A presente pesquisa tem como objetivo realizar um estudo teórico e desenvolver simulações computacionais envolvendo a dinâmica de sistemas gás-sólido. O foco principal do trabalho é a modelagem do particulado através da análise das forças de contato entre partículas de materiais granulares utilizando modelos contínuos baseados na mecânica dos solos e na teoria cinética dos escoamentos granulares (sistemas grandes com muitas partículas, formulação Euleriana - Volumes Finitos) e modelos discretos baseados nas características físicas dos materiais (sistemas intermediários e número limitado de partículas, formulação Lagrangeana - Método dos Elementos Discretos). Investigam-se os modelos existentes na literatura com intuito de melhorar os modelos contínuos e discretos baseados na interação entre as partículas que caracterizam a dinâmica do particulado em sistemas gás-sólido. Propõe-se uma nova abordagem para a determinação do coeficiente de rigidez da mola baseada em uma equivalência entre os modelos lineares e não-lineares. Utiliza-se o código fonte MFIX para realizar simulações computacionais da dinâmica de sistemas gás-sólido, analisando o processo de fluidização, mistura e segregação de partículas, influência das correlações de arrasto, e análise das forças de contato entre as partículas através do novo método para a determinação do coeficiente de rigidez da mola . Os resultados obtidos são comparados com dados numéricos e experimentais da literatura. / The purpose of the present study is to perform a theoretical study and develop numerical simulations involving dynamic in gas-solid systems. The focus of the work is the modeling of particulate matter using continuous models based on soil mechanics and the kinetic theory of granular flows (large systems with many particles, Eulerian formulation - Finite Volume) and discrete models based on physical characteristics of the particles (intermediate systems and limited number of particles, Lagrangian formulation - Discrete Element Method). It is proposed a new approach to determine the normal spring stiffness coefficient of the linear model through the numerical solution for the overlap between particles in non-linear models. The linear spring stiffness is determined using an equivalence between the linear and the non-linear models. It is used the MFIX computational code to perform numerical simulations of the dynamics of gas-solid systems. It is analyzed the processes of fluidization, mixing and particle segregation and the influence of drag correlations. The proposed approach for normal spring stiffness coefficient is applied in the numerical simulations of two problems: single freely falling particle and bubbling fluidized bed. The results were compared with numerical and experimental data from literature.

One of the common research goals in disciplines such as computer graphics and robotics is to understand the subtleties of human motion and develop tools for recreating natural and meaningful motion. Physical simulation of virtual human characters is a promising approach since it provides a testbed for developing and testing control strategies required to execute various human behaviors. Designing generic control algorithms for simulating a wide range of human activities, which can robustly adapt to varying physical environments, has remained a primary challenge. This dissertation introduces methods for generic and robust control of virtual characters in an interactive physical environment. Our approach is to use the information of the physical contacts between the character and her environment in the control design. We leverage high-level knowledge of the kinematics goals and the interaction with the surroundings to develop active control strategies that robustly adapt to variations in the physical scene. For synthesizing intentional motion requiring long-term planning, we exploit properties of the physical model for creating efficient and robust controllers in an interactive framework. The control design leverages the reference motion capture data and the contact information with the environment for interactive long-term planning. Finally, we propose a compact soft contact model for handling contacts for rigid body virtual characters. This model aims at improving the robustness of existing control methods without adding any complexity to the control design and opens up possibilities for new control algorithms to synthesize agile human motion.

