Computational Dynamics of Mechanical Systems

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This application aims at supporting the core components of my research program in the areas of Dynamics of Mechanical Systems. My research program deals with a broad range of topics in Dynamics ranging from fundamental theoretical work to research projects with industrial partners. My research group is typically composed of graduate students, postdoctoral fellows and undergraduate interns. HQP training is a very important element in my research program. ******A variety of new applications of dynamics modelling and simulation have emerged in recent years in areas such as virtual environments and reality, vehicle systems, and new fields of robotics. This proposal focuses on some fundamental research questions and problems, the solution of which can significantly advance the state of the art in mechanical system dynamics and applications in different fields. The proposed work and the results will expand my overall research program, increase the impact of my research, and contribute to develop research projects with industrial partners and international collaborations. The need for the research is motivated by both open scientific problems and industrial applications. ******A key part in all modelling, simulation and analysis methods is the representation of the interactions among the elements of a mechanical system. This includes various forms of bilateral and unilateral interactions and associated phenomena. A novel, general formulation is proposed for mechanical system modelling. This formulation will not assume the pre-existence of a certain type of interaction representation. We expect that this proposed formulation will make it possible to unify various approaches and devise more advanced algorithms and analysis tools to solve problems in leading-edge technology developments. ******We propose to develop a general approach for functional decomposition based modelling. Most state of the art mechanical engineering products represent elements mechatronic systems. An important question in the design and operation of such systems is to what extent the mechanical subsystem can contribute to enhance the overall performance of the system. The functional decomposition based approach will lead to important insight and tools to develop methods for mechanical performance shaping, and also to novel approaches, interpretations, and development possibilities for reduced-order models. ******Interactive simulation of complex systems plays an increasingly important role in many applications. In such settings the mechanical system model forms only one part, and it has to interface with other subsystems from different domains. We will particularly investigate the solution of stability problems in non-iterative co-simulation that is capable of interactive, real-time rates for virtual environments and prototyping. We will also address haptic interfacing and particularly the possibility of increasing the virtual stiffness in such systems. **