Efficient modelling and simulation of mechanical systems

该提案是先前与CMLabs simulation成功合作的延续。它建立在以前合作项目取得的成果的基础上。我们将继续并扩大这项工作，以研究大型机械系统（如建筑机械、起重机和港口设备、机器人工作单元和操作）的动力学建模和仿真中的一些重要的、具有挑战性的问题。在我们的工作中，我们将特别关注机械系统模型的一般公式的进一步发展和实施。在这个框架中，系统元素可以通过约束或本构关系表示的双边和单边相互作用相互连接。我们将开发和实现数学模型、技术和算法，使之成为可能。我们还将研究数值求解算法的可行性和性能

This proposal is a continuation of the previous successful collaboration with CMLabs 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 large-scale mechanical systems such as construction machinery, cranes and port equipment, robotic workcells and operations. In our work we will specifically focus on the further development and implementation of a general formulation of mechanical system models. In this framework 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 this formulation. 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 16 HQP trainees. The proposed work will be structured into three 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.