References of "Bruls, Olivier"
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See detailGeometrically exact beam finite element formulated on the special Euclidean group SE(3)
Sonneville, Valentin ULg; Cardona, Alberto; Bruls, Olivier ULg

in Computer Methods in Applied Mechanics & Engineering (2014), 268

This paper describes a dynamic formulation of a straight beam finite element in the setting of the special Euclidean group SE(3). First, the static and dynamic equilibrium equations are derived in this ... [more ▼]

This paper describes a dynamic formulation of a straight beam finite element in the setting of the special Euclidean group SE(3). First, the static and dynamic equilibrium equations are derived in this framework from variational principles. Then, a non-linear interpolation formula using the exponential map is introduced. It is shown that this framework leads to a natural coupling in the interpolation of the position and rotation variables. Next, the discretized internal and inertia forces are developed. The semi-discrete equations of motion take the form of a second-order ordinary differential equation on a Lie group, which is solved using a Lie group time integration scheme. It is remarkable that no parameterization of the nodal variables needs to be introduced and that the proposed Lie group framework leads to a compact and easy-to-implement formulation. Some important numerical and theoretical aspects leading to a computationally efficient strategy are highlighted and discussed. For instance, the formulation leads to invariant tangent stiffness and mass matrices under rigid body motions and a locking free element. The proposed formulation is successfully tested in several numerical static and dynamic examples. [less ▲]

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See detailExperimental Study of the Human Ability to Deliberately Excite a Flexible Floor
Schwartz, Cédric ULg; Berger, Alexis; Bruls, Olivier ULg et al

in Zingoni, Alphose (Ed.) Proceedings of the 5th International Conference on Structural Engineering, Mechanics and Computation (2014)

Human-structure interactions are not completely understood yet. This paper presents an experimental study focusing on the interaction between a human and a flexible support, with a major aim to better ... [more ▼]

Human-structure interactions are not completely understood yet. This paper presents an experimental study focusing on the interaction between a human and a flexible support, with a major aim to better understand how the behavior of a human subject, bouncing on a flexible structure, adapts to the support motion. Exploratory experiments are undertaken with a 7m-span timber footbridge tested in the Human Motion Analysis Laboratory of the University of Liege. The movements of the coupled system composed of the subject and the footbridge are recorded by Motion Capture technology; the subject\textquoteright{}s 3-D body motion is defined by three important angles: ankle, knee and hip. The interaction between the subject and the footbridge is also quantified by means of force platform measurements. The experiments indicate an influence of the support amplitude and natural frequency on the phase shift between the oscillatory floor motion and the three angles characterizing the motion. [less ▲]

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See detailDiscussion on the optimization problem formulation of flexible components in multibody systems
Tromme, Emmanuel ULg; Bruls, Olivier ULg; Emonds-Alt, Jonathan et al

in Structural and Multidisciplinary Optimization (2013), 48(6), 1189-1206

This paper is dedicated to the structural optimization of flexible components in mechanical systems modeled as multibody systems. While most of the structural optimization developments have been conducted ... [more ▼]

This paper is dedicated to the structural optimization of flexible components in mechanical systems modeled as multibody systems. While most of the structural optimization developments have been conducted under (quasi-)static loadings or vibration design criteria, the proposed approach aims at considering as precisely as possible the effects of dynamic loading under service conditions. Solving this problem is quite challenging and naive implementations may lead to inaccurate and unstable results. To elaborate a robust and reliable approach, the optimization problem formulation is investigated because it turns out that it is a critical point. Different optimization algorithms are also tested. To explain the efficiency of the various solution approaches, the complex nature of the design space is analyzed. Numerical applications considering the optimization of a two-arm robot subject to a trajectory tracking constraint and the optimization of a slider-crank mechanism with a cyclic dynamic loading are presented to illustrate the different concepts. [less ▲]

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See detail3D analysis of gait using accelerometer measurements
Boutaayamou, Mohamed ULg; Schwartz, Cédric ULg; Stamatakis, Julien et al

Scientific conference (2013, November 07)

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See detailReference populations for shoulder studies should be selected carefully
Schwartz, Cédric ULg; Denoël, Vincent ULg; Bruls, Olivier ULg et al

Conference (2013, August 06)

To assess various shoulder pathologies / treatments, non pathological populations are often used as references. However, some factors may influence significantly the scapular kinematics within a healthy ... [more ▼]

To assess various shoulder pathologies / treatments, non pathological populations are often used as references. However, some factors may influence significantly the scapular kinematics within a healthy population and consequently alter the final kinematic evaluation. Results of 3D shoulder assessment found in this study show that small (≈5°) but significant differences exist between gender and between the dominant and non-dominant arms. Therefore the populations used for referential data should be selected carefully. [less ▲]