A presente pesquisa tem como objetivo realizar um estudo teórico e desenvolver simulações computacionais envolvendo a dinâmica de sistemas gás-sólido. O foco principal do trabalho é a modelagem do particulado através da análise das forças de contato entre partículas de materiais granulares utilizando modelos contínuos baseados na mecânica dos solos e na teoria cinética dos escoamentos granulares (sistemas grandes com muitas partículas, formulação Euleriana - Volumes Finitos) e modelos discretos baseados nas características físicas dos materiais (sistemas intermediários e número limitado de partículas, formulação Lagrangeana - Método dos Elementos Discretos). Investigam-se os modelos existentes na literatura com intuito de melhorar os modelos contínuos e discretos baseados na interação entre as partículas que caracterizam a dinâmica do particulado em sistemas gás-sólido. Propõe-se uma nova abordagem para a determinação do coeficiente de rigidez da mola baseada em uma equivalência entre os modelos lineares e não-lineares. Utiliza-se o código fonte MFIX para realizar simulações computacionais da dinâmica de sistemas gás-sólido, analisando o processo de fluidização, mistura e segregação de partículas, influência das correlações de arrasto, e análise das forças de contato entre as partículas através do novo método para a determinação do coeficiente de rigidez da mola . Os resultados obtidos são comparados com dados numéricos e experimentais da literatura. / The purpose of the present study is to perform a theoretical study and develop numerical simulations involving dynamic in gas-solid systems. The focus of the work is the modeling of particulate matter using continuous models based on soil mechanics and the kinetic theory of granular flows (large systems with many particles, Eulerian formulation - Finite Volume) and discrete models based on physical characteristics of the particles (intermediate systems and limited number of particles, Lagrangian formulation - Discrete Element Method). It is proposed a new approach to determine the normal spring stiffness coefficient of the linear model through the numerical solution for the overlap between particles in non-linear models. The linear spring stiffness is determined using an equivalence between the linear and the non-linear models. It is used the MFIX computational code to perform numerical simulations of the dynamics of gas-solid systems. It is analyzed the processes of fluidization, mixing and particle segregation and the influence of drag correlations. The proposed approach for normal spring stiffness coefficient is applied in the numerical simulations of two problems: single freely falling particle and bubbling fluidized bed. The results were compared with numerical and experimental data from literature.

Experimental validations are widely used for studying dynamic structural behaviors and these studies involve defining the structures completely as being used in real time. While in numerical simulations such detailed features are not specified to ease the computation, thereby deviating from accurate results. Hence experimental validations are more desired in product developments process. Applications of experimental verification for noise and vibration (referred to as NVH inautomotive industry) are expanding over the last few decades. Researchers are exploring ways to predict the responses on the new receiver using receiver independent forces, which led to evolution of component based TPA (Transfer Path Analysis) concept. The Component based TPA concept is an important development in automotive industry. It allows the auto manufacturers to make use of their available subsystems (like motor or a gearbox) in their newly developing vehicles. This has been made possible by defining the dynamic forces exerted by the source independent of receiving structure, which are then used to predict the responses on the new receiver. Evaluation of such receiver independent forces allows measurements to be made in a test rig rather than in the vehicle. This indeed helps in better communication between different departments or between suppliers and vehicle manufacturers, saves design iterations and time, and would help vehicle manufactures to predict the vehicle structural behaviors much before the first prototype is made. The method is based on the international standard ISO 20270:2019 (en) Acoustics – Characterization of sources of structure-borne sound and vibration – indirect measurement of blocked forces. The thesis is based on evaluating the source characterized forces that are used for predicting responses on a new receiving structure. For this, different methods in TPA are explored and for the rear drive unit application, in-situ method is chosen. The source characterized forces also termed as blocked forces are computed in different test set up and a validation check is performed. The obtained results are also compared with FEM and useful conclusions are drawn. And finally contact forces evaluated by integrating the subsystems are compared to the contact forces derived from the source characterized forces. / Experimentell verifiering av dynamiska krafter och vibrationer som uppkommer i fordon innebär mätning av tids-, frekvens- och/eller varvtalsberoende kvantiteter. Numeriska beräkningar har utvecklats till en hög nivå, men kan ännu inte beskriva alla förlopp och detaljer som förekommer i de verkliga processerna. På grund av detta krävs det fortfarande mätningar som en del av produktionsutvecklingen. Valideringsmetoder för ljud och vibrationer har utvecklats mycket desenaste decennierna, och ett mål har varit att utveckla mätmetoder där de uppmätta krafterna från en komponent som bidrar till buller kan mätas på ett sätt som inte beror på den testrigg eller det fordon den mäts i. Komponentbaserad TPA Transfer Path Analysis är en analysmetod som