CISM International Centre for Mechanical Sciences – serie

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.

The book offers a unified view on classical results and recent advances in the dynamics of nonconservative systems. The theoretical fundamentals are presented systematically and include: Lagrangian and Hamiltonian formalism, non-holonomic constraints, Lyapunov stability theory, Krein theory of spectra of Hamiltonian systems and modes of negative and positive energy, anomalous Doppler effect, reversible systems, sensitivity analysis of non-self-adjoint operators, dissipation-induced instabilities, local and global instabilities. They are applied to engineering situations such as the coupled mode flutter of wings, flags and pipes, flutter in granular materials, piezoelectric mechanical metamaterials, wave dynamics of infinitely long structures, radiative damping, stability of high-speed trains, experimental realization of follower forces, soft-robot locomotion, wave energy converters, friction-induced instabilities, brake squeal, non-holonomic sailing, dynamics of moving continua, and stability of bicycles and walking robots. The book responds to a demand in the modern theory of nonconservative systems coming from the growing number of scientific and engineering disciplines including physics, fluid and solids mechanics, fluid-structure interactions, and modern multidisciplinary research areas such as biomechanics, micro- and nanomechanics, optomechanics, robotics, and material science. It is targeted at both young and experienced researchers and engineers working in fields associated with the dynamics of structures and materials. The book will help to get a comprehensive and systematic knowledge on the stability, bifurcations and dynamics of nonconservative systems and establish links between approaches and methods developed in different areas of mechanics and physics and modern applied mathematics.

This is the first book which exploits concepts and tools of global nonlinear dynamics for bridging the gap between theoretical and practical stability of systems/structures, and for possibly enhancing the engineering design in macro-, micro- and nano-mechanics. Addressed topics include complementing theoretical and practical stability to achieve load carrying capacity; dynamical integrity for analyzing global dynamics, for interpreting/predicting experimental behavior, for getting hints towards engineering design; techniques for control of chaos; response of uncontrolled and controlled system/models in applied mechanics and structural dynamics by also considerung the effect of system imperfections; from relatively simple systems to multidimensional models representative of real world applications; potential and expected impact of global dynamics for engineering design.

This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2018, the 22nd CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators.ROMANSY 2018 is the 22nd event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.

The book provides the essential features necessary to understand and apply the mathematical-mechanical characteristics and tools for vehicle dynamics including control mechanism. An introduction to passenger car modeling of different complexities provides the basics for the dynamical behavior and presents vehicle models later used for the application of control strategies. The presented modeling of the tire behavior, also for transient changes of the contact patch properties, shows the necessary mathematical descriptions used for the simulation of the vehicle dynamics. The introduction to control for cars and its extension to complex applications using e.g. observers and state estimators is a main part of the book. Finally the formulation of proper multibody codes for the simulation leads to the integration of all parts. Examples of simulations and corresponding test verifications show the profit of such a theoretical support for the investigation of the dynamics of passenger cars.

The book is designed for advanced graduate students as well as postdoctoral researchers across several disciplines (e.g., mathematics, physics and engineering), as it provides them with tools and techniques that are essential in performing research on the flow problems of visco-plastic fluids. The following topics are treated: analysis of classical visco-plastic fluid modelsmathematical modeling of flows of visco-plastic fluidscomputing flows of visco-plastic fluidsrheology of visco-plastic fluids and visco-plastic suspensionsapplication of visco-plastic fluids in engineering sciencescomplex flows of visco-plastic fluids.

The book conveys modern techniques and the latest state-of-the-art with regard to the most fundamental aspects of computational contact mechanics. However, since contact can readily be interpreted as a special type of interface problem, it seems advisable not to isolate contact mechanics, but rather to address it in the context of a broader class of problems denoted as computational interface mechanics. The book gives a clear understanding of the underlying physics of interfaces, and a comprehensive insight into the current state-of-the-art and selected cutting-edge research directions in the computational treatment of interface effects. It focuses on the modeling of friction, wear, lubrication, cohesive interfaces, grain boundaries, phase boundaries, fracture, thermo-mechanics and particulate contact (e.g. granular media). Also the most important computational aspects are addressed, including discretization techniques for finite deformations, solution algorithms for single- and multi-processor computing environments, multi-scale approaches, discrete element models and multi-physics problems including contact and interface constraints. Among the computational techniques covered in this book are finite element (FEM) and boundary element (BEM) methods, atomistic models, molecular dynamics (MD), discrete element methods (DEM), coupling approaches for multi-scale simulations, and tools for an efficient automated FEM code generation.