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See detailContact model between superelements in dynamic multibody systems
Virlez, Geoffrey ULg; Bruls, Olivier ULg; Sonneville, Valentin ULg et al

in Proceedings of ASME2013 International Design Engineering Technical Conference & Computers and Information in Engineering Conference IDETC/CIE 2013 (2013, August)

In this paper, a new contact formulation defined between flexible bodies modeled as superelements is investigated. Unlike rigid contact models, this approach enables to study the deformation and vibration ... [more ▼]

In this paper, a new contact formulation defined between flexible bodies modeled as superelements is investigated. Unlike rigid contact models, this approach enables to study the deformation and vibration phenomena induced by hard contacts. Compared with full-scale finite element models of flexible bodies, the proposed method is computationally more efficient, especially in case of a large number of bodies and contact conditions. The compliance of each body is described using a reduced-order elastic model which is defined in a corotational frame that follows the gross motion of the body. The basis used to reduce the initial finite element model relies on the Craig-Bampton method which uses both static boundary modes and internal vibration modes. The formulation of the contact condition couples all degrees of freedom of the reduced model in a nonlinear way. The relevance of the approach is demonstrated by simulation results first on a simple example, and then on a gear pair model. [less ▲]

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See detailA FEW GOOD REASONS TO CONSIDER A BEAM FINITE ELEMENT FORMULATION ON THE LIE GROUP SE(3)
Sonneville, Valentin ULg; Bruls, Olivier ULg

in Proceedings of the ASME 2013 International Design Engineering Technical Conference & Computers and Information in Engineering Conference IDETC/CIE 2013 (2013, August)

Based on an original interpolation method we develop a beam finite element formulation on the Lie group SE(3) which relies on a mathematically rigorous framework and provides compact and generic notations ... [more ▼]

Based on an original interpolation method we develop a beam finite element formulation on the Lie group SE(3) which relies on a mathematically rigorous framework and provides compact and generic notations. We work out the beam kinematics in the SE(3) context, the beam deformation measure and obtain the expression of the internal forces using the virtual work principle. The proposed formulation exhibits important features from both the theoretical and numerical points of view. The approach leads to a natural coupling of position and rotation variables and thus differs from classical Timoshenko/Cosserat formulations. We highlight several important properties such as a constant deformation measure over the element, an invariant tangent stiffness matrix under of rigid motions or the absence of shear locking. [less ▲]

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See detailValidation of an accelerometer-based approach to quantify gait events
Boutaayamou, Mohamed ULg; Schwartz, Cédric ULg; Stamatakis, Julien et al

Poster (2013, June)

Researchers rarely provide solid performance and validation information about their acceleometer-based approaches to human gait analysis. We present here a novel signal processing and analysis algorithm ... [more ▼]

Researchers rarely provide solid performance and validation information about their acceleometer-based approaches to human gait analysis. We present here a novel signal processing and analysis algorithm that automatically extracts four consecutive fundamental events of walking: heel strike (HS), toe strike (TS), heel off (HO), and toe off (TO). In addition, we validate this accelerometer-based technique by comparing these extracted gait events with those obtained by a kinematic 3D analysis system and a force plate, used as gold standards. [less ▲]

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See detailStructural optimization of flexible components under dynamic loading within a multibody system approach: a comparative evaluation of optimization methods based on a 2-dof robot application.
Tromme, Emmanuel ULg; Bruls, Olivier ULg; Virlez, Geoffrey ULg et al

in Proceedings of the 10th World Congress on Structural and Multidisciplinary Optimization: Orlanda (USA), 19-24 mai 2013 (2013, May)

This paper is dedicated to a comparative evaluation between two methods of optimization to realize the structural optimization of flexible components in mechanical systems modeled as multibody systems. A ... [more ▼]

This paper is dedicated to a comparative evaluation between two methods of optimization to realize the structural optimization of flexible components in mechanical systems modeled as multibody systems. A nonlinear finite element method based formalism is considered for the dynamic simulation of the flexible multibody system. The first method is the Equivalent Static Load method which enables to transform a dynamic response optimization problem into a set of static response optimization problems. The second method treats directly the dynamic optimization problem in an integrated manner where the optimization process is carried out directly based on the time response coming from the multibody system approach. However, the first method proposed by Kang, Park and Arora was developed under the assumption that the multibody system is described using a floating frame of reference. Therefore, in order to carry on the comparison using a unique multibody system approach, a method is first proposed to derive the equivalent static loads when using a nonlinear finite element method based formalism. The comparative evaluation is then carried out on the simple academic example of the mass minimization of a two-arm robot subject to tracking deviation constraints. Conclusions are finally drawn for future work and stringent comparison. [less ▲]

