High-Performance Dynamics and Simulation of Mechanical Systems

这项提议是对之前与CM实验室模拟的成功合作的延续。它建立在这一协作的前几个项目中取得的成果的基础上。我们将继续并扩大这项工作，以调查机器人机构、工程机械、起重机和港口设备等物理系统的动力学建模和仿真中的一些重要且具有挑战性的问题。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现，如简化模型、联合仿真、接触公式和高性能仿真的实现。我们研究一般力学系统，其中系统元素可以通过可由约束或本构关系表示的双边和单边相互作用来相互连接。我们将开发和实施数学模型、技术和算法，这些模型、技术和算法是通过开发的模型公式实现的。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。在该项目中，我们计划培养一批硕士、博士和博士后级别的HQP实习生。拟议的工作将分成两个主要的活动组，它们有几个互联点。我们预计，这项工作的结果将产生重要的研究成果，将有力地促进加拿大经济。模拟和虚拟环境产业在魁北克有着深厚的根基。预期的结果将进一步加强这一工业部门，并将为新的商业机会创造基础，并有助于创造新的就业机会。这将对我们的合作伙伴CMLabs Simulations Inc.和整个加拿大社会产生重大好处。

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.