This book gives a comprehensive view of the developed procrustes models, including the isotropic, the generalized and the anisotropic variants. These represent original tools to perform, among others, the bundle block adjustment and the global registration of multiple 3D LiDAR point clouds. Moreover, the book also reports the recently derived total least squares solution of the anisotropic Procrustes model, together with its practical application in solving the exterior orientation of one image. The book is aimed at all those interested in discovering valuable innovative algorithms for solving various photogrammetric computer vision problems. In this context, where functional models are non-linear, Procrustean methods prove to be powerful since they do not require any linearization nor approximated values of the unknown parameters, furnishing at the same time results comparable in terms of accuracy with those given by the state-of-the-art methods.

The book presents an advanced but accessible overview of some of the most important sub-branches of magnetohydrodynamics (MHD): stability theory, magnetic topology, relaxation theory and magnetic reconnection. Although each of these subjects is often treated separately, in practical MHD applications they are normally inseparable. MHD is a highly active field of research.The book is written for advanced undergraduates, postgraduates and researchers working on MHD-related research in plasma physics and fluid dynamics.

The book presents an advanced but accessible overview of some of the most important sub-branches of magnetohydrodynamics (MHD): stability theory, magnetic topology, relaxation theory and magnetic reconnection. Although each of these subjects is often treated separately, in practical MHD applications they are normally inseparable. MHD is a highly active field of research.The book is written for advanced undergraduates, postgraduates and researchers working on MHD-related research in plasma physics and fluid dynamics.

This book provides state-of-art information on high-accuracy scientific computing and its future prospects, as applicable to the broad areas of fluid mechanics and combustion, and across all speed regimes. Beginning with the concepts of space-time discretization and dispersion relation in numerical computing, the foundations are laid for the efficient solution of the Navier-Stokes equations, with special reference to prominent approaches such as LES, DES and DNS. The basis of high-accuracy computing is rooted in the concept of stability, dispersion and phase errors, which require the comprehensive analysis of discrete computing by rigorously applying error dynamics. In this context, high-order finite-difference and finite-volume methods are presented. Naturally, the coverage also includes fundamental notions of high-performance computing and advanced concepts on parallel computing, including their implementation in prospective hexascale computers. Moreover, the book seeks to raisethe bar beyond the pedagogical use of high-accuracy computing by addressing more complex physical scenarios, including turbulent combustion. Tools like proper orthogonal decomposition (POD), proper generalized decomposition (PGD), singular value decomposition (SVD), recursive POD, and high-order SVD in multi-parameter spaces are presented. Special attention is paid to bivariate and multivariate datasets in connection with various canonical flow and heat transfer cases. The book mainly addresses the needs of researchers and doctoral students in mechanical engineering, aerospace engineering, and all applied disciplines including applied mathematics, offering these readers a unique resource.

This book provides state-of-art information on high-accuracy scientific computing and its future prospects, as applicable to the broad areas of fluid mechanics and combustion, and across all speed regimes. Beginning with the concepts of space-time discretization and dispersion relation in numerical computing, the foundations are laid for the efficient solution of the Navier-Stokes equations, with special reference to prominent approaches such as LES, DES and DNS. The basis of high-accuracy computing is rooted in the concept of stability, dispersion and phase errors, which require the comprehensive analysis of discrete computing by rigorously applying error dynamics. In this context, high-order finite-difference and finite-volume methods are presented. Naturally, the coverage also includes fundamental notions of high-performance computing and advanced concepts on parallel computing, including their implementation in prospective hexascale computers. Moreover, the book seeks to raisethe bar beyond the pedagogical use of high-accuracy computing by addressing more complex physical scenarios, including turbulent combustion. Tools like proper orthogonal decomposition (POD), proper generalized decomposition (PGD), singular value decomposition (SVD), recursive POD, and high-order SVD in multi-parameter spaces are presented. Special attention is paid to bivariate and multivariate datasets in connection with various canonical flow and heat transfer cases. The book mainly addresses the needs of researchers and doctoral students in mechanical engineering, aerospace engineering, and all applied disciplines including applied mathematics, offering these readers a unique resource.

