Listar LIM - Artigos por autor "González Varela, Francisco Javier"
Mostrando ítems 1-20 de 30
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A benchmark problem with singularities for multibody system dynamics formulations with constraints
Ruggiu, Maurizio; González Varela, Francisco Javier (Springer, 2023-04-19)[Abstract] When performing the numerical integration of multibody systems (MBS) dynamics, it is possible to choose from a wide variety of methods and implementations. Selecting the most appropriate option for a particular ... -
A collaborative benchmarking framework for multibody system dynamics
González Varela, Francisco Javier; González Castro, Manuel Jesús; Cuadrado, Javier; Luaces, Alberto (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. ... -
A novel concept for analysis and performance evaluation of wheeled rovers
Ghotbi, Bahareh; González Varela, Francisco Javier; Kövecses, József; Angeles, Jorge (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 ... -
An Automated Methodology to Select Functional Co-Simulation Configurations
Rahikainen, Jarkko; González Varela, Francisco Javier; Naya, Miguel A. (Springer, 2020-01)[Abstract] The development of machinery often requires system-level analysis, in which non-mechanical subsystems, such as hydraulics, need to be considered. Co-simulation allows analysts to divide a problem into subsystems ... -
Assessment of Linearization Approaches for Multibodydynamics Formulations
González Varela, Francisco Javier; Masarati, Pierangelo; Cuadrado, Javier; Naya, Miguel A. (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 ... -
Assessment of Methods for the Real-Time Simulation of Electronic and Thermal Circuits
Rodríguez, Borja; Cuadrado, Javier; González Varela, Francisco Javier; Naya, Miguel A. (MDPI, 2020-03)[Abstract] Time–domain simulation of electronic and thermal circuits is required by a large array of applications, such as the design and optimization of electric vehicle powertrain components. While efficient execution ... -
Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
González Varela, Francisco Javier; Dopico, Daniel; Pastorino, Roland; Cuadrado, Javier (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 ... -
Direct Sensitivity Analysis of Multibody Systems With Holonomic and Nonholonomic Constraints via an Index-3 Augmented Lagrangian Formulation With Projections
Dopico, Daniel; González Varela, Francisco Javier; Luaces, Alberto; Saura, Mariano; García-Vallejo, Daniel (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 ... -
Effect of gravity in wheel/terrain interaction models
Kovács, László L.; Ghotbi, Bahareh; González Varela, Francisco Javier; Niksirat, Parna; Skonieczny, Krzysztof; Kövecses, József (2020)[Abstract] Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary exploration rovers on soft terrain introduces the additional need to consider ... -
Efficient coupling of multibody software with numerical computing environments and block diagram simulators
González Varela, Francisco Javier; González, Manuel; Mikkola, Aki (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 ... -
Eigenstructure assignment and compensation of explicit co-simulation problems
Tamellin, Iacopo; Richiedei, Dario; Rodríguez, Borja; González Varela, Francisco Javier (2022)[Abstract] Co-simulation is an effective and versatile way to determine the forward-dynamics behaviour of complex engineering applications. In co-simulation setups, the overall system dynamics is split into several subsystems ... -
Energy-based monitoring and correction to enhance the accuracy and stability of explicit co-simulation
Rodríguez, Antonio J.; Sputh, Bernhard; Pastorino, Roland; González Varela, Francisco Javier; Rodríguez Frade, Borja; Naya, Miguel A. (Springer, 2022)[Abstract] The simulation of complex engineering applications often requires the consideration of component-level dynamics whose nature and time-scale differ across the elements of which the system is composed. Co-simulation ... -
Energy-Leak Monitoring and Correction to Enhance Stability in the Co-simulation of Mechanical Systems
González Varela, Francisco Javier; Arbatani, Siamak; Mohtat, Arash; Kövecses, József (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 ... -
Index-3 divide-and-conquer algorithm for efficient multibody system dynamics simulations: theory and parallel implementation
Malczyk, Paweł; Frączek, Janusz; González Varela, Francisco Javier; Cuadrado, Javier (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 ... -
Kinematic Modelling and State Estimation of Exploration Rovers
Lou, Qingfeng; González Varela, Francisco Javier; Kövecses, József (2019-04)[Abstract] State estimation is crucial for exploration rovers. It provides the pose and velocity of the rover by processing measurements from onboard sensors. Classical wheel odometry only employs encoder measurements of ... -
Load assessment and analysis of impacts in multibody systems
González Varela, Francisco Javier; Kövecses, József; Font-Llagunes, Josep M. (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 ... -
Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
Ghotbi, Bahareh; González Varela, Francisco Javier; Kövecses, József; Angeles, Jorge (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 ... -
Model-based coupling for co-simulation of robotic contact tasks
Peiret, Albert; González Varela, Francisco Javier; Kövecses, József; Teichmann, Marek; Enzenhoefer, Andreas (IEEE, 2020-10)[Abstract] Co-simulation of complex robotic systems allows the different components to be modelled and simulated independently using methods and tools tailored to their nature and time-scale, which makes the implementation ... -
Multibody system dynamics interface modelling for stable multirate co-simulation of multiphysics systems
Peiret, Albert; González Varela, Francisco Javier; Kövecses, József; Teichmann, Marek (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 ... -
Non-intrusive parallelization of multibody system dynamic simulations
González Varela, Francisco Javier; Lugrís-Armesto, Urbano; Luaces, Alberto; González Castro, Manuel Jesús (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 ...