mechanics

Software (mostly free software - FLOSS) useful to researchers and teachers in mechanics (solid, fluid ...) and mechanics professionals
Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 18/07/12
  • Minor correction: 28/05/14

Morse : Generic simulator for robotics

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System:
  • Current version: 1.2 - january 2014
  • License(s): BSD
  • Status: stable release
  • Support: maintained, ongoing development
  • Designer(s): Main developers: Arnaud Degroote (LAAS-CNRS), Gilberto Echeverria (LAAS-CNRS), Michael Karg (TUM), SĂ©verin Lemaignan (LAAS-CNRS). See the full list.
  • Contact designer(s): morse-dev AT laas DOT fr
  • Laboratory, service: Technische Universität MĂĽnchen (TUM) full list

 

General software features

MORSE is a generic simulator for academic robotics. It focuses on realistic simulation of small to large environments, indoor or outdoor, with one to over a dozen of autonomous robots. It provides a set of standard sensors (cameras, laser scanner, GPS, odometry,...), actuators (speed controllers, high-level waypoints controllers, generic joint controllers) and robotic bases (ATRV, generic 4 wheel vehicle, PR2,...) used in robotics research laboratories. New components can easily be added.

Morse can use and test software components interacting through several middlewares used in robotics, including: Fiche Plume pocolibs, yarp and ROS.

One of the main design choice for MORSE is the ability to control the degree of realism of the simulation, form photo-realistic rendering for image processing to semantic levels, avoiding heavy processing to extract information.

Morse is based on the Fiche Plume Blender modelling and real-time 3D rendering environment and on the Bullet physics simulator engine.

Context in which the software is used

Academic research in robotics, development and debugging of software components, teaching,...

Publications related to the software
Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 25/11/11
  • Minor correction: 23/11/12

ROTORINSA : prediction of the dynamic behavior of rotors in bending

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System:
  • Current version: Version 4.0.4 - March 2011
  • License(s): Proprietary licence -

    A free version may be loaded : http://rotorinsa.insa-lyon.fr/modules/formulaire/index.php?id=2&rub=05

  • Status: stable release
  • Support: maintained, ongoing development
  • Designer(s): Guy FERRARIS, Michel LALANNE, Marie Ange ANDRIANOELY
  • Contact designer(s): rotorinsa@insa-lyon.fr
  • Laboratory, service:

 

General software features

This finite element software is devoted to the prediction of the steady state behavior of monorotors in bending.
Modeling
Node: 4 degrees of freedom.
Shaft: two-node beam element, classical stiffness and mass matrices, axial forces, shear, rotatory inertia and gyroscopic effect are taken into account.
Disk: one-node disk element, rigid and defined by mass and gyroscopic matrices.
Bearings: stiffness and damping matrices which can be non-symmetric and can vary as a function of the speed of rotation; active magnetic bearings.
Specific elements: modeling of particular effects such as couplings, magnetic attraction, stator …

ROTORINSA predicts:
In Statics:
- The deflection of the shaft subjected to gravity and/or forces which can be concentrated.

In Dynamics:
- Natural frequencies and modes in rotation, Campbell diagram, instabilities and damping factors.
- Mass unbalance response, asynchronous force response, response to a harmonic force fixed in space.
- Maximum stresses in the shafts, loads on bearings.
- Elementary energies.

Context in which the software is used

ROTORINSA is used for rotating machinery design and modification of the architecture of existing machines.
ROTORINSA is implemented on more than 20 industrial sites. It has been and it is still used for training at INSA-Lyon in France and in foreign countries.

The expertise of the laboratory has been greatly gained from contracts with companies and state organizations over a period of nearly 30 years.

Publications related to the software

The software is based on the theory presented in:
1. Rotordynamics Prediction in Engineering by Michel Lalanne and Guy Ferraris. J. Wiley, 254 p, 2nd edition 1998.
ISBN 0 471 97288 6
2. Dynamique des rotors en flexion. Guy Ferraris, Michel Lalanne. Techniques de l’ingénieur Traité
GĂ©nie MĂ©canique, B5 110, 1996.