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See detailInverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
Guimaraes Bastos Junior, Guaraci ULg; Seifried, Robert; Bruls, Olivier ULg

in Multibody System Dynamics (2013)

The inverse dynamics analysis of underactuated multibody systems aims at determining the control inputs in order to track a prescribed trajectory. This paper studies the inverse dynamics of non-minimum ... [more ▼]

The inverse dynamics analysis of underactuated multibody systems aims at determining the control inputs in order to track a prescribed trajectory. This paper studies the inverse dynamics of non-minimum phase underactuated multibody systems with serial and parallel planar topology, e.g. for end-effector control of flexible manipulators or manipulators with passive joints. Unlike for minimum phase systems, the inverse dynamics of non-minimum phase systems cannot be solved by adding trajectory constraints (servoconstraints) to the equations of motion and applying a forward time integration. Indeed, the inverse dynamics of a non-minimum phase system is known to be non-causal, which means that the control forces and torques should start before the beginning of the trajectory (preactuation phase) and continue after the end-point is reached (post-actuation phase). The existing stable inversion method roposed for general nonlinear non-minimum phase systems requires to derive explicitly the equations of the internal dynamics and to solve a boundary value problem. This paper proposes an alternative solution strategy which is based on an optimal control approach using a direct transcription method. The method is illustrated for the inverse dynamics of an underactuated serial manipulator with rigid links and four degrees-of-freedom and an underactuated parallel machine. An important advantage of the proposed approach is that it can be applied directly to the standard equations of motion of multibody systems either in ODE or in DAE form. Therefore, it is easier to implement this method in a general purpose simulation software. [less ▲]

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See detailL'apport de l'analyse biomécanique 3-D dans les stratégies préventives à partir de 2 exemples
Schwartz, Cédric ULg; Croisier, Jean-Louis ULg; Tubez, François ULg et al

in Julia, M; Croisier, Jean-Louis; Perrey, S (Eds.) et al Prévention des troubles musculo-squelettiques chez le sportif (2013)

De nouveaux outils de mesure permettent de quantifier la cinématique et la dynamique articulaire fonctionnelle des athlètes (systèmes optoélectroniques 3D, plateforme de forces, électromyographie, …). Ces ... [more ▼]

De nouveaux outils de mesure permettent de quantifier la cinématique et la dynamique articulaire fonctionnelle des athlètes (systèmes optoélectroniques 3D, plateforme de forces, électromyographie, …). Ces données sont importantes dans le sens où elles donnent à l’équipe médicale et sportive des informations objectives sur le geste du sportif dans sa pratique réelle. Elles favorisent la compréhension et l’amélioration de la performance ainsi que la prévention lésionnelle et la détection de situations à risque. Dans le cadre d’un suivi longitudinal des sportifs, ces mesures sont intéressantes pour mettre en place des critères objectifs et spécifiques à l’athlète de retour sur le terrain après une blessure. Ce document a pour objectif de présenter les principaux outils disponibles dans les laboratoires de biomécanique et d’illustrer leurs utilisations à travers 2 exemples : l’influence de la raideur de l’épaule sur la mobilité de l’épaule et l’analyse cinématique du service au tennis. [less ▲]

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See detailModeling of joints with clearance and friction in multibody dynamic simulation of automotive differentials
Virlez, Geoffrey ULg; Bruls, Olivier ULg; Tromme, Emmanuel ULg et al

in Theoretical and Applied Mechanics Letters (2013), 3(1), 013003

Defects in kinematic joints can sometimes highly influence the simulation response of the whole multibody system within which these joints are included. For instance, the clearance, the friction, the ... [more ▼]

Defects in kinematic joints can sometimes highly influence the simulation response of the whole multibody system within which these joints are included. For instance, the clearance, the friction, the lubrication and the flexibility affect the transient behaviour, reduce the component life and produce noise and vibration for classical joints such as prismatics, cylindrics or universal joints. In this work, a new 3D cylindrical joint model which accounts for the clearance, the misalignment and the friction is presented. This formulation has been used to represent the link between the planet gears and the planet carrier in an automotive differential model. [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 (2013)

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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See detailMerging multi-camera data to reduce motion analysis instrumental errors using Kalman filters
Schwartz, Cédric ULg; Denoël, Vincent ULg; Forthomme, Bénédicte ULg et al

in Computer Methods in Biomechanics and Biomedical Engineering (2013)

In motion capture systems, markers are often seen by multiple cameras. All cameras do not measure the position of the markers with the same reliability because of environmental factors such as the ... [more ▼]

