Pseudo Bond Graph modelling and on-line estimation of unknown kinetics for a wastewater biodegradation process

This paper deals with the problem of modelling and on-line estimation of kinetics for a biomethanation process. This bioprocess is in fact a wastewater biodegradation process with production of methane gas, which takes place inside a Continuous Stirred Tank Bioreactor. The reaction scheme and the analysis of biochemical phenomena inside the bioreactor are used in order to obtain a nonlinear dynamic model of the bioprocess, by means of the pseudo Bond Graph method. Two nonlinear estimation strategies are developed for the identification of unknown kinetics of the bioprocess. First, an estimator is developed by using a state observer based technique. Second, an observer based on high-gain approach is designed and implemented. Several numerical simulations are performed in order to analyse and compare the behaviour and the performance of the proposed estimators.     

Dynamic analysis of flexible multi-body systems using mixed modal and tangent coordinates

This paper presents a mixed modal and tangent coordinate technique for computer aided analysis of flexible mechanical systems whose components undergo large translations and large rotations. In this model the configuration of a flexible component is identified by using two sets of generalized coordinates, namely rigid body and elastic coordinates. The rigid body coordinates define the location and orientation of a body axis, whereas the elastic coordinates define the displacement field of a component with respect to its body axis. The elastic coordinates are introduced by using finite element discretization to model flexible components with complex geometries. A modal analysis technique is used to identify the elastic mode shapes and to eliminate insignificant higher frequency modes. An orthonormalization of constraint Jacobian matrix associated with rigid body coordinates is used to identify the rigid body tangent coordinates. The resulting modal and tangent coordinates are used to develop an automated numerical integration scheme to solve the system differential and algebraic equations. Two numerical examples are considered to show the feasibility of dynamic analysis of flexible mechanical systems using this scheme.     

Systems featuring chain structures – a generalized Bond Graph modelling

ABSTRACT

The study presents power flow modelling for dynamic systems featuring chain structures. For this purpose, the Bond Graph method is particularly suitable. This tool describes engineering systems in different fields via domain-independent graphical representation using general dynamic modelling for any physical system. Even repetitive constructions called chains can be modelled. This paper aims for power flow based dynamical models of serial type chain structures. Further graphical systematization identifies four basic scalar segments which again correlate with four general vectorial total model structures. Examples and general algorithms, to obtain the scalar segment model and the vectorial overall model, support the proposed modeling. The main vectorial modelling element is identified as a relative coordinate transformation. The approach includes usage for open and closed chains plus rings of ring structures. It aims at universal usage independent of serial chain structure type, application domain or software tool. Moreover, it can be used beneficially in various non-physical fields.     

Tarsier and ICMS: two approaches to framework development

Modelling frameworks provide models with support components that handle tasks such as visualisation, data management and model integration. Within these broad requirements different approaches to framework development are possible. Tarsier is a modelling framework that supports the development of models in a high-level language, such as C++. This approach allows Tarsier model developers to craft object oriented solutions to large modelling problems. ICMS is a software system that supports the development of models in a custom modelling language that allows modellers with little programming experience to develop, integrate and visualise catchment models. Both frameworks provide sophisticated tools for model linking, data management, and data analysis and visualisation. By focusing on different user groups, Tarsier and ICMS have evolved into quite different environments, yet both satisfy the definition of a modelling framework. This paper concentrates on the components within each framework and the strengths and weaknesses of the different approaches.     

Free-form design using axial curve-pairs

Deformation of 3D shapes usually requires the use of a deformation tool. The freeform deformation technique requires the use of a lattice of control point for deforming an object. This may require a synchronized movement of the lattice control points in order to obtain the desired effects. The axial deformation technique allows an object to be deformed by manipulating an axial curve. However, unexpected twist of the object may be obtained. This is a result of the lack of control on the local coordinate frame of the curve. This paper presents a technique for deforming objects with a set of axial curve-pairs. The use of a curve-pair allows the local coordinate frame to be controlled intuitively. A curve-pair is composed of a primary and an orientation curve. The orientation curve is an approximate offset of the primary curve. A technique is proposed for maintaining the relation between the primary and the orientation curve when the curve-pair is adjusted. By associating a complex 3D object to a curve-pair, the object can be stretched, bended, and twisted intuitively through manipulating the curve-pair. This deformation technique is particularly suitable for manipulating complex shapes (e.g. decorative components) in industrial and aesthetic design, and is also suitable for modelling characters and animals with flexible bodies. Adjusting the curve-pair according to some motion constraints produces different postures of a character or animal model. This in turn can be used as decorative components for aesthetic design.     

Surface Modellinhg and Mesh Generation for Simulating Superplastic Forming

This paper presents an approach which enables surface modelling,mesh generation and the Finite Element(FE) analysis to be integrated together to simulate superplastic forming process for complex shaped components.Techniques have been developed to generate an FE mesh over non-four-sided surface areas,the boundaries of which are Bezier curves of arbitrary degree,using a consistent expression.Theoretical evidence is given to determine the number of Bezier triangular patches required for accurately re-constructing die surfaces within a commercial FE solver.The developed techniques have been successfully used in determining the process parameters for forming a 3D rectangular box.     