är viktig inom fordonsindustrin. Den gör det möjligt för en tillverkare att använda modeller av existerande komponenter (t.ex. motorer eller växellådor) i modeller för nya fordon. En grundläggande förutsättning är att de krafter som mäts är oberoende av den mottagande strukturen, det vill säga fordonet. Om krafterna är oberoende av strukturen där de mäts innebär det att komponenten kan mätas i en test rigg på ett annat ställe (till exempel hos en underleverantör) och att tillgång till fordon inte krävs för karaktäriseringen. Det underlättar kommunikationen mellan olika delar av organisationen och mellan underleveratörer och tillverkare och bidrar till att prediktera ljud och vibrationer innan den första prototypen är tillgänglig. Den föreslagna metoden är baserad på den internationella normen ISO 20270:2019 (en) Acoustics – Characterization of sources of structure-borne sound and vibration – indirect measurement of blocked forces. Examensarbetet handlar om att utveckla en mätmetod för att kunna ta fram krafter genererade av komponenter som är oberoende av testriggens egenskaper. De framtagna krafterna kan då användas i en virtuell fordonsmodell för att se ljud och vibrationsbidragen på fordonsnivå. Källan som har studerats är en slutväxel (rear drive unit) för fyrhjulsdrift i bil. Flera olikametoder för TPA har undersöks, och för karaktärisering av slutväxeln har in-situ metoden valts. Krafter som är oberoende av den mottagande strukturen kallas även ‘blocked forces’. Krafterna beräknas baserat på resultaten från flera olika delmätningar. Validering och även jämförelse medFEM beräkningar har gjorts liksom jämförelser mellan mätningar på enbart komponenten och av hela systemet.

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Thesis deals with the modeling of pedestrian excitation of structures and obtaining the corresponding dynamic response of the structure. The trend of modern slender structures places more emphasis on the accuracy of modeling pedestrian dynamic excitation, which is difficult because of the intelligent behavior of pedestrians and the biological nature of the modeled pedestrian. First part of the thesis deals with traditional models of pedestrian excitation, based on application of pedestrian ground force to the model of construction. Models are explored on a model of slender footbridge for many different excitation variants in order to explore the specifics of the force excitation application and the structure response calculation. In second part of the thesis biomechanical pedestrian models are developed, including inertial forces, to calculate the pedestrian interaction with the structure. Parametric studies carried out on simplified structural models research the influence of design parameters of biomechanical models on dynamic response. The aim is to obtain a more accurate model of the pedestrian-construction system for refinement of the design of structures. The design of a tuned mass dampers for the reduction of pedestrian induced vibrations is also explored. Tuned mass dampers are devoted to parametric studies that deal with the influence of design parameters of the damper on the efficiency and design requirements of the device. The aim is to explore the design parameters and their influence on the efficient and economical design of the device. In the thesis were developed two biomechanical models, a simple biomechanical model with one vertical degree of freedom and a bipedal model of a human walking. Models have proven a certain degree of interaction when exciting light footbridges by one pedestrian. Bipedal model then also brought a partial insight into the mechanics of walking and the causes of pedestrian contact forces.

Die vorliegende Arbeit widmet sich der Aufgabe makroskopische Berechnungsmodelle zur Beschreibung des Drahtsägens zu erarbeiten. Ziel ist es, die wesentlichen Effekte abzubilden und den Einfluss von Prozessparametern auf die Dynamik des Systems zu bestimmen. Ein zentraler Punkt ist die Modellierung des bewegten Sägedrahtes. Durch die dem Kontinuum an den Auflagern aufgeprägte Führungsbewegung sind einerseits die Randbedingungen und andererseits ortsfest auf den Draht wirkende Lasten nichtmateriell. Die korrekte kinematische Beschreibung dieses Sachverhaltes ist essentielle Grundlage für die spätere Anwendung des Prinzips von HAMILTON. Durch die Führungsbewegung, die Formulierung der Kontaktkräfte als Folgelasten und durch explizit zeitabhängige Systemparameter ergibt sich ein kompliziertes Systemverhalten. Die dargestellten Berechnungsergebnisse umfassen Studien zu stationären Lagen, die Berechnung von Eigenfrequenzen, Stabilitätsnachweise des dynamischen Grundzustandes, die Bestimmung von Zeitlösungen und die Simulation des Materialabtrages beim Einschnitt. / The aim of the present thesis is to generate macroscopic models to describe the wire sawing process. The principal purpose is to illustrate basic effects and to investigate the influence of important process parameters relating to the dynamics of the system. A fundamental point is the modeling of the moving wire. Because of the axially movement of the continuum the boundary conditions and spatial acting loads are non-material. The precise kinematical description of this issue is the pre-condition for the correct evaluation of HAMILTON’s principle to characterize the dynamics of the system. The resultant complex system behavior is a consequence of the movement of the wire, of the formulation of the contact forces as follower loads and of explicitly time-dependent model parameters. The results of research contain studies of steady state equilibrium solutions and the proof of their LJAPUNOW stability, the calculation of eigenfrequencies, steady state time solutions under harmonically oscillating contact forces and the simulation of the material removal during the cutting process.

