High-Performance Dynamics and Simulation of Mechanical Systems

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This proposal is a continuation of the previous successful collaboration with CM Labs Simulations. It builds on the results achieved in the previous projects of this collaboration. We will continue and expand the work to investigate some of the important, challenging problems in dynamics modelling and simulation of physical systems such as robotic mechanisms, construction machinery, cranes and port equipment. In our work, we will specifically focus on the further development and implementation of different aspects of modelling, such as reduced models, co-simulation, contact formulations and implementations for high performance simulation. We study general mechanical systems where the system elements can be connected to each other through bilateral and unilateral interactions that are representable by constraints or constitutive relations. We will develop and implement mathematical models, techniques, and algorithms that are made possible by the model formulations developed. We will also investigate the feasibility and performance of numerical solution algorithms as they pertain to the different model forms. In the project we plan to train a group of HQP trainees at the Master's, Ph.D., and postdoctoral levels. The proposed work will be structured into two main groups of activities that have several interconnection points. We expect that the results of the work will produce important research findings that will strongly contribute to the Canadian economy. The simulations and virtual environments industry has strong roots in Quebec. The expected results will further strengthen this industrial sector, and will generate the basis for new business opportunities and contribute to the creation of new jobs. This will be of significant benefit to our partner, CMLabs Simulations Inc., and the Canadian society at large.