Surface Modelling and Mesh Generation for Simulating Superplastic Forming

This paper presents an approach which enables surface modelling, mesh generation and the Finite Element (FE) analysis to be integrated together to simulate superplastic forming process for complex shaped components. Techniques have been developed to generate an FE mesh over non-four-sided surface areas, the boundaries of which are Bezier curves of arbitrary degree, using a consistent expression. Theoretical evidence is given to determine the number of Bezier triangular patches required for accurately re-constructing die surfaces within a commercial FE solver. The developed techniques have been successfully used in determining the process parameters for forming a 3D rectangular box.     

Systemic modelling and computational physiology: The application of Bond Graph boundary conditions for 3D cardiovascular models

This paper presents an application of Bond Graphs in physiological modelling. In this work, a Bond Graph model is utilised as boundary condition for a detailed model of an idealized mitral valve. Applications of this type fit within the framework described by the “Virtual Physiological Human” initiative. This supports the integration of physical, mechanical and biochemical models encompassing a range of different length and time scales to obtain predictive models of the human body. Because 3D detailed modelling and simulation is computationally intensive, a 3D computational model of a whole biological system is, by today’s standards, impossible to achieve. Due to their unique multi-physics nature of internal coherence, Bond Graphs are particularly suited to biological applications and can be coupled to 3D models and lumped parameter models. A specific application in cardiovascular modelling is demonstrated by focusing on a specific example; a 3D model of the mitral valve coupled to a lumped parameter model of the left ventricle.     

An object-oriented approach for parallel two- and three-dimensional adaptive finite element computations

For the mathematically sound, cost effective, flexible and automatic computation of structural mechanical problems with error tolerances, adaptive finite element meshes (h-adaptivity) and elements with different Ansatz order (p-adaptivity) and dimension (d-adaptivity) are desirable. Furthermore, because of the numerical effort, the use of parallel computers is adequate. Object-oriented data structures and algorithms are presented which support these adaptive formulations. In this paper, we describe a refinement algorithm which adapts hexahedral meshes in a node regular way, i.e. without hanging nodes. Moreover, classes implementing the mathematical operators and structures arising in the finite element formulation are introduced within the object oriented concept. They offer the means to implement FE formulations in a way, very similar to the mathematical notation. For these purposes, an object-oriented language is strongly required in order to get a general and simple program structure, even for highly complex tasks with h-, p- and d-adaptivity and distributed data.     

Dynamic delamination modelling using interface elements

Existing techniques in explicit dynamic Finite Element (FE) codes for the analysis of delamination in composite structures and components can be simplistic, using simple stress-based failure function to initiate and propagate delaminations.This paper presents an interface modelling technique for explicit FE codes. The formulation is based on damage mechanics and uses only two constants for each delamination mode; firstly, a stress threshold for damage to commence, and secondly, the critical energy release rate for the particular delamination mode. The model has been implemented into the LLNL DYNA3D Finite Element (FE) code and the LS-DYNA3D commercial FE code.The interface element modelling technique is applied to a series of common fracture toughness based delamination problems, namely the DCB, ENF and MMB tests. The tests are modelled using a simple dynamic relaxation technique, and serves to validate the methodology before application to more complex problems.Explicit Finite Elements codes, such as DYNA3D, are commonly used to solve impact type problems. A modified BOEING impact test at two energy levels is used to illustrate the application of the interface element technique, and it’s coupling to existing in-plane failure models. Simulations are also performed without interface elements to demonstrate the need to include the interface when modelling impact on composite components.     

Dynamic energy model of a lithium-ion battery

As an electrochemical component, a lithium-ion battery is clearly a multi-disciplinary system. The choice was made to model it via Bond Graph formalism. Although this tool has been developed since the 1970s, the novelty is its application to lithium-ion batteries, which turns the modeling presented here into an original energy approach. The main objective is to develop and validate a lithium-ion battery model that could be implemented in a global system for energy monitoring. However, nearly every phenomenon occurring in the battery is taken into account for a possible ageing or thermal study. In the first part, the energy modeling approach is described. In the second part, the lithium-ion battery operation is explained. In the third part, the Bond Graph model is proposed. At last, experimental validations are presented.     

Integration testing of object‐oriented components using finite state machines

In object‐oriented terms, one of the goals of integration testing is to ensure that messages from objects in one class or component are sent and received in the proper order and have the intended effect on the state of the objects that receive the messages. This research extends an existing single‐class testing technique to integration testing of multiple classes. The single‐class technique models the behaviour of a single class as a finite state machine, transforms the representation into a data flow graph that explicitly identifies the definitions and uses of each state variable of the class, and then applies conventional data flow testing to produce test case specifications that can be used to test the class. This paper extends those ideas to inter‐class testing by developing flow graphs, finding paths between pairs of definitions and uses, detecting some infeasible paths and automatically generating tests for an arbitrary number of classes and components. It introduces flexible representations for message sending and receiving among objects and allows concurrency among any or all classes and components. Data flow graphs are stored in a relational database and database queries are used to gather def‐use information. This approach is conceptually simple, mathematically precise, quite powerful and general enough to be used for traditional data flow analysis. This testing approach relies on finite state machines, database modelling and processing techniques and algorithms for analysis and traversal of directed graphs. The paper presents empirical results of the approach applied to an automotive system. This work was prepared by U.S. Government employees as part of their official duties and is, therefore, a work of the U.S. Government and not subject to copyright. Published in 2006 by John Wiley & Sons, Ltd.     