Die vorliegende Arbeit widmet sich der Aufgabe makroskopische Berechnungsmodelle zur Beschreibung des Drahtsägens zu erarbeiten. Ziel ist es, die wesentlichen Effekte abzubilden und den Einfluss von Prozessparametern auf die Dynamik des Systems zu bestimmen. Ein zentraler Punkt ist die Modellierung des bewegten Sägedrahtes. Durch die dem Kontinuum an den Auflagern aufgeprägte Führungsbewegung sind einerseits die Randbedingungen und andererseits ortsfest auf den Draht wirkende Lasten nichtmateriell. Die korrekte kinematische Beschreibung dieses Sachverhaltes ist essentielle Grundlage für die spätere Anwendung des Prinzips von HAMILTON. Durch die Führungsbewegung, die Formulierung der Kontaktkräfte als Folgelasten und durch explizit zeitabhängige Systemparameter ergibt sich ein kompliziertes Systemverhalten. Die dargestellten Berechnungsergebnisse umfassen Studien zu stationären Lagen, die Berechnung von Eigenfrequenzen, Stabilitätsnachweise des dynamischen Grundzustandes, die Bestimmung von Zeitlösungen und die Simulation des Materialabtrages beim Einschnitt.:1 Einleitung 1.1 Technische Problemstellung und Motivation der Arbeit 1.2 Literaturübersicht 1.3 Thema und Gliederung der Arbeit 2 Theoretische Grundlagen 2.1 Notation und mathematische Grundlagen 2.2 Kinematische Grundlagen der Kontinuumsmechanik 2.2.1 Konfiguration und Betrachtungsweisen 2.2.2 Verformungskinematik 2.2.3 Zeitableitungen 2.3 Variationsrechnung 2.3.1 Grundlagen 2.3.2 Verallgemeinerte Variationen 2.4 Kinetik / Prinzip von HAMILTON 2.5 Diskretisierung von Feldproblemen 2.6 Stabilität stationärer Lösungen 2.6.1 Grundlagen der kinetischen Stabilitätstheorie 2.6.2 Erste Methode von LJAPUNOW 2.6.3 Stabilitätsbetrachtung für bewegte Kontinua 2.7 Zeitlösung 2.7.1 Homogene Lösung der Störungsdifferentialgleichungen 2.7.2 Partikuläre Lösung der Störungsdifferentialgleichungen 3 Mechanisches Modell und Modellvarianten 3.1 Kinematik des Drahtes in LAGRANGE-Koordinaten 3.2 Kinematik des Drahtes in EULER-Koordinaten 3.3 Modell I 3.3.1 Variationsformulierung und Feldgleichungen 3.3.2 Ortsdiskretisierung der Variationsformulierung 3.3.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.4 Modell II 3.4.1 Variationsformulierung und Feldgleichungen 3.4.2 Ortsdiskretisierung der Variationsformulierung 3.4.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.5 Numerische Umsetzung 3.6 Berechnungsergebnisse 3.6.1 Stationäre Lagen 3.6.2 Eigenfrequenzen 3.6.3 Stabilitätsuntersuchungen 3.6.4 Zeitlösungen 4 Ankopplung des Ingot und Modellierung des Materialabtrages 4.1 FE- Modell des Gesamtblocks 4.1.1 Bestimmung der mechanischen Eigenschaften des Ingot 4.1.2 Berechnungsergebnisse 4.2 Strukturmechanisches Modell des Gesamtblocks und Ankopplung an den Sägedraht 4.3 Variationsformulierungen der gekoppelten Gesamtsysteme unter Berücksichtigung des Materialabtrages 4.3.1 Gesamtmodell I 4.3.2 Gesamtmodell II 4.4 Simulation des Schnittvorganges 5 Zusammenfassung / Ausblick 6 Verzeichnisse 6.1 Literaturverzeichnis 6.1.1 Allgemeine Literatur 6.1.2 Literatur zum Thema Drahtsägen 6.1.3 Literatur zum Thema bewegte Kontinua Anhang / The aim of