Project News

  • 27 September 2018.

    Prof. dr. sc. Zdravko Terze delivered seminar "COMPUTATIONAL DYNAMICS OF MULTIBODY SYSTEMS IN FLUID FLOW: GEOMETRIC MECHANICS APPROACH" at ETH Zürich, Institute for Mechanical Systems.

    https://www.ethz.ch/


  • 21 February 2018

    Prof. dr. sc. Zdravko Terze delivered seminar "MULTIBODY SYSTEM DYNAMICS IN FLUID FLOW: GEOMETRIC MECHANICS APPROACH" at Politecnico di Milano, Dipartimento di Scienze e Tecnologie Aerospaziali.

    https://www.aero.polimi.it/


  • 15 December 2017

    Prof. dr. sc. Zdravko Terze delivered lecture "GEOMETRIC MODELING OF MULTIBODY SYSTEM MOTION IN FLUID FLOW ON LIE GROUPS", Harbin Institute of Technology, Harbin, China.

    http://www.amthit.org/


  • 14 December 2017

    Prof. dr. sc. Zdravko Terze delivered lecture "MULTIBODY SYSTEM DYNAMICS: MATHEMATICAL FORMULATIONS AND APPLICATIONS", Harbin Institute of Technology, Harbin, China.

    http://www.amthit.org/


  • 23 October 2017

    Research stay of Dr. sc. Louis Gargon (Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Italy) at the Chair of Flight Vehicle Dynamics, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb.


  • 19-21 April 2017

    Dr. sc. Dario Zlatar and Viktor Pandža attended scientific workshop "CHRONO-MBDYN USER MEETING - 2017" Parma, Italy.

    http://multibodymeeting.org/


Research Team

Principal Investigator
Team Members
  • Dario Zlatar, Postdoctorand

    dario.zlatar@fsb.hr

    University of Zagreb, Croatia
    Faculty of Mechanical Engineering and Naval Architecture

  • Viktor Pandža, Assistant

    viktor.pandza@fsb.hr

    University of Zagreb, Croatia
    Faculty of Mechanical Engineering and Naval Architecture

  • Marijan Andrić, Assistant

    marijan.andric@fsb.hr

    University of Zagreb, Croatia
    Faculty of Mechanical Engineering and Naval Architecture

  • Milan Vrdoljak, Associate Professor

    milan.vrdoljak@fsb.hr

    University of Zagreb, Croatia
    Faculty of Mechanical Engineering and Naval Architecture

  • Dubravko Matijašević, Assistant Professor

    dubravko.matijasevic@fsb.hr

    University of Zagreb, Croatia
    Faculty of Mechanical Engineering and Naval Architecture

  • Andreas Müller, Professor

    Johannes Kepler University, Austria
    Institute of Robotics Austria

  • Carlo L. Bottasso, Professor

    Technische Universität München (TUM), Germany

  • Martin Arnold, Professor

    Martin Luther University, Germany
    Institute of Mathematics

  • Pierangelo Masarati, Professor

    Politecnico di Milano (POLIMI), Italy

  • Xilun Ding, Professor

    Beijing University of Aeronautics and Astronautics, China
    Robotics Institute, School of Mechanical Engineering and Automation

  • Luka Grubišić, Associate Professor

    University of Zagreb, Croatia
    Faculty of Science, Department of Mathematics

  • Paolo Tiso, Senior Scientist

    Institute for Mechanical Systems, ETH, Zürich

  • Juan Garcia Orden, Professor

    Department of Continuum Mechanics and Structures, UPM, Madrid

Project Summary

Development of the numerically efficient simulation models capable of running in real-time has been a particular focus for researchers and industrial developers during the last decade. With the constant developments in the field of embedded systems, the demand for real-time simulation models of complex mechanical systems, where dynamics of different multi-physical models needs to be co-simulated within the same numerical procedure, became even larger. While conventional modelling techniques are suitable for simulating real-time dynamics of the simpler tasks, coupled mechanical systems require more advanced techniques than those that are still being used.

In this project, geometric numerical algorithms formulated on manifolds and Lie groups, as well as standard vector space formalisms, will be investigated in order to design efficient simulation procedures for multi-physical dynamics of the embedded systems. To this end, special attention will be devoted to the issues such as objective-based model reduction, structure preserving integration schemes, efficient numerical techniques and hardware-oriented implementation of the formulated codes. Whenever it is possible and algorithmically justified, novel differential-geometric computational procedures will be numerically tested against the standard vector space formalisms, especially in the context of the multi-physics model reduction and optimized integration schemes. Once the most appropriate computational models and numerical algorithms are selected during off-line simulations of the real-time dynamical processes, the project will focus on investigation of the suitable hardware platforms for the objective-based on-board simulations. This step will include also selection of the suitable programming paradigm (and programming language) for the selected algorithms as well as iterative onboard numerical tests against selected computational criteria. Within the last phase of the project, the experimental implementation, comprising building of the testbed for the selected multi-physical embedded systems (UAV system, flying robotic platform, micro-satellite model), will be conducted in order to validate the numerical efficiency, controllability, and stability of the overall installations.

Publications

  • Z. Terze, V. Pandža, D. Zlatar, Lie Group Dynamics of Multibody System in Vortical Fluid Flow, First International Nonlinear Dynamics Conference - NODYCON 2019, Sapienza University, Rome, February 17-20, 2019. (submitted)
  • Z. Terze, V. Pandža, D. Zlatar, L. Gagnon, P. Masarati, Vortical Flow Airfoil Dynamics in Lie Group Setting: Geometric Reduction and Numerical Analysis, 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control - IDETC/CIE 2018, Proceedings of the ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Quebec City, Quebec, Canada, August 26-29, 2018. (accepted for presentation)
  • Z. Terze, V. Pandža, D. Zlatar, Geometric Modeling of Flapping Wing Dynamics in Lie Group Setting, The 5th Joint International Conference on Multibody System Dynamics - IMSD 2018, Lisbon, Portugal, June 24 – 28, 2018. (accepted for presentation)
  • A. Müller, Z. Terze, V. Pandža, Singularity-Free Non-Redundant Time Integration of Multibody Systems Models in Absolute Coordinate Formulation, The 5th Joint International Conference on Multibody System Dynamics - IMSD 2018, Lisbon, Portugal, June 24 – 28, 2018. (accepted for presentation)
  • Z. Terze, D. Zlatar, V. Pandža, Quadrotor Forward Dynamics with Quaternion Attitude Reconstruction Based on Non-redundant ODE System, 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control - IDETC/CIE 2017, Proceedings of the ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2017), Cleveland, Ohio, USA, August 6 – 9, 2017.
  • Z. Terze, V. Pandža, D. Zlatar, Geometric Modeling of a Rigid Body Motion in Ideal Fluid with Vorticity, IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, Duni Royal Resort, Sozopol, Bulgaria, September 11 – 15, 2017.
  • Z. Terze, D. Zlatar, V. Pandža, M. Vrdoljak, Forward Dynamics of Fixed-Wing Aircraft with Attitude Reconstruction via Novel Quaternion-Integration Procedure, ECCOMAS Thematic Conference Multibody Dynamics 2017: USB flash drive, Prague, Czech Republic, June 19 - 22, 2017.
  • M. Vrdoljak, F. Viertler, M. Hajek, M. Heller, Helicopter Pilot Model for Pitch Attitude Tracking Task, Euro GNC 2017 - 4th CEAS Specialist Conference on Guidance, Navigation & Control, Proceedings of Euro GNC 2017 - 4th CEAS Specialist Conference on Guidance, Navigation & Control, Warsaw, Poland, April 25-27, 2017.

Results/Animations