This thesis is focused on the issue of computational modeling of soil harvesting while using the compact excavator from the company DOOSAN BOBCAT EMEA s.r.o.. The solution consists in creating two computational models in Rocky DEM and Ansys Mechanical. Rocky DEM software is used to solve the disconnection of soil by excavator components using the discrete element method. The outcome includes courses of forces and moments during the particular time of the individual joints of the model that was used. The obtained courses are then applied as an external load to the joint of a selected structural part of the analyzed model using a kinematic model in ANSYS Mechanical. The kinematic model consists of simplified geometry models of individual parts of the excavator arm, and a more detailed geometry model of the analyzed part of the arm. All the parts are connected to each other by rotational bonds representing joints. A static structural analysis of the mechanical stress is performed in ANSYS Mechanical for the prepared model during the simulated process. Finally, the selected structural part is assessed with respect to the elastic limit and fatigue strength.

Bien que la maçonnerie en pierre soit une technique de construction ancestrale,le comportement mécanique de ce type de construction reste encore aujourd’hui méconnu.En conséquence, la réglementation concernant ces ouvrages est restrictive et considèredes marges de sécurité importantes, qui conduisent à un surdimensionnement de cetype de structure. Ce projet de recherche vise à développer un code de calcul adapté à l’étudede structures maçonnées, utilisable en bureau d’études afin d’aider les ingénieurs qui nepossèdent pas d’outils adaptés aux ouvrages maçonnés sur lesquels s’appuyer.Le logiciel de calcul aux éléments discrets LMGC90 a été choisi pour sa capacité à représenterle caractère discontinu de la maçonnerie. Une loi d’interface cohésive enmode mixte (I+II) aété mise au point afin de prendre en compte l’endommagement progressif et la dissipationd’énergie associés au comportement quasi-fragile des joints de mortier. Un protocole expérimentalpermettant d’estimer l’ensemble des paramètres cohésifs et frictionnels des jointsde mortier a également été mis au point.Le modèle numérique proposé est confronté à deux essais expérimentaux menés sur desmurs sollicités en cisaillement sous deux conditions aux limites différentes. L’analyse desrésultats obtenusmet en avant l’insuffisance de la loi deMode II proposée à décrire précisémentle comportement en cisaillement dans certains cas. Des voies d’amélioration concernantla modélisation sont donc proposées, comprenant notamment l’étude précise du couplageentre l’endommagement (comportement cohésif) et le comportement frictionnel desjoints sollicités en cisaillement. / Stone masonry is an age-old constructive technique, nevertheless the mechnicalbehavior of this type of construction is still misunderstood. Consequently, standardsfor masonry structural design are very conservative and overestimate design of this kind ofstructures. Moreover, engineers cannot rely on suitable design code to assess masonry buildings.This research project aims to develop a design code suitable for structural masonrydesign to help engineers.Discrete element code LMGC90 was picked for its capacity to take into account masonrydiscontinuities. A mixed mode I+II cohesive interface law is established in order to considerprogressive damage and energy dissipation associated to quasi-brittle behaviour of mortarjoints. An experimental procedure was also carried out to estimate the whole cohesive andfrictional parameters ofmortar joints.The proposed numerical model is confronted to two experimental tests on shear masonrywalls under two different boundary conditions. The results of the analysis shows that thedeveloped model fails at reproducing precisely the shear behaviour especially when the normalstress to the joint strongly increses during the test. Thus we discuss on the Mode II law,and more specifically on the separation of frictional and cohesive behaviours which must beresponsible for the deficient results.