This book conveys, in a self-contained manner, the fundamental concepts for classifying types of contact, the essential mathematical methods for the formulation of contact problems, and the numerical methods required for their solution. In addition to the methodologies, it covers a broad range of applications, including contact problems in mechanical engineering, microelectronics and nanomechanics. All chapters provide both substantial background on the theory and numerical methods, and in-depth treatments of cutting-edge research topics and applications. The book is primarily intended for doctoral students of applied mathematics, mechanics, engineering and physics with a strong interest in the theoretical modelling, numerical simulation and experimental characterization of contact problems in technology. It will also benefit researchers in the above mentioned and neighbouring fields working in academia or at private research and development centres who are interested ina concise yet comprehensive overview of contact mechanics, from its fundamental mathematical background, to the computational methods and the experimental techniques currently available for the solution of contact problems.

This book conveys, in a self-contained manner, the fundamental concepts for classifying types of contact, the essential mathematical methods for the formulation of contact problems, and the numerical methods required for their solution. In addition to the methodologies, it covers a broad range of applications, including contact problems in mechanical engineering, microelectronics and nanomechanics. All chapters provide both substantial background on the theory and numerical methods, and in-depth treatments of cutting-edge research topics and applications. The book is primarily intended for doctoral students of applied mathematics, mechanics, engineering and physics with a strong interest in the theoretical modelling, numerical simulation and experimental characterization of contact problems in technology. It will also benefit researchers in the above mentioned and neighbouring fields working in academia or at private research and development centres who are interested ina concise yet comprehensive overview of contact mechanics, from its fundamental mathematical background, to the computational methods and the experimental techniques currently available for the solution of contact problems.

This book explores the dynamics of planetary and stellar fluid layers, including atmospheres, oceans, iron cores, and convective and radiative zones in stars, describing the different theoretical, computational and experimental methods used to study these problems in fluid mechanics, including the advantages and limitations of each method for different problems. This scientific domain is by nature interdisciplinary and multi-method, but while much effort has been devoted to solving open questions within the various fields of mechanics, applied mathematics, physics, earth sciences and astrophysics, and while much progress has been made within each domain using theoretical, numerical and experimental approaches, cross-fertilizations have remained marginal. Going beyond the state of the art, the book provides readers with a global introduction and an up-to-date overview of relevant studies, fully addressing the wide range of disciplines and methods involved.The content builds onthe CISM course “Fluid mechanics of planets and stars”, held in April 2018, which was part of the research project FLUDYCO, supported by the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation program.

This book explores the dynamics of planetary and stellar fluid layers, including atmospheres, oceans, iron cores, and convective and radiative zones in stars, describing the different theoretical, computational and experimental methods used to study these problems in fluid mechanics, including the advantages and limitations of each method for different problems. This scientific domain is by nature interdisciplinary and multi-method, but while much effort has been devoted to solving open questions within the various fields of mechanics, applied mathematics, physics, earth sciences and astrophysics, and while much progress has been made within each domain using theoretical, numerical and experimental approaches, cross-fertilizations have remained marginal. Going beyond the state of the art, the book provides readers with a global introduction and an up-to-date overview of relevant studies, fully addressing the wide range of disciplines and methods involved.The content builds onthe CISM course “Fluid mechanics of planets and stars”, held in April 2018, which was part of the research project FLUDYCO, supported by the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation program.

The book explores the state of the art in the mechanics of fibrous media, providing an overview of the theoretical, modelling and practical aspects of designing and working with these materials. It also describes the advanced methods needed to handle their specific features, including the mechanics of generalized continua, dedicated homogenization methods and computational techniques, and presents applications of fibrous media to diverse fields and over a broad spectrum of scales, ranging from aeronautics to biomechanics.

The book explores the state of the art in the mechanics of fibrous media, providing an overview of the theoretical, modelling and practical aspects of designing and working with these materials. It also describes the advanced methods needed to handle their specific features, including the mechanics of generalized continua, dedicated homogenization methods and computational techniques, and presents applications of fibrous media to diverse fields and over a broad spectrum of scales, ranging from aeronautics to biomechanics.

