Chrono: An Open Source Multi-physics Dynamics Engine

Tasora, Alessandro; Serban, Radu; Mazhar, Hammad; Pazouki, Arman; Melanz, Daniel; Fleischmann, Jonathan A.; Taylor, Michael D.; Sugiyama, Hioyuki; Negrut, Dan

doi:10.1007/978-3-319-40361-8_2

Cited by 173 publications

(125 citation statements)

References 59 publications

Supporting

Mentioning

104

Contrasting

Unclassified

Order By: Relevance

“…[10][11][12]. This solution methodology is embedded in the simulation software Chrono [13]. c ðlþ1Þ i;F ¼ magnitude of the friction impulse associated with the contact event i; notation for ffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ffi ðc ðlþ1Þ i;u Þ 2 þ ðc ðlþ1Þ i;w Þ 2 q Dt ¼ numerical integration time step K i ¼ friction cone associated with contact event i K i ¼ polar cone associated with the friction cone K i l i ¼ friction coefficient associated with contact event î k B ¼ set of Lagrange multipliers associated with the bilateral constraints k B;ðlþ1Þ ¼ notation for bilateral constraint reaction impulse Dtk B;ðlþ1Þ U ðlÞ i ¼ notation for U i ðq ðlÞ Þ; i.e., gap for contact event i at time t ðlÞ…”

Section: Discussionmentioning

confidence: 99%

Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem

Negrut

Serban

Tasora

2017

Journal of Computational and Nonlinear Dynamics

Self Cite

View full text Add to dashboard Cite

which was introduced to solve the rigid multibody dynamics problem in the presence of friction and contact. The discretized equations of motion obtained here are identical to the ones in Tasora and Anitescu 2011 ["A Matrix-Free Cone Complementarity Approach for Solving Large-Scale, Nonsmooth, Rigid Body Dynamics," Comput. Methods Appl. Mech. Eng., 200(5-8), pp. [439][440][441][442][443][444][445][446][447][448][449][450][451][452][453]; what is different is the process of obtaining these equations. Instead of using maximum dissipation conditions as the basis for the Coulomb friction model, the approach detailed uses complementarity conditions that combine with contact unilateral constraints to augment the classical index-3 differential algebraic equations of multibody dynamics. The resulting set of differential, algebraic, and complementarity equations is relaxed after time discretization to a cone complementarity problem (CCP) whose solution represents the first-order optimality condition of a quadratic program with conic constraints. The method discussed herein has proven reliable in handling large frictional contact problems. Recently, it has been used with promising results in fluid-solid interaction applications. Alas, this solution is not perfect, and it is hoped that the detailed account provided herein will serve as a starting point for future improvements.

show abstract

Section: Discussionmentioning

confidence: 99%

Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem

Negrut

Serban

Tasora

2017

Journal of Computational and Nonlinear Dynamics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Collisions and contact interaction between bodies are often resolved by interfacing with hydrodynamics codes or by implementing hard/soft sphere collision models [9,20]. The problem is here implemented using the open source Chrono::Engine simulation library (C::E in the following) [1,21], which is able to handle the contact and collision of large numbers of complex-shaped objects.…”

Section: Introductionmentioning

confidence: 99%

N-body gravitational and contact dynamics for asteroid aggregation

et al. 2016

Self Cite

View full text Add to dashboard Cite

The development of dedicated numerical codes has recently pushed forward the study of N-body gravitational dynamics, leading to a better and wider understanding of processes involving the formation of natural bodies in the Solar System. A major branch includes the study of asteroid formation: evidence from recent studies and observations support the idea that small and medium size asteroids between 100 m and 100 km may be gravitational aggregates with no cohesive force other than gravity. This evidence implies that asteroid formation depends on gravitational interactions between different boulders and that asteroid aggregation processes can be naturally modeled with N-body numerical codes implementing gravitational interactions. This work presents a new implementation of an N-body numerical solver. The code is based on Chrono::Engine (2006). It handles the contact and collision of large numbers of complex-shaped objects, while simultaneously evaluating the effect of N to N gravitational interactions. A special case of study is considered, investigating the relative dynamics between the N bodies and highlighting favorable conditions for the formation of a stable gravitationally bound aggregate from a cloud of N boulders. The code is successfully validated for the case of study by comparing relevant results obtained for typical known dynamical scenarios. The outcome of the numerical simulations shows good agreement with theory and observation, and suggests the ability of the developed code to predict natural aggregation phenomena

show abstract

“…To represent the actual vehicle in the simulation-based validation of the proposed surrogate model and terrain estimator, the Chrono software is utilized to simulate the dynamics of a notional military vehicle as well as to implement the SCM [18]. For the purposes of this work, the vehicle is modeled with a double wishbone suspension, rack-pinion steering, 4 wheel drive, and a simple powertrain without a torque converter or transmission.…”

Section: A Plant Modelmentioning

confidence: 99%

Online terrain estimation for autonomous vehicles on deformable terrains

Dallas

Jain

Dong

et al. 2020

Journal of Terramechanics

View full text Add to dashboard Cite

In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on computationally expensive algorithms that are not suitable for real-time estimation. To address these shortcomings, this work develops a reduced-order nonlinear terramechanics model as a surrogate of the Soil Contact Model (SCM) through extending a state-of-the-art Bekker model to account for additional dynamic effects. It is shown that this reduced-order surrogate model is able to accurately replicate the forces predicted by the SCM while reducing the computation cost by an order of magnitude. This surrogate model is then utilized in a unscented Kalman filter to estimate the sinkage exponent. Simulations suggest this parameter can be estimated within 4% of its true value for clay and sandy loam terrains. It is also shown that utilizing this estimated parameter can reduce the prediction errors of the future vehicle states by orders of magnitude, which could assist with achieving more robust model-predictive autonomous navigation strategies.

show abstract

Chrono: An Open Source Multi-physics Dynamics Engine

Cited by 173 publications

References 59 publications

Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem

Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem

N-body gravitational and contact dynamics for asteroid aggregation

Online terrain estimation for autonomous vehicles on deformable terrains

Contact Info

Product

Resources

About