Gegenstand dieser Arbeit ist die Simulation einer Wirkpaarung am Beispiel des innermaschinellen Transports von Stückgütern. Zur Schonung des Verarbeitungsgutes wird für das intermittierende Fördern ein neuartiger Bewegungsansatz betrachtet. Da sich der mit diesem Ansatz durchgeführte Prozess sehr sensitiv gegenüber den Eingangsparametern verhält, ist es notwendig, diesen zu simulieren, um somit eine stabile und robuste Bewegung zu synthetisieren. Als grundlegender Modellansatz wird die Diskrete Elemente Methode (DEM) gewählt, da diese es ermöglicht, den Kontakt von Starrkörpern realistisch abzubilden. Zur Umsetzung der Simulation wird die Modellbildung mit zwei unterschiedlichen Modellierungsumgebungen realisiert, die sich hinsichtlich der Umsetzung der DEM unterscheiden: Zum Einen mit Hilfe der kommerziellen Software MATLAB/Simulink und zum Anderen mit Hilfe der Open-Source-Software Woo DEM. Im Anschluss werden die damit erzeugten Modelle verifiziert und experimentell validiert, wodurch sich sowohl die Modellgüte als auch die Modelleignung ableitet. Dabei wird besonders auf die prozessentscheidende Rolle der Reibung eingegangen. Abschließend wird mit Hilfe des Vorzugsmodells an Hand zweier Beispiele die Modellanalyse vollzogen. Hierbei wird der neuartige Bewegungsansatz synthetisiert und simulativ hinsichtlich des Prozesserfolges überprüft. Dabei wird insbesondere auf die mit Hilfe des Modells quanitifizierbaren Prozessgrößen eingegangen. / The subject of this thesis deals with the simulation of an active unit demonstrated by the mechanical transport of pieced goods. To protect the processing goods, a novel motion approach for the intermittent transport is researched. Since the process performed with this approach is very sensitive to its input parameters, it is necessary to simulate it, with the aim to synthesize a stable and robust motion. The Discrete Element Method (DEM) is chosen as the basic model approach, because it allows the realistic representation of rigid body contacts. To implement the simulation the modelling is realised with two different modelling environments, which differ in the implementation of the DEM: Firstly, using the commercial software MATLAB/Simulink and secondly with the help of the open-source-software Woo DEM. Following that the generated models are verified and experimentally validated, whereby both the model goodness and the model suitability are derived. Special attention is dedicated to the role of the process relevant friction. Eventually, the model analysis is carried out with the help of two examples using the preferred model. Here, the novel motion approach is synthesized and verified by simulation in terms of process success. In particular it will address process variables, which are quantifiable because of the model.

The Discrete Element Method (DEM) provides an approach to recognition of the problems within bottle conveyors at an early stage of the engineering process. Key points in bottle conveyor systems, such as buffers, ejectors, diverters and transfers can be numerically analyzed. It is possible to calculate forces on lateral guides and forces between bottles within accumulation situations. The DEM provides an alternative opportunity for the virtual process optimization and numeric case studies of conveying systems at beverage and food industries. / Die diskrete Elementmethode (DEM) ermöglicht in einem frühen Stadium des Engineering-Prozesses die Erkennung von Problemen in Flaschenförderern. Wichtige Systemelemente wie Puffer, Ausschleuser, Weichen und Übergabestellen können numerisch analysiert werden. Es ist somit u. a. möglich, Kräfte auf Seitenführungen und Kräfte zwischen den Flaschen innerhalb von Stausituationen zu berechnen. Die DEM bietet eine alternative Möglichkeit für die virtuelle Prozessoptimierung und die Durchführung numerischer Fallstudien von Fördersystemen u. a. in der Getränke- und Lebensmittelindustrie.