This book reviews the most common state-of-the art methods for substructuring and model reduction and presents a framework that encompasses most method, highlighting their similarities and differences. For example, popular methods such as Component Mode Synthesis, Hurty/Craig-Bampton, and the Rubin methods, which are popular within finite element software, are reviewed. Similarly, experimental-to-analytical substructuring methods such as impedance/frequency response based substructuring, modal substructuring and the transmission simulator method are presented. The overarching mathematical concepts are reviewed, as well as practical details needed to implement the methods. Various examples are presented to elucidate the methods, ranging from academic examples such as spring-mass systems, which serve to clarify the concepts, to real industrial case studies involving automotive and aerospace structures. The wealth of examples presented reveal both the potential and limitations of the methods.

This book reviews the most common state-of-the art methods for substructuring and model reduction and presents a framework that encompasses most method, highlighting their similarities and differences. For example, popular methods such as Component Mode Synthesis, Hurty/Craig-Bampton, and the Rubin methods, which are popular within finite element software, are reviewed. Similarly, experimental-to-analytical substructuring methods such as impedance/frequency response based substructuring, modal substructuring and the transmission simulator method are presented. The overarching mathematical concepts are reviewed, as well as practical details needed to implement the methods. Various examples are presented to elucidate the methods, ranging from academic examples such as spring-mass systems, which serve to clarify the concepts, to real industrial case studies involving automotive and aerospace structures. The wealth of examples presented reveal both the potential and limitations of the methods.

This book presents new ideas in the framework of novel, finite element discretization schemes for solids and structure, focusing on the mechanical as well as the mathematical background. It also explores the implementation and automation aspects of these technologies. Furthermore, the authors highlight recent developments in mixed finite element formulations in solid mechanics as well as novel techniques for flexible structures at finite deformations. The book also describes automation processes and the application of automatic differentiation technique, including characteristic problems, automatic code generation and code optimization. The combination of these approaches leads to highly efficient numerical codes, which are fundamental for reliable simulations of complicated engineering problems. These techniques are used in a wide range of applications from elasticity, viscoelasticity, plasticity, and viscoplasticity in classical engineering disciplines, such as civil and mechanical engineering, as well as in modern branches like biomechanics and multiphysics.

This book presents new ideas in the framework of novel, finite element discretization schemes for solids and structure, focusing on the mechanical as well as the mathematical background. It also explores the implementation and automation aspects of these technologies. Furthermore, the authors highlight recent developments in mixed finite element formulations in solid mechanics as well as novel techniques for flexible structures at finite deformations. The book also describes automation processes and the application of automatic differentiation technique, including characteristic problems, automatic code generation and code optimization. The combination of these approaches leads to highly efficient numerical codes, which are fundamental for reliable simulations of complicated engineering problems. These techniques are used in a wide range of applications from elasticity, viscoelasticity, plasticity, and viscoplasticity in classical engineering disciplines, such as civil and mechanical engineering, as well as in modern branches like biomechanics and multiphysics.

This book provides a thorough overview of transport phenomena in complex fluids, based on the latest research results and the newest methods for their analytical prediction and numerical simulation. The respective chapters cover several topics, including: a description of the structural features of the most common complex fluids (polymer and surfactant solutions, colloidal suspensions); an introduction to the most common non-Newtonian constitutive models and their relationship with the fluid microstructure; a detailed overview of the experimental methods used to characterise the thermophysical properties, bulk rheology, and surface properties of complex fluids; a comprehensive introduction to heat, mass, and momentum transport, and to hydrodynamic instabilities in complex fluids; and an introduction to state-of-the-art numerical methods used to simulate complex fluid flows, with a focus on the Smoothed Particle Hydrodynamics (SPH) and the Dissipative Particle Dynamics (DPD) techniques. Subsequent chapters provide in-depth descriptions of phenomena such as thermal convection, elastic turbulence, mixing of complex fluids, thermophoresis, sedimentation, and non-Newtonian drops and sprays. The book addresses research scientists and professionals, engineers, R&D managers and graduate students in the fields of engineering, chemistry, biology, medicine, and the applied and fundamental sciences.

