Numerical Methods For The Inverse Dynamics Simulation Of Underactuated Mechanical Systems

The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.

This work is about the inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations subjected to time-varying Dirichlet boundary conditions that are enforced by unknown, spatially disjunct, hence non-collocated Neumann boundary conditions.

This book gathers the peer-reviewed proceedings of the 14th International Symposium, PRADS 2019, held in Yokohama, Japan, in September 2019. It brings together naval architects, engineers, academic researchers and professionals who are involved in ships and other floating structures to share the latest research advances in the field. The contents cover a broad range of topics, including design synthesis for ships and floating systems, production, hydrodynamics, and structures and materials. Reflecting the latest advances, the book will be of interest to researchers and practitioners alike.

The present work addresses the design of structure-preserving numerical methods that emanate from the general equation for non-equilibrium reversible-irreversible coupling (GENERIC) formalism. Novel energy-momentum (EM) consistent time-stepping schemes in the realm of molecular dynamics are proposed. Moreover, the GENERIC-based structure-preserving numerical methods are extended to the context of large-strain thermoelasticity and thermo-viscoelasticity.

This work proposes a new numerical approach for analyzing the behavior of fiber-reinforced materials, which have gained popularity in various applications. The approach combines theories and methods to model the fracture behavior of the polymeric matrix and the embedded fibers separately, and includes a modified plasticity model that considers the temperature-dependent growth of voids. Tests are conducted to explore different types and sequences of failure in long fiber-reinforced polymers.

This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.

Proposed in the early 1990s, the enhanced assumed strain (EAS) method is one of the probably most successful mixed finite element methods for solid mechanics. This cumulative dissertation gives a comprehensive overview of previous publications on that method and covers recent improvements for EAS elements. In particular, we describe three key issues of standard EAS elements and develop corresponding solutions.