Listar Laboratorio de Enxeñaría Mecánica (LIM) por data de publicación
Mostrando ítems 1-20 de 52
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On the effect of linear algebra implementations in real-time multibody system dynamics
(Springer, 2007)[Abstract] This paper compares the efficiency of multibody system (MBS) dynamic simulation codes that rely on different implementations of linear algebra operations. The dynamics of an N-loop four-bar mechanism has been ... -
A collaborative benchmarking framework for multibody system dynamics
(Springer, 2009)[Abstract] Despite the importance given to the computational efficiency of multibody system (MBS) simulation tools, there is a lack of standard benchmarks to measure the performance of these kinds of numerical simulations. ... -
Non-intrusive parallelization of multibody system dynamic simulations
(Springer, 2009)[Abstract] This paper evaluates two non-intrusive parallelization techniques for multibody system dynamics: parallel sparse linear equation solvers and OpenMP. Both techniques can be applied to existing simulation software ... -
On the Effect of Multirate Co-simulation Techniques in the Efficiency and Accuracy of Multibody System Dynamics
(Springer, 2010)[Abstract] Dynamic simulation of complex mechatronic systems can be carried out in an efficient and modular way making use of weakly coupled co-simulation setups. When using this approach, multirate methods are often ... -
Efficient coupling of multibody software with numerical computing environments and block diagram simulators
(Springer, 2010-03-27)[Abstract] Simulation of complex mechatronic systems like an automobile, involving mechanical components as well as actuators and active electronic control devices, can be accomplished by combining tools that deal with ... -
Use of Penalty Formulations in Dynamic Simulation and Analysis of Redundantly Constrained Multibody Systems
(Springer, 2013)[Abstract] The determination of particular reaction forces in the analysis of redundantly constrained multibody systems requires the consideration of the stiffness distribution in the system. This can be achieved by ... -
A novel concept for analysis and performance evaluation of wheeled rovers
(Elsevier, 2015-01)[Abstract] - The analysis, design, and operation planning of rovers are often based on predictive dynamic simulation, where the multibody model of the vehicle is combined with terramechanics relations for the representation ... -
Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
(Multidisciplinary Digital Publishing Institute, 2016)[Abstract] 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 ... -
Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
(2016-04)[Abstract] Augmented Lagrangian methods represent an efficient way to carry out the forward-dynamics simulation of mechanical systems. These algorithms introduce the constraint forces in the dynamic equations of the system ... -
Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
(2016-06)[Abstract] Many applications of wheeled robots include operations in unstructured environments. Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit the ability of the robot to achieve ... -
Load assessment and analysis of impacts in multibody systems
(2016-09)[Abstract] The evaluation of contact forces during an impact requires the use of continuous force based methods. An accurate prediction of the impact force demands the identification of the contact parameters on a case-by-case ... -
Real-time Simulation of Cable Pay-Out and Reel-In with Towed Fishing Gears
(Elsevier, 2017-02)[Abstract] Achieving real-time simulation of fast cable pay-out and reel-in manoeuvres with towed fishing gears is a challenging task. This work presents two new simulation methods based on simplified cable models for ... -
Assessment of Linearization Approaches for Multibodydynamics Formulations
(2017-07)[Abstract] Formulating the dynamics equations of a mechanical system following a multibody dynamics approach often leads to a set of highly nonlinear Differential Algebraic Equations (DAEs). While this form of the equations ... -
Use of performance indicators in the analysis of running gait impacts
(2018)[Summary] Foot-ground impact is a critical event during the running cycle. In this work, three performance indicators were used to characterize foot-ground impact intensity: the effective preimpact kinetic energy, ... -
Direct Sensitivity Analysis of Multibody Systems With Holonomic and Nonholonomic Constraints via an Index-3 Augmented Lagrangian Formulation With Projections
(2018)[Abstract] Optimizing the dynamic response of mechanical systems is often a necessary step during the early stages of product development cycle. This is a complex problem that requires to carry out the sensitivity analysis ... -
Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motion
(Springer, 2018-07-09)[Abstract] Gait analysis is commonly addressed through inverse dynamics. However, forward dynamics can be advantageous when descending to muscular level, as it allows that activation and contraction equations are integrated ... -
Multibody system dynamics interface modelling for stable multirate co-simulation of multiphysics systems
(Elsevier, 2018-09)[Abstract] Many industrial applications benefit from predictive computer simulation to reduce costs and time, and shorten product development cycle. Computational multibody system dynamics formalisms and software tools ... -
Energy Expenditure Estimation During Crutch-Orthosis-Assisted Gait of a Spinal-Cord-Injured Subject
(Frontiers Media SA, 2019)[Abstract] Determination of muscle energy expenditure by computer modeling and analysis is of great interest to estimate the whole body energy consumption, while avoiding the complex character of in vivo experimental ... -
Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation
(Springer, 2019)[Abstract] There has been a growing attention to efficient simulations of multibody systems, which is apparently seen in many areas of computer-aided engineering and design both in academia and in industry. The need for ... -
Energy-Leak Monitoring and Correction to Enhance Stability in the Co-simulation of Mechanical Systems
(2019-01)[Abstract] Non-iterative co-simulation is an increasingly important technique for the simulation of complex mechanical systems. Adopting co-simulation schemes enables the simultaneous use of computational resources and ...