the present thesis is to generate macroscopic models to describe the wire sawing process. The principal purpose is to illustrate basic effects and to investigate the influence of important process parameters relating to the dynamics of the system. A fundamental point is the modeling of the moving wire. Because of the axially movement of the continuum the boundary conditions and spatial acting loads are non-material. The precise kinematical description of this issue is the pre-condition for the correct evaluation of HAMILTON’s principle to characterize the dynamics of the system. The resultant complex system behavior is a consequence of the movement of the wire, of the formulation of the contact forces as follower loads and of explicitly time-dependent model parameters. The results of research contain studies of steady state equilibrium solutions and the proof of their LJAPUNOW stability, the calculation of eigenfrequencies, steady state time solutions under harmonically oscillating contact forces and the simulation of the material removal during the cutting process.:1 Einleitung 1.1 Technische Problemstellung und Motivation der Arbeit 1.2 Literaturübersicht 1.3 Thema und Gliederung der Arbeit 2 Theoretische Grundlagen 2.1 Notation und mathematische Grundlagen 2.2 Kinematische Grundlagen der Kontinuumsmechanik 2.2.1 Konfiguration und Betrachtungsweisen 2.2.2 Verformungskinematik 2.2.3 Zeitableitungen 2.3 Variationsrechnung 2.3.1 Grundlagen 2.3.2 Verallgemeinerte Variationen 2.4 Kinetik / Prinzip von HAMILTON 2.5 Diskretisierung von Feldproblemen 2.6 Stabilität stationärer Lösungen 2.6.1 Grundlagen der kinetischen Stabilitätstheorie 2.6.2 Erste Methode von LJAPUNOW 2.6.3 Stabilitätsbetrachtung für bewegte Kontinua 2.7 Zeitlösung 2.7.1 Homogene Lösung der Störungsdifferentialgleichungen 2.7.2 Partikuläre Lösung der Störungsdifferentialgleichungen 3 Mechanisches Modell und Modellvarianten 3.1 Kinematik des Drahtes in LAGRANGE-Koordinaten 3.2 Kinematik des Drahtes in EULER-Koordinaten 3.3 Modell I 3.3.1 Variationsformulierung und Feldgleichungen 3.3.2 Ortsdiskretisierung der Variationsformulierung 3.3.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.4 Modell II 3.4.1 Variationsformulierung und Feldgleichungen 3.4.2 Ortsdiskretisierung der Variationsformulierung 3.4.3 Stationäre Lage, Stabilitätsuntersuchung und Zeitlösung 3.5 Numerische Umsetzung 3.6 Berechnungsergebnisse 3.6.1 Stationäre Lagen 3.6.2 Eigenfrequenzen 3.6.3 Stabilitätsuntersuchungen 3.6.4 Zeitlösungen 4 Ankopplung des Ingot und Modellierung des Materialabtrages 4.1 FE- Modell des Gesamtblocks 4.1.1 Bestimmung der mechanischen Eigenschaften des Ingot 4.1.2 Berechnungsergebnisse 4.2 Strukturmechanisches Modell des Gesamtblocks und Ankopplung an den Sägedraht 4.3 Variationsformulierungen der gekoppelten Gesamtsysteme unter Berücksichtigung des Materialabtrages 4.3.1 Gesamtmodell I 4.3.2 Gesamtmodell II 4.4 Simulation des Schnittvorganges 5 Zusammenfassung / Ausblick 6 Verzeichnisse 6.1 Literaturverzeichnis 6.1.1 Allgemeine Literatur 6.1.2 Literatur zum Thema Drahtsägen 6.1.3 Literatur zum Thema bewegte Kontinua Anhang