The hydrodynamic properties of a horizontal cylinder which is free to pitch about an off-centred axis are studied and used to derive the equations of motion of a wave energy converter which extracts energy from incoming sea waves with a linear power-take-off mechanism. The present work follows from a recent study which compared the performance of an off-centred cylinder with those of the Edinburgh Duck wave energy converter. The small decrease in performance found is offset by a reduction in the likely costs associated with the manufacturing of the cylindrical cam compared with those of the asymmetric profile. As part of the survivability strategy in very energetic seas-states it had been planned to completely submerge the device so as to reduce the mooring forces. However, experiments with scale models show that a good absorption capacity is retained even when fully-submerged. The hydrodynamic properties of a horizontal cylinder that pierces the free-surface and of one that is fully submerged are therefore of central concern in this study. These properties are well known for the case of very long cylinders but they are now found for cylinders with different widths, drafts, submergence levels and water-depths. The hydrodynamic forces and moments at the off-centred axis are, furthermore, derived through the application of transformation formulae. The equation of motion of the off-centred cylinder is derived for one degree of freedom and its performance as a wave energy converter is analysed. A relationship which relates the resonance of the device with the location of the off-centred axis and its mass distribution is derived and used to optimize the design for average sea conditions attained at a real location. Design cases associated with three diameters of the cylinder are looked into detail for both a fully-submerged and free-surface piercing cylinder. The one degree of freedom model is extended to include a multi-body which has three degrees of freedom in order to describe the dynamics of a proposed wave powered desalination system based on a cylindrical Duck device. This mathematical model is derived through linearised Lagrangian equations of motion in which the hydrodynamic forces are included as generalised external forces. The advantage of such approach is to reduce the number of equations associated with multi-body systems by removing the reaction forces of holomonic constraints from the system of equations to solve. This model is validated through experiments with a scale model performed in the curved tank of the University of Edinburgh with both regular waves and mixed seas.

A utilização de motores elétricos diretamente nos cubos de roda é uma alternativa de propulsão para um veiculo elétrico ou híbrido muito interessante, pois não necessita do uso de sistemas complexos de transmissão, tornando o conjunto mecânico muito mais simples e, consequentemente, reduzindo a sua massa, atritos e custos. Entretanto, a adição dos motores nas rodas causa o incremento da massa não suspensa, e isto irá afetar o comportamento de dirigibilidade do veículo. Dessa forma, com ajuda da ferramenta de multicorpos, será identificado o que ocorrerá devido ao acréscimo de massa compatível com os motores elétricos de última geração. Para isto, uma série de análises comparativas será realizada, com modelos de veículos baseados na técnica de multicorpos, para o caso de um carro de passeio compacto. Primeiramente, uma análise modal comparando um carro convencional aos carros com a utilização dos motores, no eixo traseiro ou no dianteiro, e uma posterior avaliação das frequências obtidas. Em sequência, também foram realizadas manobras padrão com o modelo de veículo completo e foram observadas maiores influências nos resultados das análises em regime transiente, como a manobra de troca de faixa e a manobra do anzol (\"fishhook\"). Com a ajuda destes resultados, foi possível identificar que as instalações dos motores elétricos nos cubos traseiros causam uma menor influência negativa no desempenho de dirigibilidade, quando comparado com o caso instalado no eixo dianteiro. Através de uma otimização realizada com a ajuda de uma análise de sensibilidade das variáveis do sistema (D.O.E.), baseada na manobra do anzol, foi possível identificar que alterações nas molas, amortecedores e barra estabilizadora são capazes de mitigar os efeitos indesejáveis causados pelo incremento de massa não suspensa. / The electric motors directly in wheel hubs usage is an alternative of propulsion for a electric or hybrid vehicle, since it does not need the use of complex systems of transmission, making the mechanical assembly simpler and, consequently, reducing its mass , frictions and costs. However, the addition of the motors in the wheels causes an increase unsprung mass, and this will affect the vehicle handlings behavior. In that way, with the assistance of the multibody tool, it will be identified the consequences of mass addition, compatible with the moderns electric motors of. In this work, a series of comparative analyzes will be carried out, with vehicle models based on multibody techniques, in the situation of a compact car. First, a modal analysis comparing a conventional car to with the vehicle using hub driven motors, in rear or front axle, and an evaluation of the obtained frequencies. In the sequence, standard maneuvers were also performed with the complete vehicle model, and greater influences were observed in the transient analysis results, such as lane change and fishhook maneuver. With help of these results, it was possible to identify; that the installation of the electric motors in the rear hubs causes a smaller negative influence on the handling performance when compared to the case installed on the front axle. Through an optimization performed with the aid of a system variable sensitivity analysis (D.O.E.) based on the fish hook maneuver, it was possible to identify thtat changes on springs, shock absorbers and stabilizer bar are able to mitigate the undesirable effects caused by the increase of unsprung mass.

