Computational Dynamics of Mechanical Systems

该应用程序旨在支持我在机械系统动力学领域的研究计划的核心组件。我的研究项目涉及范围广泛的动力学主题，从基础理论工作到与工业合作伙伴的研究项目。我的研究小组通常由研究生、博士后和本科生实习生组成。HQP培训是我的研究项目中非常重要的一部分。近年来，在虚拟环境和现实、车辆系统和机器人新领域等领域出现了各种动态建模和仿真的新应用。本提案主要针对机械系统动力学的一些基础研究问题和问题，这些问题的解决将对机械系统动力学及其在不同领域的应用具有重要的推动作用。拟议的工作和结果将扩大我的整体研究计划，增加我的研究的影响，并有助于发展与工业伙伴和国际合作的研究项目。对这项研究的需求是由开放的科学问题和工业应用驱动的。在所有建模、仿真和分析方法中，一个关键部分是机械系统各元素之间相互作用的表示。这包括各种形式的双边和单边相互作用及相关现象。提出了一种新的、通用的机械系统建模公式。这个公式不会假设某种类型的相互作用表示的预先存在。我们期望这个提议的公式将有可能统一各种方法，并设计出更先进的算法和分析工具来解决前沿技术发展中的问题。我们建议开发一种基于功能分解建模的通用方法。大多数最先进的机械工程产品都代表了元件机电一体化系统。在这类系统的设计和运行中，一个重要的问题是机械子系统能在多大程度上提高系统的整体性能。基于功能分解的方法将为开发机械性能塑造方法提供重要的见解和工具，也将为降阶模型提供新的方法、解释和开发可能性。复杂系统的交互仿真在许多应用中发挥着越来越重要的作用。在这种情况下，机械系统模型只形成一个部分，它必须与来自不同领域的其他子系统进行接口。我们将特别研究非迭代联合仿真中稳定性问题的解决方案，该方案能够在虚拟环境和原型中进行交互，实时速率。我们还将讨论触觉界面，特别是在这种系统中增加虚拟刚度的可能性。

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.