COSMOS LECTURE

Computer Simulations
and
Working Model 2D

Raymond de Callafon
Dynamic Systems & Control Group
Center of Magnetic Recording Research
UCSD, Dept. of MAE
Email: callafon@ucsd.edu

COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Models - physical

Model:

Description/approximation of reality or object

Physical Models:

Scale representation

Description of observed
physical phenomen

Solid/computer model

2 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Models - conceptual

Model:

Conceptual Model: description of reality or object by
means of conceptual formulations and may include:

Business models

Computer models

Geological models

Mechanical models

Statistical models

Etc. Etc. …

Description of concepts usually based on mathematics!

3 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Mathematical Models

Mathematical Model: combination of

A set of assumptions (axioms)

A set of equations and algorithms that describes how a physical
system or “reality” would behave

A set of parameters for numerical values of physical properties

Example:

Any object with a mass m is subjected to a gravitational force F

where F = m⋅ g
g = 9.81 m / s 2

The time dependent position x(t) of an object with a constant mass
m subjected to a time dependent force F(t) is described by 2nd
Newton’s law 2
d
m 2 x(t ) = F (t )
dt
4 COSMOS @ UCSD - R.A. de Callafon July 14, 2010
 Simulations

With a Mathematical Model a combination of

A set of assumptions (axioms)

A set of equations and algorithms

A set of parameters
Compute the solution to the set of equations?

Simulating the behavior of a physical system ☺

Complexity of model or set of equations?

Explicit computation of solution often impossible 

Approximation of solution via numerical approximation.

Numerical Approximation via Computer Simulation

5 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations and Design

Simulations (numerical approximation) using a computer:

Help predict behavior before actual design

Make changes to design

See the effect of changes in parameters

6 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations and Motion

Simulations (numerical approximation) using a computer:

Predict motion of object

Visualize motion of a mechanical system

See the effect of changes in parameters

Specifically: we will use

Working Model 2D (WM2D)

7 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

Working Model 2D allows:

Dynamic simulation of multiple mechanical objects

Visualize motion of a multiple mechanical objects

See the effect of changes in parameters

8 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

Working Model 2D is also a model

A set of assumptions:

Each object is assumed to be rigid

Spring forces are linear or quadratic

Objects collide with prescribed energy loss

A set of equations:

Constraint force algorithm

Equations of Motion, see also:

http://maelabs.ucsd.edu/cosmos/resources/WM-Documentation/Additional-Documentation/EquationsOfMotion.pdf

A set of parameters:

Gravity

Mass, size and elastic properties of objects

Integration step size (explained later)

9 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

Related Questions (see also Computer Simulation

Worksheet):

How can we use WM2D for the clock project?

Simulate oscillation of your pendulum to predict timing!

How can we use WM2D for the design of kinetic sculptures?

Simulate balls bouncing and rolling around in a

particular (controlled) part of your (mini) sculpture.

10 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

LIVE DEMO of WM2D

11 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

More on numerical precision and integration parameter:

Step size determines

in how many time
steps numerical
solution is computed.

Making step size larger:

Faster simulation

Less accurate

Possible erroneous
object collision
detection

12 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

Tasks:

Download Example Ball Trap WM2D file and see if the
difference in simulation behavior when changing the step
size and/or accuracy:
http://www.maelabs.ucsd.edu/cosmos/balltrap.wm2d

Design challenge: Use same

Example Ball Trap WM2D file
and:

Remove large ball object

Design sculpture/structure inside
so that small ball hits bottom of
box at exactly 10 seconds!

13 COSMOS @ UCSD - R.A. de Callafon July 14, 2010

 Computer Simulations with WM2D

Predicting the oscillation frequency

or timing of your pendulum:

Import clock pendulum

from autoCAD into WM2D

Simulate and measure timing.

Process of importing must be done carefully!

Documentation on our COSMOS website:

http://maelabs.ucsd.edu/cosmos/resources/WM-Documentation/Importing-Pendulum-to-WORKING-MODEL.htm

14 COSMOS @ UCSD - R.A. de Callafon July 14, 2010