ROTORINSA User manual
Marie Ange ANDRIANOELY - Guy FERRARIS - Michel LALANNE - Alain BERLIOZ - Alain THIVILLIER
Version 4.0.4 2011

ROTORINSA Qualification manual
Guy FERRARIS - Marie Ange ANDRIANOELY - Michel LALANNE - Alain BERLIOZ - Alain THIVILLIER
Version 4.0.4 2011

Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 25/11/11
  • Minor correction: 25/11/11

MULTIROTOR : prediction of the dynamic behavior of multirotors

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • System:
  • Current version: March 2010
  • License(s): Proprietary licence
  • Status: stable release
  • Support: maintained, ongoing development
  • Designer(s): Guy FERRARIS, Michel LALANNE
  • Contact designer(s): rotorinsa@insa-lyon.fr
  • Laboratory, service:

 

General software features

This finite element software is devoted to the prediction of the dynamic behavior of parallel multirotors in bending.
Modeling
Node: 4 degrees of freedom.
Shaft: two-node beam element, classical stiffness and mass matrices, axial forces, shear, rotatory inertia and gyroscopic effect are taken into account.
Disk: one-node disk element, rigid, defined by mass and gyroscopic matrices effects.
Bearings: stiffness and damping matrices which can be non-symmetric and can vary as a function of the speed of rotation.
Specific elements: modeling of particular effects such as couplings, magnetic attraction, stator …

MULTIROTOR predicts:
In Statics:
- The deflection of the shafts subjected to gravity and/or forces which can be concentrated.

In Dynamics:
- Natural frequencies and modes in rotation, Campbell diagram, instabilities and damping factors.
- Mass unbalance response, asynchronous force response, response to a harmonic force fixed in space.
- Maximum stresses in the shafts, loads on bearings.
- Elementary energies, kinetic and strain energies in elements.

Context in which the software is used

MULTIROTOR is used for rotating machinery design, especially for jet engines and for the modification of the architecture of existing machines.
MULTIROTOR is used for training at INSA-Lyon, in France and in foreign countries.

The expertise of the laboratory has been greatly gained from contracts with companies and state organizations over a period of nearly 30 years.

Publications related to the software

The software is based on the theory presented in:
1. Prédiction du comportement dynamique des moteurs d’avion : vitesses critiques, effets de balourd. Patrick Berthier, Guy Ferraris, Michel Lalanne. J. Mec.Th. et Appl, 5. 1986.
2. Prediction of the dynamic behavior of non-symmetric coaxial co-or counter rotating rotors .G Ferraris, V.Maisonneuve , M.Lalanne. J of Sound and Vibration 1996 195(4), 649-666.
3. Rotordynamics Prediction in Engineering by Michel Lalanne and Guy Ferraris. J. Wiley, 254 p, 2nd edition 1998. ISBN 0 471 97288 6
4. Dynamique des rotors en flexion. Guy Ferraris, Michel Lalanne. Techniques de l’ingénieur Traité Génie Mécanique, B5 110, 1996.

Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 25/11/11
  • Minor correction: 23/11/12

TORSION : prediction of the dynamic behavior of rotors in torsion

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • System:
  • Current version: TORSION version 1.0.0 - December 2007
  • License(s): Proprietary licence
  • Status: stable release
  • Support: maintained, ongoing development
  • Designer(s): Guy FERRARIS, Marie Ange ANDRIANOELY
  • Contact designer(s): rotorinsa@insa-lyon.fr
  • Laboratory, service:

 

General software features

This finite element computer program is devoted to the steady state or the transient dynamic behavior of multirotors in torsion.

Modeling
Node: 2 degrees of freedom.
Shaft: two-node beam elements in torsion.
Disk: one-node disk element, rigid.
Gears.
Supplementary stiffness, mass, damping elements.
Discrete element.

Statics' Prediction: deflection of rotor in torsion subject to several torques.

Dynamic Prediction:
In steady state: frequencies, modes, harmonic force response and energies in elements.
In transient motion: couples, speeds are function of time.

Context in which the software is used

TORSION is used for rotating machinery design and for the modification of the architecture of existing machines.