O trabalho desenvolvido tem como objetivo avaliar a influência da rigidez estrutural no comportamento dinâmico do veículo baseando-se em manobra de raio constante em condição quase estática e análise de sensibilidade através de simulação numérica computacional. São apresentados dois modelos para avaliar a transferência de carga lateral do veículo quando sujeito à aceleração lateral (manobra de raio constante), um modelo completo de veículo elaborado em ambiente multicorpos tendo a carroceria e o sub-chassi modelados como corpos flexíveis, e outro modelo analítico com a consideração da rigidez torcional (obtida de modelo de elementos finitos) da estrutura. Com o modelo analítico atendendo o nível de correlação necessário para o propósito deste trabalho, discute-se neste ponto as variações na transferência de carga devido à rigidez torcional da estrutura. Em seguida, com o intuito de abranger, além do parâmetro de transferência de carga lateral, quais comportamentos do veículo são afetados pela sua rigidez estrutural, é proposta a utilização do método de engenharia robusta para a identificação das condições externas que geram diferentes resultados de comportamento dinâmico do veículo com a variação da rigidez estrutural. Este estudo permite identificar manobras ou situações nas quais as considerações de flexibilidade estrutural num modelo multicorpos, ou mesmo numa condição física real, são relevantes e podem afetar a segurança, dirigibilidade e o conforto do veículo. / The work aims to evaluate the influence of structural stiffness on the dynamic behavior of the vehicle based on a constant radius maneuver in a quasi-static condition and a sensitivity analysis through computer numerical simulation. Two models were developed to evaluate the lateral load transfer of the vehicle when subjected to lateral acceleration (constant radius maneuver), a complete vehicle built in multibody environment with the body and the sub-chassis modeled as flexible bodies, and an analytical model with consideration of structure torsional stiffness (obtained from finite element model). With the analytical model presenting the required correlation for the purpose of this paper, we discuss, at this point, the lateral load transfer variations due to torcional structural stiffness. Then, in order to cover, in addition to lateral load transfer, how the vehicle behavior is affected by its structural stiffness, the robust engineering method is considered for identifying the external conditions that generate different dynamic behavior results for the variation of structural stiffness. This study allows us to identify maneuvers or situations in which considerations of structural flexibility in multibody model, or even in a real physical condition, are relevant and can affect the safety, ride and handling of the vehicle.

Analisa-se neste trabalho uma operação de montagem de um produto consolidado e em produção, utilizando-se técnicas de Sistemas Multicorpos (MBS). Para testar a viabilidade técnica desta proposta foi desenvolvido um estudo de caso numa empresa fornecedora de bancos para montadoras de veículos. Para tanto, foram comparados dados coletados do processo real na empresa, com resultados obtidos em simulações computacionais utilizando técnicas de modelagem e simulações de sistemas Multicorpos. Dos estudos realizados, conclui-se que a simulação computacional é relevante na fase de concepção do produto. / In this work a consolidated product assembly line is analyzed using Multibody System (MBS) techniques. As its main proposal, the work relates dynamic properties of the process such as forces. Analysis using MBS techniques during the project phase allows improvement in the quality levels and productivity of the operator. A case study was developed to test the technical viability of this proposal in an automobile seating Supply Company. To this end, real process data was collected and compared with computer simulations results. Based on the analyses of the results, it is possible to conclude that computational simulation may be used as a powerful tool during product development phase.

