic expressions, are solved by the immediate integration algorithm. A prototype is implemented and experiments are carried out. The results show that the robot, using a micro-power motor as the actuator and solar cells as the power supply, can achieve a biomimetic multi-body hopping stance and a nonlinearly increasing driving force. Typically, the robot can jump a horizontal distance of about 1 m and a vertical height of about 0.3 m, with its trunk and foot moving stably during takeoff. In addition, the computational and experimental results are consistent as regards the hopping performance of the robot, which suggests that the proposed dynamics model and its solution have general applicability to motion prediction and the performance analysis of intermittent hopping robots.

A Case Study of Dynamic Response Analysis and Safety Assessment for a Suspended Monorail System.

Science.gov (United States)

Bao, Yulong; Li, Yongle; Ding, Jiajie

2016-11-10

A suspended monorail transit system is a category of urban rail transit, which is effective in alleviating traffic pressure and injury prevention. Meanwhile, with the advantages of low cost and short construction time, suspended monorail transit systems show vast potential for future development. However, the suspended monorail has not been systematically studied in China, and there is a lack of relevant knowledge and analytical methods. To ensure the health and reliability of a suspended monorail transit system, the driving safety of vehicles and structure dynamic behaviors when vehicles are running on the bridge should be analyzed and evaluated. Based on the method of vehicle-bridge coupling vibration theory, the finite element method (FEM) software ANSYS and multi-body dynamics software SIMPACK are adopted respectively to establish the finite element model for bridge and the multi-body vehicle. A co-simulation method is employed to investigate the vehicle-bridge coupling vibration for the transit system. The traffic operation factors, including train formation, track irregularity and tire stiffness, are incorporated into the models separately to analyze the bridge and vehicle responses. The results show that the coupling of dynamic effects of the suspended monorail system between vehicle and bridge are significant in the case studied, and it is strongly suggested to take necessary measures for vibration suppression. The simulation of track irregularity is a critical factor for its vibration safety, and the track irregularity of A-level road roughness negatively influences the system vibration safety.

A Case Study of Dynamic Response Analysis and Safety Assessment for a Suspended Monorail System

Directory of Open Access Journals (Sweden)

Yulong Bao

2016-11-01

Full Text Available A suspended monorail transit system is a category of urban rail transit, which is effective in alleviating traffic pressure and injury prevention. Meanwhile, with the advantages of low cost and short construction time, suspended monorail transit systems show vast potential for future development. However, the suspended monorail has not been systematically studied in China, and there is a lack of relevant knowledge and analytical methods. To ensure the health and reliability of a suspended monorail transit system, the driving safety of vehicles and structure dynamic behaviors when vehicles are running on the bridge should be analyzed and evaluated. Based on the method of vehicle-bridge coupling vibration theory, the finite element method (FEM software ANSYS and multi-body dynamics software SIMPACK are adopted respectively to establish the finite element model for bridge and the multi-body vehicle. A co-simulation method is employed to investigate the vehicle-bridge coupling vibration for the transit system. The traffic operation factors, including train formation, track irregularity and tire stiffness, are incorporated into the models separately to analyze the bridge and vehicle responses. The results show that the coupling of dynamic effects of the suspended monorail system between vehicle and bridge are significant in the case studied, and it is strongly suggested to take necessary measures for vibration suppression. The simulation of track irregularity is a critical factor for its vibration safety, and the track irregularity of A-level road roughness negatively influences the system vibration safety.

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Vehicle response-based track geometry assessment using multi-body simulation

Science.gov (United States)

Kraft, Sönke; Causse, Julien; Coudert, Frédéric

2018-02-01

The assessment of the geometry of railway tracks is an indispensable requirement for safe rail traffic. Defects which represent a risk for the safety of the train have to be identified and the necessary measures taken. According to current standards, amplitude thresholds are applied to the track geometry parameters measured by recording cars. This geometry-based assessment has proved its value but suffers from the low correlation between the geometry parameters and the vehicle reactions. Experience shows that some defects leading to critical vehicle reactions are underestimated by this approach. The use of vehicle responses in the track geometry assessment process allows identifying critical defects and improving the maintenance operations. This work presents a vehicle response-based assessment method using multi-body simulation. The choice of the relevant operation conditions and the estimation of the simulation uncertainty are outlined. The defects are identified from exceedances of track geometry and vehicle response parameters. They are then classified using clustering methods and the correlation with vehicle response is analysed. The use of vehicle responses allows the detection of critical defects which are not identified from geometry parameters.

Molecular dynamics simulation study on the phase behavior of the Gay-Berne model with a terminal dipole and a flexible tail

International Nuclear Information System (INIS)

Fukunaga, Hiroo; Takimoto, Jun-ichi; Doi, Masao

2004-01-01

To study the effect of the alkyl tail and the terminal dipole on the stability of the liquid crystalline phase of mesogens, we have carried out molecular dynamics simulations for 1CB(4-methyl-4 ' -cyanobiphenyl) and 5CB(4-n-pentyl-4 ' -cyanobiphenyl) by using a coarse-grained model. In the coarse-grained model, a 5CB molecule is divided into the rigid part of 1CB moiety, which is represented by an ellipsoid, and the remaining flexible part which is represented by a chain of united atoms. The nonbonded potential between coarse-grained segments is represented by the generalized Gay-Berne (GB) potential and the potential parameters are determined by directly comparing the GB potential with the atomistic potentials averaged over the rotation of the mesogen around its axis. In addition, a dipole moment is placed at one end of the ellipsoid opposite to the flexible tail. The ordered state obtained in the polar 5CB model was assigned as the nematic phase, and the experimental static and dynamical properties were reproduced well by using this coarse-grained model. Both the dipole-dipole interactions and the thermal fluctuation of the flexible tail increase the positional disorder in the director direction, and stabilize the nematic phase. Thus, the nematic phase in the polar 5CB is induced by a cooperative effect of the flexible tail and the terminal dipole. It is noted that a local bilayer structure with head-to-head association is formed in the nematic phase, as experimentally observed by x-ray diffraction measurements

Computational Modelling of Piston Ring Dynamics in 3D

Directory of Open Access Journals (Sweden)

Dlugoš Jozef

2014-12-01

Full Text Available Advanced computational models of a piston assembly based on the level of virtual prototypes require a detailed description of piston ring behaviour. Considering these requirements, the piston rings operate in regimes that cannot, in general, be simplified into an axisymmetric model. The piston and the cylinder liner do not have a perfect round shape, mainly due to machining tolerances and external thermo-mechanical loads. If the ring cannot follow the liner deformations, a local loss of contact occurs resulting in blow-by and increased consumption of lubricant oil in the engine. Current computational models are unable to implement such effects. The paper focuses on the development of a flexible 3D piston ring model based on the Timoshenko beam theory using the multibody system (MBS. The MBS model is compared to the finite element method (FEM solution.

Microstructural Dynamics and Rheology of Suspensions of Rigid Fibers

Science.gov (United States)

Butler, Jason E.; Snook, Braden

2018-01-01

The dynamics and rheology of suspensions of rigid, non-Brownian fibers in Newtonian fluids are reviewed. Experiments, theories, and computer simulations are considered, with an emphasis on suspensions at semidilute and concentrated conditions. In these suspensions, interactions between the particles strongly influence the microstructure and rheological properties of the suspension. The interactions can arise from hydrodynamic disturbances, giving multibody interactions at long ranges and pairwise lubrication forces over short distances. For concentrated suspensions, additional interactions due to excluded volume (contacts) and adhesive forces are addressed. The relative importance of the various interactions as a function of fiber concentration is assessed.

Towards flexible decision support in thecontrol of animal epidemics

NARCIS (Netherlands)

Ge, L.; Mourits, M.C.M.; Huirne, R.B.M.

2007-01-01

Decision-making in the control of animal epidemics is a dynamic and flexible process. Facing uncertainties about the consequences of control options, flexible decision-making can avoid unnecessary control costs through learning and adjusting. While recognising the importance and complexity of

Rigid Finite Element Method in Analysis of Dynamics of Offshore Structures

CERN Document Server

Wittbrodt, Edmund; Maczyński, Andrzej; Wojciech, Stanisław

2013-01-01

This book describes new methods developed for modelling dynamics of machines commonly used in the offshore industry. These methods are based both on the rigid finite element method, used for the description of link deformations, and on homogeneous transformations and joint coordinates, which is applied to the modelling of multibody system dynamics. In this monograph, the bases of the rigid finite element method  and homogeneous transformations are introduced. Selected models for modelling dynamics of offshore devices are then verified both by using commercial software, based on the finite element method, as well as by using additional methods. Examples of mathematical models of offshore machines, such as a gantry crane for Blowout-Preventer (BOP) valve block transportation, a pedestal crane with shock absorber, and pipe laying machinery are presented. Selected problems of control in offshore machinery as well as dynamic optimization in device control are also discussed. Additionally, numerical simulations of...

Coupled Vortex-Lattice Flight Dynamic Model with Aeroelastic Finite-Element Model of Flexible Wing Transport Aircraft with Variable Camber Continuous Trailing Edge Flap for Drag Reduction

Science.gov (United States)

Nguyen, Nhan; Ting, Eric; Nguyen, Daniel; Dao, Tung; Trinh, Khanh

2013-01-01

This paper presents a coupled vortex-lattice flight dynamic model with an aeroelastic finite-element model to predict dynamic characteristics of a flexible wing transport aircraft. The aircraft model is based on NASA Generic Transport Model (GTM) with representative mass and stiffness properties to achieve a wing tip deflection about twice that of a conventional transport aircraft (10% versus 5%). This flexible wing transport aircraft is referred to as an Elastically Shaped Aircraft Concept (ESAC) which is equipped with a Variable Camber Continuous Trailing Edge Flap (VCCTEF) system for active wing shaping control for drag reduction. A vortex-lattice aerodynamic model of the ESAC is developed and is coupled with an aeroelastic finite-element model via an automated geometry modeler. This coupled model is used to compute static and dynamic aeroelastic solutions. The deflection information from the finite-element model and the vortex-lattice model is used to compute unsteady contributions to the aerodynamic force and moment coefficients. A coupled aeroelastic-longitudinal flight dynamic model is developed by coupling the finite-element model with the rigid-body flight dynamic model of the GTM.

Flexibility configurations and preventive maintenance impact on job-shop manufacturing systems

Directory of Open Access Journals (Sweden)

Paolo Renna

2017-03-01

Full Text Available Manufacturing systems need to be able to work under the dynamic and uncertain production environment. Machine and routing flexibility combined with preventive maintenance actions can improve the performance of the manufacturing systems under dynamic conditions. This paper evaluates different levels of machine and routing flexibility combined with different degrees of preventive maintenance policy. The performance measures considered are throughput, work in process and throughput. The performance measures are compared with a system without any flexibility and no preventive maintenance actions. Different levels of flexibility and preventive maintenance actions are examined under a simulation environment. The simulation results highlight more important factors for the performance measures and the best combination of the factors to improve the performance.

Towards an Empirical-Relational Model of Supply Chain Flexibility

OpenAIRE

Santanu Mandal

2015-01-01

Supply chains are prone to disruptions and associated risks. To develop capabilities for risk mitigation, supply chains need to be flexible. A flexible supply chain can respond better to environmental contingencies. Based on the theoretical tenets of resource-based view, relational view and dynamic capabilities theory, the current study develops a relational model of supply chain flexibility comprising trust, commitment, communication, co-operation, adaptation and interdependence. Subsequentl...

Heading Control System for a Multi-body Vehicle with a Virtual Test Driver

Directory of Open Access Journals (Sweden)

POSTALCIOGLU OZGEN, S.

2010-08-01

Full Text Available This paper includes a Heading Control (HC system for a multi-body vehicle. HC system helps reducing the required torque from the driver and improves the lane keeping efficiency. HC system is important for safety and driver comfort in traffic. The controller performance is examined on a virtual test drive platform. The optimal control theory is applied to HC system and examined on a curved path and under a side wind disturbance. Different assistance levels are applied to see the characteristics of the controller with different virtual test drivers. The results are analyzed based on three performance indices; lane keeping performance (LKP index, assist torque performance (ATP index and driver torque performance (DTP index. As seen from the results while using HC system the lateral displacement decreases as the lane keeping performance increases and the driver torque performance decreases as the assist torque performance increases.

Uncertainty analysis of flexible rotors considering fuzzy parameters and fuzzy-random parameters

Directory of Open Access Journals (Sweden)

Fabian Andres Lara-Molina

Full Text Available Abstract The components of flexible rotors are subjected to uncertainties. The main sources of uncertainties include the variation of mechanical properties. This contribution aims at analyzing the dynamics of flexible rotors under uncertain parameters modeled as fuzzy and fuzzy random variables. The uncertainty analysis encompasses the modeling of uncertain parameters and the numerical simulation of the corresponding flexible rotor model by using an approach based on fuzzy dynamic analysis. The numerical simulation is accomplished by mapping the fuzzy parameters of the deterministic flexible rotor model. Thereby, the flexible rotor is modeled by using both the Fuzzy Finite Element Method and the Fuzzy Stochastic Finite Element Method. Numerical simulations illustrate the methodology conveyed in terms of orbits and frequency response functions subject to uncertain parameters.

Molecular dynamics simulations of a flexible polyethylene: a protein-like behaviour in a water solvent

International Nuclear Information System (INIS)

Kretov, D.A.; Kholmurodov, Kh.T.

