Categorical approach to modelling and to coupling of models

Solution of any engineering problem starts with a modelling process, which typically involves a choice among different kinds of models. To create a realistic model, one has to think carefully about the modelling process. Particularly in the case of coupled problems when several models are coupled together to represent a given physical phenomenon. This paper presents an approach based on the category theory that allows to describe this modelling process on a more abstract level. Using the advantages of abstract level, one can describe the coupling process in a concise way and introduce certain criteria to check consistency of a coupled model. The main idea of the proposed approach is to introduce a structure in the modelling process, which allows to see how different models interact without a precise look into them. Copyright © 2016 John Wiley & Sons, Ltd.     

Development of a finite element model of metal powder compaction process at elevated temperature

This paper presents the finite element modelling of metal powder compaction process at elevated temperature. In the modelling, the behaviour of powder is assumed to be rate independent thermo-elastoplastic material where the material constitutive laws are derived based on a continuum mechanics approach. The deformation process of metal powder has been described by a large displacement based finite element formulation. The Elliptical Cap yield model has been used to represent the deformation behaviour of the powder mass during the compaction process. This yield model was tested and found to be appropriate to represent the compaction process. The staggered-incremental-iterative solution strategy has been established to solve the non-linearity in the systems of equations. Some numerical simulation results were validated through experimentation, where a good agreement was found between the numerical simulation results and the experimental data.     

A fractional order model for lead-acid battery crankability estimation

With EV and HEV developments, battery monitoring systems have to meet the new requirements of car industry. This paper deals with one of them, the battery ability to start a vehicle, also called battery crankability. A fractional order model obtained by system identification is used to estimate the crankability of lead-acid batteries. Fractional order modelling permits an accurate simulation of the battery electrical behaviour with a low number of parameters. It is demonstrated that battery available power is correlated to the battery crankability and its resistance. Moreover, the high-frequency gain of the fractional model can be used to evaluate the battery resistance. Then, a battery crankability estimator using the battery resistance is proposed. Finally, this technique is validated with various battery experimental data measured on test rigs and vehicles.     

Hydrodynamic models of traffic flow: Drivers' behaviour and nonlinear diffusion

This paper deals with scalar hydrodynamic models of traffic flow on roads. The equivalence between models with diffusion and models with a driver is analyzed, putting in evidence equivalences and contradictions. A new model is proposed in order to refine the modelling of the driver's behaviour.     

Online simulation for a real-time route dispatching problem

In this article we present an online simulation application for a decision problem that operates in real time, where products have to be dispatched from two depots to clients that are geographically distributed throughout the city. The system's behaviour is highly stochastic, due to the random behaviour of the client's demand (in time and space), and the random times of order preparation, travelling times of dispatchers (these are motorcycle drivers) and absence rate of drivers each day. A decision scheme is proposed that combines elements of vehicle routing with time windows, real-time dispatching of drivers and online simulation, through which information on future events is considered in the decision-making process. Two major conclusions are obtained when this scheme is applied to real data. First, we show that the proposed algorithm for order consolidation and route dispatching can be very advantageous from the point of view of logistics costs and quality of service. Second, we show that online simulation and, specifically, the Simulation-based Real-time Decision Making methodology (SRDM) can further improve the quality of the results. New ideas for further work are also proposed.     

Incorporating human behaviour in simulation models of screening for breast cancer

Simulation modelling is widely used in many industries in order to assess and evaluate alternative options and to test strategies or operating rules which are too complex to be modelled analytically. Simulation software has developed its capability in parallel with the growth in computing power since the 1980s. However in practice, the results from the most sophisticated and complex simulation model may not truly reflect what happens in the real world, because such models do not account for human behaviour. For example, in the domain of healthcare simulation is often used to evaluate the outcomes from medical interventions such as new drug treatments. However in reality patients may not complete the course of a prescribed medication, perhaps because they find the side-effects unpleasant. A simulation study designed to evaluate this medication which ignores such behavioural factors may give unreliable results. In this paper we describe a model for screening for breast cancer which includes behavioural factors to model women’s decisions to attend for mammography. The model results indicate that increasing attendance through education or publicity campaigns can be equally as effective as decreasing the intervals between screens. This would have considerable cost implications for healthcare providers.     

Automated generation of LFT-based parametric uncertainty descriptions from generic aircraft models

A computer assisted modelling methodology is developed for the generation of linearized models with parametric uncertainties described by Linear Fractional Transformations (LFTs). The starting point of the uncertainty modelling is a class of generic nonlinear aircraft models with explicit parametric dependence used for simulation purposes. The proposed methodology integrates specialized software tools for object-oriented modelling, for simulation, and for numerical as well as symbolic computations. The methodology has many generic features being applicable to similar nonlinear model classes.     

