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See detailGender effect on the scapular 3D posture and kinematic in healthy subjects
Schwartz, Cédric ULg; Croisier, Jean-Louis ULg; Rigaux, Elise et al

in Clinical Physiology and Functional Imaging (in press)

Populations considered for shoulder analysis are often composed of various ratios of men and women. It is consequently hypothesized that gender has no significant effect on the joint kinematic. However ... [more ▼]

Populations considered for shoulder analysis are often composed of various ratios of men and women. It is consequently hypothesized that gender has no significant effect on the joint kinematic. However the literature reports, for the shoulder, differences in the range of motion between genders. The specific influence of gender on the scapula-thoracic kinematics has not been studied yet. The dominant shoulder of two populations of men and women composed of 11 subjects each were evaluated in three dimensions for three distinct motions: flexion in the sagittal plane, abduction in the frontal plane and gleno-humeral internal/external rotation with the arm abducted at 90°. Posture, kinematics and range of motion were studied separately. For flexion and abduction and with regard to the scapular kinematic, external rotation were significantly larger for women than men. The differences were of at least 5° at 120° of humeral elevation. Upward rotations were identical. Women also showed larger average active humero-thoracic range of motion. The mean differences were of 13°, 7°, 12° and 5° for abduction, flexion, internal rotation and external rotation, respectively. No difference was observed between the scapular resting positions of both populations. The observed differences concerning both the scapular and humeral patterns would indicate that the shoulder behavior of men and women should not be expected to be similar. [less ▲]

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See detailSimultaneous enforcement of constraints at position and velocity levels in the nonsmooth generalized-alpha scheme
Bruls, Olivier ULg; Acary, Vincent; Cardona, Alberto

in Computer Methods in Applied Mechanics & Engineering (in press)

This paper presents a formalism for the transient simulation of nonsmooth dynamic mechanical systems composed of rigid and flexible bodies, kinematic joints and frictionless contact conditions. The ... [more ▼]

This paper presents a formalism for the transient simulation of nonsmooth dynamic mechanical systems composed of rigid and flexible bodies, kinematic joints and frictionless contact conditions. The proposed algorithm guarantees the exact satisfaction of the bilateral and unilateral constraints both at position and velocity levels. Thus, it significantly differs from penalty techniques since no penetration is allowed. The numerical scheme is obtained in two main steps. Firstly, a splitting method is used to isolate the contributions of impacts, which shall be integrated with only first-order accuracy, from smooth contributions which can be integrated using a higher order scheme. Secondly, following the idea of Gear, Gupta and Leimkuhler, the equations of motion are reformulated so that the bilateral and unilateral constraints appear both at position and velocity levels. After time discretization, the equations of motion involve two complementarity conditions and it can be solved at each time step using a monolithic semi-smooth Newton method. The numerical behaviour of the proposed method is studied and compared to other approaches for a number of numerical examples. It is shown that the formulation offers a unified and valid approach for the description of contact conditions between rigid bodies as well as between flexible bodies. [less ▲]

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See detailError analysis of generalized-alpha Lie group time integration methods for constrained mechanical systems
Arnold, Martin; Bruls, Olivier ULg; Cardona, Alberto

in Numerische Mathematik (in press)

Generalized-alpha methods are very popular in structural dynamics. They are methods of Newmark type and combine favourable stability properties with second order convergence for unconstrained second order ... [more ▼]

Generalized-alpha methods are very popular in structural dynamics. They are methods of Newmark type and combine favourable stability properties with second order convergence for unconstrained second order systems in linear spaces. Recently, they were extended to constrained systems in flexible multibody dynamics that have a configuration space with Lie group structure. In the present paper, the convergence of these Lie group methods is analysed by a coupled one-step error recursion for differential and algebraic solution components. It is shown that spurious oscillations in the transient phase result from order reduction that may be avoided by a perturbation of starting values or by index reduction. Numerical tests for a benchmark problem from the literature illustrate the results of the theoretical investigations. [less ▲]

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See detailA mortar method combined with an augmented Lagrangian approach for treatment of mechanical contact problems
Cavalieri, Federico J.; Bruls, Olivier ULg; Cardona, Alberto

in Terze, Zdravko (Ed.) Multibody Dynamics: Computational Methods and Applications (2015)

This work presents a mixed penalty-duality formulation from an augmented Lagrangian approach for treating the contact inequality constraints. The augmented Lagrangian approach allows to regularize the non ... [more ▼]

This work presents a mixed penalty-duality formulation from an augmented Lagrangian approach for treating the contact inequality constraints. The augmented Lagrangian approach allows to regularize the non differentiable contact terms and gives a C1 differentiable saddle-point functional. The relative displacement of two contacting bodies is described in the framework of the Finite Element Method (FEM) using the mortar method, which gives a smooth representation of the contact forces across the bodies interface. To study the robustness and performance of the proposed algorithm, validation numerical examples with finite deformations and large slip motion are presented. [less ▲]