In motion capture systems, markers are often seen by multiple cameras. All cameras do not measure the position of the markers with the same reliability because of environmental factors such as the position of the marker in the field of view or the light intensity received by the cameras. Kalman filters offer a general framework to take the reliability of the various cameras into account and consequently improve the estimation of the marker position. The proposed process can be applied to both passive and active systems. Several reliability models of the cameras are compared for the Codamotion active system, which is considered as a specific illustration. The proposed method significantly reduces the noise in the signal, especially at long range distances. Therefore, it improves the confidence of the positions at the limits of the field of view. [less ▲]

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See detailDominance effect on scapula 3-dimensional posture and kinematics in healthy male and female populations
Schwartz, Cédric ULg; Croisier, Jean-Louis ULg; Rigaux, Elise et al

in Journal of Shoulder and Elbow Surgery (2013), (0), -

Background: The contralateral shoulder is often used as a reference when evaluating a pathological shoulder. However literature provides contradictory results regarding the symmetry of the scapular ... [more ▼]

Background: The contralateral shoulder is often used as a reference when evaluating a pathological shoulder. However literature provides contradictory results regarding the symmetry of the scapular pattern in a healthy population. We assume that several factors including the gender and the type of motion may influence the scapula bilateral symmetry. Method: The dominant and non dominant shoulders of two populations of men and women composed of 11 subjects each were evaluated 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, kinematic and range of motion were studied separately. Results: Asymmetries are observed for motions performed in the frontal and sagittal plane but not for the internal/external rotation with the arm abducted at 90°. Multiplane asymmetries are observed for the male population, whereas asymmetries for the female one are mainly uniplanar. For both men and women, the scapula has a larger upward rotation on the dominant side. For men, a larger posterior tilt is also observed. The asymmetries mainly originate in the scapula kinematic and not in its original posture. Discussion: Even if the asymmetries are not large in terms of amplitude (inferior to 5°), one should be aware of their existence and the influence of the composition of the studied population when using the contralateral shoulder as a reference. [less ▲]

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See detailModelling of contact between stiff bodies in automotive transmission systems
Virlez, Geoffrey ULg; Bruls, Olivier ULg; Poulet, Nicolas et al

in Fisette, Paul; Samin, Jean-Claude (Eds.) Multibody Dynamics: Computational Methods and Applications (2013)

Many transmission components contain moving parts, which can come into in contact. For example, the TORSEN differentials aremainly composed of gear pairs and thrust washers. The friction involved by ... [more ▼]

Many transmission components contain moving parts, which can come into in contact. For example, the TORSEN differentials aremainly composed of gear pairs and thrust washers. The friction involved by contacts between these two parts is essential in the working principle of such differentials. In this chapter, two different contact models are presented and exploited for the modelling of differentials. The former uses an augmented Lagrangian technique or a penalty method and is defined between two flexible bodies or between a rigid body and a flexible structure. The second contact formulation is a continuous impact modelling based on a restitution coefficient. [less ▲]

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See detailShoulder injury prevention in sports using 3D motion capture
Schwartz, Cédric ULg; HAZEE, Amandine ULg; Denoël, Vincent ULg et al

Poster (2012, December 07)

In sports, where regular and intensive training could progressively lead to traumatic situations, accurate measurement of kinematic parameters can help to predict and anticipate injuries. Overhead ... [more ▼]

In sports, where regular and intensive training could progressively lead to traumatic situations, accurate measurement of kinematic parameters can help to predict and anticipate injuries. Overhead throwing athletes may develop an increased stiffness of the shoulder capsule. The resulting diminution of the gleno-humeral range of motion is usually associated with decreased performance and injury risks. This study illustrates the detection of these situations that put the athlete at risk. [less ▲]

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See detailValidated Extraction of Gait Events from 3D Accelerometer Recordings
Boutaayamou, Mohamed ULg; Schwartz, Cédric ULg; Stamatakis, Julien et al

in IEEE International Conference on 3D Imaging (IC3D) (2012, December)

This work is part of a project that deals with the three-dimensional (3D) analysis of normal and pathological gaits based on a newly developed system for clinical applications, using low-cost wireless ... [more ▼]

This work is part of a project that deals with the three-dimensional (3D) analysis of normal and pathological gaits based on a newly developed system for clinical applications, using low-cost wireless accelerometers and a signal processing algorithm. This system automatically extracts relevant gait events such as the heel strikes (HS) and the toe-offs (TO), which characterize the stance and the swing phases of walking. The performances of the low-cost accelerometer hardware and related algorithm have been compared to those obtained by a kinematic 3D analysis system and a force plate, used as gold standard methods. The HS and TO times obtained from the gait data of 7 healthy volunteers (147 trials) have been found to be (mean ± standard deviation) 0.42±7.92 ms and 3.11±10.08 ms later than those determined by the force plate, respectively. The experimental results demonstrate that the new hardware and associated algorithm constitute an effective low-cost gait analysis system, which could thus be used for the assessment of mobility in routine clinical practice. [less ▲]

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