2005-01-01

We used molecular dynamics (MD) simulations to study the density and the temperature behaviour of a flexible polyethylene (PE) subjected to various heating conditions and to investigate the PE chain conformational changes in a water solvent. First, we have considered the influence of the heating process on the final state of the polymeric system and the sensitivity of its thermodynamic characteristics (density, energy, etc.) for different heating regimes. For this purpose three different simulations were performed: fast, moderate, and slow heating. Second, we have investigated the PE chain conformational dynamics in water solvent for various simulation conditions and various configurations of the environment. From the obtained results we have got the pictures of the PE dynamical motions in water. We have observed a protein-like behaviour of the PE chain, like that of the DNA and the proteins in water, and have also estimated the rates of the conformational changes. For the MD simulations we used the optimized general-purpose DL P OLY code and the generic DREIDING force field. The MD simulations were performed on the parallel computers and special-purpose MDGRAPE-2 machine

Integrated flexible capacity and inventory management under flexible capacity uncertainty

OpenAIRE

Paç, Mehmet Fazıl

2006-01-01

Cataloged from PDF version of article. In a manufacturing environment with volatile demand, inventory management can be coupled with dynamic capacity adjustments for handling the fluctuations more effectively. In this study we consider the integrated management of inventory and flexible capacity management under seasonal stochastic demand and uncertain labor supply. The capacity planning problem is investigated from the workforce planning perspective. We consider a manufactu...

Flexible dynamic operation of solar-integrated power plant with solvent based post-combustion carbon capture (PCC) process

International Nuclear Information System (INIS)

Qadir, Abdul; Sharma, Manish; Parvareh, Forough; Khalilpour, Rajab; Abbas, Ali

2015-01-01

Highlights: • Flexible operation of power and PCC plant may significantly increase operational revenue. • Higher optimal carbon capture rates observed with solar thermal energy input. • Solar thermal repowering of the power plant provides highest net revenue. • Constant optimal capture rate observed for one of the flexible operation cases. • Up to 42% higher revenue generation observed between two cases with solar input. - Abstract: This paper examines flexible operation of solvent-based post-combustion carbon capture (PCC) for the reduction of power plant carbon emissions while minimizing revenue loss due to the reduced power plant electricity output. The study is conducted using a model superstructure enveloping three plants; a power plant, a PCC plant and a solar thermal field where the power plant and PCC plant are operated flexibly under the influence of hourly electricity market and weather conditions. Reduced (surrogate) models for the reboiler duty and auxiliary power requirement for the carbon capture plant are generated and applied to simulate and compare four cases, (A) power plant with PCC, (B) power plant with solar assisted PCC, (C) power plant with PCC and solar repowering – variable net electricity output and (D) power plant with PCC and solar repowering – fixed net electricity output. Such analyses are conducted under dynamic conditions including power plant part-load operation while varying the capture rate to optimize the revenue of the power plant. Each case was simulated with a lower carbon price of $25/tonne-CO 2 and a higher price of $50/tonne-CO 2 . The comparison of cases B–D found that optimal revenue generation for case C can be up to 42% higher than that of solar-assisted PCC (case B). Case C is found to be the most profitable with the lowest carbon emissions intensity and is found to exhibit a constant capture rate for both carbon prices. The optimal revenue for case D is slightly lower than case C for the lower carbon

Analysis of the nonlinear dynamics of a 2-axle freight wagon in curves

DEFF Research Database (Denmark)

Di Gialleonardo, Egidio; Bruni, Stefano; True, Hans

2014-01-01

This paper deals with the study of the nonlinear dynamic behaviour of 2-axle freight wagons in curves, considering the case of one single wagon (neglecting inter-car coupling forces) and of multiple wagons interacting through the buffers and the couplers. A multi-body model of a single wagon...... and of a three-car assembly is introduced, paying particular attention to the nonlinear and nonsmooth modelling of the suspensions and of the inter-car coupling elements. Using this model, a numerical analysis of the steady-state solution reached after the negotiation of curve transition is presented......, it is shown that the coupling forces exchanged by the wagons significantly affect their dynamics in a curve, reducing the amplitude of vibration....

Combined finite element and multibody musculoskeletal investigation of a fractured clavicle with reconstruction plate

DEFF Research Database (Denmark)

Cronskar, Marie; Rasmussen, John; Tinnsten, Mats

2015-01-01

This paper addresses the various treatment options for clavicle fractures by means of computational models, more precisely cases with a need for internal fixation: non-unions and certain complex fractures. The motivation for the work is that treatment can be enhanced by a better understanding...... of the loading of the clavicle and fixation device. This study aimed to develop a method for realistic simulation of stresses in the bone and fixation device in the case of a fractured clavicle. A finite element (FE) mesh of the clavicle geometry was created from computer tomography (CT) data and imported...... into the FE solver where the model was subjected to muscle forces and other boundary conditions from a multibody musculoskeletal model performing a typical activity of daily life. A reconstruction plate and screws were also imported into the model. The combination models returned stresses and displacements...

Flexibility configurations and preventive maintenance impact on job-shop manufacturing systems

OpenAIRE

Paolo Renna

2017-01-01

Manufacturing systems need to be able to work under the dynamic and uncertain production environment. Machine and routing flexibility combined with preventive maintenance actions can improve the performance of the manufacturing systems under dynamic conditions. This paper evaluates different levels of machine and routing flexibility combined with different degrees of preventive maintenance policy. The performance measures considered are throughput, work in process and throughput. The performa...

Enzyme hydration, activity and flexibility : A neutron scattering approach

International Nuclear Information System (INIS)

Kurkal-Siebert, V.; Finney, J.L.; Daniel, R.M.; Smith, Jeremy C.

2006-01-01

Recent measurements have demonstrated enzyme activity at hydrations as low as 3%. The question of whether the hydration-induced enzyme flexibility is important for activity is addressed by performing picosecond dynamic neutron scattering experiments on pig liver esterase powders at various temperatures as well as solutions. At all temperatures and hydrations investigated here, significant quasielastic scattering intensity is found in the protein, indicating the presence of anharmonic, diffusive motion. As the hydration increases a temperature-dependent dynamical transition appears and strengthens involving additional diffusive motion. At low temperature, increasing hydration resulted in lower flexibility of the enzyme. At higher temperatures, systems containing sufficient number of water molecules interacting with the protein exhibit increased flexibility. The implication of these results is that, although the additional hydration-induced diffusive motion and flexibility at high temperatures in the enzyme detected here may be related to increased activity, they are not required for the enzyme to function

Dynamic pricing and inventory control with delivery flexibility

DEFF Research Database (Denmark)

Chen, Wen; He, Ying

2018-01-01

We study a multi-period inventory system with price-sensitive demand and uncertain supplier, focusing on the advantage of delivery flexibility. The optimal pricing and inventory replenishment decisions are explored. We also investigate the changes of marginal profit, optimal order quantities...

Dynamic modelling of n-of-1 data: powerful and flexible data analytics applied to individualised studies.

Science.gov (United States)

Vieira, Rute; McDonald, Suzanne; Araújo-Soares, Vera; Sniehotta, Falko F; Henderson, Robin

2017-09-01

N-of-1 studies are based on repeated observations within an individual or unit over time and are acknowledged as an important research method for generating scientific evidence about the health or behaviour of an individual. Statistical analyses of n-of-1 data require accurate modelling of the outcome while accounting for its distribution, time-related trend and error structures (e.g., autocorrelation) as well as reporting readily usable contextualised effect sizes for decision-making. A number of statistical approaches have been documented but no consensus exists on which method is most appropriate for which type of n-of-1 design. We discuss the statistical considerations for analysing n-of-1 studies and briefly review some currently used methodologies. We describe dynamic regression modelling as a flexible and powerful approach, adaptable to different types of outcomes and capable of dealing with the different challenges inherent to n-of-1 statistical modelling. Dynamic modelling borrows ideas from longitudinal and event history methodologies which explicitly incorporate the role of time and the influence of past on future. We also present an illustrative example of the use of dynamic regression on monitoring physical activity during the retirement transition. Dynamic modelling has the potential to expand researchers' access to robust and user-friendly statistical methods for individualised studies.

Reaction Null Space of a multibody system with applications in robotics

Directory of Open Access Journals (Sweden)

D. N. Nenchev

2013-02-01

Full Text Available This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

Rigid finite element method in analysis of dynamics of offshore structures

Energy Technology Data Exchange (ETDEWEB)

Wittbrodt, Edmund [Gdansk Univ. of Technology (Poland); Szczotka, Marek; Maczynski, Andrzej; Wojciech, Stanislaw [Bielsko-Biala Univ. (Poland)

2013-07-01

This book describes new methods developed for modelling dynamics of machines commonly used in the offshore industry. These methods are based both on the rigid finite element method, used for the description of link deformations, and on homogeneous transformations and joint coordinates, which is applied to the modelling of multibody system dynamics. In this monograph, the bases of the rigid finite element method and homogeneous transformations are introduced. Selected models for modelling dynamics of offshore devices are then verified both by using commercial software, based on the finite element method, as well as by using additional methods. Examples of mathematical models of offshore machines, such as a gantry crane for Blowout-Preventer (BOP) valve block transportation, a pedestal crane with shock absorber, and pipe laying machinery are presented. Selected problems of control in offshore machinery as well as dynamic optimization in device control are also discussed. Additionally, numerical simulations of pipe-laying operations taking active reel drive into account are shown.

Calculation of Flexible Bus-Bars Electrodynamic Stability with Application of Implicit Scheme

Directory of Open Access Journals (Sweden)

Y. G. Panamarenka

2008-01-01

Full Text Available A numerical method for calculation of open-air substations’ flexible bus-bars dynamic at short-circuit has been improved on equations of a flexible elastic string with application of an implicit scheme. On the basis of the numerical method a computer program FLEBUS for calculation of substations’ flexible bus-bars dynamic at short-circuit has been developed. An approbation and an estimation of calculation result reliability have been carried out in accordance with the program while using experimental data. On the basis of the obtained information it is possible to assert that the developed program is an independent tool for calculation of electrodynamic stability of substations’ flexible bus-bars.

Multi-body simulation of various falling scenarios for determining resulting loads at the prosthesis interface of transfemoral amputees with osseointegrated fixation.

Science.gov (United States)

Welke, Bastian; Schwarze, Michael; Hurschler, Christof; Calliess, Tilman; Seehaus, Frank

2013-07-01

Conventionally, transfemoral amputees are treated with a shaft prosthesis fitted over the residual limb. To improve the quality of life of such patients, in particular those with complications relating to conventional attachment (e.g., skin irritation, stump ulcers, and poor motor-control with short stumps), osseointegrated prosthesis fixation implants have been developed and implanted in a limited population of patients. To assess possible damage to the implant/prosthesis during falling scenarios, the loads in high-risk situations were estimated using a multi-body simulation of motion. Five falling scenarios were identified and performed by healthy volunteer wearing safety equipment. Kinematic data and ground reaction forces were captured as input for the inverse-dynamics-based simulations, from which the forces and moments at a typical implant-prosthesis interface location were computed. The estimated peak loads in all five scenarios were of a magnitude that could lead to bone fracture. The largest peak force observed was 3274 ± 519 N, with an associated resultant moment of 176 ± 55 Nm on the prosthesis-implant interface. A typical femur is prone to fracture under this load, thus illustrating the need for a safety-release element in osseointegrated prosthesis fixation. Copyright © 2013 Orthopaedic Research Society.

Investigating the adaptability of the multi-pump multi-piston power take-off system for a novel wave energy converter

NARCIS (Netherlands)

Wei, Y.; Barradas Berglind, J.J; van Rooij, M.; Prins, WA; Jayawardhana, B.; Vakis, A. I.

2017-01-01

In this work, a numerical model is developed in order to investigate the adaptability of the multi-pump multi-piston power take-off ((MPPTO)-P-2) system of a novel wave energy converter (WEC). This model is realized in the MATLAB/SIMULINK environment, using the multi-body dynamics solver Multibody

On the identifiability of inertia parameters of planar Multi-Body Space Systems

Science.gov (United States)

Nabavi-Chashmi, Seyed Yaser; Malaek, Seyed Mohammad-Bagher

2018-04-01

This work describes a new formulation to study the identifiability characteristics of Serially Linked Multi-body Space Systems (SLMBSS). The process exploits the so called "Lagrange Formulation" to develop a linear form of Equations of Motion w.r.t the system Inertia Parameters (IPs). Having developed a specific form of regressor matrix, we aim to expedite the identification process. The new approach allows analytical as well as numerical identification and identifiability analysis for different SLMBSSs' configurations. Moreover, the explicit forms of SLMBSSs identifiable parameters are derived by analyzing the identifiability characteristics of the robot. We further show that any SLMBSS designed with Variable Configurations Joint allows all IPs to be identifiable through comparing two successive identification outcomes. This feature paves the way to design new class of SLMBSS for which accurate identification of all IPs is at hand. Different case studies reveal that proposed formulation provides fast and accurate results, as required by the space applications. Further studies might be necessary for cases where planar-body assumption becomes inaccurate.

ROCKETSHIP: a flexible and modular software tool for the planning, processing and analysis of dynamic MRI studies

International Nuclear Information System (INIS)

Barnes, Samuel R.; Ng, Thomas S. C.; Santa-Maria, Naomi; Montagne, Axel; Zlokovic, Berislav V.; Jacobs, Russell E.