Cette thèse est une étude expérimentale et numérique du comportement au cisaillement de milieu granulaire humide sous l’effet de la quantité de liquide introduite et la contrainte normale appliquée. Les expériences ont été faites sur une cellule de cisaillement annulaire, pour une large gamme de contraintes appliquées allant de presque 0.3 kPa à 12 kPa. Les résultats donnent la variation de la contrainte de cisaillement en régime stationnaire en fonction de la contrainte normale pour une large variation de la quantité de liquide. Le liquide dans le milieu granulaire va de ponts liquides formés au point de contact jusqu’au remplissage totale de l'espace entre les grains. L’effet de liquide sur la résistance au cisaillement et la porosité de milieu granulaire a été analysé. Différents régimes du comportement de milieu granulaire humide ont été identifiés. Afin d’acquérir une compréhension microscopique du comportement au cisaillement de milieu granulaire sec et partiellement humide, la méthode des éléments discrets (DEM) a été utilisée. Des billes de verre de grande taille (2 mm de diamètre) ont été utilisées pour réduire le temps de simulation et faciliter la caractérisation à l’échelle de particule. Une première partie a été consacrée à l’étude de l’effet des propriétés microscopiques de particule (Module de Young et la friction de glissement) sur les propriétés macroscopiques de milieu granulaire sec et humide (le nombre de coordination, la porosité, le ratio de contraintes et la vitesse de particules). Une deuxième partie a été concernée par l’étude du comportement au cisaillement de milieu granulaire humide pour différentes fractions de liquide et différentes contraintes normales appliquées. En particulier, les forces capillaires et le nombre de ponts liquide ont été quantitativement analysés. / We study experimentally and numerically the shear behaviour of wet granular material. We investigate the effect of the liquid content and the applied normal stresses to this behaviour. An annular shear cell was used to carry out the experiments, for a large range of applied normal stress from about 0.3 kPa to 12 kPa. The results give the variation of the shear stress at steady-state as a function of the normal stress for a wide range of liquid fraction. The incorporated liquid goes from forming bridges at the contact point to completely filling the space between grains. The shear resistance and the voidage fraction variations with the liquid fraction were analysed. Depending on the applied normal stress and the liquid fraction, different regimes of the shear resistance were identified. The discrete element method (DEM) was used to gain a microscopic understanding of the shear behaviour of dry and partially wet granular material in the shear cell. Large size glass beads were used to speed up the computational time and to facilitate characterisation at the particle scale. First, the influence of the microscopic properties of the particle (The Young’s modulus and the sliding friction) on the macroscopic properties of dry and wet granular materials (the coordination number, the voidage fraction, the shear ratio and the velocity of particles) was investigated. Secondly, the shear behaviour of the partially wet granular material for different liquid fractions and normal stresses was studied. The capillary forces and the number of liquid bridges were quantitatively analysed.

Mit zunehmenden mineralischen Ressourcenbedarf steigen die Anforde-rungen an Aufbereitungsmaschinen wie den Center-Sizer. Um diesen An-forderungen gerecht zu werden, lag der Schwerpunkt bisher in der Ver-besserung der maschinenseitigen Modellbeschreibung, wobei für die Ma-terialmodelle zumeist stark vereinfacht blieben. Die vorliegende Arbeit behandelt die Entwicklung eines materialseitigen Modells basierend auf der Diskreten-Elemente-Methode, welches durch eine begründete Parametrierung sowie in Co-Simulation mit einem mehr-dimensionalen Maschinenmodell zur Belastungsprognose auf Center-Sizer dient. Sie leistet damit einen Beitrag zur Erweiterung der bestehenden Auslegungsmethode und bietet für weiterführende Forschungstätigkeiten eine substanzielle Grundlage. / As the demand for mineral resources increases, so do the requirements for processing machines such as the Center-Sizer. In order to meet these re-quirements, the focus has so far been on improving the model description on the machine side, whereby the material models mostly have remained simplified. The present dissertation deals with the development of a material model based on the discrete-element-method for the load prediction on center sizer by using determined parameterization method as well as the co-simulation with a multidimensional machine model. It contributes to the enhancement of the current method of structural design and it serves a substantial basis for further research projects.

No description available.

