Application Criteria for Conserving Integrators and Projection Methods in Multibody Dynamics

2007 ◽  
Author(s):  
Daniel Dopico ◽  
Javier Cuadrado ◽  
Juan C. Garcia Orden ◽  
Alberto Luaces
Keyword(s):  
Recent Work ◽  
Multibody Dynamics ◽  
Multibody Systems ◽  
Augmented Lagrangian ◽  
Augmented Lagrangian Method ◽  
Projection Methods ◽  
Orthogonal Projections ◽  
Dynamics Of Multibody Systems ◽  
Energy Conserving ◽  
Realistic Problem

This work presents the application to the dynamics of multibody systems of two methods based on augmented Lagrangian techniques, compares them, and gives some criteria for its use in realistic problems. The methods are an augmented Lagrangian method with orthogonal projections of velocities and accelerations, and an augmented Lagrangian energy conserving method. Both methods were presented by the authors in a very recent work, but it was not complete since the testing and the comparison of the methods was done by simulating a simple and academic example, and that was not sufficient to draw conclusions in terms of efficiency. For this work, the whole model of a vehicle has been simulated through both formulations, and their performance compared for such a large and realistic problem.

A Singularity-Free Penalty Formulation for the Dynamics of Constrained Multibody Systems

1992 ◽  
Author(s):  
A. Avello ◽  
E. Bayo
Keyword(s):  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Augmented Lagrangian ◽  
Jacobian Matrix ◽  
Augmented Lagrangian Method ◽  
Positive Definite Matrix ◽  
Dynamic Simulations ◽  
Classical Dynamic ◽  
Sudden Loss ◽  
Dynamic Formulation

Abstract In a singular position, the number of degrees of freedom of a mechanism instantaneously increases, which is detected by a sudden loss of rank in the jacobian matrix. This rank-deficiency causes the failure of the classical dynamic formulations. The enforcement of the constraints through a penalty method leads to an attractive and efficient dynamic formulation that, in addition, can be used at singularities. This formulation leads to a symmetric and positive definite matrix whose rank does not depend on the rank of the jacobian and thus is ideally suited for singular positions. A refinement of this approach is achieved through an augmented Lagrangian method. A simple example and two dynamic simulations show the effectiveness of the formulation.

scholarly journals Augmented Lagrangian preconditioners for the Oseen–Frank model of nematic and cholesteric liquid crystals

2021 ◽  
Author(s):  
Jingmin Xia ◽  
Patrick E. Farrell ◽  
Florian Wechsung
Keyword(s):  
Liquid Crystals ◽  
Augmented Lagrangian ◽  
Augmented Lagrangian Method ◽  
Mass Matrix ◽  
Unit Length ◽  
Mesh Size ◽  
Schur Complement ◽  
Cholesteric Liquid Crystals ◽  
Multigrid Algorithm ◽  
The Cost

AbstractWe propose a robust and efficient augmented Lagrangian-type preconditioner for solving linearizations of the Oseen–Frank model arising in nematic and cholesteric liquid crystals. By applying the augmented Lagrangian method, the Schur complement of the director block can be better approximated by the weighted mass matrix of the Lagrange multiplier, at the cost of making the augmented director block harder to solve. In order to solve the augmented director block, we develop a robust multigrid algorithm which includes an additive Schwarz relaxation that captures a pointwise version of the kernel of the semi-definite term. Furthermore, we prove that the augmented Lagrangian term improves the discrete enforcement of the unit-length constraint. Numerical experiments verify the efficiency of the algorithm and its robustness with respect to problem-related parameters (Frank constants and cholesteric pitch) and the mesh size.

scholarly journals An augmented Lagrangian method for solving total variation (TV)-based image registration model

2020 ◽  
Vol 14 ◽  
pp. 174830262097353
Author(s):  
Noppadol Chumchob ◽  
Ke Chen
Keyword(s):  
Image Registration ◽  
Augmented Lagrangian ◽  
Numerical Solutions ◽  
Augmented Lagrangian Method ◽  
Closed Form Solution ◽  
Numerical Algorithms ◽  
Lagrangian Method ◽  
Form Solution ◽  
The Other ◽  
Other Hand