2015-01-01

Dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) is a promising technique to characterize pathology and evaluate treatment response. However, analysis of DCE-MRI data is complex and benefits from concurrent analysis of multiple kinetic models and parameters. Few software tools are currently available that specifically focuses on DCE-MRI analysis with multiple kinetic models. Here, we developed ROCKETSHIP, an open-source, flexible and modular software for DCE-MRI analysis. ROCKETSHIP incorporates analyses with multiple kinetic models, including data-driven nested model analysis. ROCKETSHIP was implemented using the MATLAB programming language. Robustness of the software to provide reliable fits using multiple kinetic models is demonstrated using simulated data. Simulations also demonstrate the utility of the data-driven nested model analysis. Applicability of ROCKETSHIP for both preclinical and clinical studies is shown using DCE-MRI studies of the human brain and a murine tumor model. A DCE-MRI software suite was implemented and tested using simulations. Its applicability to both preclinical and clinical datasets is shown. ROCKETSHIP was designed to be easily accessible for the beginner, but flexible enough for changes or additions to be made by the advanced user as well. The availability of a flexible analysis tool will aid future studies using DCE-MRI. A public release of ROCKETSHIP is available at (https://github.com/petmri/ROCKETSHIP)

Modeling of flexible reciprocating compressor considering the crosshead subsidence

Science.gov (United States)

Xue, Xiaogang; Liu, Shulin; Sun, Xin

2018-01-01

Crank-slider mechanisms are important parts of heavy duty machines, including reciprocating compressors, combustion motors. This paper targets on the dynamic response of the crosshead in a reciprocating compressor, taking into consideration the crosshead deviation from the original level. The traditional model of the compressor is usually a slider-mechanism system without considering the deflection of the crosshead, thus neglecting the influence of the piston rod, which has some flexible features. In this paper, a rigid-flexible model of slider-crank is described theoretically, using the commercial software MATLAB, where the crank, connecting rod and crosshead are treated as rigid bodies, while the piston rod connected to the crosshead is considered as a flexible body. The dynamic response of the mechanism with the crosshead subsidence is discussed detailedly in this paper. After calculated theoretically, the MATLAB simulation showed that the dynamic response of the crosshead will be greatly influenced if the crosshead subsided from the original level. Also, the influence of the crosshead subsidence was also investigated, and some extra vibration of the crosshead arises.

Dynamics and control of robotic spacecrafts for the transportation of flexible elements

International Nuclear Information System (INIS)

Wen, Hao; Chen, Ti; Yu, Bensong; Jin, Dongping

2016-01-01

The technology of robotic spacecrafts has been identified as one of the most appealing solutions to the on-orbit construction of large space structures in future space missions. As a prerequisite of a successful on-orbit construction, it is needed to use small autonomous spacecrafts for the transportation of flexible elements. To this end, the paper presents an energy-based scheme to control a couple of robotic spacecrafts carrying a flexible slender structure to its desired position. The flexible structure is modelled as a long beam based on the formulation of absolute nodal coordinates to account for the geometrical nonlinearity due to large displacement. Meanwhile, the robotic spacecrafts are actuated on their rigid-body degrees of freedom and modelled as two rigid bodies attached to the flexible beam. The energy-based controller is designed using the technique of energy shaping and damping injection such that translational and rotational maneuvers can be achieved with the suppression of the flexible vibrations of the beam. Finally, numerical case studies are performed to demonstrate the proposed schemes. (paper)

Structural flexibility of the sulfur mustard molecule at finite temperature from Car-Parrinello molecular dynamics simulations.

Science.gov (United States)

Lach, Joanna; Goclon, Jakub; Rodziewicz, Pawel

2016-04-05

Sulfur mustard (SM) is one of the most dangerous chemical compounds used against humans, mostly at war conditions but also in terrorist attacks. Even though the sulfur mustard has been synthesized over a hundred years ago, some of its molecular properties are not yet resolved. We investigate the structural flexibility of the SM molecule in the gas phase by Car-Parrinello molecular dynamics simulations. Thorough conformation analysis of 81 different SM configurations using density functional theory is performed to analyze the behavior of the system at finite temperature. The conformational diversity is analyzed with respect to the formation of intramolecular blue-shifting CH⋯S and CH⋯Cl hydrogen bonds. Molecular dynamics simulations indicate that all structural rearrangements between SM local minima are realized either in direct or non-direct way, including the intermediate structure in the last case. We study the lifetime of the SM conformers and perform the population analysis. Additionally, we provide the anharmonic dynamical finite temperature IR spectrum from the Fourier Transform of the dipole moment autocorrelation function to mimic the missing experimental IR spectrum. Copyright © 2015 Elsevier B.V. All rights reserved.

Intrinsic flexibility of porous materials; theory, modelling and the flexibility window of the EMT zeolite framework

International Nuclear Information System (INIS)

Fletcher, Rachel E.; Wells, Stephen A.; Leung, Ka Ming; Edwards, Peter P.; Sartbaeva, Asel

2015-01-01

Framework materials possess intrinsic flexibility which can be investigated using geometric simulation. We review framework flexibility properties in energy materials and present novel results on the flexibility window of the EMT zeolite framework containing 18-crown-6 ether as a structure directing agent (SDA). Framework materials have structures containing strongly bonded polyhedral groups of atoms connected through their vertices. Typically the energy cost for variations of the inter-polyhedral geometry is much less than the cost of distortions of the polyhedra themselves – as in the case of silicates, where the geometry of the SiO 4 tetrahedral group is much more strongly constrained than the Si—O—Si bridging angle. As a result, framework materials frequently display intrinsic flexibility, and their dynamic and static properties are strongly influenced by low-energy collective motions of the polyhedra. Insight into these motions can be obtained in reciprocal space through the ‘rigid unit mode’ (RUM) model, and in real-space through template-based geometric simulations. We briefly review the framework flexibility phenomena in energy-relevant materials, including ionic conductors, perovskites and zeolites. In particular we examine the ‘flexibility window’ phenomenon in zeolites and present novel results on the flexibility window of the EMT framework, which shed light on the role of structure-directing agents. Our key finding is that the crown ether, despite its steric bulk, does not limit the geometric flexibility of the framework

New scheduling rules for a dynamic flexible flow line problem with sequence-dependent setup times

Science.gov (United States)

Kia, Hamidreza; Ghodsypour, Seyed Hassan; Davoudpour, Hamid

2017-09-01

In the literature, the application of multi-objective dynamic scheduling problem and simple priority rules are widely studied. Although these rules are not efficient enough due to simplicity and lack of general insight, composite dispatching rules have a very suitable performance because they result from experiments. In this paper, a dynamic flexible flow line problem with sequence-dependent setup times is studied. The objective of the problem is minimization of mean flow time and mean tardiness. A 0-1 mixed integer model of the problem is formulated. Since the problem is NP-hard, four new composite dispatching rules are proposed to solve it by applying genetic programming framework and choosing proper operators. Furthermore, a discrete-event simulation model is made to examine the performances of scheduling rules considering four new heuristic rules and the six adapted heuristic rules from the literature. It is clear from the experimental results that composite dispatching rules that are formed from genetic programming have a better performance in minimization of mean flow time and mean tardiness than others.

Influence of inflow angle on flexible flap aerodynamic performance

International Nuclear Information System (INIS)

Zhao, H Y; Ye, Z; Li, Z M; Li, C

2013-01-01

Large scale wind turbines have larger blade lengths and weights, which creates new challenges for blade design. This paper selects NREL S809 airfoil, and uses the parameterized technology to realize the flexible trailing edge deformation, researches the dynamic aerodynamic characteristics in the process of continuous flexible deformation, analyses the influence of inflow angle on flexible flap aerodynamic performance, in order to further realize the flexible wind turbine blade design and provides some references for the active control scheme. The results show that compared with the original airfoil, proper trailing edge deformation can improve the lift coefficient, reduce the drag coefficient, and thereby more efficiently realize flow field active control. With inflow angle increases, dynamic lift-drag coefficient hysteresis loop shape deviation occurs, even turns into different shapes. Appropriate swing angle can improve the flap lift coefficient, but may cause early separation of flow. To improve the overall performance of wind turbine blades, different angular control should be used at different cross sections, in order to achieve the best performance

Thermodynamics of mixtures of patchy and spherical colloids of different sizes: A multi-body association theory with complete reference fluid information

Science.gov (United States)

Bansal, Artee; Valiya Parambathu, Arjun; Asthagiri, D.; Cox, Kenneth R.; Chapman, Walter G.

2017-04-01

We present a theory to predict the structure and thermodynamics of mixtures of colloids of different diameters, building on our earlier work [A. Bansal et al., J. Chem. Phys. 145, 074904 (2016)] that considered mixtures with all particles constrained to have the same size. The patchy, solvent particles have short-range directional interactions, while the solute particles have short-range isotropic interactions. The hard-sphere mixture without any association site forms the reference fluid. An important ingredient within the multi-body association theory is the description of clustering of the reference solvent around the reference solute. Here we account for the physical, multi-body clusters of the reference solvent around the reference solute in terms of occupancy statistics in a defined observation volume. These occupancy probabilities are obtained from enhanced sampling simulations, but we also present statistical mechanical models to estimate these probabilities with limited simulation data. Relative to an approach that describes only up to three-body correlations in the reference, incorporating the complete reference information better predicts the bonding state and thermodynamics of the physical solute for a wide range of system conditions. Importantly, analysis of the residual chemical potential of the infinitely dilute solute from molecular simulation and theory shows that whereas the chemical potential is somewhat insensitive to the description of the structure of the reference fluid, the energetic and entropic contributions are not, with the results from the complete reference approach being in better agreement with particle simulations.

Structure and thermodynamics of a mixture of patchy and spherical colloids: A multi-body association theory with complete reference fluid information

Energy Technology Data Exchange (ETDEWEB)

Bansal, Artee; Asthagiri, D.; Cox, Kenneth R.; Chapman, Walter G., E-mail: wgchap@rice.edu [Department of Chemical and Biomolecular Engineering, Rice University, Houston, Texas 77251 (United States)

2016-08-21

A mixture of solvent particles with short-range, directional interactions and solute particles with short-range, isotropic interactions that can bond multiple times is of fundamental interest in understanding liquids and colloidal mixtures. Because of multi-body correlations, predicting the structure and thermodynamics of such systems remains a challenge. Earlier Marshall and Chapman [J. Chem. Phys. 139, 104904 (2013)] developed a theory wherein association effects due to interactions multiply the partition function for clustering of particles in a reference hard-sphere system. The multi-body effects are incorporated in the clustering process, which in their work was obtained in the absence of the bulk medium. The bulk solvent effects were then modeled approximately within a second order perturbation approach. However, their approach is inadequate at high densities and for large association strengths. Based on the idea that the clustering of solvent in a defined coordination volume around the solute is related to occupancy statistics in that defined coordination volume, we develop an approach to incorporate the complete information about hard-sphere clustering in a bulk solvent at the density of interest. The occupancy probabilities are obtained from enhanced sampling simulations but we also develop a concise parametric form to model these probabilities using the quasichemical theory of solutions. We show that incorporating the complete reference information results in an approach that can predict the bonding state and thermodynamics of the colloidal solute for a wide range of system conditions.

Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

OpenAIRE

Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei

2013-01-01

The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external distur...

Wearable and flexible electronics for continuous molecular monitoring.

Science.gov (United States)

Yang, Yiran; Gao, Wei

2018-04-03

Wearable biosensors have received tremendous attention over the past decade owing to their great potential in predictive analytics and treatment toward personalized medicine. Flexible electronics could serve as an ideal platform for personalized wearable devices because of their unique properties such as light weight, low cost, high flexibility and great conformability. Unlike most reported flexible sensors that mainly track physical activities and vital signs, the new generation of wearable and flexible chemical sensors enables real-time, continuous and fast detection of accessible biomarkers from the human body, and allows for the collection of large-scale information about the individual's dynamic health status at the molecular level. In this article, we review and highlight recent advances in wearable and flexible sensors toward continuous and non-invasive molecular analysis in sweat, tears, saliva, interstitial fluid, blood, wound exudate as well as exhaled breath. The flexible platforms, sensing mechanisms, and device and system configurations employed for continuous monitoring are summarized. We also discuss the key challenges and opportunities of the wearable and flexible chemical sensors that lie ahead.

Design and optimization of flexible multi-generation systems

DEFF Research Database (Denmark)

Lythcke-Jørgensen, Christoffer Ernst

variations and dynamics, and energy system analysis, which fails to consider process integration synergies in local systems. The primary objective of the thesis is to derive a methodology for linking process design practices with energy system analysis for enabling coherent and holistic design optimization...... of flexible multi-generation system. In addition, the case study results emphasize the importance of considering flexible operation, systematic process integration, and systematic assessment of uncertainties in the design optimization. It is recommended that future research focus on assessing system impacts...... from flexible multi-generation systems and performance improvements from storage options....

Using reflection techniques for flexible problem solving (with examples from diagnosis)

NARCIS (Netherlands)

Teije, A. ten; Harmelen, van F.A.H.

1996-01-01

Flexible problem solving consists of the dynamic selection and configuration of problem solving methods for a particular problem type, depending on the particular problem and the goal of problem solving. In this paper, we propose an architecture that supports such flexible problem solving

Adjustable ETHD lubrication applied to the improvement of dynamic performance of flexible rotors supported by active TPJB

DEFF Research Database (Denmark)

Salazar, Jorge Andrés González; Cerda Varela, Alejandro Javier; Santos, Ilmar

2013-01-01

This paper reports the dynamic study of a flexible rotor-bearing test rig which resembles a large overhung centrifugal compressor. The rotor is supported by an active tilting pad journal bearing (TPJB) able to perform the adjustable lubrication regime. Such a regime is obtained by injecting...... pressurized oil directly into the bearing clearance through a nozzle placed in a radial bore at the middle of the pad and connected to a high pressure supply unit by servovalves. The theoretical model is based on a finite element model, where the active TPJB with adjustable lubrication is included using...... and the experimental results are obtained. The improvements are obtained when the system response amplitudes in a bounded speed range is reduced by applying the adjustable lubrication. Results are in agreement with the established fact that a significant improvement of the rotor-bearing system dynamic performance can...

Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

Directory of Open Access Journals (Sweden)

Quan Zhang

2014-01-01

Full Text Available This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM. To achieve active vibration control, multiple lead zirconate titanate (PZT transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM, the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC, in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.

Nonlinear modelling and dynamic stability analysis of a flexible Cartesian robotic manipulator with base disturbance and terminal load

Directory of Open Access Journals (Sweden)

J. Ju

2017-07-01

Full Text Available The flexible Cartesian robotic manipulator (FCRM is coming into widespread application in industry. Because of the feeble rigidity and heavy deflection, the dynamic characteristics of the FCRM are easily influenced by external disturbances which mainly concentrate in the driving end and the load end. Thus, with the influence of driving base disturbance and terminal load considered, the motion differential equations of the FCRM under the plane motion of the base are constructed, which contain the forced and non-linear parametric excitations originated from the disturbances of base lateral and axial motion respectively. Considering the relationship between the coefficients of the motion differential equations and the mode shapes of the flexible manipulator, the analytic expressions of the mode shapes with terminal load are deduced. Then, based on multiple scales method and rectangular coordinate transformation, the average equations of the FCRM are derived to analyze the influence mechanism of base disturbance and terminal load on the system parametric vibration stability. The results show that terminal load mainly affects the node locations of mode shapes and mode frequencies of the FCRM, and the axial motion disturbance of the driving base introduces parametric excitation while the lateral motion disturbance generates forced excitation for the transverse vibration model of the FCRM. Furthermore, with the increase of the base excitation acceleration and terminal load, the parametric vibration instability region of the FCRM increases significantly. This study will be helpful for the dynamic characteristics analysis and vibration control of the FCRM.

Analytical and experimental analysis of a parallel leaf spring guidance

NARCIS (Netherlands)

Meijaard, Jacob Philippus; Brouwer, Dannis Michel; Jonker, Jan B.; Denier, J.; Finn, M.

2008-01-01

A parallel leaf spring guidance is defined as a benchmark problem for flexible multibody formalisms and codes. The mechanism is loaded by forces and an additional moment or misalignment. Buckling loads, changes in compliance and frequencies, and large-amplitude vibrations are calculated. A

A new technique of deploying dynamic y stent using flexible bronchoscope, video laryngoscope, and laryngeal mask airway.

Science.gov (United States)

Obeidat, Shadi; Badin, Shadi; Khawaja, Imran

2010-04-01

Dynamic Y stents are used in tracheobronchial obstruction, tracheal stenosis, and tracheomalacia. Placement may be difficult and is usually accomplished using a rigid grasping forceps (under fluoroscopic guidance) or a rigid bronchoscope. We report using a new stent placement technique on an elderly patient with a central tracheobronchial tumor. It included using a flexible bronchoscope, video laryngoscope, and laryngeal mask airway. The new technique we used has the advantages of continuous direct endoscopic visualization during stent advancement and manipulation, and securing the airways with a laryngeal mask airway at the same time. This technique eliminates the need for intraoperative fluoroscopy.

Contribution to control of robotics structures and dynamic behaviour

International Nuclear Information System (INIS)

Gilliot, Jean-Marie

1990-01-01

The scope of this thesis is the simulation of the dynamics of complex rigid multi-body systems involved in robotics, in order to control them. In the first stage, methods for obtaining equations and models required for simulation and control purposes are proposed and discussed: - determination of constraint equations using the jacobian matrices, - elaboration of direct and inverse dynamics of manipulators. The second part of this thesis deals with the different concepts and components involved in the setting of simulation systems for Robotics Application Programs: models, emulators and the software development environment. The control algorithms are then introduced as a particular class of robotics application programs. A simulator has been developed, allowing the calculation and the visualisation of robot motions, driven by generalized torques. Some examples of control programs generating such control torques are then presented to illustrate the use of the simulator. (author) [fr

Numerical simulation of track settlement using a multibody dynamic software a holistic approach

DEFF Research Database (Denmark)

Tejada, Alejandro de Miguel; Lau, A.; Santos, Ilmar

2017-01-01

that it is necessary to intensify the frequency and the amount of maintenance works in the critical track sections, resulting in increased costs for the infrastructure manager. The fundamental idea of this work is to create and implement a novel methodology to analyse the train/track dynamic interaction and its...

Response prediction of long flexible risers subject to forced harmonic vibration

OpenAIRE

Riveros, Carlos Alberto; Utsunomiya, Tomoaki; Maeda, Katsuya; Itoh, Kazuaki

2010-01-01

Several research efforts have been directed toward the development of models for response prediction of flexible risers. The main difficulties arise from the fact that the dynamic response of flexible risers involves highly nonlinear behavior and a self-regulated process. This article presents a quasi-steady approach for response prediction of oscillating flexible risers. Amplitude-dependent lift coefficients are considered, as is an increased mean drag coefficient model during synchronizatio...

Instability of a cantilevered flexible plate in viscous channel flow

Science.gov (United States)

Balint, T. S.; Lucey, A. D.

2005-10-01

The stability of a flexible cantilevered plate in viscous channel flow is studied as a representation of the dynamics of the human upper airway. The focus is on instability mechanisms of the soft palate (flexible plate) that cause airway blockage during sleep. We solve the Navier Stokes equations for flow with Reynolds numbers up to 1500 fully coupled with the dynamics of the plate motion solved using finite-differences. The study is 2-D and based upon linearized plate mechanics. When both upper and lower airways are open, the plate is found to lose its stability through a flutter mechanism and a critical Reynolds number exists. When one airway is closed, the plate principally loses its stability through a divergence mechanism and a critical flow speed exists. However, below the divergence-onset flow speed, flutter can exist for low levels of structural damping in the flexible plate. Our results serve to extend understanding of flow-induced instability of cantilevered flexible plates and will ultimately improve the diagnosis and treatment of upper-airway disorders.

Sliding Mode Control of a Slewing Flexible Beam

Science.gov (United States)

Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

1997-01-01

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

Influence of tire inflating pressure at dynamic forces acting on articulated trolleybus

Directory of Open Access Journals (Sweden)

Polach Pavel

2017-01-01

Full Text Available ŠKODA VÝZKUM s.r.o. cooperated on the development of the NEOPLAN DMA low-floor articulated trolleybus intended for the Boston city. Multibody models and finite element models of the trolleybus were utilized in the stage of the vehicle design. At the end of the stage of computer modelling and testing of the trolleybus prototype a decision to reduce tire inflating of vehicles in serial production (together with the change the type of shock absorbers used in trolleybus suspension was made. The impact of this change on forces acting in the trolleybus suspension elements (i.e. in air springs and shock absorbers and radius rods on the trolleybus chassis when running on an uneven test track was investigated using multibody simulations. Time histories of the forces calculated utilising multibody models were used as input data of the trolleybus finite element models.

MUSME Conference

CERN Document Server

Martinez, Eusebio

2015-01-01

This volume contains the Proceedings of MUSME 2014, held at Huatulco in Oaxaca, Mexico, October 2014. Topics include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and control of mechatronic systems. The MUSME symposium on Multibody Systems and Mechatronics was held under the auspices of IFToMM, the International Federation for Promotion of Mechanism and Machine Science, and FeIbIM, the Iberoamerican Federation of Mechanical Engineering. Since the first symposium in 2002, MUSME events have been characterised by the way they stimulate the integration between the various mechatronics and multibody systems dynamics disciplines, present a forum for facilitating contacts among researchers and students mainly in South American countries, and serve as a joint conference for the ...

Action-reaction based parameters identification and states estimation of flexible systems

OpenAIRE

Khalil, Islam; Kunt, Emrah Deniz; Şabanoviç, Asif; Sabanovic, Asif

2012-01-01

This work attempts to identify and estimate flexible system's parameters and states by a simple utilization of the Action-Reaction law of dynamical systems. Attached actuator to a dynamical system or environmental interaction imposes an action that is instantaneously followed by a dynamical system reaction. The dynamical system's reaction carries full information about the dynamical system including system parameters, dynamics and externally applied forces that arise due to system interaction...

Nonlinear modeling, strength-based design, and testing of flexible piezoelectric energy harvesters under large dynamic loads for rotorcraft applications

Science.gov (United States)

Leadenham, Stephen; Erturk, Alper

2014-04-01

There has been growing interest in enabling wireless health and usage monitoring for rotorcraft applications, such as helicopter rotor systems. Large dynamic loads and acceleration fluctuations available in these environments make the implementation of vibration-based piezoelectric energy harvesters a very promising choice. However, such extreme loads transmitted to the harvester can also be detrimental to piezoelectric laminates and overall system reliability. Particularly flexible resonant cantilever configurations tuned to match the dominant excitation frequency can be subject to very large deformations and failure of brittle piezoelectric laminates due to excessive bending stresses at the root of the harvester. Design of resonant piezoelectric energy harvesters for use in these environments require nonlinear electroelastic dynamic modeling and strength-based analysis to maximize the power output while ensuring that the harvester is still functional. This paper presents a mathematical framework to design and analyze the dynamics of nonlinear flexible piezoelectric energy harvesters under large base acceleration levels. A strength-based limit is imposed to design the piezoelectric energy harvester with a proof mass while accounting for material, geometric, and dissipative nonlinearities, with a focus on two demonstrative case studies having the same linear fundamental resonance frequency but different overhang length and proof mass values. Experiments are conducted at different excitation levels for validation of the nonlinear design approach proposed in this work. The case studies in this work reveal that harvesters exhibiting similar behavior and power generation performance at low excitation levels (e.g. less than 0.1g) can have totally different strength-imposed performance limitations under high excitations (e.g. above 1g). Nonlinear modeling and strength-based design is necessary for such excitation levels especially when using resonant cantilevers with no

Fabrication of Flexible Microneedle Array Electrodes for Wearable Bio-Signal Recording.

Science.gov (United States)

Ren, Lei; Xu, Shujia; Gao, Jie; Lin, Zi; Chen, Zhipeng; Liu, Bin; Liang, Liang; Jiang, Lelun

2018-04-13

Laser-direct writing (LDW) and magneto-rheological drawing lithography (MRDL) have been proposed for the fabrication of a flexible microneedle array electrode (MAE) for wearable bio-signal monitoring. Conductive patterns were directly written onto the flexible polyethylene terephthalate (PET) substrate by LDW. The microneedle array was rapidly drawn and formed from the droplets of curable magnetorheological fluid with the assistance of an external magnetic field by MRDL. A flexible MAE can maintain a stable contact interface with curved human skin due to the flexibility of the PET substrate. Compared with Ag/AgCl electrodes and flexible dry electrodes (FDE), the electrode-skin interface impedance of flexible MAE was the minimum even after a 50-cycle bending test. Flexible MAE can record electromyography (EMG), electroencephalography (EEG) and static electrocardiography (ECG) signals with good fidelity. The main features of the dynamic ECG signal recorded by flexible MAE are the most distinguishable with the least moving artifacts. Flexible MAE is an attractive candidate electrode for wearable bio-signal monitoring.

Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples

International Nuclear Information System (INIS)

TRINKLE, JEFFREY C.; TZITZOURIS, J.A.; PANG, J.S.

2001-01-01

Consider a system of rigid bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally planar, finite regions and that friction forces are consistent with the maximum work inequality. Existence and uniqueness results are presented for this problem under mild assumptions on the system inputs. In addition, the performance of two different time-stepping methods for integrating the dynamics are compared on two simple multi-body systems

Sustainable development of the wind power industry in a complex environment: a flexibility study

International Nuclear Information System (INIS)

Zhao, Zhen-Yu; Zhu, Jiang; Zuo, Jian

2014-01-01

As a new and developing green energy business in emerging economies such as China, the wind power industry chain faces some complex issues that are further compounded by turbulent internal and external environments. To deal with the complex environment, the wind power industry needs to improve its level of flexibility so that it can become more adaptable to the changing environment. Hence it is important to explore the dynamics of the wind power industry chain flexibility with respect to the ever changing environment. This study uses questionnaire surveys and expert interviews to identify the influential flexibility components of the wind power industry chain. Subsequently a fuzzy cognitive mapping (FCM) methodology was used to establish a flexibility operating mechanism model. The research found that special attention should be paid to competition flexibility, technology flexibility, and intellectual property and talent flexibility. Policies play a pivotal role in regulating the driving effects of these components of flexibility with the aim being long term sustainability of a healthy level of overall flexibility of the wind power industry chain. This should in turn facilitate the sustainable development of the industry. - Highlights: • Wind power industry shall improve flexibility to deal with complex environment. • Critical components of flexibility of wind power industry chain were identified. • An operating mechanism model for flexibility of wind power industry is proposed. • Fuzzy cognitive mapping method is employed to model the dynamics of flexibility. • Policies play a pivotal role in fostering an industry environment toward flexibility

Experimental and numerical investigations of wire bending by linear winding of rectangular tooth coils

Science.gov (United States)

Komodromos, A.; Tekkaya, A. E.; Hofmann, J.; Fleischer, J.