As ferrovias, muito importantes para o transporte de pessoas e mercadorias, são também grandes fontes de ruído e vibração no meio urbano e rural. Os esforços dinâmicos devido ao contato aço-aço, entre as rodas e trilhos, são transmitidos à fundação da via e geram ondas vibratórias que se propagam pelo solo até atingir um receptor. Devido aos potenciais danos causados por essas excitações, modelos matemáticos capazes de prever e realizar a propagação das vibrações são de grande importância, podendo nortear ações mitigatórias. Neste contexto, este trabalho propõe a criação de um modelo numérico, utilizando-se de dinâmica multicorpos imerso em um ambiente de elementos finitos com não linearidade geométrica, que procure representar a interação dinâmica no sistema veículo-via e que permita analisar o comportamento das forças de contato roda-trilho. Tal modelo é utilizado com o objetivo de analisar e compreender como as forças dinâmicas de contato são influenciadas pelas características do veículo e da via. Alguns estudos sequenciais foram realizados. Iniciou-se com a avaliação do comportamento do veículo ao trafegar em uma superfície plana. Sequencialmente, considerou-se o veículo trafegando sobre modelos de vigas rígidas, representando os trilhos. Neste caso foram estudados cenários de rolamento e deslizamento. Posteriormente, o valor de uma rigidez equivalente da via foi avaliado por meio de um modelo estrutural e incorporado em um estudo para análise das forças de impacto das rodas ao passarem sobre descontinuidades em trilhos. Os resultados deste trabalho podem ser utilizados como dados de entrada para futuros modelos para previsão de propagação de ondas no solo devido às cargas ferroviárias. / Railways are important to freight and people transportation but are also one of the greatest sources of vibration in urban and rural environments. Dynamic loads are generated in steel-steel contact between wheels and rails and are transferred to foundation. They generate oscillatory waves that propagate through the ground, until finding a receptor. Potential damage due to ground borne vibration has increased the importance of predicting and calculating wave propagation with the aid of computational models, serving as guidelines for mitigating actions. On this context, the present work proposes a numerical model, adopting a multibody rigid-flexible dynamics formulation, based on a nonlinear geometrically-exact finite element description. The aim is to represent the dynamic interaction between the vehicle and the railway, permitting one to analyze wheel-rail contact forces. The model represents the dynamic interaction between vehicle and track and allows one to analyze how the dynamic contact forces are influenced by vehicle and railway characteristics. Some sequential studies were performed, starting from the evaluation of a vehicle running on a plane surface. Next, the scenario of a vehicle running on rigid beams representing the rails was simulated. In this case both sliding and sticking scenarios of contact were considered. Then, the value of an equivalent track stiffness was obtained by a structural model. It was taken as input to another study, which analyzed impact forces between wheels and rails when the vehicle experiences the passage by a discontinuity on the track. The results of the present work may be useful as input data for future prediction models of ground borne vibration due to railway dynamic forces.

O trabalho desenvolvido tem como objetivo avaliar a influência da rigidez estrutural no comportamento dinâmico do veículo baseando-se em manobra de raio constante em condição quase estática e análise de sensibilidade através de simulação numérica computacional. São apresentados dois modelos para avaliar a transferência de carga lateral do veículo quando sujeito à aceleração lateral (manobra de raio constante), um modelo completo de veículo elaborado em ambiente multicorpos tendo a carroceria e o sub-chassi modelados como corpos flexíveis, e outro modelo analítico com a consideração da rigidez torcional (obtida de modelo de elementos finitos) da estrutura. Com o modelo analítico atendendo o nível de correlação necessário para o propósito deste trabalho, discute-se neste ponto as variações na transferência de carga devido à rigidez torcional da estrutura. Em seguida, com o intuito de abranger, além do parâmetro de transferência de carga lateral, quais comportamentos do veículo são afetados pela sua rigidez estrutural, é proposta a utilização do método de engenharia robusta para a identificação das condições externas que geram diferentes resultados de comportamento dinâmico do veículo com a variação da rigidez estrutural. Este estudo permite identificar manobras ou situações nas quais as considerações de flexibilidade estrutural num modelo multicorpos, ou mesmo numa condição física real, são relevantes e podem afetar a segurança, dirigibilidade e o conforto do veículo. / The work aims to evaluate the influence of structural stiffness on the dynamic behavior of the vehicle based on a constant radius maneuver in a quasi-static condition and a sensitivity analysis through computer numerical simulation. Two models were developed to evaluate the lateral load transfer of the vehicle when subjected to lateral acceleration (constant radius maneuver), a complete vehicle built in multibody environment with the body and the sub-chassis modeled as flexible bodies, and an analytical model with consideration of structure torsional stiffness (obtained from finite element model). With the analytical model presenting the required correlation for the purpose of this paper, we discuss, at this point, the lateral load transfer variations due to torcional structural stiffness. Then, in order to cover, in addition to lateral load transfer, how the vehicle behavior is affected by its structural stiffness, the robust engineering method is considered for identifying the external conditions that generate different dynamic behavior results for the variation of structural stiffness. This study allows us to identify maneuvers or situations in which considerations of structural flexibility in multibody model, or even in a real physical condition, are relevant and can affect the safety, ride and handling of the vehicle.