Variational methods for image registration basically involve a regularizer to ensure that the resulting well-posed problem admits a solution. Different choices of regularizers lead to different deformations. On one hand, the conventional regularizers, such as the elastic, diffusion and curvature regularizers, are able to generate globally smooth deformations and generally useful for many applications. On the other hand, these regularizers become poor in some applications where discontinuities or steep gradients in the deformations are required. As is well-known, the total (TV) variation regularizer is more appropriate to preserve discontinuities of the deformations. However, it is difficult in developing an efficient numerical method to ensure that numerical solutions satisfy this requirement because of the non-differentiability and non-linearity of the TV regularizer. In this work we focus on computational challenges arising in approximately solving TV-based image registration model. Motivated by many efficient numerical algorithms in image restoration, we propose to use augmented Lagrangian method (ALM). At each iteration, the computation of our ALM requires to solve two subproblems. On one hand for the first subproblem, it is impossible to obtain exact solution. On the other hand for the second subproblem, it has a closed-form solution. To this end, we propose an efficient nonlinear multigrid (NMG) method to obtain an approximate solution to the first subproblem. Numerical results on real medical images not only confirm that our proposed ALM is more computationally efficient than some existing methods, but also that the proposed ALM delivers the accurate registration results with the desired property of the constructed deformations in a reasonable number of iterations.

scholarly journals An Augmented Lagrangian Method for Cardinality-Constrained Optimization Problems

2021 ◽  
Author(s):  
Christian Kanzow ◽  
Andreas B. Raharja ◽  
Alexandra Schwartz
Keyword(s):  
Constrained Optimization ◽  
Numerical Experiments ◽  
Penalty Method ◽  
Augmented Lagrangian ◽  
Constraint Qualification ◽  
Optimization Problems ◽  
Augmented Lagrangian Method ◽  
Constrained Optimization Problems ◽  
Strongly Stationary ◽  
Type Constraint

AbstractA reformulation of cardinality-constrained optimization problems into continuous nonlinear optimization problems with an orthogonality-type constraint has gained some popularity during the last few years. Due to the special structure of the constraints, the reformulation violates many standard assumptions and therefore is often solved using specialized algorithms. In contrast to this, we investigate the viability of using a standard safeguarded multiplier penalty method without any problem-tailored modifications to solve the reformulated problem. We prove global convergence towards an (essentially strongly) stationary point under a suitable problem-tailored quasinormality constraint qualification. Numerical experiments illustrating the performance of the method in comparison to regularization-based approaches are provided.

scholarly journals Dynamics of Multibody Systems With Spherical Clearance Joints

2005 ◽  
Author(s):  
P. Flores ◽  
J. Ambro´sio ◽  
J. C. P. Claro ◽  
H. M. Lankarani
Keyword(s):  
Contact Force ◽  
Multibody Systems ◽  
Contact Forces ◽  
Force Model ◽  
Clearance Joints ◽  
Continuous Contact ◽  
Clearance Joint ◽  
Contact Force Model ◽  
Dynamics Of Multibody Systems ◽  
The Impact

This work deals with a methodology to assess the influence of the spherical clearance joints in spatial multibody systems. The methodology is based on the Cartesian coordinates, being the dynamics of the joint elements modeled as impacting bodies and controlled by contact forces. The impacts and contacts are described by a continuous contact force model that accounts for geometric and mechanical characteristics of the contacting surfaces. The contact force is evaluated as function of the elastic pseudo-penetration between the impacting bodies, coupled with a nonlinear viscous-elastic factor representing the energy dissipation during the impact process. A spatial four bar mechanism is used as an illustrative example and some numerical results are presented, being the efficiency of the developed methodology discussed in the process of their presentation. The results obtained show that the inclusion of clearance joints in the modelization of spatial multibody systems significantly influences the prediction of components’ position and drastically increases the peaks in acceleration and reaction moments at the joints. Moreover, the system’s response clearly tends to be nonperiodic when a clearance joint is included in the simulation.

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