References of "Bruls, Olivier"
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See detailSimulation of multibody systems and granular media using the non-smooth contact dynamic approach
Docquier, Nicolas; Dubois, Frédéric; Bruls, Olivier ULg

Conference (2015, July)

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See detailTrajectory optimization for 3D robots with elastic links
Lismonde, Arthur ULg; Sonneville, Valentin ULg; Bruls, Olivier ULg

Scientific conference (2015, June 29)

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See detailA level set approach for the structural optimization of flexible mechanisms
Tromme, Emmanuel ULg; Tortorelli, Daniel; Bruls, Olivier ULg et al

Conference (2015, June 08)

With the evolution of virtual prototyping, mechanical systems are commonly analyzed using a multibody system (MBS) approach to study the behavior of the entire system and notably the dynamic interactions ... [more ▼]

With the evolution of virtual prototyping, mechanical systems are commonly analyzed using a multibody system (MBS) approach to study the behavior of the entire system and notably the dynamic interactions between the components. Modern structural optimization of mechanical systems considers the dynamic loading exerted on the individual flexible components. The consideration is an essential feature and can be implemented in two ways. Firstly, one can consider a strong coupling wherein the component’s optimization is performed using the time dependent loading conditions coming directly from the MBS simulation. Secondly, one can consider a weak coupling wherein the component’s optimization is performed using a series of static load cases that do not fully account for the interactions between the components of the MBS. Rather this approach performs a MBS simulation to evaluate the loads for the initial design and then optimizes the component assuming the loads do not change. The process of evaluating the loads and then performing the optimization is repeated until suitable convergence criteria is satisfied, assuming convergence is possible. The present paper focuses on the strong coupling method wherein the flexible MBS dynamic analysis is based on a nonlinear finite element formalism [1]. A level set (LS) description of the component geometry is used to enable a generalized shape optimization. The LS approach combines the advantages of shape and topology optimizations. Moreover, since the component boundaries are defined by CAD features, the manufacturing process is facilitated as no post-processing step of a rasterized design is required. The design sensitivity analysis for MBS is revisited in order to facilitate its implementation. The optimization of a slider-crank mechanism and a 2-dof robot is provided to exemplify the procedure. [1] Géradin M., Cardona A. (2001) Flexible Multibody Dynamics: A Finite Element Approach. John Wiley & Sons, New York. [less ▲]

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See detailNonlinear Interpolation on Manifold of Reduced Order Models in Magnetodynamic Problems
Paquay, Yannick ULg; Bruls, Olivier ULg; Geuzaine, Christophe ULg

Poster (2015, June)

Proper Orthogonal Decomposition (POD) is an efficient model order reduction technique for linear problems in computational sciences, recently gaining popularity in electromagnetics. However, its ... [more ▼]

Proper Orthogonal Decomposition (POD) is an efficient model order reduction technique for linear problems in computational sciences, recently gaining popularity in electromagnetics. However, its efficiency has been shown to considerably degrade for nonlinear problems. In this paper, we propose a reduced order model for nonlinear magnetodynamic problems by combining POD with an interpolation on manifolds, which interpolates the reduced bases to efficiently construct the desired solution. [less ▲]

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See detailNonsmooth generalized-alpha scheme for the simulation of flexible multibody systems with impacts
Cardona, Alberto; Cavalieri, Federico; Bruls, Olivier ULg et al

Conference (2015, April)

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See detailDevelopment and validation of an accelerometer-based method for quantifying gait events
Boutaayamou, Mohamed ULg; Schwartz, Cédric ULg; Stamatakis, Julien et al

in Medical Engineering & Physics (2015)

An original signal processing algorithm is presented to automatically extract, on a stride-by-stride basis, four consecutive fundamental events of walking, heel strike (HS), toe strike (TS), heel-off (HO ... [more ▼]

