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Collision Handling with Elastic Response Calculation and Zero-Crossing Functions

Neumayr, Andrea and Otter, Martin (2019) Collision Handling with Elastic Response Calculation and Zero-Crossing Functions. In: ACM International Conference Proceeding Series. ACM International Conference Proceeding Series. 9th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools, Berlin, Germany. doi: 10.1145/3365984.3365986. ISBN 978-1-4503-7713-3/19/11.

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Abstract

The prototype Modia3D is used to test and evaluate ideas for modeling and simulating larger and more complex 3-dimensional systems than it is possible with a pure equation-based modeling system such as current Modelica. Collision handling in Modia3D is performed on convex geometries with elastic response calculation using an improved formulation of the contact forces and torques. The computed penetration depths and Euclidean distances are utilized in a novel way as zero-crossing functions. The resulting differential algebraic equations are solved with a variable-step solver.

Item URL in elib:https://elib.dlr.de/131724/
Document Type:Conference or Workshop Item (Speech)
Title:Collision Handling with Elastic Response Calculation and Zero-Crossing Functions
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Neumayr, AndreaAndrea.Neumayr (at) dlr.deUNSPECIFIED
Otter, MartinMartin.Otter (at) dlr.deUNSPECIFIED
Date:5 November 2019
Journal or Publication Title:ACM International Conference Proceeding Series
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1145/3365984.3365986
Publisher:ACM International Conference Proceeding Series
ISBN:978-1-4503-7713-3/19/11
Status:Published
Keywords:collision handling, Julia, Modia, Modia3D, Modelica, Minkowski Portal Refinement algorithm, elastic force law, response calculation, zero-crossing function, hysteresis
Event Title:9th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools
Event Location:Berlin, Germany
Event Type:Workshop
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Transportation
DLR - Research area:Raumfahrt
DLR - Program:R RP - Space Transportation
DLR - Research theme (Project):R - Raumfahrzeugsysteme - Numerische Verfahren und Simulation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control
Deposited By: Neumayr, Andrea
Deposited On:06 Dec 2019 17:02
Last Modified:07 Dec 2020 17:46

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  • Collision Handling with Elastic Response Calculation and Zero-Crossing Functions. (deposited 06 Dec 2019 17:02) [Currently Displayed]

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