2018-05-01

Since electric motors are gaining in importance in many fields of application, e.g. hybrid electric vehicles, optimization of the linear coil winding process greatly contributes to an increase in productivity and flexibility. For the investigation of the forming behavior of the winding wire the material behavior is characterized in different experimental setups. Numerical examinatons of the linear winding process are carried out in a case study for a rectangular bobbin in order to analyze the influence of forming parameters on the resulting properties of the wound coil. Besides the numerical investigation of the linear winding method by using the finite element method (FEM), a multi-body dynamics (MBD) simulation is carried out. The multi-body dynamics simulation is necessary to represent the movement of the bodies as well as the connection of the components during winding. The finite element method is used to represent the material behavior of the copper wire and the plastic strain distribution within the wire. It becomes clear that the MBD simulation is not sufficient for analyzing the process and the wire behavior in its entirety. Important parameters that define the final coil properties cannot be analyzed in the manner of a precise manifestation, e.g. the clearance between coil bobbin and wire as well as the wire deformation behavior in form of a diameter reduction which negatively affects the ohmic resistance. Finally, the numerical investigations are validated experimentally by linear winding tests.

Inspection and monitoring techniques for un-bonded flexible risers and pipelines

OpenAIRE

Simonsen, Anders

2014-01-01

Master's thesis in Offshore technology Un-bonded flexible pipelines and risers are an alternative to conventional rigid steel pipes. The use of flexible pipes has enabled development of several offshore fields that seemed unfeasible with the use of rigid pipes due to extensive seabed preparation and large dynamic motions. The lack of knowledge and integrity management tools for flexible pipes is a limiting factor and cause pipelines and risers to be replaced before their service life has ...

Action-reaction based parameters identification and states estimation of flexible systems

OpenAIRE

Khalil, Islam Shoukry Mohammed; Şabanoviç, Asif; Sabanovic, Asif

2010-01-01

This work attempts to identify and estimate flexible system’s parameters and states by a simple utilization of the Action-Reaction law of dynamical systems. Attached actuator to a dynamical system or environmental interaction imposes an action that is instantaneously followed by a dynamical system reaction. The dynamical system’s reaction carries full information about the dynamical system including system parameters, dynamics and externally applied forces that arise due to system interaction...

Roll-to-roll slot-die coating of 400 mm wide, flexible, transparent Ag nanowire films for flexible touch screen panels.

Science.gov (United States)

Kim, Dong-Ju; Shin, Hae-In; Ko, Eun-Hye; Kim, Ki-Hyun; Kim, Tae-Woong; Kim, Han-Ki

2016-09-28

We report fabrication of large area Ag nanowire (NW) film coated using a continuous roll-to-roll (RTR) slot die coater as a viable alternative to conventional ITO electrodes for cost-effective and large-area flexible touch screen panels (TSPs). By controlling the flow rate of shear-thinning Ag NW ink in the slot die, we fabricated Ag NW percolating network films with different sheet resistances (30-70 Ohm/square), optical transmittance values (89-90%), and haze (0.5-1%) percentages. Outer/inner bending, twisting, and rolling tests as well as dynamic fatigue tests demonstrated that the mechanical flexibility of the slot-die coated Ag NW films was superior to that of conventional ITO films. Using diamond-shape patterned Ag NW layer electrodes (50 Ohm/square, 90% optical transmittance), we fabricated 12-inch flexible film-film type and rigid glass-film-film type TSPs. Successful operation of flexible TSPs with Ag NW electrodes indicates that slot-die-coated large-area Ag NW films are promising low cost, high performance, and flexible transparent electrodes for cost-effective large-area flexible TSPs and can be substituted for ITO films, which have high sheet resistance and are brittle.

Roll-to-roll slot-die coating of 400 mm wide, flexible, transparent Ag nanowire films for flexible touch screen panels

Science.gov (United States)

Kim, Dong-Ju; Shin, Hae-In; Ko, Eun-Hye; Kim, Ki-Hyun; Kim, Tae-Woong; Kim, Han-Ki

2016-09-01

We report fabrication of large area Ag nanowire (NW) film coated using a continuous roll-to-roll (RTR) slot die coater as a viable alternative to conventional ITO electrodes for cost-effective and large-area flexible touch screen panels (TSPs). By controlling the flow rate of shear-thinning Ag NW ink in the slot die, we fabricated Ag NW percolating network films with different sheet resistances (30-70 Ohm/square), optical transmittance values (89-90%), and haze (0.5-1%) percentages. Outer/inner bending, twisting, and rolling tests as well as dynamic fatigue tests demonstrated that the mechanical flexibility of the slot-die coated Ag NW films was superior to that of conventional ITO films. Using diamond-shape patterned Ag NW layer electrodes (50 Ohm/square, 90% optical transmittance), we fabricated 12-inch flexible film-film type and rigid glass-film-film type TSPs. Successful operation of flexible TSPs with Ag NW electrodes indicates that slot-die-coated large-area Ag NW films are promising low cost, high performance, and flexible transparent electrodes for cost-effective large-area flexible TSPs and can be substituted for ITO films, which have high sheet resistance and are brittle.

A Synchronous Multi-Body Sensor Platform in a Wireless Body Sensor Network: Design and Implementation

Science.gov (United States)

Gil, Yeongjoon; Wu, Wanqing; Lee, Jungtae

2012-01-01

Background Human life can be further improved if diseases and disorders can be predicted before they become dangerous, by correctly recognizing signals from the human body, so in order to make disease detection more precise, various body-signals need to be measured simultaneously in a synchronized manner. Object This research aims at developing an integrated system for measuring four signals (EEG, ECG, respiration, and PPG) and simultaneously producing synchronous signals on a Wireless Body Sensor Network. Design We designed and implemented a platform for multiple bio-signals using Bluetooth communication. Results First, we developed a prototype board and verified the signals from the sensor platform using frequency responses and quantities. Next, we designed and implemented a lightweight, ultra-compact, low cost, low power-consumption Printed Circuit Board. Conclusion A synchronous multi-body sensor platform is expected to be very useful in telemedicine and emergency rescue scenarios. Furthermore, this system is expected to be able to analyze the mutual effects among body signals. PMID:23112605

A Synchronous Multi-Body Sensor Platform in a Wireless Body Sensor Network: Design and Implementation

Directory of Open Access Journals (Sweden)

Jungtae Lee

2012-07-01

Full Text Available Background: Human life can be further improved if diseases and disorders can be predicted before they become dangerous, by correctly recognizing signals from the human body, so in order to make disease detection more precise, various body-signals need to be measured simultaneously in a synchronized manner. Object: This research aims at developing an integrated system for measuring four signals (EEG, ECG, respiration, and PPG and simultaneously producing synchronous signals on a Wireless Body Sensor Network. Design: We designed and implemented a platform for multiple bio-signals using Bluetooth communication. Results: First, we developed a prototype board and verified the signals from the sensor platform using frequency responses and quantities. Next, we designed and implemented a lightweight, ultra-compact, low cost, low power-consumption Printed Circuit Board. Conclusion: A synchronous multi-body sensor platform is expected to be very useful in telemedicine and emergency rescue scenarios. Furthermore, this system is expected to be able to analyze the mutual effects among body signals.

Determining the flexibility of regular and chaotic attractors

International Nuclear Information System (INIS)

Marhl, Marko; Perc, Matjaz

2006-01-01

We present an overview of measures that are appropriate for determining the flexibility of regular and chaotic attractors. In particular, we focus on those system properties that constitute its responses to external perturbations. We deploy a systematic approach, first introducing the simplest measure given by the local divergence of the system along the attractor, and then develop more rigorous mathematical tools for estimating the flexibility of the system's dynamics. The presented measures are tested on the regular Brusselator and chaotic Hindmarsh-Rose model of an excitable neuron with equal success, thus indicating the overall effectiveness and wide applicability range of the proposed theory. Since responses of dynamical systems to external signals are crucial in several scientific disciplines, and especially in natural sciences, we discuss several important aspects and biological implications of obtained results

Solid-state Memory on Flexible Silicon for Future Electronic Applications

KAUST Repository

Ghoneim, Mohamed

2016-11-01

Advancements in electronics research triggered a vision of a more connected world, touching new unprecedented fields to improve the quality of our lives. This vision has been fueled by electronic giants showcasing flexible displays for the first time in consumer electronics symposiums. Since then, the scientific and research communities partook on exploring possibilities for making flexible electronics. Decades of research have revealed many routes to flexible electronics, lots of opportunities and challenges. In this work, we focus on our contributions towards realizing a complimentary approach to flexible inorganic high performance electronic memories on silicon. This approach provides a straight forward method for capitalizing on the existing well-established semiconductor infrastructure, standard processes and procedures, and collective knowledge. Ultimately, we focus on understanding the reliability and functionality anomalies in flexible electronics and flexible solid state memory built using the flexible silicon platform. The results of the presented studies show that: (i) flexible devices fabricated using etch-protect-release approach (with trenches included in the active area) exhibit ~19% lower safe operating voltage compared to their bulk counterparts, (ii) they can withstand prolonged bending duration (static stress) but are prone to failure under dynamic stress as in repeated bending and re-flattening, (iii) flexible 3D FinFETs exhibit ~10% variation in key properties when exposed to out-of-plane bending stress and out-of-plane stress does not resemble the well-studied in-plane stress used in strain engineering, (iv) resistive memories can be achieved on flexible silicon and their basic resistive property is preserved but other memory functionalities (retention, endurance, speed, memory window) requires further investigations, (v) flexible silicon based PZT ferroelectric capacitors exhibit record polarization, capacitance, and endurance (1 billion

Dynamic simulation of the NET In-Vessel Handling Unit

International Nuclear Information System (INIS)

Reim, J.

1991-01-01

During the conceptual design phase of the Next European Torus (NET) a large remote maintenance transporter system, the In-Vessel Handling Unit (IVHU), is being developed. It consists of an articulated boom with four rotational joints, which is mounted on a carrier outside the vessel. This boom will be able to carry master-slave manipulators or special work units. The engineering design is supported by dynamic computations. Main topics of the dynamic simulation are the evaluation of IVHU performance, selection and optimisation of the actuator design and of the control algorithms. This simulation task requires full three-dimensional modelling regarding structural elasticity and non-linear actuator dynamics. The Multibody dynamics of the transporter system are modelled with a commerical analysis package. Elastic links and a precise dynamic actuator model are introduced by applied forces, spring elements and differential equations. The actuator model comprises electric motors, gears and linear control algorithms. Non-linear effects which have an influence on control stability and accuracy are taken into account. Most important effects are backlash and static friction. The simulations concentrate on test and optimisation of the control layout and performance studies for critical remote handling tasks. Simulations for control layout and critical remote maintenance tasks correspond to the design objectives of the transporter system. (orig.)

Full Dynamic Ball Bearing Model with Elastic Outer Ring for High Speed Applications

Directory of Open Access Journals (Sweden)

Christian Wagner

2017-06-01

Full Text Available Ball bearings are commonly used in high speed turbomachinery and have a critical influence on the rotordynamic behavior. Therefore, a simulation model of the bearing to predict the dynamic influence is essential. The presented model is a further step to develop an accurate and efficient characterization of the ball bearing’s rotor dynamic parameters such as stiffness and deflections as well as vibrational excitations induced by the discrete rolling elements. To make it applicable to high speed turbomachinery, the model considers centrifugal forces, gyroscopic effects and ball spinning. The consideration of an elastic outer ring makes the bearing model suitable for integrated lightweight bearing constructions used in modern aircraft turbines. In order to include transient rotordynamic behavior, the model is built as a full dynamic multibody simulation with time integration. To investigate the influence of the elasticity of the outer ring, a comparison with a rigid formulation for several rotational speeds and loads is presented.

Flexible design in water and wastewater engineering--definitions, literature and decision guide.

Science.gov (United States)

Spiller, Marc; Vreeburg, Jan H G; Leusbrock, Ingo; Zeeman, Grietje

2015-02-01

Urban water and wastewater systems face uncertain developments including technological progress, climate change and urban development. To ensure the sustainability of these systems under dynamic conditions it has been proposed that technologies and infrastructure should be flexible, adaptive and robust. However, in literature it is often unclear what these technologies and infrastructure are. Furthermore, the terms flexible, adaptive and robust are often used interchangeably, despite important differences. In this paper we will i) define the terminology, ii) provide an overview of the status of flexible infrastructure design alternatives for water and wastewater networks and treatment, and iii) develop guidelines for the selection of flexible design alternatives. Results indicate that, with the exception of Net Present Valuation methods, there is little research available on the design and evaluation of technologies that can enable flexibility. Flexible design alternatives reviewed include robust design, phased design, modular design, modular/component platform design and design for remanufacturing. As developments in the water sector are driven by slow variables (climate change, urban development), rather than market forces, it is suggested that phased design or component platform designs are suitable for responding to change, while robust design is an option when operations face highly dynamic variability. Copyright © 2014 Elsevier Ltd. All rights reserved.

Adaptive Neuro-Fuzzy Inference System Models for Force Prediction of a Mechatronic Flexible Structure

DEFF Research Database (Denmark)

Achiche, S.; Shlechtingen, M.; Raison, M.

2016-01-01

This paper presents the results obtained from a research work investigating the performance of different Adaptive Neuro-Fuzzy Inference System (ANFIS) models developed to predict excitation forces on a dynamically loaded flexible structure. For this purpose, a flexible structure is equipped...... obtained from applying a random excitation force on the flexible structure. The performance of the developed models is evaluated by analyzing the prediction capabilities based on a normalized prediction error. The frequency domain is considered to analyze the similarity of the frequencies in the predicted...... of the sampling frequency and sensor location on the model performance is investigated. The results obtained in this paper show that ANFIS models can be used to set up reliable force predictors for dynamical loaded flexible structures, when a certain degree of inaccuracy is accepted. Furthermore, the comparison...