Devido as severas condições as quais veículos militares blindados de esteira são submetidos, o desenvolvimento de modelos que representam o comportamento dinâmico destes veículos torna-se imprescindível, para além da possibilidade de avaliação das intensidades das vibrações ocorrendo na cabine, ser possível criar veículos que tenham vantagens na mobilidade, fator esse que engloba tanto a transposição de obstáculos, como a rodagem em condições menos severas, e por fim, no tempo e na exatidão dos disparos, afetada pelas respostas dinâmicas que o veículo fornece. Para ser possível encontrar um veículo que desempenhe tais condições de forma satisfatória, apenas modelos que representem adequadamente as suas propriedades, apresentando respostas das acelerações e deslocamentos, não são suficientes. O objetivo deste trabalho é o desenvolvimento de um modelo numérico que tenha a capacidade de simular as condições dinâmicas extremas as quais um veículo de esteira é induzido, e também, otimizar o modelo, com a finalidade de encontrar molas e amortecedores capazes de proporcionar respostas adequadas às funções custo desenvolvidas. Estas funções objetivo são definidas como a combinação linear da aceleração e deslocamento, verticais e rotacionais, em conjunto de restrições impostas, objetivando encontrar uma combinação ideal para mobilidade, tempo e exatidão nos disparos e por fim, molas e amortecedores adequados as condições de logística Para proposta deste estudo, um modelo matemático 2D e um 3D, de um veículo de esteira, foi desenvolvido. O modelo possibilita a avaliação dos graus de liberdade de deslocamento vertical das massas não suspensas e do deslocamento vertical, arfagem e rolagem da massa suspensa. Os efeitos da esteira são modelados como molas verticais lineares exercendo uma força de restauração para alinhar as rodas de rodagem, proporcional ao deslocamento relativo entre essas rodas. A otimização é feita através de ferramentas numéricas presentes no software comercial Simulink, sendo necessário o desenvolvimento das funções custo que caracterizem os objetivos ideais para cada tipo de análise. Os resultados de simulações numéricas sob a forma de cursos de deslocamento de pontos característicos do casco e deslocamentos dos eixos de rodas em um sistema de coordenadas de referência assumido, também estão incluídos, bem como as quantidades de valor RMS de cada uma das respostas, comparando um veículo padrão, com o veículo com a suspensão otimizada. / Due to the severe conditions in which armored military vehicles are submitted, the development of models that represent the dynamic behavior of these vehicles becomes essential, besides the possibility of evaluating the vibration intensities occurring in the cabin, to be possible to create vehicles that have mobility a factor that encompasses both the transposition of obstacles, and the shooting in less severe conditions, and finally, in the time and accuracy of the shots, affected by the dynamic responses that the vehicle provides. In order to be able to find a vehicle that fulfills these conditions satisfactorily, only models that adequately represent its properties, presenting responses of the accelerations and displacements, are not enough. The objective of this work is the development of a numerical model that has the ability to simulate extreme dynamic conditions such as a tracked vehicle is induced, and also to optimize the model with the purpose of finding springs and shock absorbers capable of adequate alternative answers cost functions developed. These are the goals defined as a linear combination of acceleration and displacement, vertical and rotational, together imposed constraints, aiming to find an ideal combination for mobility, time and precision in the shots and, finally, springs and dampers suitable as logistics conditions To propose this study, a 2D and 3D mathematical model of a tracked vehicle were developed. The model allows the evaluation of the degrees of freedom of vertical displacement of the non-suspended masses and the vertical displacement, pitch and roll of the suspended mass. The effects of the track are modeled as linear vertical springs exerting a restoring force to align the road wheels, proportional to the relative displacement between these wheels. The optimization is done through numerical tools present in Simulink software, and it is necessary to develop cost functions that characterize the ideal objectives for each type of analysis. The results of numerical simulations in the form of displacement courses of characteristic hull points and wheel axle displacements in an assumed reference coordinate system are also included, as well as the RMS value quantities of each of the responses, comparing a standard vehicle with the optimized suspension.