Fuzzy-hybrid modelling of an Ackerman steered electric vehicle

Physical system modelling with known parameters together with 2-D or high order look-up tables (obtained from experimental data), have been the preferred method for simulating electric vehicles. The non-linear phenomena which are present at the vehicle tyre patch and ground interface have resulted in a quantitative understanding of this phenomena. However, nowadays, there is a requirement for a deeper understanding of the vehicle sub-models which previously used look-up tables. In this paper the hybrid modelling methodology used for electric vehicle systems offers a two-stage advantage: firstly, the vehicle model retains a comprehensive analytical formulation and secondly, the ‘fuzzy’ element offers, in addition to the quantitative results, a qualitative understanding of specific vehicle sub-models. In the literature several hybrid topologies are reported, sequential, auxiliary, and embedded.In this paper, the hybrid model topology selected is auxiliary and within the same hybrid model, the first paradigm used is the vehicle dynamics together with the actuator/gearbox system. The second paradigm is the non-linear fuzzy tyre model for each wheel. In particular, conventional physical system dynamic modelling has been combined with the fuzzy logic type-II or type-III methodology. The resulting hybrid-fuzzy tyre models were estimated for a-priori number of rules from experimental data. The physical system modelling required the available vehicle parameters such as the overall mass, wheel radius and chassis dimensions. The suggested synergetic fusion of the two methods, (hybrid-fuzzy), allowed the vehicle planar trajectories to be obtained prior to the hardware development of the entire vehicle. The strength of this methodology is that it requires localised system experimental data rather than global system data. The disadvantage in obtaining global experimental data is the requirement for comprehensive testing of a vehicle prototype which is both time consuming process and requires extensive resources. In this paper the authors have proposed the use of existing experimental rigs which are available from the leading automotive manufacturers. Hence, for the ‘hybrid’ modelling, localised data sets were used. In particular, wheel-tyre experimental data were obtained from the University tyre rig experimental facilities. Tyre forces acting on the tyre patch are mainly responsible for the overall electric vehicle motion. In addition, tyre measurement rigs are a well known method for obtaining localised data thus allowing the effective simulation of more detailed mathematical models. These include, firstly, physical system modelling (conventional vehicle dynamics), secondly, fuzzy type II or III modelling (for the tyre characteristics), and thirdly, electric drive modelling within the context of electric vehicles. The proposed hybrid model synthesis has resulted in simulation results which are similar to piece-wise ‘look-up’ table solutions. In addition, the strength of the ‘hybrid’ synthesis is that the analyst has a set of rules which clearly show the reasoning behind the complex development of the vehicle tyre forces. This is due to the inherent transparency of the type II and type III methodologies. Finally, the authors discussed the reasons for selecting a type-III framework. The paper concludes with a plethora of simulation results.     

Semiqualitative modelling of bioprocesses

This paper deals with semiqualitative modelling of bioprocesses with a view to their supervision. An analysis of several approaches for modelling shows the difficulties involved in taking into account in a same framework, quantitative and qualitative knowledge, generally available about a process that we want to control. We propose an original approach, placed in the context of semiqualitative modelling, that is supported by a knowledge model the variables and parameters of which are defined by intervals. For these semiqualitative models, we study their properties in simulation and prediction, and more precisely, their fitting based on experimental data. We show that pertinent predictions in a short time can be obtained, making of these semiqualitative models interesting tools for the development of systems for bioprocess supervision     

Homogenization of fibre composites using X-FEM

A successful material design process for novel textile reinforced composites requires an integrated simulation of the material behaviour and the estimation of the effective properties used in a macroscopic structural analysis. In this context the Extended Finite Element Method (X-FEM) is used to model the behavior of materials that show a complex structure on the mesoscale efficiently. A homogenization technique is applied to compute effective macroscopic stiffness parameters. This contribution gives an outline of the implementation of the X-FEM for complex multi-material structures. A modelling procedure is presented that allows for the automated generation of an extended finite element model for a specific representative volume element. Furthermore, the problem of branching material interfaces arising from complex textile reinforcement architectures in combination with high fibre volume fractions will be addressed and an appropriate solution is proposed. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Exploring the model development process in discrete-event simulation: insights from six expert modellers

This paper explores the model development process in discrete-event simulation (DES) by reporting on an empirical study that follows six expert modellers while building simulation models. DES is a widely used modelling approach, however little is known about the modelling processes and methodology adopted by modellers in practice. Verbal Protocol Analysis is used to collect data, where the participants are asked to speak aloud while modelling. The results show that the expert modellers spend a significant amount of time on model coding, verification and validation, and data inputs. The modellers iterate often between modelling activities. Patterns of modelling behaviour are identified, suggesting that the modellers adopt distinct modelling styles. This study is useful in that it provides an empirical view of existing DES modelling practice, which in turn can inform existing research and simulation practice as well as teaching of DES modelling to novices.     

