[robotics-worldwide] 2013 CISM Course: Differential-Geometric Methods in Computational Multibody System Dynamics

andreas-mueller andreas-mueller at uni-due.de
Thu Aug 15 08:01:48 PDT 2013


Advanced course "Differential-Geometric Methods in Computational Multibody
System Dynamics" 

Location: CISM - International Centre for Mechanical Sciences, Udine, Italy
- www.cism.it

Dates: September 16 to 20, 2013.


Course Overview:

The aim of the School is to deliver a panoramic overview of the mathematical
concepts underlying modern geometric approaches to modeling, time
integration, and control of multibody systems (MBS). The lectures provide a
hands-on introduction to differential-geometric foundations, and the
audience will make acquaintance with these topics in a natural and
application-driven way. A central topic of the school are efficient
formulations using Lie group concepts and screw theory giving rise to
numerically efficient and stable algorithms for MBS comprising rigid and
flexible members. Special focus is given to energy and structure preserving
numerical integration methods on manifolds for discrete and continuous
systems. Natural coupling between mathematical modeling, numerical
integration and control issues are covered by the lectures on variational
integrators and optimal control with structured integration.
A treatment of many numerical case-studies in the domain of robotics, wind
energy systems, rotorcraft dynamics, aeronautical and mechatronic systems
will highlight relevance and computational advantages of the geometric
approach in the modern computational mechanics. The unifying lecturing
approach that combines computational procedures, control algorithms and
design aspects, providing new insights into the coupled modeling procedures,
makes this School unique. 

Course Content:

- Introduction to mathematical concepts and differential-geometric modeling
(manifolds, Lie-groups, Lie-algebras, exponential maps, screw theory etc.)
- Modeling of complex MBS using compact Lie group formalisms
- Time integration on Lie-groups
- Geometrically exact formulations for beams and shells
- Energy-consistent time integration procedures for MBS with flexible
- Numerical treatment of holonomic and non-holonomic constraints, constraint
- Variational integrators, discrete mechanics and optimal control using
structure-preserving integration schemes applied to high degree-of-freedom
- Lie-group/screw theoretic framework for design of MBS and articulated
- Multiphysics coupling procedures: aero-servo-elastic multidisciplinary
models and applications. 


- Carlo Bottasso, Dipartimento di Ingegneria Aerospaziale, Politecnico di
Milano, Italy
- Olivier Brüls, Dept. of Aerospace and Mechanical Engineering, University
of Liège, Belgium
- Xilun Ding, Robotics Institute, Beijing University of Aero. & Astro, China
- Andreas Müller, Inst. of Mechatronics at the Tech. Univ. Chemnitz, Germany
- Todd Murphey, Northwestern University, Mechanical Engineering, USA
- Zdravko Terze, University of Zagreb, F. Mech. Eng. and Naval Arch.,

We would be grateful if you could forward this announcement to your

Best regards,

Andreas Müller, Zdravko Terze 
- Course Coordinators -

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