Les avalanches de plaque représentent un risque naturel majeur dont la prévision demeure très difficile. Le manque de lois constitutives fiables à l’échelle du matériau rend difficiles les tentatives de modélisation de ce phénomène. Plus spécifiquement, la réponse mécanique de la neige durant et après la rupture, dans des régimes de chargements rapides , demeure relativement méconnue. La nature particulièrement fragile du matériau au sein de ce régime de déformation rend ardue la réalisation d’expériences et complique l’observation à l’échelle microstructurale.Dans ce travail de thèse, un modèle numérique de neige fondé sur la Méthode des Éléments Discrets a été développé en tant qu’alternative aux expériences. Le modèle nous permet de simuler la réponse de la neige à des chargements mécaniques en tenant compte de la microstructure réelle du matériau grâce à l’intégration d’images acquises par microtomographie à rayons X en entrée du modèle. La neige est considérée comme un matériau granulaire cohesif, et une méthode originale a été développée afin de modéliser la forme de chaque grain. Les grains individuels sont ensuite assemblés pour reconstituer la matrice de la neige grâce à la prise en compte de lois de contact cohésives.Le modèle a été utilisé afin d’explorer la réponse mécanique macroscopique de différent échantillons de neige à un chargement mixte normal-cisaillant. Trois modes de rupture ont été observés dans tous les échantillons de neige testés, en fonction du niveau de contrainte normale appliquée : une rupture en cisaillement localisée pour des niveaux de contrainte normale faibles (mode A), un effondrement normal induit par rupture en cisaillement à des niveaux intermédiaires de contrainte normale (mode B) et un effondrement normal pour des valeurs de contrainte normale élevées (mode C). Ces différents modes de rupture produisent une enveloppe de rupture fermée dans l’espace des contraintes, ce pour les différents types de neige étudiés.Les mécanismes internes conduisant à l’effondrement normal des échantillons ont été étudiés plus en détail à l’échelle microscopique. Il a été montré que ce mode de rupture était associé à un mécanisme de flambement des chaînes de force. En outre, la stabilité de ces chaînes de force semble être contrôlée par les contacts entre les éléments des chaînes et les grains environnants. La rupture de ces contacts, observée dans les modes B et C, autorise le développement du flambement des chaînes de force et aboutit à l’effondrement volumique. / Dry slab snow avalanches represent a major natural hazard that is extremely difficult to manage. Attempts to model this phenomenon are hindered by the lack of a constitutive law that would describe the mechanical behaviour of snow on a material scale. In particular, relatively little is known on the failure and post-failure response of snow at high loading-rates. The highly fragile nature of the material in this deformation regimerenders experimental investigation difficult and complicates observation at the microstructural level.As an alternative to experiments, a Discrete Element Method-based numerical model of snow is developed in this thesis. The model enables us to simulate the response of snow to mechanical loading, while accounting for actual snow microstructure by using X-ray attenuation images of snow microstructure as input. Snow is considered as a cohesive granular material and an original methodology is developed in order to model the shape of each grain. Individual grains are bound into the snow matrix by modelling cohesion between neighbouring grains.The model is then used to explore the macroscopic mechanical response of different snow samples to mixed-mode loading. Three typical modes of failure are observed in all tested snow samples, depending on the level of applied normal stress: a localized shear failure at low normal stress (mode A), a shear failure-induced volumetric collapse at intermediate levels of normal stress (mode B), and a normal failure and collapse for high values of normal stress (mode C). The observed failure modes result in closed failure envelopes and no qualitative difference is observed between the mechanical responses of different snow types.The internal mechanisms that lead to volumetric collapse are further examined on the microscale. Force chain buckling is identified as a trigger of this material instability. Additionally, force chain stability appears to be controlled by the contacts between the force chain members and the surrounding grains. The failure in these contacts, which is evidenced in modes B and C, allows force chain buckling to develop and results in subsequent volumetric collapse.

Indiana University-Purdue University Indianapolis (IUPUI) / In this thesis, a high- fidelity multibody dynamics model of a backhoe for simulating the digging operation is developed using the DIS (Dynamic Interactions Simulator)multibody dynamics software. Sand is used as a sample digging material to illustrate the model. The backhoe components (such as frame, manipulators links,track segments, wheels and sprockets) are modeled as rigid bodies. The geometry of the major moving components of the backhoe is created using the Pro/E solid modeling software. The components of the backhoe are imported to DIS and connected using joints (revolute, cylindrical and prismatic joints). Rotary and linear actuators along with PD (Proportional-Derivative) controllers are used to move and steer the backhoe and to move the backhoes manipulator in the desired trajectory. Sand is modeled using cubic shaped particles that can come into contact with each other, the backhoes bucket and ground. A cubical sand particle contact surface is modeled using eight spheres that are rigidly glued to each other to form a cubical shaped particle, The backhoe and ground surfaces are modeled as polygonal surfaces. A penalty technique is used to impose both joint and normal contact constraints (including track-wheels, track-terrain, bucket-particles and particles-particles contact). An asperity-based friction model is used to model joint and contact friction. A Cartesian Eulerian grid contact search algorithm is used to allow fast contact detection between particles. A recursive bounding box contact search algorithm is used to allow fast contact detection for polygonal contact surfaces and is used to detect contact between: track and ground; track and wheels; bucket and particles; and ground and particles. The governing equations of motion are solved along with joint/constraint equations using a time-accurate explicit solution procedure. The sand model is validated using a conical hopper sand flow experiment in which the sand flow rate during discharge and the angle of repose of the resulting sand pile are experimentally measured. The results of the conical hopper simulation are compared with previously published experimental results. Parameter studies are performed using the sand model to study the e ffects of the particle size and the orifi ces diameter of the hopper on the sand pile angle of repose and sand flow rate. The sand model is integrated with the backhoe model to simulate a typical digging operation. The model is used to predict the manipulators actuator forces needed to dig through a pile of sand. Integrating the sand model and backhoe model can help improving the performance of construction equipment by predicting, for various vehicle design alternatives: the actuator and joint forces, and the vehicle stability during digging.

