Modelling and simulation of vehicle-terrain and object-terrain interactions

与非结构化环境的物理接触互动是代表越野车辆、各种类型的工程机械和其他平台的机械系统功能的核心要素。该项目涉及车辆和机械在非结构化地形上运行的交互式实时模拟方法，特别注意与土壤的接触。我们将重点关注两种主要类型的接触相互作用：由于车轮与土壤接触而产生的车辆地形相互作用，以及更一般的形状物体与土壤接触，例如工程机械中的各种工具和长电缆或梁状物体。我们将开发一个通用的动态建模框架，它将依赖于不同的可能性来表征与地形的相互作用。该项目将包括两个主要的、平行的、相互关联的部分。第一个将解决车轮-土壤和物体-土壤接触对的直接接触的不同建模可能性，并将包括新的发展，使这些模型适用于动态建模和交互式仿真。第二部分将讨论整体动力学公式和相关的求解算法。这将包括一些新的贡献，在问题和模型的表述，以及在解决算法。HQP培训将成为项目执行的中心。计划的培训人员将包括2名硕士研究生、1名博士研究生、2名博士后和1名研究助理。我们期望这项工作的结果将产生重要的研究成果，这将对加拿大经济作出重大贡献。在涉及土壤接触的非公路、建筑、采矿和地外操作的模拟中，各个部门的兴趣越来越大。模拟和虚拟环境产业在魁北克也有很强的根基。预期的结果将进一步加强这一工业部门，并将为我们的工业合作伙伴CMLabs simulation Inc.创造新的商业机会，并有助于创造新的就业机会。

Physical contact interactions with unstructured environment is the core element in the functioning of mechanical systems representing off-road vehicles, various types of construction machinery, and other platforms. This project deals with methods for interactive real-time simulation of vehicles and machinery operating on unstructured terrain with particular attention to the contact with the soil. We will focus on two main types of contact interaction: vehicle terrain interaction due to wheel-soil contact, and more generally shaped objects contacting soil such as various tools in construction machinery and long cables or beam like objects. We will develop a general, dynamics modelling framework that will rely on different possibilities to characterize the interaction with the terrain. The project will have two main, parallel, interrelated parts. The first will address the different modelling possibilities of the direct contact for wheel-soil and object-soil contact pairs, and will include novel developments to make such models suitable for use in dynamics modelling and interactive simulation. The second part will address the overall dynamics formulation and the related solution algorithms. This will include several novel contributions, both in the formulation of the problem and the model, and in the solution algorithms.HQP training will form a central point in the execution of the project. The planned group of traineeswill include two Master's student positions, one Ph.D. student, two postdoctoral fellows, and a research associate. We expect that the results of the work will produce important research findings that will strongly contribute to the Canadian economy. There is an increased interest in various sectors in the simulation ofoff-road, construction, mining, and extraterrestrial operations that involve soil contact. The simulations and virtual environments industry also has strong roots in Quebec. The expected results will further strengthen this industrial sector, and will generate the basis for new business opportunities for our industrial partner, CMLabs Simulations Inc., and contribute to the creation of new jobs.