High-Performance Dynamics and Simulation of Mechanical Systems

该提案是之前与CM Labs Simulations成功合作的延续。它建立在这一合作的前几个项目所取得的成果的基础上。我们将继续并扩大工作，以调查一些重要的，具有挑战性的问题，在动力学建模和模拟的物理系统，如机器人机构，建筑机械，起重机和港口设备。在我们的工作中，我们将特别关注建模的不同方面的进一步开发和实施，例如简化模型，联合仿真，接触配方和高性能仿真的实施。我们研究一般的机械系统，系统元素可以通过双边和单边的相互作用，是由约束或本构关系表示相互连接。我们将开发和实施数学模型，技术和算法，使开发的模型配方成为可能。我们还将研究数值解算法的可行性和性能，因为它们属于不同的模型形式。在这个项目中，我们计划培养一批HQP学员，和博士后水平。拟议的工作将分为两大类活动，这两大类活动有几个相互联系的点。我们希望这项工作的结果将产生重要的研究成果，这将大大有助于加拿大经济。模拟和虚拟环境行业在魁北克有着深厚的根基。预期成果将进一步加强这一工业部门，并将为新的商业机会奠定基础，有助于创造新的就业机会。这将对我们的合作伙伴CMLabs Simulations Inc.产生重大影响，以及整个加拿大社会。

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.