An original signal processing algorithm is presented to automatically extract, on a stride-by-stride basis, four consecutive fundamental events of walking, heel strike (HS), toe strike (TS), heel-off (HO), and toe-off (TO), from wireless accelerometers applied to the right and left foot. First, the signals recorded from heel and toe three-axis accelerometers are segmented providing heel and toe flat phases. Then, the four gait events are defined from these flat phases. The accelerometer-based event identification was validated in seven healthy volunteers and a total of 247 trials against reference data provided by a force plate, a kinematic 3D analysis system, and video camera. HS, TS, HO, and TO were detected with a temporal accuracy ± precision of 1.3 ms ± 7.2 ms, ‒4.2 ms ± 10.9 ms, ‒3.7 ms ± 14.5 ms, and ‒1.8 ms ± 11.8 ms, respectively, with the associated 95% confidence intervals ranging from ‒6.3 ms to 2.2 ms. It is concluded that the developed accelerometer-based method can accurately and precisely detect HS, TS, HO, and TO, and could thus be used for the ambulatory monitoring of gait features computed from these events when measured concurrently in both feet. [less ▲]

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See detailSegmentation of gait cycles using foot-mounted 3D accelerometers
Boutaayamou, Mohamed ULg; Bruls, Olivier ULg; Denoël, Vincent ULg et al

in Proceedings of the IEEE International Conference on 3D Imaging 2015 (2015)

We describe a new gait segmentation method based on the continuous wavelet transform to identify stride-by-stride gait cycles from measurements of foot-mounted three-dimensional (3D) accelerometers. The ... [more ▼]

We describe a new gait segmentation method based on the continuous wavelet transform to identify stride-by-stride gait cycles from measurements of foot-mounted three-dimensional (3D) accelerometers. The detection of such gait cycles is indeed a crucial step for an accurate extraction of relevant gait events such as heel strike, toe strike, heel-off, and toe-off. We demonstrate the ability of this segmentation method, used in conjunction with a validated extraction algorithm, to calculate the following gait (duration) parameters for each gait cycle during the gait of a healthy young subject and of an elderly subject with Parkinson’s disease (PD) in OFF and ON states: durations of (1) loading response, (2) mid-stance, (3) push-off, (4) stance, (5) swing, (6) stride, (7) step, and (8) double support phases. The experimental results show that the proposed method can extract relevant refined gait parameters to quantify subtle gait disturbances in subjects with PD. [less ▲]

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See detailWeakly and fully coupled methods for structural optimization of flexible mechanisms
Tromme, Emmanuel ULg; Bruls, Olivier ULg; Duysinx, Pierre ULg

in Multibody System Dynamics (2015)

The paper concerns a detailed comparison between two optimization methods that are used to perform the structural optimization of flexible components within a multibody system (MBS) simulation. The ... [more ▼]

The paper concerns a detailed comparison between two optimization methods that are used to perform the structural optimization of flexible components within a multibody system (MBS) simulation. The dynamic analysis of flexible MBS is based on a nonlinear finite element formulation. The first method is a weakly coupled method, which reformulates the dynamic response optimization problem in a two-level approach. First, a rigid or flexible MBS simulation is performed, and second, each component is optimized independently using a quasi-static approach in which a series of equivalent static load (ESL) cases obtained from the MBS simulation are applied to the respective components. The second method, the fully coupled method, performs the dynamic response optimization using the time response obtained directly from the flexible MBS simulation. Here, an original procedure is proposed to evaluate the ESL from a nonlinear finite element simulation, contrasting with the floating reference frame formulation exploited in the standard ESL method. Several numerical examples are provided to support our position. It is shown that the fully coupled method is more general and accommodates all types of constraints at the price of a more complex optimization process. [less ▲]

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

in Journal of Mechanical Science and Technology (2015), 29(7), 2579-2585

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. [less ▲]

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See detailAmbulatory system using wearable accelerometers for gait analysis in Parkinson’s disease
Boutaayamou, Mohamed ULg; Demonceau, Marie ULg; Schwartz, Cédric ULg et al

in Proceedings of the 14th Belgian Day on Biomedical Engineering (2015)

We describe a signal-processing algorithm for gait analysis in Parkinson’s disease (PD) using an ambulatory system with wearable accelerometers. This algorithm is versatile enough to detect, on a stride ... [more ▼]

