Pierangelo Masarati

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This paper discusses the opportunity, for the community of multi-body developers and users, of the availability of Open Source multibody analysis software implementations. The basic characteristics of such implementations are drawn, and a critical review of what is available is presented. 1 INTRODUCTION This paper discusses the opportunity for the multibody(More)
The paper describes an unusual C 0 beam discretization based on the nite volumes concept. In the linear case this approach leads to a collocated evaluation of the stiiness matrix of the beam and it proves to beintrinsically free from shear locking. In the non-linear formulation, only a collocated evaluation of the elastic forces is required, that(More)
—We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body length/s), approaching the performance of small, high-performing, desert-dwelling lizards. To reveal how the robot achieves this high(More)
This work is focused on the implementation of a general multibody analysis framework for the real-time simulation of complex systems. It is applied to the modeling of the Semi-Articulated Soft-InPlane (SASIP) rotor recently installed and tested on the Wing and Rotor Aeroelastic Testing System (WRATS) at NASA Langley. The aim is to obtain a detailed, yet(More)
We study the locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of 3 mm diameter glass particles at speeds up to 5 body length/s, approaching the performance of certain desert-dwelling animals. To reveal how the robot achieves this performance, we used high-speed imaging to capture its(More)
The problem of building a methodology to couple fluid and structure is addressed in this paper. If the goal of the fluid-structure simulation is the stability assessment , an important issue to be addressed is the conservation of the momentum and energy exchanged between the participating domains. In realistic aerospace applications, the fluid and(More)
This paper presents an application to robotics modeling of the multibody free software MBDyn in its real-time variant. Real-time simulation of robots is usually carried on using dedicated software because of the stringent requirements in terms of solution time for each time step. The real-time variant of the general-purpose multibody simulation software(More)
This paper presents a computational framework for the integrated simulation of complex multi-physics problems. It results from interfacing existing structural dynamics, multidisciplinary software and different computational fluid dynamics codes by means of a newly developed, broadly general communication scheme that accounts both for solution(More)