Master Thesis Projects - in ModSimCompMech
The research group in Modeling and simulation of complex mechanical systems offer projects mainly in computational science and engineering. Your background could be applied mathematics, computer science, computational physics, control, mechanical engineering, robotics - but this is not exclusive. Please contact us with your interest and CV. Feel free also to propose thesis project by yourself.
Announced projects
Merge/split in rigid multibody simulation
Adaptive simplification of rigid multibody systems by merging bodies into agglomerate superbodies can accelerate large-scale simulation by many orders in magnitude. The actions should preserves physical invariants, minimizes computational time, produce consistent pressure force distributions and allow for impulse propagation. Application to vehicle or robot simulations with large piles of contacting bodies.
Quantitative analysis of frictional contact models and solvers
Implement different formulations of dry friction for rigid bodies - some old and some new; performance analysis including: testing pipeline, design of statistical measures, scientific visualization of results.
Parallel numerical solutions of sparse linear systems
- hierarchical data formats for sparse matrices
- factorization update and downdate
- load balancing
- quantitative comparisons to existing libraries
Geometric contact reduction for 3D objects
It is possible to identify contact points that are redundant to the dynamics contacting rigid body system simulations. Eliminating redundant contact can have dramatic effect on the computational performance. The project include: implementing existing models, development of new techniques (advanced), quantitative evaluation of contact set quality.
Multiphysics: coupling of fluid with rigid multibody dynamics on GPGPU
- evaluation of solvers
- evaluation of models for boundary conditions
- management of shared memory between CPU and GPGPU
Analytical system dynamics
Testing theoretical models and numerical simulations of coupled systems including: rigid multibodies, hydraulics (fluid power), electrical networks, heat transfer.
Adaptive resolution in particle fluid simulation
Extension of existing constraint based particle fluids to adaptive level of detail. Alternatives to particle representation of coarse grained regions. Application to industrial systems or scientific studies of ocean freak waves.
Real-time simulation models of ground-tire interaction and transmission lines
New contact model for ground-tire interaction suitable for real-time simulation of constrained multibody systems. Constraint based modeling of transmission lines. Applications to new design of terrain vehicles.
New contact and friction models
Contact reduction (theory, implementation, analysis); evaluation of a number of existing contact models (implementation, analysis) of Anitescu/Potra, Anitescu/Hart, Kaufamn/Pai, pairwise models, Kane/Pandolfi; development of a new model including reduction, delocalization and aspirity (theory, implementation, analysis); splitting technique for friction LCP solver.
Sparse parallel solvers with applications to QP
Sparse parallel factorization of LDL update and downdate with applications to quadratic programming (QP); block pivot methods for QPs (smoothing, splitting, application to frictional contacts, direct iterative hybrid solver); splitting techniques for frictional LCP solver; GPGPU techniques (sparse direct LDL solver, CG preconditioning, application to QP contact problems).
Time-integration of non-smooth dynamical systems
Linear and nonlinear constraint stabilization, impacts and nonsmooth mechanics, geometric integration and invariants, stable integration of rotational degrees of frodeom, robotics O(N) solver for closed loop systems.
Running projects
- Projected conjugate-gradient solver for contacting rigid bodies on GPGPU
- Parallel factorization of symmetric indefinite linear systems
- Parallelization of conjugate gradient solver for mixed linear complementarity problem
Previous projects
- A Parallel Blocked Multifrontal Implementation of Colesky Factorization for Sparse Matrices (Olof Sabelström)
- A constraint based viscoplastic fluid model of granular matter (John Nordberg)
- Discrete event simulations in forestry technology (Linus Jundén)
- Constraint Fluids on GPU* (Martin Nilsson)
- Parallel Simulation of Particle Fluids* (Mattias Linde)
- Phun* (Emil Ernefeldt)
- Realtime Simulation of Wires (Fredrik Nordfelth)
- Real-Time Simulation of Deformable Objects (Niklas Melin)
- Rigid Body Simulation of Macro Molecules (Christian Svebilius)
- Simulation of off-road Vehicle (Erik Linder)
- Shared Control of Mechanical Systems in Virtual Environments (Anders Hansson)
- Smoothed Particle Hydrodynamics on the Cell Broadband Engine* (Nils Hjelte)
- Smooth and nonsmooth approaches to simulation of granular matter (Stefan Hedman)
- ... and several more
'*' was run at VRLab
External projects