We describe a signal-processing algorithm for gait analysis in Parkinson’s disease (PD) using an ambulatory system with wearable accelerometers. This algorithm is versatile enough to detect, on a stride-by-stride basis, refined gait parameters that quantify subtle gait disturbances in PD in a rater-independent way. [less ▲]

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See detailMechanical behaviour of tape springs used in the deployment of reflectors around a solar panel
Dewalque, Florence ULg; Collette, Jean-Paul; Bruls, Olivier ULg

in Proceedings of the 6th International Conference on Mechanics and Materials in Design (M2D) (2015)

In order to increase the production of power on small satellites, large solar panels are commonly deployed and, in some cases, reflectors are added to improve the concentration factor on solar cells. In ... [more ▼]

In order to increase the production of power on small satellites, large solar panels are commonly deployed and, in some cases, reflectors are added to improve the concentration factor on solar cells. In this work, reflectors are deployed by the means of compliant mechanisms known as tape springs. Their attractive characteristics are, among others, their passive behaviour, their self-locking capacity, their elastic deformations and their robustness. It is shown here through parametric studies that the behaviour of a tape spring is mainly governed by its geometry. Thus, for each specific application, its dimensions must be determined in order to minimise two critical features: the maximum stresses affecting the structure and the maximum amplitudes of motion during deployment. In this paper, an optimisation procedure is proposed to meet these requirements. [less ▲]

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See detailExperimental Validation of Structural Damping Models for Tape Springs
Dewalque, Florence ULg; Bruls, Olivier ULg

in Proceedings of the 6th European Conference for Aerospace Sciences (EUCASS) (2015)

The objective of this paper is to study the effect of structural dissipation on the dynamic response of tape springs using experimentally-validated finite element models. In order to reach this goal, an ... [more ▼]

The objective of this paper is to study the effect of structural dissipation on the dynamic response of tape springs using experimentally-validated finite element models. In order to reach this goal, an experimental set-up is built. It consists of two tape springs connected to a fixation support and a dummy panel. The data are collected through a force plate and a 3D motion analysis system. The post-treatment of the experimental results and a comparison with a finite element model show that the Kelvin-Voigt model gives a fair approximation of the structural damping for small oscillations, however, more advanced model should be considered in future works for a better understanding in case of large displacements. [less ▲]

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See detailImportance of structural damping in the dynamic analysis of compliant deployable structures
Dewalque, Florence ULg; Rochus, Pierre ULg; Bruls, Olivier ULg

in Acta Astronautica (2015), 111

Compliant mechanisms such as tape springs are often used on satellites to deploy appendices, e.g. solar panels, antennas, telescopes and solar sails. Their main advantage comes from the fact that their ... [more ▼]

Compliant mechanisms such as tape springs are often used on satellites to deploy appendices, e.g. solar panels, antennas, telescopes and solar sails. Their main advantage comes from the fact that their motion results from the elastic deformation of structural components, unlike usual hinges or prismatic joints, the motion of which is dictated by contact surfaces. No actuators or external energy sources are required and the deployment is purely passive, which appears as a decisive feature for the design of low-cost missions with small satellites or cubesats. The mechanical behaviour of a tape spring is intrinsically complex and nonlinear involving buckling, hysteresis and self-locking phenomena. High-fidelity mechanical models are then needed to get a detailed understanding of the deployment process, improve the design and predict the actual behaviour in the space 0-g environment. In the majority of the previous works, dynamic simulations were performed without any physical representation of the structural damping. These simulations could be successfully achieved because of the presence of numerical damping in the transient solver. However, in this case, the dynamic response turns out to be quite sensitive to the amount of numerical dissipation, so that the predictive capabilities of the model are questionable. In this work based on numerical case studies, we show that the dynamic simulation of a tape spring can be made less sensitive to numerical parameters when the structural dissipation is taken into account. [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 (2015), 129(1), 149-179

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 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 (2015), 18(9), 952-960

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 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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