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Kinematic Constraints (kinematic + constraint)

Distribution by Scientific Domains

Engineering	75%

Selected Abstracts

Pose Controlled Physically Based Motion

COMPUTER GRAPHICS FORUM, Issue 4 2006
Raanan Fattal
Abstract In this paper we describe a new method for generating and controlling physically-based motion of complex articulated characters. Our goal is to create motion from scratch, where the animator provides a small amount of input and gets in return a highly detailed and physically plausible motion. Our method relieves the animator from the burden of enforcing physical plausibility, but at the same time provides full control over the internal DOFs of the articulated character via a familiar interface. Control over the global DOFs is also provided by supporting kinematic constraints. Unconstrained portions of the motion are generated in real time, since the character is driven by joint torques generated by simple feedback controllers. Although kinematic constraints are satisfied using an iterative search (shooting), this process is typically inexpensive, since it only adjusts a few DOFs at a few time instances. The low expense of the optimization, combined with the ability to generate unconstrained motions in real time yields an efficient and practical tool, which is particularly attractive for high inertia motions with a relatively small number of kinematic constraints. [source]

Three-dimensional behavior of a spherical self-centering precast prestressed pile isolator

EARTHQUAKE ENGINEERING AND STRUCTURAL DYNAMICS, Issue 5 2009
Rosita Jünemann
Abstract A 3D analytical formulation of a precast prestressed pile (PPP) seismic isolator with top and bottom spherical rolling kinematic constraints is proposed. The PPP isolator was initially conceived as a low-cost seismic isolation (and foundation) system for housing units of low-income people. Since these structures are usually located at sites with poor soil conditions, the PPP isolator also works as a foundation pile by connecting the superstructure with more competent soil layers. The non-holonomic nature of the rolling constraint is dealt with by a structural formulation. The proposed 3D formulation is validated by numerical results obtained from a previously proposed formulation for the 2D problem, and a contact finite element model in ANSYS (www.ansys.com). Other issues associated with the dynamic response of isolated structures with the PPP are also examined, such as expected response reductions, variation in the axial force of the central prestressed cable, and torsional response amplifications. Finally, guidelines to estimate the actual 3D response using 2D analysis results are investigated. Copyright © 2009 John Wiley & Sons, Ltd. [source]

Cracking risk of partially saturated porous media,Part I: Microporoelasticity model

INTERNATIONAL JOURNAL FOR NUMERICAL AND ANALYTICAL METHODS IN GEOMECHANICS, Issue 2 2010
Bernhard Pichler
Abstract Drying of deformable porous media results in their shrinkage, and it may cause cracking provided that shrinkage deformations are hindered by kinematic constraints. This is the motivation to develop a thermodynamics-based microporoelasticity model for the assessment of cracking risk in partially saturated porous geomaterials. The study refers to 3D representative volume elements of porous media, including a two-scale double-porosity material with a pore network comprising (at the mesoscale) 3D mesocracks in the form of oblate spheroids, and (at the microscale) spherical micropores of different sizes. Surface tensions prevailing in all interfaces between solid, liquid, and gaseous matters are taken into account. To establish a thermodynamics-based crack propagation criterion for a two-scale double-porosity material, the potential energy of the solid is derived, accounting,in particular,for mesocrack geometry changes (main original contribution) and for effective micropore pressures, which depend (due to surface tensions) on the pore radius. Differentiating the potential energy with respect to crack density parameter yields the thermodynamical driving force for crack propagation, which is shown to be governed by an effective macrostrain. It is found that drying-related stresses in partially saturated mesocracks reduce the cracking risk. The drying-related effective underpressures in spherical micropores, in turn, result in a tensile eigenstress of the matrix in which the mesocracks are embedded. This way, micropores increase the mesocracking risk. Model application to the assessment of cracking risk during drying of argillite is the topic of the companion paper (Part II). Copyright © 2009 John Wiley & Sons, Ltd. [source]

Cracking risk of partially saturated porous media,Part II: Application to drying shrinkage

INTERNATIONAL JOURNAL FOR NUMERICAL AND ANALYTICAL METHODS IN GEOMECHANICS, Issue 2 2010
Bernhard Pichler
Abstract Drying of deformable porous media results in their shrinkage, and it may cause cracking provided that shrinkage deformations are hindered by kinematic constraints. Herein, we focus on slow drying of an initially water-saturated sample of a microheterogeneous poroelastic material damaged by parallel mesocracks. The cracking risk is analyzed by means of the thermodynamics-based microporoelasticity model described in the companion paper (Part I), which is extended toward consideration of the hierarchical organization of cracked argillite. Drying of a material sample is studied in a framework where macrodisplacements in direction of the crack normal are blocked, while elsewise macrostress-free boundary conditions prevail. The model implies that the opening/closure behavior of the cracks is governed by an effective pressure, in which the average crack (under)pressure, making the crack opening smaller, competes with the average micropore (under)pressure that makes the crack opening larger. The driving force for crack propagation is a quadratic function of this effective pressure. The model proposes that if drying shrinkage deformations are hindered by kinematic constraints, onset of cracking becomes possible once air entry into the cracks is observed. Copyright © 2009 John Wiley & Sons, Ltd. [source]