TORSION is used for training at INSA-Lyon, in France and in foreign countries.

The expertise of the laboratory has been greatly gained from contracts with companies and state organizations over a period of nearly 30 years.

Publications related to the software

The software is based on the theory presented in:
1. Rotordynamics Prediction in Engineering by Michel Lalanne and Guy Ferraris. J. Wiley, 254 p, 2nd edition 1988. ISBN 0 471 97288 6
2. Dynamic problems concerning the speed of rotation increase of a turbine –blower assembly. A Castilho G Jacquet-Richardet, M.Lalanne, J of Sound and Vibration 1998 215(1), 47-62.

TORSION Manuel d'utilisation
Marie Ange ANDRIANOELY - Guy FERRARIS
Version 1.0.0 2007

Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 11/05/10
  • Minor correction: 11/05/10

EXSIEL : computation of singularity exponents in anisotropic linear elasticity

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System:
  • Current version: 1 - 22/05/2008
  • License(s): CeCILL
  • Status: stable release
  • Support: maintained, no ongoing development
  • Designer(s): Yvon Lafranche
  • Contact designer(s): Yvon.Lafranche@univ-rennes1.fr
  • Laboratory, service:

 

General software features

Solving the linear elasticity equations on a domain with corners (or edges) on its boundary leads to inaccurate results near the corners since these equations admit singular solutions.

This application is designed to compute the characteristic values of these solutions, namely their singularity exponents and the associated angular singular functions, in the following geometrical situations:

  • in dimension 2, near a corner, the domain can be decomposed into contiguous angular sectors, each of them containing a homogeneous material,
  • in dimension 3, the previous description holds in any plane perpendicular to the edge we consider.
Context in which the software is used

The input data are geometrical data, the elasticity coefficients of each material involved and the type of boundary conditions (Dirichlet, Neumann or mixed conditions).

The method used is fast and accurate. It is particularly useful with anisotropic materials and allows for instance to "follow" the dependency of singularity exponents along a curved edge.

The core of the application is a Fortran program that can be used alone. Moreover, some Matlab scripts and functions have been written to facilitate the graphical post-processing of the computation results. A shell-script (requiring Unix or Mac OS X) takes care of the input and output data files and allow their graphical post-processing.

Publications related to the software
M. Costabel, M. Dauge, Y. Lafranche.
Fast semi-analytic computation of elastic edge singularities.
Computer Methods in Applied Mechanics and Engineering 190 (2001) 2111-2134.
Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 13/02/10
  • Minor correction: 09/01/13
  • Index card author: Yves Renard (ICJ)
  • Theme leader : Dirk Hoffmann (Centre de Physique des Particules de Marseille (CPPM-IN2P3))

GetFem++ : finite element C++ library interfaced with scilab-python and matlab

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System:
  • Current version: 4.2 - 02 aout 2012
  • License(s): LGPL
  • Status: validated (according to PLUME), stable release
  • Support: maintained, ongoing development
  • Designer(s): Yves Renard, Julien Pommier
  • Contact designer(s): Yves.Renard@insa-lyon.fr
  • Laboratory, service:

 

General software features

Getfem++ is basically a generic C++ finite element library which aims to offer the widest range of finite element methods and elementary matrix computations for the approximation of linear or non-linear problems, possibly in hybrid form and possibly coupled. The dimension of the problem is arbitrary and may be a parameter of the problem. Getfem++ offers a description of models in the form of bricks whose objective is to enable reusability of the approximations made. The system of bricks, now mature, is used to assemble components such as standard models (elasticity in small and large deformations, Helmholtz problem, scalar elliptic problem ...) to components representing the boundary conditions (Neumann, Dirichlet, Fourier-Robin, contact, friction...), also to components representing constraints (incompressibility, removing rigid motions ...) and to coupling components for coupled models.

Two strong points of Getfem++ are structural mechanics (in particular contact mechanics) and taking into account discontinuities by fictitious domain methods of XFEM type (eg cracking).

It is proposed three interfaces (with Scilab, Matlab and Python) that allow to use of the main features of the software without the need of C++ programming and allowing graphical post-processing.