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See detailValidation des paramètres de marche par un système accélérométrique (Locométrix*) à l'aide d'un système opto-électronique 3D (Coda Motion )
GILLAIN, Sophie ULg; Schwartz, Cédric ULg; Boutaayamou, Mohamed ULg et al

in Gériatrie et Psychologie Neuropsychiatrie du Vieillissement (2014), 12(supplément 3),

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See detailA formulation on the special Euclidean group for dynamic analysis of multibody systems
Sonneville, Valentin ULg; Bruls, Olivier ULg

in Journal of Computational and Nonlinear Dynamics (2014), 9(4), 041002

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See detailInfluence of players' level on racket speed and ball accuracy in the tennis serve
Tubez, François ULg; Croisier, Jean-Louis ULg; Cordonnier, Caroline ULg et al

Conference (2014, July 06)

INTRODUCTION Serve in modern tennis game is an important offensive weapon for players (1-2). In kinematic analysis, serve is the most studied stroke of this game. The aim of our study was to compare the ... [more ▼]

INTRODUCTION Serve in modern tennis game is an important offensive weapon for players (1-2). In kinematic analysis, serve is the most studied stroke of this game. The aim of our study was to compare the performance of two specific populations: international players versus national players. In particular, racket speed at impact and accuracy of ball were assessed. METHODS A tennis court was reconstructed in a motion analysis laboratory. The position of the racket was evaluated in 3D at a frequency rate of 200 Hz. Tests were performed on 6 professional players (international level) and 9 non-professional players (national level). Each of them served 25 trials in direction of the “T” area of deuce diagonal. Two squares of 1m² and 2 m² respectively were delimited on the corner of the serve square. The instruction for both groups was to serve in the “T” area with the highest ball speed and minimal ball rotation (flat serve). RESULTS Although the forward speed of the racket at impact was identical between the two groups of players (International 36.35 ± 2.37 m/s and national 36.37 ± 2.90 m/s, p-value 0,991), the accuracy and consistency of serves on the target area is better for international players group (1m² area: International 33% ± 7% and national 14% ± 12%, p-value 0.0053; 2m² area (including 1m² area): International 71% ± 8% and national 54% ± 12%, p-value 0.0096; Out of zone: International 29% ± 8% and national 46% ± 12%, p-value 0.014). DISCUSSION High-velocity ball seems to be a key factor for serve performance (3). It is known that there is a relationship between racket speed and ball velocity (4). Both groups have high racket speed. However, international players serve with better accuracy and consistency than national players. We hypothesize that these differences are due to capacity of international players to adapt to a particular environment. Moreover, international players could give priority to consistency over velocity. We conclude that high-velocity serve is not a sufficient criterion to perform at international level; consistency and accuracy are two important factors to reach this level. [less ▲]

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See detailImportance of quantitative return-to-field criteria
Schwartz, Cédric ULg; Cordonnier, Caroline ULg; Lehance, Cédric ULg et al

Conference (2014, July 04)

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See detailAdvanced Aeroservoelastic Modeling for Horizontal axis Wind Turbines
Prasad, Chandra Shekhar ULg; Chen, Qiong-zhong; Dimitriadis, Grigorios ULg et al

in Cunha, A.; Caetano, E.; Riberio, P. (Eds.) et al Proceedings of the 9th International Conference on Structural Dynamics, EURODYN 2014 (2014, July)

This paper describes the development of a complete methodology for the unsteady aeroelastic and aeroservoelastic modeling of horizontal axis wind turbines at the design stage. The methodology is based on ... [more ▼]

This paper describes the development of a complete methodology for the unsteady aeroelastic and aeroservoelastic modeling of horizontal axis wind turbines at the design stage. The methodology is based on the implementation of unsteady aerodynamic modeling, advanced control strategies and nonlinear finite element calculations in the S4WT wind turbine design package. The aerodynamic modeling is carried out by means of the unsteady Vortex Lattice Method, including a free wake model. The complete model also includes a description of a doubly fed induction generator and its control system for variable speed operation and enhanced power output. The S4WT software features a non-linear finite element solver with multi-body dynamics capability. The complete methodology is used to perform complete aeroservoelastic simulations of a 2MW wind turbine prototype model. The interaction between the three components of the approach is carefully analyzed and presented here. [less ▲]

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See detailOrder reduction in time integration caused by velocity projection
Arnold, Martin; Cardona, Alberto; Bruls, Olivier ULg

in Proceedings of the 3rd Joint International Conference on Multibody System Dynamics and the 7th Asian Conference on Multibody Dynamics (2014, July)

Holonomic constraints restrict the configuration of a multibody system to a subset of the configuration space. They imply so called hidden constraints at the level of velocity coordinates that may ... [more ▼]

Holonomic constraints restrict the configuration of a multibody system to a subset of the configuration space. They imply so called hidden constraints at the level of velocity coordinates that may formally be obtained from time derivatives of the original holonomic constraints. A numerical solution that satisfies hidden constraints as well as the original constraint equations may be obtained considering both types of constraints simultaneously in each time step (stabilized index-2 formulation) or using projection techniques. Both approaches are well established in the time integration of differential-algebraic equations. Recently, we have introduced a generalized- alpha Lie group time integration method for the stabilized index-2 formulation that achieves second order convergence for all solution components. In the present paper, we show that a separate velocity projection would be less favourable since it may result in an order reduction and in large transient errors after each projection step. This undesired numerical behaviour is analysed by a one-step error recursion that considers the coupled error propagation in differential and algebraic solution components. This one-step error recursion has been used before to prove second order convergence for the application of generalized-alpha methods to constrained systems. As a technical detail, we discuss the extension of these results from symmetric, positive definite mass matrices to the rank deficient case. [less ▲]