In formation: Support for flexibility, mobility, collaboration, and coherence

DEFF Research Database (Denmark)

Büscher, Monika; Kramp, Gunnar; Krogh, Peter Gall

2003-01-01

This paper describes support for flexibility, mobility and collaboration in engaging with, and making sense of, information. Our focus lies on the transitions people make between different, dynamic configurations of digital and physical materials, technologies, people and spaces. The technologies...... we describe have been developed in partnership with landscape architects over the past two years. We show that appliances and people can come together in a way that creates scope for such transitions, collaboration, and the emergence of new ways of working.......This paper describes support for flexibility, mobility and collaboration in engaging with, and making sense of, information. Our focus lies on the transitions people make between different, dynamic configurations of digital and physical materials, technologies, people and spaces. The technologies...

Emulating a flexible space structure: Modeling

Science.gov (United States)

Waites, H. B.; Rice, S. C.; Jones, V. L.

1988-01-01

Control Dynamics, in conjunction with Marshall Space Flight Center, has participated in the modeling and testing of Flexible Space Structures. Through the series of configurations tested and the many techniques used for collecting, analyzing, and modeling the data, many valuable insights have been gained and important lessons learned. This paper discusses the background of the Large Space Structure program, Control Dynamics' involvement in testing and modeling of the configurations (especially the Active Control Technique Evaluation for Spacecraft (ACES) configuration), the results from these two processes, and insights gained from this work.

A probabilistic analysis of the dynamic response of monopile foundations: Soil variability and its consequences

DEFF Research Database (Denmark)

Damgaard, M.; Andersen, L.V.; Ibsen, L.B.

2015-01-01

The reliability of offshore wind turbines is highly influenced by the uncertainties related to the subsoil conditions. Traditionally, the evaluation of the dynamic structural behaviour is based on a computational model with deterministic soil properties. Using this approach, however, provides...... on a Monte Carlo method facilitating the derivation of the probability densities of the modal properties and the fatigue loading. The main conclusion of the presented work is that the dynamic structural behaviour of the wind turbine and its support structure is strongly affected by the stochastic soil......-analytical impedance functions of a monopile embedded in a stochastic linear viscoelastic soil layer, fully coupled aero-hydro-elastic simulations are conducted in the nonlinear multi-body code Hawc2. The probabilistic analysis accounts for the uncertainty of soil properties (e.g. damping and stiffness) and relies...

Fabrication of Flexible Microneedle Array Electrodes for Wearable Bio-Signal Recording

Directory of Open Access Journals (Sweden)

Lei Ren

2018-04-01

Full Text Available Laser-direct writing (LDW and magneto-rheological drawing lithography (MRDL have been proposed for the fabrication of a flexible microneedle array electrode (MAE for wearable bio-signal monitoring. Conductive patterns were directly written onto the flexible polyethylene terephthalate (PET substrate by LDW. The microneedle array was rapidly drawn and formed from the droplets of curable magnetorheological fluid with the assistance of an external magnetic field by MRDL. A flexible MAE can maintain a stable contact interface with curved human skin due to the flexibility of the PET substrate. Compared with Ag/AgCl electrodes and flexible dry electrodes (FDE, the electrode–skin interface impedance of flexible MAE was the minimum even after a 50-cycle bending test. Flexible MAE can record electromyography (EMG, electroencephalography (EEG and static electrocardiography (ECG signals with good fidelity. The main features of the dynamic ECG signal recorded by flexible MAE are the most distinguishable with the least moving artifacts. Flexible MAE is an attractive candidate electrode for wearable bio-signal monitoring.

A parameters optimization method for planar joint clearance model and its application for dynamics simulation of reciprocating compressor

Science.gov (United States)

Hai-yang, Zhao; Min-qiang, Xu; Jin-dong, Wang; Yong-bo, Li

2015-05-01

In order to improve the accuracy of dynamics response simulation for mechanism with joint clearance, a parameter optimization method for planar joint clearance contact force model was presented in this paper, and the optimized parameters were applied to the dynamics response simulation for mechanism with oversized joint clearance fault. By studying the effect of increased clearance on the parameters of joint clearance contact force model, the relation of model parameters between different clearances was concluded. Then the dynamic equation of a two-stage reciprocating compressor with four joint clearances was developed using Lagrange method, and a multi-body dynamic model built in ADAMS software was used to solve this equation. To obtain a simulated dynamic response much closer to that of experimental tests, the parameters of joint clearance model, instead of using the designed values, were optimized by genetic algorithms approach. Finally, the optimized parameters were applied to simulate the dynamics response of model with oversized joint clearance fault according to the concluded parameter relation. The dynamics response of experimental test verified the effectiveness of this application.

Parallel O(log n) algorithms for open- and closed-chain rigid multibody systems based on a new mass matrix factorization technique

Science.gov (United States)

Fijany, Amir

1993-01-01

In this paper, parallel O(log n) algorithms for computation of rigid multibody dynamics are developed. These parallel algorithms are derived by parallelization of new O(n) algorithms for the problem. The underlying feature of these O(n) algorithms is a drastically different strategy for decomposition of interbody force which leads to a new factorization of the mass matrix (M). Specifically, it is shown that a factorization of the inverse of the mass matrix in the form of the Schur Complement is derived as M(exp -1) = C - B(exp *)A(exp -1)B, wherein matrices C, A, and B are block tridiagonal matrices. The new O(n) algorithm is then derived as a recursive implementation of this factorization of M(exp -1). For the closed-chain systems, similar factorizations and O(n) algorithms for computation of Operational Space Mass Matrix lambda and its inverse lambda(exp -1) are also derived. It is shown that these O(n) algorithms are strictly parallel, that is, they are less efficient than other algorithms for serial computation of the problem. But, to our knowledge, they are the only known algorithms that can be parallelized and that lead to both time- and processor-optimal parallel algorithms for the problem, i.e., parallel O(log n) algorithms with O(n) processors. The developed parallel algorithms, in addition to their theoretical significance, are also practical from an implementation point of view due to their simple architectural requirements.

Influence of hinge point on flexible flap aerodynamic performance

International Nuclear Information System (INIS)

Zhao, H Y; Ye, Z; Wu, P; Li, C

2013-01-01

Large scale wind turbines lead to increasing blade lengths and weights, which presents new challenges for blade design. This paper selects NREL S809 airfoil, uses the parameterized technology to realize the flexible trailing edge deformation, researches the static aerodynamic characteristics of wind turbine blade airfoil with flexible deformation, and the dynamic aerodynamic characteristics in the process of continuous deformation, analyses the influence of hinge point position on flexible flap aerodynamic performance, in order to further realize the flexible wind turbine blade design and provides some references for the active control scheme. The results show that compared with the original airfoil, proper trailing edge deformation can improve the lift coefficient, reduce the drag coefficient, and thereby more efficiently realize flow field active control. With hinge point moving forward, total aerodynamic performance of flexible flap improves. Positive swing angle can push the transition point backward, thus postpones the occurrence of the transition phenomenon

LABOUR MARKET FLEXIBILITY IN TERMS OF INTERNAL MIGRATION

Directory of Open Access Journals (Sweden)

BUNEA DANIELA

2010-07-01

Full Text Available Modern economies have a high dynamics because of the rapid fluctuations of macroeconomic variables and parameters. Moreover, globalization emphasises the interdependencies among national economies, increasing their production capacities but, at the same time, making them more vulnerable to external perturbations. Shocks resulting from this turmoil can be absorbed depending on the degree of macromarket flexibility: goods market, labour market and money market. This flexibility becomes even more important for the member states of some optimal currency areas (OCA because it considers both the mobility of production factors and the symmetry of business cycle transmission; i.e. the correlation of macroeconomic policies. The authors of this paper intend to analyse the situation of the internal mobility of workers as a basis for labour market flexibility.

Controlling flow time delays in flexible manufacturing cells

NARCIS (Netherlands)

Slomp, J.; Caprihan, R.; Bokhorst, J. A. C.

2009-01-01

Flow time delays in Flexible Manufacturing Cells (FMCs) are caused by transport and clamping/reclamping activities. This paper shows how dynamic scheduling parameters may control the flow times of jobs and the available task windows for flow time delays.

A New Model of Stopping Sight Distance of Curve Braking Based on Vehicle Dynamics

Directory of Open Access Journals (Sweden)

Rong-xia Xia

2016-01-01

Full Text Available Compared with straight-line braking, cornering brake has longer braking distance and poorer stability. Therefore, drivers are more prone to making mistakes. The braking process and the dynamics of vehicles in emergency situations on curves were analyzed. A biaxial four-wheel vehicle was simplified to a single model. Considering the braking process, dynamics, force distribution, and stability, a stopping sight distance of the curve braking calculation model was built. Then a driver-vehicle-road simulation platform was built using multibody dynamic software. The vehicle test of brake-in-turn was realized in this platform. The comparison of experimental and calculated values verified the reliability of the computational model. Eventually, the experimental values and calculated values were compared with the stopping sight distance recommended by the Highway Route Design Specification (JTGD20-2006; the current specification of stopping sight distance does not apply to cornering brake sight distance requirements. In this paper, the general values and limits of the curve stopping sight distance are presented.

Influence of wheel-rail contact modelling on vehicle dynamic simulation

Science.gov (United States)

Burgelman, Nico; Sichani, Matin Sh.; Enblom, Roger; Berg, Mats; Li, Zili; Dollevoet, Rolf

2015-08-01

This paper presents a comparison of four models of rolling contact used for online contact force evaluation in rail vehicle dynamics. Until now only a few wheel-rail contact models have been used for online simulation in multibody software (MBS). Many more models exist and their behaviour has been studied offline, but a comparative study of the mutual influence between the calculation of the creep forces and the simulated vehicle dynamics seems to be missing. Such a comparison would help researchers with the assessment of accuracy and calculation time. The contact methods investigated in this paper are FASTSIM, Linder, Kik-Piotrowski and Stripes. They are compared through a coupling between an MBS for the vehicle simulation and Matlab for the contact models. This way the influence of the creep force calculation on the vehicle simulation is investigated. More specifically this study focuses on the influence of the contact model on the simulation of the hunting motion and on the curving behaviour.

Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

Directory of Open Access Journals (Sweden)

Leijie Jiang

2017-01-01

Full Text Available The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.

Torsion instability of Flexible Pipes at the TDP - Torsjonsinstabilitet av fleksible rør med sjøbunnskontakt

OpenAIRE

Hansson, Linn Storesund

2017-01-01

Dynamic flexible risers are a common term for cables, umbilicals and flexible pipes,that are freely or semi-freely suspended between two points (offshore). Flexible pipes are mostly used to transport fluids between platforms/ships etc. to a flow-line/sea floor installation or similar. The safe operating window for the installation is limited by whether induced motion of the installation vessel giving rise to dynamic tension and curvature at the touch-down-zone (TDZ). By investigation and ...

Modelling and analysis of the dynamics of a tilting three-wheeled vehicle

International Nuclear Information System (INIS)

Edelmann, Johannes; Plöchl, Manfred; Lugner, Peter

2011-01-01

To understand the handling behaviour of a three-wheeled tilting vehicle, models of the vehicle with different level of detail, corresponding to specific fields of investigation, have been developed. Then the proposed kinematics of the three-wheeler are assessed and optimized with respect to desired dynamic properties by applying a detailed multibody system model. The partially unstable nature of the motion of the vehicle suggests the application of an analytically derived, simplified model, to allow for focusing on stability aspects and steady-state handling properties. These investigations reveal the necessity of employing a steer-by-wire control system to support the driver by stabilizing the motion of the vehicle. Thus, an additional basic vehicle model is derived for control design, and an energy-efficient control strategy is presented. Numerical simulation results demonstrate the dynamic properties of the optimized kinematics and the control system, approved by successful test runs of a prototype.

Smart Material-Actuated Flexible Tendon-Based Snake Robot

Directory of Open Access Journals (Sweden)

Mohiuddin Ahmed

2016-05-01

Full Text Available A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs, which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

Computational Fluid Dynamics Analysis of Flexible Duct Junction Box Design

Energy Technology Data Exchange (ETDEWEB)

Beach, Robert [IBACOS Inc., Pittsburgh, PA (United States); Prahl, Duncan [IBACOS Inc., Pittsburgh, PA (United States); Lange, Rich [IBACOS Inc., Pittsburgh, PA (United States)

2013-12-01

IBACOS explored the relationships between pressure and physical configurations of flexible duct junction boxes by using computational fluid dynamics (CFD) simulations to predict individual box parameters and total system pressure, thereby ensuring improved HVAC performance. Current Air Conditioning Contractors of America (ACCA) guidance (Group 11, Appendix 3, ACCA Manual D, Rutkowski 2009) allows for unconstrained variation in the number of takeoffs, box sizes, and takeoff locations. The only variables currently used in selecting an equivalent length (EL) are velocity of air in the duct and friction rate, given the first takeoff is located at least twice its diameter away from the inlet. This condition does not account for other factors impacting pressure loss across these types of fittings. For each simulation, the IBACOS team converted pressure loss within a box to an EL to compare variation in ACCA Manual D guidance to the simulated variation. IBACOS chose cases to represent flows reasonably correlating to flows typically encountered in the field and analyzed differences in total pressure due to increases in number and location of takeoffs, box dimensions, and velocity of air, and whether an entrance fitting is included. The team also calculated additional balancing losses for all cases due to discrepancies between intended outlet flows and natural flow splits created by the fitting. In certain asymmetrical cases, the balancing losses were significantly higher than symmetrical cases where the natural splits were close to the targets. Thus, IBACOS has shown additional design constraints that can ensure better system performance.