This book provides a thorough overview of transport phenomena in complex fluids, based on the latest research results and the newest methods for their analytical prediction and numerical simulation. The respective chapters cover several topics, including: a description of the structural features of the most common complex fluids (polymer and surfactant solutions, colloidal suspensions); an introduction to the most common non-Newtonian constitutive models and their relationship with the fluid microstructure; a detailed overview of the experimental methods used to characterise the thermophysical properties, bulk rheology, and surface properties of complex fluids; a comprehensive introduction to heat, mass, and momentum transport, and to hydrodynamic instabilities in complex fluids; and an introduction to state-of-the-art numerical methods used to simulate complex fluid flows, with a focus on the Smoothed Particle Hydrodynamics (SPH) and the Dissipative Particle Dynamics (DPD) techniques. Subsequent chapters provide in-depth descriptions of phenomena such as thermal convection, elastic turbulence, mixing of complex fluids, thermophoresis, sedimentation, and non-Newtonian drops and sprays. The book addresses research scientists and professionals, engineers, R&D managers and graduate students in the fields of engineering, chemistry, biology, medicine, and the applied and fundamental sciences.

The book examines innovative numerical methods for computational solid and fluid mechanics that can be used to model complex problems in engineering. It also presents innovative and promising simulation methods, including the fundamentals of these methods, as well as advanced topics and complex applications. Further, the book explores how numerical simulations can significantly reduce the number of time-consuming and expensive experiments required, and can support engineering decisions by providing data that would be very difficult, if not impossible, to obtain experimentally. It also includes chapters covering topics such as particle methods addressing particle-based materials and numerical methods that are based on discrete element formulations; fictitious domain methods; phase field models; computational fluid dynamics based on modern finite volume schemes;  hybridizable discontinuous Galerkin methods;  and non-intrusive coupling methods for structural models.

The book examines innovative numerical methods for computational solid and fluid mechanics that can be used to model complex problems in engineering. It also presents innovative and promising simulation methods, including the fundamentals of these methods, as well as advanced topics and complex applications. Further, the book explores how numerical simulations can significantly reduce the number of time-consuming and expensive experiments required, and can support engineering decisions by providing data that would be very difficult, if not impossible, to obtain experimentally. It also includes chapters covering topics such as particle methods addressing particle-based materials and numerical methods that are based on discrete element formulations; fictitious domain methods; phase field models; computational fluid dynamics based on modern finite volume schemes;  hybridizable discontinuous Galerkin methods;  and non-intrusive coupling methods for structural models.

Over the past 50 years, strain gradient material theories have been developed for the continuum modeling of size effects in materials and structures in terms of their elasticity, plasticity and fracturing. This book puts forward a unifying perspective to combine existing theories involving the higher order gradient of the strain tensor, or of plastic strain. It begins by reviewing experimental findings on the existence (or non-existence) of size effects on the mechanics of materials. In turn, the book devises first, second and higher order strain gradient theories from general principles, and presents constitutive frameworks that satisfy thermodynamic requirements. The special case of strain gradient plasticity is then developed and illustrated via computational analyses of size effects on the plasticity of metals at small scales. In closing, the book explains the origin of gradient effects in the case of lattice structures by drawing on homogenization theory.

Over the past 50 years, strain gradient material theories have been developed for the continuum modeling of size effects in materials and structures in terms of their elasticity, plasticity and fracturing. This book puts forward a unifying perspective to combine existing theories involving the higher order gradient of the strain tensor, or of plastic strain. It begins by reviewing experimental findings on the existence (or non-existence) of size effects on the mechanics of materials. In turn, the book devises first, second and higher order strain gradient theories from general principles, and presents constitutive frameworks that satisfy thermodynamic requirements. The special case of strain gradient plasticity is then developed and illustrated via computational analyses of size effects on the plasticity of metals at small scales. In closing, the book explains the origin of gradient effects in the case of lattice structures by drawing on homogenization theory.

This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2020, the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2020 marks the 23rd installment in a series that began in 1973. The event was also the first topic-specific conference of the IFToMM, though not exclusively intended for the IFToMM community.