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See detailGeometric interpretation of a non-linear beam finite element on the Lie group SE(3)
Sonneville, Valentin ULg; Cardona, Alberto; Bruls, Olivier ULg

in Archive of Mechanical Engineering (2014), 61(2), 305-329

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See detailRecent progresses in the nonsmooth contact dynamics method for flexible multibody systems
Bruls, Olivier ULg

Scientific conference (2014, January 10)

This talk will start with a brief overview of the current research activities undertaken at the Multibody & Mechatronic Systems Laboratory with a number of applications in the fields of wind turbines ... [more ▼]

This talk will start with a brief overview of the current research activities undertaken at the Multibody & Mechatronic Systems Laboratory with a number of applications in the fields of wind turbines, deployable space structures, robotics and human motion analysis. Then, the presentation will focus on some recent results related with the modelling of dynamic contact conditions in multibody systems. Typical applications include the modelling of non-ideal joints with backlash and friction, the analysis of mechanical transmission systems and gearboxes, the modelling of grasping tasks or the description of the foot-ground contact in gait analysis. The proposed formalism relies on the nonsmooth contact dynamics method. Accordingly, the condition of impenetrability of the bodies in contact is expressed as a unilateral constraint, with the consequence that impacts and/or instantaneous changes in the velocities may arise in the dynamic response. Also, the resulting set of equations is solved in the time domain using a time-stepping strategy, which is known its robustness and its ability to deal with a large number of events in an efficient way. After a review of the time-stepping method originally proposed by Moreau and Jean, a number of improvements are addressed during the talk. Firstly, a splitting method is introduced to isolate the contributions of impacts, which can only be integrated with first-order accuracy, from smooth contributions, which can be integrated using a higher order scheme. Secondly, following the idea of Gear, Gupta and Leimkuhler, the equation of motion is reformulated so that the bilateral and unilateral constraints appear both at position and velocity levels. This strategy leads to an algorithm which exactly satisfies the constraints at both levels, i.e., no penetration is allowed in the numerical response. After time discretization, the equation of motion involves two complementarity conditions and it can be solved at each time step using a monolithic semi-smooth Newton method. The numerical behaviour of the proposed scheme is studied and compared to other approaches for a number of numerical examples. It is shown that the formulation offers a unified and valid approach for the description of contact conditions between rigid bodies as well as between flexible bodies. [less ▲]

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See detailA stable inversion method for feedforward control of constrained flexible multibody systems
Bruls, Olivier ULg; Bastos, Guaraci Jr.; Seifried, Robert

in Journal of Computational and Nonlinear Dynamics (2014), 9(1), 011014

The inverse dynamics of flexible multibody systems is formulated as a two-point boundary value problem for an index-3 differential-algebraic equation (DAE). This DAE represents the equation of motion with ... [more ▼]

The inverse dynamics of flexible multibody systems is formulated as a two-point boundary value problem for an index-3 differential-algebraic equation (DAE). This DAE represents the equation of motion with kinematic and trajectory constraints. For so-called nonminimum phase systems, the remaining dynamics of the inverse model is unstable. Therefore, boundary conditions are imposed not only at the initial time but also at the final time in order to obtain a bounded solution of the inverse model. The numerical solution strategy is based on a reformulation of the DAE in index-2 form and a multiple shooting algorithm, which is known for its robustness and its ability to solve unstable problems. The paper also describes the time integration and sensitivity analysis methods that are used in each shooting phase. The proposed approach does not require a reformulation of the problem in input-output normal form known from nonlinear control theory. It can deal with serial and parallel kinematic topology, minimum phase and nonminimum phase systems, and rigid and flexible mechanisms. [less ▲]

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See detailSensitivity analysis for multibody systems formulated on a Lie group
Sonneville, Valentin ULg; Bruls, Olivier ULg

in Multibody System Dynamics (2014), 31

A direct differentiation method and an adjoint variable method are proposed for the efficient semi-analytical evaluation of the sensitivities of multibody systems formulated in a matrix Lie group ... [more ▼]

A direct differentiation method and an adjoint variable method are proposed for the efficient semi-analytical evaluation of the sensitivities of multibody systems formulated in a matrix Lie group framework. These methods rely on the linearization of the equations of motion and/or of the time integration procedure. The simpler structure of the equations of motion in the Lie group formalism appears as an advantage for that purpose. Lie bracket contributions and the non-linearity of the exponential map need to be taken into account in the sensitivity algorithms. Nevertheless, essential characteristics of formulations of the direct differentiation method and the adjoint variable method on linear spaces are recovered. Some implementation issues are discussed and two relevant examples illustrate the properties of these methods. [less ▲]

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