Dans le contexte mécatronique actuel, la simulation en temps réel de la dynamique de systèmes multicorps complexes ainsi que la portabilité des modèles demeurent un challenge. La génération symbolique est le seul moyen d'obtenir des modèles dynamiques efficaces et utilisables dans la plus grande variété d'environnements de calcul. La contribution essentielle de cette thèse est de montrer que l'utilisation conjointe de l'approche symbolique et de la technique du partitionnement des coordonnées permet de produire des modèles dynamiques très efficaces pour l'analyse des systèmes multicorps complexes, dont la topologie contient des boucles cinématiques. Nous déterminons une partition optimale des coordonnées en vue d'obtenir une factorisation, sous forme bloc triangulaire, de la sous-matrice Jacobienne des contraintes associée aux coordonnées dépendantes. Nous calculons explicitement les coordonnées dépendantes, nous produisons un ensemble réduit d'équations du mouvement purement différentielles et nous les résolvons de manière complètement symbolique. Les modèles de systèmes multicorps complexes ainsi générés contiennent un nombre d'opérations nettement moindre que ceux obtenus par les approches numériques pourtant plus répandues, ce qui permet de les utiliser pour des applications temps réel. Ayant pour objectif une réduction maximale du temps de calcul, nous avons étudié deux méthodes de parallélisation automatique par voie symbolique. L'une exploite le taux de parallélisme important présent au niveau des opérations arithmétiques, et vise des architectures parallèles spécifiques. L'autre se base sur la topologie du système pour découper les modèles en vue de leur exécution sur des ordinateurs parallèles conventionnels. Les développements effectués dans le cadre de ce travail ont été implémentés dans le logiciel ROBOTRAN, un outil de génération symbolique d'équations développé dans notre laboratoire et dédicacé à l'étude des systèmes multicorps.

Optimization has been used to simulate human neural control and resulting movement patterns. The short term aim was to develop the methodology required for solving the movement optimization problem often arising when modelling human movements. A long term aim is the contribution to increased knowledge about various human movements, wherein postures is one specific case. Simulation tools can give valuable information to improve orthopeadic treatments and technique for training and performance in sports. In one study a static 3D model with 30 muscle groups was used to analyse postures. The activation levels of these muscles are minimized in order to represent the individual’s choice of posture. Subject specific data in terms of anthropometry, strength and orthopedic aids serve as input. The specific aim of this part was to study effects from orthopedic treatment and altered abilities of the subject. Initial validation shows qualitative agreement of posture strategies but further details about passive stiffness and anthropometry are needed, especially to predict pelvis orientation. Four studies dealt with movement optimization. The main methodological advance was to introduce contact constraints to the movement optimization. A freetime multiple phase formulation was derived to be able to analyse movements where different constraints and degrees of freedom are present in subsequent phases of the movements. The athletic long jump, a two foot high jump, a backward somersault and rowing were used as applications with their different need of formulation. Maximum performance as well as least effort cost functions have been explored. Even though it has been a secondary aim in this work the results show reasonable agreement to expected movements in reality. Case specific subject properties and inclusion of muscle dynamics are required to draw conclusions about improvements in the sport activity, respectively. / <p>QC 20120910</p>

The design process includes many different activities inwhich various computational mechanics tools are used forbehaviour modelling of mechanical systems and their buildingblocks, e.g. machine elements. These tools usually supportlarge and complex models and they produce large quantities ofdata with a high degree of complexity. In these situations,efficient data management and the ability to search and sharedata are important issues to achieve an efficient designprocess. Today, this ability is usually not supported by theindividual applications even though this probably would improveand facilitate the ability to search for data on a higher levelin the engineering information system. This work investigates the ability of searching andcomparing analysis data within behaviour models of technicalsystems as well as over the analysis results. This is done byinvestigating the potential benefits of integrating moderndatabase technology with a multibody system (MBS) analysissoftware in the same manner that has been successfully done forbusiness and administrative applications. This has resulted inan implemented pilot system, named MECHAMOS, that integratesthe main-memory resident object-relational database managementsystem (DBMS) AMOSwith the symbolic multibody system (MBS)software SOPHIA operating in MapleV. This provides MECHAMOSwith both symbolic and numeric mathematical capabilities forMBS analysis and data management capabilities to search andcompare engineering data in the database. The approach, making data managing tools available in acomputer aided engineering software, considerably improves theanalysis of technical systems. The analysis is brought to ahigher level through the available query language and thedesired data is specified, fairly intuitively, in a query. Whenthe query is processed, the DBMS knows how to retrieve andautomatically derive the required data. As shown in someexamples, the ability to search over stored and derived data inthe database is not restricted to a single MBS-model inMECHAMOS. Because of the implemented materialisation handling,it is also possible to search, combine, and compare data fromseveral simulation results which are based on several differentmodels in the database. This extends the ability to performoptimisation from a traditional parameter study to thepossibility to analyse and compare different technical conceptsthrough the query language and hereby retrieve those conceptsthat fulfil certain requirements. If submodel techniques aresupported, queries over a set of components in the databasewould automatically create, analyse and compare the possibleconcepts. This would assist the designer in choosing the bestcomponents for a design.