Flexible Multibody Dynamics: Review of Past and Recent Developments

In this paper, a review of past and recent developments in the dynamics of flexible multibody systems is presented. The objective is to review some of the basic approaches used in the computer aided kinematic and dynamic analysis of flexible mechanical systems, and to identify future directions in this research area. Among the formulations reviewed in this paper are the floating frame of reference formulation, the finite element incremental methods, large rotation vector formulations, the finite segment method, and the linear theory of elastodynamics. Linearization of the flexible multibody equations that results from the use of the incremental finite element formulations is discussed. Because of space limitations, it is impossible to list all the contributions made in this important area. The reader, however, can find more references by consulting the list of articles and books cited at the end of the paper. Furthermore, the numerical procedures used for solving the differential and algebraic equations of flexible multibody systems are not discussed in this paper since these procedures are similar to the techniques used in rigid body dynamics. More details about these numerical procedures as well as the roots and perspectives of multibody system dynamics are discussed in a companion review by Schiehlen [79]. Future research areas in flexible multibody dynamics are identified as establishing the relationship between different formulations, contact and impact dynamics, control-structure interaction, use of modal identification and experimental methods in flexible multibody simulations, application of flexible multibody techniques to computer graphics, numerical issues, and large deformation problem. Establishing the relationship between different flexible multibody formulations is an important issue since there is a need to clearly define the assumptions and approximations underlying each formulation. This will allow us to establish guidelines and criteria that define the limitations of each approach used in flexible multibody dynamics. This task can now be accomplished by using the absolute nodal coordinate formulation which was recently introduced for the large deformation analysis of flexible multibody systems.     

动态图编辑器框架设计与实现

从具体的应用中抽象出适用于动态处理的图编辑器框架，并在此基础上利用JAVA技术构造动态图编辑器API。它的开放结构允许应用程序在运行时,使其一方面能够独立于应用程序，维护其自身的稳定性，另一方面又能够和应用程序有机地结合在一起。它的模块化结构为应用程序提供了不同层次的切入点。动态图编辑器框架作为可重用的设计，能够对相关领域图应用软件的研制起指导作用，在此基础上建立的图应用软件不但具有易扩展与维护的特点，而且可以在较短的时间内完成。     

Combined Petri net modelling and AI-based heuristic hybrid search for flexible manufacturing systems—part II. Heuristic hybrid search

This two-part paper presents modelling and scheduling approaches of flexible manufacturing systems using Petri nets (PNs) and artificial intelligence (AI)-based heuristic search methods. In Part I, PN-based modelling approaches and basic AI-based heuristic search algorithms were presented. In Part II, a new heuristic function that exploits PN information is proposed. Heuristic information obtained from the PN model is used to dramatically reduce the search space. This heuristic is derived from a new concept, the resource cost reachability matrix, which builds on the properties of B-nets proposed in Part I. Two hybrid search algorithms, (1) an approach to model dispatching rules using analysis information provided by the PN simulation and (2) an approach of the modified stage-search algorithm, are proposed to reduce the complexity of large systems. A random problem generator is developed to test the proposed methods. The experimental results show promising results.     

Flexible Multibody Systems Models Using Composite Materials Components

The use of a multibody methodology to describe the large motion of complex systems that experience structural deformations enables to represent the complete system motion, the relative kinematics between the components involved, the deformation of the structural members and the inertia coupling between the large rigid body motion and the system elastodynamics. In this work, the flexible multibody dynamics formulations of complex models are extended to include elastic components made of composite materials, which may be laminated and anisotropic. The deformation of any structural member must be elastic and linear, when described in a coordinate frame fixed to one or more material points of its domain, regardless of the complexity of its geometry. To achieve the proposed flexible multibody formulation, a finite element model for each flexible body is used. For the beam composite material elements, the sections properties are found using an asymptotic procedure that involves a two-dimensional finite element analysis of their cross-section. The equations of motion of the flexible multibody system are solved using an augmented Lagrangian formulation and the accelerations and velocities are integrated in time using a multi-step multi-order integration algorithm based on the Gear method.     

Shape optimisation for crashworthiness followed by a robustness analysis with respect to shape variables

This paper presents the results of a study on shape optimisation for crashworthiness design of passenger cars based on the software SFE CONCEPT. In contrast to classical morphing approaches, SFE CONCEPT allows for larger geometrical modifications via an implicit parameterisation technique. This is advantageous in particular in the early design phases where different design alternatives are investigated and the optimal and robust geometry needs to be identified. As a first example, the front rail of a standard passenger car is optimised here. This is – as one of the main parts of the body in white – an appropriate example for exploration of optimisation methods. The performance of a classical optimisation approach is analysed and complemented by a robustness analysis where uncertainties in shape parameters are considered.