Ultra-thin ZnSe: Anisotropic and flexible crystal structure

Energy Technology Data Exchange (ETDEWEB)

Bacaksiz, C., E-mail: cihanbacaksiz@iyte.edu.tr [Department of Physics, Izmir Institute of Technology, 35430 Izmir (Turkey); Senger, R.T. [Department of Physics, Izmir Institute of Technology, 35430 Izmir (Turkey); Sahin, H. [Department of Photonics, Izmir Institute of Technology, 35430 Izmir (Turkey)

2017-07-01

Highlights: • Ultra-thin ZnSe is dynamically stable. • Ultra-thin ZnSe is electronically direct-gap semiconductor. • Ultra-thin ZnSe is ultra-flexible. • Ultra-thin ZnSe is mechanically in-plane anisotropic. - Abstract: By performing density functional theory-based calculations, we investigate the structural, electronic, and mechanical properties of the thinnest ever ZnSe crystal . The vibrational spectrum analysis reveals that the monolayer ZnSe is dynamically stable and has flexible nature with its soft phonon modes. In addition, a direct electronic band gap is found at the gamma point for the monolayer structure of ZnSe. We also elucidate that the monolayer ZnSe has angle dependent in-plane elastic parameters. In particular, the in-plane stiffness values are found to be 2.07 and 6.89 N/m for the arm-chair and zig-zag directions, respectively. The angle dependency is also valid for the Poisson ratio of the monolayer ZnSe. More significantly, the in-plane stiffness of the monolayer ZnSe is the one-tenth of Young modulus of bulk zb-ZnSe which indicates that the monolayer ZnSe is a quite flexible single layer crystal. With its flexible nature and in-plane anisotropic mechanical properties, the monolayer ZnSe is a good candidate for nanoscale mechanical applications.

Ultra-thin ZnSe: Anisotropic and flexible crystal structure

International Nuclear Information System (INIS)

Bacaksiz, C.; Senger, R.T.; Sahin, H.

2017-01-01

Highlights: • Ultra-thin ZnSe is dynamically stable. • Ultra-thin ZnSe is electronically direct-gap semiconductor. • Ultra-thin ZnSe is ultra-flexible. • Ultra-thin ZnSe is mechanically in-plane anisotropic. - Abstract: By performing density functional theory-based calculations, we investigate the structural, electronic, and mechanical properties of the thinnest ever ZnSe crystal . The vibrational spectrum analysis reveals that the monolayer ZnSe is dynamically stable and has flexible nature with its soft phonon modes. In addition, a direct electronic band gap is found at the gamma point for the monolayer structure of ZnSe. We also elucidate that the monolayer ZnSe has angle dependent in-plane elastic parameters. In particular, the in-plane stiffness values are found to be 2.07 and 6.89 N/m for the arm-chair and zig-zag directions, respectively. The angle dependency is also valid for the Poisson ratio of the monolayer ZnSe. More significantly, the in-plane stiffness of the monolayer ZnSe is the one-tenth of Young modulus of bulk zb-ZnSe which indicates that the monolayer ZnSe is a quite flexible single layer crystal. With its flexible nature and in-plane anisotropic mechanical properties, the monolayer ZnSe is a good candidate for nanoscale mechanical applications.

Multiscale multiphysics and multidomain models—Flexibility and rigidity

International Nuclear Information System (INIS)

Xia, Kelin; Opron, Kristopher; Wei, Guo-Wei

2013-01-01

The emerging complexity of large macromolecules has led to challenges in their full scale theoretical description and computer simulation. Multiscale multiphysics and multidomain models have been introduced to reduce the number of degrees of freedom while maintaining modeling accuracy and achieving computational efficiency. A total energy functional is constructed to put energies for polar and nonpolar solvation, chemical potential, fluid flow, molecular mechanics, and elastic dynamics on an equal footing. The variational principle is utilized to derive coupled governing equations for the above mentioned multiphysical descriptions. Among these governing equations is the Poisson-Boltzmann equation which describes continuum electrostatics with atomic charges. The present work introduces the theory of continuum elasticity with atomic rigidity (CEWAR). The essence of CEWAR is to formulate the shear modulus as a continuous function of atomic rigidity. As a result, the dynamics complexity of a macromolecular system is separated from its static complexity so that the more time-consuming dynamics is handled with continuum elasticity theory, while the less time-consuming static analysis is pursued with atomic approaches. We propose a simple method, flexibility-rigidity index (FRI), to analyze macromolecular flexibility and rigidity in atomic detail. The construction of FRI relies on the fundamental assumption that protein functions, such as flexibility, rigidity, and energy, are entirely determined by the structure of the protein and its environment, although the structure is in turn determined by all the interactions. As such, the FRI measures the topological connectivity of protein atoms or residues and characterizes the geometric compactness of the protein structure. As a consequence, the FRI does not resort to the interaction Hamiltonian and bypasses matrix diagonalization, which underpins most other flexibility analysis methods. FRI's computational complexity is of O

Dynamic response analysis of single-span guideway caused by high speed maglev train

Directory of Open Access Journals (Sweden)

Jin Shi

Full Text Available High speed maglev is one of the most important reformations in the ground transportation systems because of its no physical contact nature. This paper intends to study the dynamic response of the single-span guideway induced by moving maglev train. The dynamic model of the maglev train-guideway system is established. In this model, a maglev train consists of three vehicles and each vehicle is regarded as a multibody system with 34 degrees-of-freedom. The guideway is modeled as a simply supported beam. Considering the motion-dependent nature of electromagnetic forces in the maglev system, an iterative approach is presented to compute the dynamic response of a maglev train-guideway system. The histories of the train traversing the guideways are simulated and the dynamic responses of the guideway and the train vehicles are calculated. A field experiment is carried out to verify the results of the analysis. The resonant conditions of single-span guideway are analyzed. The results show that all the dynamic indexes of train-guideway system are far less than permissive values of railway and maglev system, the vertical resonant of guideways caused by periodical excitations of the train will not happen.

The formulation of dynamical contact problems with friction in the case of systems of rigid bodies and general discrete mechanical systems—Painlevé and Kane paradoxes revisited

Science.gov (United States)

Charles, Alexandre; Ballard, Patrick

2016-08-01

The dynamics of mechanical systems with a finite number of degrees of freedom (discrete mechanical systems) is governed by the Lagrange equation which is a second-order differential equation on a Riemannian manifold (the configuration manifold). The handling of perfect (frictionless) unilateral constraints in this framework (that of Lagrange's analytical dynamics) was undertaken by Schatzman and Moreau at the beginning of the 1980s. A mathematically sound and consistent evolution problem was obtained, paving the road for many subsequent theoretical investigations. In this general evolution problem, the only reaction force which is involved is a generalized reaction force, consistently with the virtual power philosophy of Lagrange. Surprisingly, such a general formulation was never derived in the case of frictional unilateral multibody dynamics. Instead, the paradigm of the Coulomb law applying to reaction forces in the real world is generally invoked. So far, this paradigm has only enabled to obtain a consistent evolution problem in only some very few specific examples and to suggest numerical algorithms to produce computational examples (numerical modeling). In particular, it is not clear what is the evolution problem underlying the computational examples. Moreover, some of the few specific cases in which this paradigm enables to write down a precise evolution problem are known to show paradoxes: the Painlevé paradox (indeterminacy) and the Kane paradox (increase in kinetic energy due to friction). In this paper, we follow Lagrange's philosophy and formulate the frictional unilateral multibody dynamics in terms of the generalized reaction force and not in terms of the real-world reaction force. A general evolution problem that governs the dynamics is obtained for the first time. We prove that all the solutions are dissipative; that is, this new formulation is free of Kane paradox. We also prove that some indeterminacy of the Painlevé paradox is fixed in this

Efficient methodology for multibody simulations with discontinuous changes in system definition

International Nuclear Information System (INIS)

Mukherjee, Rudranarayan M.; Anderson, Kurt S.

2007-01-01

A new method is presented for accurately and efficiently simulating multi-scale multibody systems with discontinuous changes in system definitions as encountered in adaptive switching between models with different resolutions as well as models with different system topologies. An example of model resolution change is a transition of a system from a discrete particle model to a reduced order articulated multi-rigid body model. The discontinuous changes in system definition may be viewed as an instantaneous change (release or impulsive application of) the system constraints. The method uses a spatial impulse-momentum formulation in a divide and conquer scheme. The approach utilizes a hierarchic assembly-disassembly process by traversing the system topology in a binary tree map to solve for the jumps in the system generalized speeds and the constraint impulsive loads in linear and logarithmic cost in serial and parallel implementations, respectively. The method is applicable for systems in serial chain as well as kinematical loop topologies. The coupling between the unilateral and bilateral constraints is handled efficiently through the use of kinematic joint definitions. The equations of motion for the system are produced in a hierarchic sub-structured form. This has the advantage that changes in sub-structure definitions/models results in a change to the system equations only within the associated sub-structure. This allows for significant changes in model types and definitions without having to reformulate the equations for the whole system

Flexibility.

Science.gov (United States)

Humphrey, L. Dennis

1981-01-01

Flexibility is an important aspect of all sports and recreational activities. Flexibility can be developed and maintained by stretching exercises. Exercises designed to develop flexibility in ankle joints, knees, hips, and the lower back are presented. (JN)

Out-of-plane structural flexibility of phosphorene.

Science.gov (United States)

Wang, Gaoxue; Loh, G C; Pandey, Ravindra; Karna, Shashi P

2016-02-05

Phosphorene has been rediscovered recently, establishing itself as one of the most promising two-dimensional group-V elemental monolayers with direct band gap, high carrier mobility, and anisotropic electronic properties. In this paper, surface buckling and its effect on its electronic properties are investigated by using molecular dynamics simulations together with density functional theory calculations. We find that phosphorene shows superior structural flexibility along the armchair direction allowing it to have large curvatures. The semiconducting and direct band gap nature are retained with buckling along the armchair direction; the band gap decreases and transforms to an indirect band gap with buckling along the zigzag direction. The structural flexibility and electronic robustness along the armchair direction facilitate the fabrication of devices with complex shapes, such as folded phosphorene and phosphorene nano-scrolls, thereby offering new possibilities for the application of phosphorene in flexible electronics and optoelectronics.

Study on Dynamic Response of Downhole Tools under Perforation Impact Load

Directory of Open Access Journals (Sweden)

Liu Jun

2017-01-01

Full Text Available A model of a multibody system is established to investigate the dynamic response of an oil tube-shock absorber-perforating gun system in downhole perforation-test joint operation. In the model, the oil tube and perforating gun are modeled as elastic rods and the shock absorber is modeled as single particle system with damping and a spring. Two force continuity conditions are used to simulate the interactions among the three components. The perforation impact load is determined by an experiment of underwater explosion of perforating bullets. Using the model, the effects of charge quantity of perforating bullet, the number of shock absorbers, and the length of oil tube on the dynamic response of oil tube and packer are investigated. On this basis, a basic principle of the combination design of shock absorber and oil tube is proposed to improve the mechanical state of downhole tools. The study results can provide theoretical support for the design of downhole perforation-test joint operation.

Viscoelastic fluid-structure interactions between a flexible cylinder and wormlike micelle solution

Science.gov (United States)

Dey, Anita A.; Modarres-Sadeghi, Yahya; Rothstein, Jonathan P.

2018-06-01

It is well known that when a flexible or flexibly mounted structure is placed perpendicular to the flow of a Newtonian fluid, it can oscillate due to the shedding of separated vortices at high Reynolds numbers. Unlike Newtonian fluids, the flow of viscoelastic fluids can become unstable even at infinitesimal Reynolds numbers due to a purely elastic flow instability that can occur at large Weissenberg numbers. Recent work has shown that these elastic flow instabilities can drive the motion of flexible sheets. The fluctuating fluid forces exerted on the structure from the elastic flow instabilities can lead to a coupling between an oscillatory structural motion and the state of stress in the fluid flow. In this paper, we present the results of an investigation into the flow of a viscoelastic wormlike micelle solution past a flexible circular cylinder. The time variation of the flow field and the state of stress in the fluid are shown using a combination of particle image tracking and flow-induced birefringence images. The static and dynamic responses of the flexible cylinder are presented for a range of flow velocities. The nonlinear dynamics of the structural motion is studied to better understand an observed transition from a symmetric to an asymmetric structural deformation and oscillation behavior.

Dynamic study of the virtual prototype of the IAR-99 SOIM Aircraft

Directory of Open Access Journals (Sweden)

Daniela BARAN

2013-09-01

Full Text Available This paper contains a dynamic study of the IAR-99 SOIM aircraft using ADAMS, multibody dynamic solutions. First, the analysis of the whole airplane is envisaged and then the analysis of the flight control system and the landing gear are considered. The study is performed in the idea of upgrading the IAR-99 aircraft being a continuation of a previous study concerning a flutter analysis [9] of the same aircraft, and will be followed by a paper dedicated to modern tools in the stress analysis of the aeronautical structures. Using ADAMS one can build and test complex virtual prototypes, simulating mechanical systems in a realistic manner, both visually and mathematically which is very useful before developing a real prototype. Engineers can study the dynamics of moving parts and how loads and forces are distributed throughout a complex mechanical system as an airplane. In this way multiple design solutions can be analyzed and evaluated in order to shorten the time and to reduce the cost of a new project.