An analytical and numerical study of liquid dynamics in a one‐dimensional capillary under entrapped gas action

Capillary dynamics has been and is yet an important field of research, because of its very relevant role played as the core mechanism at the base of many applications. In this context, we are particularly interested in the liquid penetration inspection technique. Because of the obviously needed level of reliability involved with such a non‐destructive test, this paper is devoted to study how the presence of an entrapped gas in a close‐end capillary may affect the inspection outcome. This study is carried out through a one‐dimensional ordinary differential model that despite its simplicity is able to point out quite well the capillary dynamics under the effect of an entrapped gas. The paper is divided into two main parts; the first starts from an introductory historical review of capillary flows modelling, goes on presenting the one‐dimensional second order ordinary differential model, taking into account the presence of an entrapped gas and therefore ends by showing some numerical simulation results. The second part is devoted to the analytical study of the model by separating the initial transitory behaviour from the stationary one. Besides, these solutions are compared with the numerical ones, and finally, an expression is deduced for the threshold radius switching from a fully damped transitory to an oscillatory one. Copyright © 2013 John Wiley & Sons, Ltd.     

An integrative modelling approach for understanding competitive electricity markets

A model of the UK Electricity market is presented focusing on the competitive behaviour of buyers and sellers. The model was developed using the OO/DEVS object oriented industry simulation platform and includes as components: generators, suppliers, customers, the electricity pool and the contract market. The motivation and structure of the OO/DEVS platform is described both as a vehicle for systems thinking and as an architecture for integrative modelling, allowing, for example, optimisation and spreadsheet models to exist as objects within an overall strategic simulation model. The actual case-study implementation presented in this paper, was undertaken in collaboration with one of the privatised utilities in the UK.     

Rigid–flexible interactive dynamics modelling approach

Dynamics modelling of multi-body systems composed of rigid and flexible elements is elaborated in this article. The control of such systems is highly complicated due to severe underactuated conditions caused by flexible elements and an inherent uneven non-linear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, simulation studies for design improvement and also practical implementations. In this article, the rigid–flexible interactive dynamics modelling (RFIM) approach is proposed as a combination of Lagrange and Newton–Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than a common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. The proposed RFIM approach is first detailed for multi-body systems with flexible joints, and then with flexible members. Then, to reveal the merits of this new approach, few case studies are presented. A flexible inverted pendulum is studied first as a simple template for lucid comparisons, and next a space free-flying robotic system that contains a rigid main body equipped with two manipulating arms and two flexible solar panels is considered. Modelling verification of this complicated system is vigorously performed using ANSYS and ADAMS programs. The obtained results reveal the outcome accuracy of the new proposed approach for explicit dynamics modelling of rigid–flexible multi-body systems such as mobile robotic systems, while its limited computations provide an efficient tool for controller design, simulation studies and also practical implementations of model-based algorithms.     

A network approach to the modelling of active magnetic bearings

The modelling of active magnetic bearings based on a network approach is considered. Unlike in the standard modelling approach, where a linearization of the current-force relation for the centred shaft position is used, network models permit to include the position dependence of the bearing force in the force model. This becomes necessary when model based controllers are used to stabilize a magnetically supported shaft in tracking applications.

The approach is based on the well known application of network models to magnetic circuits. Further simplifying assumptions are discussed which allow one to obtain a network with a limited number of lumped parameters describing the magnetic behaviour of a magnetic bearing. The modelling of a combined radial and axial bearing serves as an example for the application of the proposed approach. Furthermore, the fitting of the network based model to measured characteristic force curves is discussed. In this context, a method for including saturation effects in the model is sketched.     

Numerical and experimental investigation on stochastic dynamic load of a heavy duty vehicle

Numerical simulation and field test are used to investigate tire dynamic load. Based on multi-body dynamics theory, a nonlinear virtual prototype model of heavy duty vehicle (DFL1250A9) is modeled. The geometric structural parameters of the vehicle system, the nonlinear characteristics of shock absorber and leaf springs are precisely described. The dynamic model is validated by testing the data, including vertical acceleration of driver seat, front wheel, intermediate wheel and rear wheel axle head. The agreement between the response of the virtual vehicle model and the measurements on the test vehicle is satisfactory. Using the reliable model, the effects of vehicle speed, load, road surface roughness and tire stiffness on tire dynamic load and dynamic load coefficient (DLC) are discussed. The results demonstrate that the proposed model can offer efficient and realistic simulation for stochastic dynamic loads, so as to investigate vehicle road-friendliness.     

An integrated simulation-optimization framework for the operational planning of seaport container terminals

In this article the operational planning of seaport container terminals is considered by defining a suitable integrated framework in which simulation and optimization interact. The proposed tool is a simulation environment (implemented by using the Arena software) representing the dynamics of a container terminal. When the system faces some particular conditions (critical events), an optimization procedure integrated in the simulation tool is called. This means that the simulation is paused, an optimization problem is solved and the relative solution is an input for the simulation environment where some system parameters are modified (generally, the handling rates of some resources are changed). For this reason, in the present article we consider two modelling and planning levels about container terminals. The simulation framework, based on an appropriate discrete-event model, represents the dynamic behaviour of the terminal, thus it needs to be quite detailed and it is used as an operational planning tool. On the other hand, the optimization approach is devised in order to define some system parameters such as the resource handling rates; in this sense, it can be considered as a tool for tactical planning. The optimization procedure is based on an aggregate representation of the terminal where the dynamics is modelled by means of discrete-time equations.