This thesis reports recent numerical investigation of the rheological behavior of fresh concrete using the Distinct Element Method (DEM). Some relevant questions of the concrete rheology e.g. the influence of the concrete composition on the rheological behavior of the fresh concrete, the experimental determination of the Bingham rheological constants as well as the use of these constants in the numerical simulation were discussed thoroughly. An important topic of the performed investigation was the development of the numerical model for fresh concrete which enables simple, fast and stable predictive simulation of different technological operations with fresh concrete. Firstly, in a literature survey, the state-of-the-art of the numerical simulation of fresh concrete was presented and critically discussed in order to show advantages and disadvantages of other methods and modeling approaches. Open (unsolved) questions were highlighted and the basis for their investigation is created within this thesis. Fundamental concepts of the rheology were then presented and the basic rheological models of viscoelastic materials were considered; the rheological behaviors of different types of concretes were presented and its influencing factors were discussed. Additionally main methods for scientific investigation and testing of the fresh concrete were shown. The test methods were critically discussed in order to select the test, which has been used as a reference experimental test for the numerical simulations. Chosen reference experimental test was the slump flow test. The slump flow test was thoroughly analyzed and an analytical solution was developed which helps to interpret the results of measurements and provides a link between rheological constants and measured quantities. In a further step an extensive experimental program was carried out in order to investigate the rheological behavior of fresh concrete and get the input data for numerical simulation. Firstly, the experiments on macrolevel were performed. Here the rheological behavior of the fresh concrete flow in different tests was investigated (slump and slump flow tests, L-Box). Further, the experiments on mesolevel with polymer on Carbopol basis and mortar were developed and performed in order to investigate the interaction between distinct particles suspended in a fluid matrix. The necessary material parameters, especially those representative of the fluid suspension micromechanical behavior, i.e. the force-displacement relationship, yield force and bond strength, were determined by these experiments. The slump flow test was used as the basic test to calibrate the model for fresh concrete (key data: slump value, slump flow diameter (for concretes with a soft consistency) and the time of spreading). Thus, the decisive phenomena of the fresh concrete flow were highlighted, control points for a contact model were selected and the initial input data for the development of the contact model was obtained. Next, the user-defined contact model was developed and implemented into the Particle Flow Code ITASCA. The contact model was completely described and its limitations discussed. Then, the set of numerical tools was developed, which enable simplified and stable numerical simulation of the fresh concrete with particular behavior, i.e. automatic generation of the concrete with given particle grading, amount of fibers and air, automatic recalculation of the micromechanical parameters of the contact model from given initial yield stress and plastic viscosity. The model was calibrated by slump flow test simulations and validated by corresponding analytical approach. Further, the role of different model parameters was investigated by simulating the slump flow test. Furthermore, for verification of the model several additional experiments were simulated, i.e. L-Box and LCPC-box test. The results of modeling were compared with experimental results and discussed in detail. All numerical simulations provide qualitatively as well as quantitatively correct results and hence adequately represent the phenomena observed in real experiments. The thesis closes with general conclusions and outlook of the work. In the future, the developed contact model and tools of the “Virtual concrete laboratory” could be modified in order to extend the potential of the laboratory to cover such properties as thixotropic behavior of fresh concrete or simulating hardening of the concrete and behavior of the hardened concrete.