A comparison between integral equation theory and molecular dynamics simulations of dense, flexible polymer liquids

International Nuclear Information System (INIS)

Curro, J.G.; Schweizer, K.S.; Grest, G.S.; Kremer, K.; Corporate Research Science Laboratory, Exxon Research and Engineering Company, Annandale, New Jersey 08801; Institut fur Festkorperforschung der Kernforschungsanlage Julich, D-5170 Julich, Federal Republic of Germany)

1989-01-01

Recently we (J.G.C. and K.S.S.) formulated a tractable ''reference interaction site model'' (RISM) integral equation theory of flexible polymer liquids. The purpose of this paper is to compare the results of the theory with recent molecular dynamics simulations (G.S.G. and K.K.) on dense chain liquids of degree of polymerization N=50 and 200. Specific comparisons were made between theory and simulation for the intramolecular structure factor ω(k) and the intermolecular radial distribution function g(r) in the liquid. In particular it was possible to independently test the assumptions inherent in the RISM theory and the additional ideality approximation that was made in the initial application of the theory. This comparison was accomplished by calculating the intermolecular g(r) using the simulated intramolecular structure factor, as well as, ω(k) derived from a freely jointed chain model.The RISM theory results, using the simulated ω(k), were found to be in excellent agreement, over all length scales, with the g(r) from molecular dynamics simulations. The theoretical predictions using the ''ideal'' intramolecular structure factor tended to underestimate g(r) near contact, indicating local intramolecular expansion of the chains. This local expansion can be incorporated into the theory self consistently by including the effects of the ''medium induced'' potential on the intramolecular structure

The Linux kernel as flexible product-line architecture

NARCIS (Netherlands)

M. de Jonge (Merijn)

2002-01-01

textabstractThe Linux kernel source tree is huge ($>$ 125 MB) and inflexible (because it is difficult to add new kernel components). We propose to make this architecture more flexible by assembling kernel source trees dynamically from individual kernel components. Users then, can select what

Dynamics of a Highly Flexible Protein

DEFF Research Database (Denmark)

Andersen, Lisbeth

malleability are the subject of this defense. Using nuclear magnetic resonance (NMR) spectroscopy, the dynamics of NCBD have been investigated on timescales ranging from picoseconds to milliseconds using relaxation dispersion experiments, residual dipolar couplings and methyl group deuterium relaxation. From...

A screen-printed flexible flow sensor

International Nuclear Information System (INIS)

Moschos, A; Kaltsas, G; Syrovy, T; Syrova, L

2017-01-01

A thermal flow sensor was printed on a flexible plastic substrate using exclusively screen-printing techniques. The presented device was implemented with custom made screen-printed thermistors, which allows simple, cost-efficient production on a variety of flexible substrates while maintaining the typical advantages of thermal flow sensors. Evaluation was performed for both static (zero flow) and dynamic conditions using a combination of electrical measurements and IR imaging techniques in order to determine important characteristics, such as temperature response, output repeatability, etc. The flow sensor was characterized utilizing the hot-wire and calorimetric principles of operation, while the preliminary results appear to be very promising, since the sensor was successfully evaluated and displayed adequate sensitivity in a relatively wide flow range. (paper)

Broad-scale small-world network topology induces optimal synchronization of flexible oscillators

International Nuclear Information System (INIS)

Markovič, Rene; Gosak, Marko; Marhl, Marko

2014-01-01

The discovery of small-world and scale-free properties of many man-made and natural complex networks has attracted increasing attention. Of particular interest is how the structural properties of a network facilitate and constrain its dynamical behavior. In this paper we study the synchronization of weakly coupled limit-cycle oscillators in dependence on the network topology as well as the dynamical features of individual oscillators. We show that flexible oscillators, characterized by near zero values of divergence, express maximal correlation in broad-scale small-world networks, whereas the non-flexible (rigid) oscillators are best correlated in more heterogeneous scale-free networks. We found that the synchronization behavior is governed by the interplay between the networks global efficiency and the mutual frequency adaptation. The latter differs for flexible and rigid oscillators. The results are discussed in terms of evolutionary advantages of broad-scale small-world networks in biological systems

Identification of critical factors affecting flexibility in hospital construction projects.

Science.gov (United States)

Olsson, Nils E O; Hansen, Geir K

2010-01-01

This paper analyzes the dynamics relating to flexibility in a hospital project context. Three research questions are addressed: (1) When is flexibility used in the life cycle of a project? (2) What are the stakeholders' perspectives on project flexibility? And (3) What is the nature of the interaction between flexibility in the process of a project and flexibility in terms of the characteristics of a building? Flexibility is discussed from both a project management point of view and from a hospital architecture perspective. Flexibility in project life cycle and from a stakeholder perspective is examined, and the interaction between flexibility in scope lock-in and building flexibility is investigated. The results are based on case studies of four Norwegian hospital projects. Information relating to the projects has been obtained from evaluation reports, other relevant documents, and interviews. Observations were codified and analyzed based on selected parameters that represent different aspects of flexibility. One of the cases illustrates how late changes can have a significant negative impact on the project itself, contributing to delays and cost overruns. Another case illustrates that late scope lock-in on a limited part of the project, in this case related to medical equipment, can be done in a controlled manner. Project owners and users appear to have given flexibility high priority. Project management teams are less likely to embrace changes and late scope lock-in. Architects and consultants are important for translating program requirements into physical design. A highly flexible building did not stop some stakeholders from pushing for significant changes and extensions during construction.

Comparation of the impact of selected technical gases on properties of a pneumatic flexible coupling

Directory of Open Access Journals (Sweden)

Grega Robert

2018-01-01

Full Text Available An important part of the oscillating mechanical drives are flexible shaft couplings. The special use of the pneumatic flexible coupling is possibility to serve as mechanical drives tuners. Being examined in tuners mechanical drives there is also a research focus on the impact of industrial gases on the change of dynamic characteristics of pneumatic couplings. The paper investigates five different industrial gases, namely: air, helium (He-4.6, a mixture of propane and butane gas (C3H8+C4H10, argon (Ar and nitrogen (N2 to see how these gases affect the dynamic characteristics of pneumatic flexible shaft coupling with marking 4-2/70 T-C.

The Use of the Dynamic Magnification Factor in the Dynamic ...

African Journals Online (AJOL)

It is a method of practice in dynamic analysis of structures to magnify static ... analysis of four frames using the flexible frame model and the stiffness formulation. Dynamic responses were first obtained by direct analysis as solutions to the set of ...

Soft tissue artifact compensation in knee kinematics by multi-body optimization: Performance of subject-specific knee joint models.

Science.gov (United States)

Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

2015-11-05

Soft tissue artifact (STA) distort marker-based knee kinematics measures and make them difficult to use in clinical practice. None of the current methods designed to compensate for STA is suitable, but multi-body optimization (MBO) has demonstrated encouraging results and can be improved. The goal of this study was to develop and validate the performance of knee joint models, with anatomical and subject-specific kinematic constraints, used in MBO to reduce STA errors. Twenty subjects were recruited: 10 healthy and 10 osteoarthritis (OA) subjects. Subject-specific knee joint models were evaluated by comparing dynamic knee kinematics recorded by a motion capture system (KneeKG™) and optimized with MBO to quasi-static knee kinematics measured by a low-dose, upright, biplanar radiographic imaging system (EOS(®)). Errors due to STA ranged from 1.6° to 22.4° for knee rotations and from 0.8 mm to 14.9 mm for knee displacements in healthy and OA subjects. Subject-specific knee joint models were most effective in compensating for STA in terms of abduction-adduction, inter-external rotation and antero-posterior displacement. Root mean square errors with subject-specific knee joint models ranged from 2.2±1.2° to 6.0±3.9° for knee rotations and from 2.4±1.1 mm to 4.3±2.4 mm for knee displacements in healthy and OA subjects, respectively. Our study shows that MBO can be improved with subject-specific knee joint models, and that the quality of the motion capture calibration is critical. Future investigations should focus on more refined knee joint models to reproduce specific OA knee geometry and physiology. Copyright © 2015 Elsevier Ltd. All rights reserved.

An overview of optimization of structures subjected to transient loads

International Nuclear Information System (INIS)

Kang, Byung Soo; Park, Gyung Jin

2005-01-01

Various aspects of structural optimization techniques under transient loads are extensively reviewed. The main themes of the paper are treatment of time dependent constraints, calculation of design sensitivity, and approximation. Each subject is reviewed with the corresponding papers that have been published since 1970s. The treatment of time dependent constraints in both the direct method and the transformation method is discussed. Two ways of calculating design sensitivity of a structure under transient loads are discussed-direct differentiation method and adjoint variable method. The approximation concept mainly focuses on response surface method in crashworthiness and local approximation with the intermediate variable. Especially, as an approximated optimization technique, equivalent static load method which takes advantage of the well-established static response optimization technique is introduced. And as an application area of dynamic response optimization technique, the structural optimization in flexible multibody dynamic system is reviewed in the viewpoint of the above three themes

Dynamical Formation and Merger of Binary Black Holes

Science.gov (United States)

Stone, Nicholas

2017-01-01

The advent of gravitational wave (GW) astronomy began with Advanced LIGO's 2015 discovery of GWs from coalescing black hole (BH) binaries. GW astronomy holds great promise for testing general relativity, but also for investigating open astrophysical questions not amenable to traditional electromagnetic observations. One such question concerns the origin of stellar mass BH binaries in the universe: do these form primarily from evolution of isolated binaries of massive stars, or do they form through more exotic dynamical channels? The best studied dynamical formation channel involves multibody interactions of BHs and stars in dense globular cluster environments, but many other dynamical scenarios have recently been proposed, ranging from the Kozai effect in hierarchical triple systems to BH binary formation in the outskirts of Toomre-unstable accretion disks surrounding supermassive black holes. The BH binaries formed through these processes will have different distributions of observable parameters (e.g. mass ratios, spins) than BH binaries formed through the evolution of isolated binary stars. In my talk I will overview these and other dynamical formation scenarios, and summarize the key observational tests that will enable Advanced LIGO or other future detectors to determine what formation pathway creates the majority of binary BHs in the universe. NCS thanks NASA, which has funded his work through Einstein postdoctoral grant PF5-160145.

Stress-induced state transitions in flexible liquid-crystal devices

International Nuclear Information System (INIS)

Ho, I-Lin; Chang, Yia-Chung

2012-01-01

This work studies the stress-strain dynamics for the transient optoelectronic characteristics of flexible liquid-crystal (LC) devices. Due to the fast response of LC directors, the configuration of the LC is assumed to be in quasi-equilibrium during the process of elastic deformations of the flexible structures. The LC medium hence can be treated effectively as a thin-film layer and can approximately follow the strain-stress mechanism in the solids. Relevant theoretical algorithms are studied in this work, and numerical results present the stress-induced state transitions in the π cell.

Flexible Electronics-Based Transformers for Extreme Environments

Science.gov (United States)

Quadrelli, Marco B.; Stoica, Adrian; Ingham, Michel; Thakur, Anubhav

2015-01-01

This paper provides a survey of the use of modular multifunctional systems, called Flexible Transformers, to facilitate the exploration of extreme and previously inaccessible environments. A novel dynamics and control model of a modular algorithm for assembly, folding, and unfolding of these innovative structural systems is also described, together with the control model and the simulation results.

Effects of soil–structure interaction on real time dynamic response of offshore wind turbines on monopiles

DEFF Research Database (Denmark)

Damgaard, M.; Zania, Varvara; Andersen, L.V.

2014-01-01

, a computationally efficient modelling approach of including the dynamic soil–structure interaction into aeroelastic codes is presented with focus on monopile foundations. Semi-analytical frequency-domain solutions are applied to evaluate the dynamic impedance functions of the soil–pile system at a number...... of discrete frequencies. Based on a general and very stable fitting algorithm, a consistent lumped-parameter model of optimal order is calibrated to the impedance functions and implemented into the aeroelastic nonlinear multi-body code HAWC2 to facilitate the time domain analysis of a wind turbine under...... normal operating mode. The aeroelastic response is evaluated for three different foundation conditions, i.e. apparent fixity length, the consistent lumped-parameter model and fixed support at the seabed. The effect of soil–structure interaction is shown to be critical for the design, estimated in terms...

Role of Pectoral Fin Flexibility in Robotic Fish Performance

Science.gov (United States)

Bazaz Behbahani, Sanaz; Tan, Xiaobo

2017-08-01

Pectoral fins play a vital role in the maneuvering and locomotion of fish, and they have become an important actuation mechanism for robotic fish. In this paper, we explore the effect of flexibility of robotic fish pectoral fins on the robot locomotion performance and mechanical efficiency. A dynamic model for the robotic fish is presented, where the flexible fin is modeled as multiple rigid elements connected via torsional springs and dampers. Blade element theory is used to capture the hydrodynamic force on the fin. The model is validated with experimental results obtained on a robotic fish prototype, equipped with 3D-printed fins of different flexibility. The model is then used to analyze the impacts of fin flexibility and power/recovery stroke speed ratio on the robot swimming speed and mechanical efficiency. It is found that, in general, flexible fins demonstrate advantages over rigid fins in speed and efficiency at relatively low fin-beat frequencies, while rigid fins outperform flexible fins at higher frequencies. For a given fin flexibility, the optimal frequency for speed performance differs from the optimal frequency for mechanical efficiency. In addition, for any given fin, there is an optimal power/recovery stroke speed ratio, typically in the range of 2-3, that maximizes the speed performance. Overall, the presented model offers a promising tool for fin flexibility and gait design, to achieve speed and efficiency objectives for robotic fish actuated with pectoral fins.

Inflation persistence and flexible prices

OpenAIRE

Robert Dittmar; William T. Gavin; Finn E. Kydland

2004-01-01

If the central bank follows an interest rate rule, then inflation is likely to be persistence, even when prices are fully flexible. Any shock, whether persistent or not, may lead to inflation persistence. In equilibrium, the dynamics of inflation are determined by the evolution of the spread between the real interest rate and the central bank’s target. Inflation persistence in U.S. data can be characterized by a vector autocorrelation function relating inflation and deviations of output from ...

Utilization of Flexible Airspace Structure in Flight Efficiency Optimization

Directory of Open Access Journals (Sweden)

Tomislav Mihetec