Getfem++ offers a complete separation between the integration methods (exact or approximated), geometric transformations (linear or not) and finite element methods of arbitrary degree. The library can help to write more integrated finite element codes in relieving the basic technical calculations.

Examples of families of finite elements available are: Pk on simplices of arbitrary degree and dimension, Qk on parallelepipeds, P1, P2 with bubble functions, Hermite elements, Argyris element, HCT and FVS, elements with hierarchical basis (for multigrid methods for instance), discontinuous Pk and Qk, XFEM methods, vector elements (RT0, Nédélec) ...

The addition of a new finite element method is relatively easy. A description on the reference element must be provided (in most cases it is the description of the basic functions and nothing more). Extensions are provided to describe Hermite elements, piecewise polynomial or non-polynomial elements, vector elements and XFEM.

The library also includes the usual tools for finite elements such as assembly procedures for classical PDEs, interpolation methods, the calculation of norms, mesh operations (including automatic refinement), management of boundary conditions, post-treatment with a tool to make arbitrary cuts ...

Getfem++ can be used to construct very generic finite element codes, where finite element methods, integration methods and the dimension of the problem are the parameters that can be changed very easily. This allows a wide range of experiments. Many examples are provided.

Getfem++ has no meshing capabilities (with the exception of the regular mesh generation and also a small attempt not yet usable). It is therefore necessary to import meshes. The formats currently supported are GID, GMSH and EMC2.

Context in which the software is used

Getfem++ is a laboratory for finite element methods which allows to build very quickly some new methods and allows to test a wide field of applications and types of basic elements.
The brick system also allows to build at a lower cost approximation of linear or non linear complex PDE systems needed for instance by the modeling of multiphysics problems. The main feature of the library is available via the Scilab, Python or Matlab interfaces.

Publications related to the software

Personal publications linked to Getfem :
http://math.univ-lyon1.fr/~renard/publis.html

Example of publication from a Getfem user :
A. Andreykiv, D. J. Rixen, Numerical modelling of electromechanical coupling using fictitious domain and level set methods. Int. J. Numer. Meth. Engng 2009 (http://www3.interscience.wiley.com/journal/1224409...).

Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 12/01/10
  • Minor correction: 19/04/13

BOMBEC : fluid-structure models based on eulerian concepts

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System:
  • Current version: 0.25 - November, 2009
  • License(s): not yet chosen
  • Status: internal use
  • Support: maintained, ongoing development
  • Designer(s): C. Bost, E. Maitre, T. Milcent
  • Contact designer(s): Emmanuel.Maitre@imag.fr
  • Laboratory, service:

 

General software features
  • simulation of the behavior of immersed elastic interfaces in shear flow. Area and mean curvature surface energies are taken into account. 2D and 3D codes,
  • simulation of generic fluid-structure coupling for an immersed elastic body. 3D code,
  • simulation of fluid-structure coupling for a rigid solid. 2D en 3D codes.
Context in which the software is used
  • computation of equilibrium shapes of red blood cells,
  • simulation of the dynamic behavior of a red blood cell in shear flow,
  • simulation of the isolated cardiomyocyte contraction in a PĂ©tri dish,
  • simulation of the fall of a sphere in a fluid.
Publications related to the software

E. Maitre, T. Milcent, G.-H. Cottet, A. Raoult and Y. Usson, Applications of level set methods in computational biophysics, Math. Comput. Model., 49 (11-12), 2161–2169, 2009.

G.-H. Cottet, E. Maitre and T. Milcent, Eulerian formulation and level set models for incompressible fluid-structure interaction, ESAIM-Math. Model. Numer. Anal., 42 (3), 471–492, 2008.
G.-H. Cottet and E. Maitre, A level set method for fluid-structure interactions with immersed surfaces, Math. Models Meth. Appl. Sci., 16 (3), 415–438, 2006.

 

Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 03/07/09
  • Minor correction: 22/03/10

SOFA : interactive mechanical simulation library in C++

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System:
  • License(s): LGPL
  • Status: beta release
  • Support: maintained, ongoing development
  • Designer(s): INRIA, LJK
  • Contact designer(s):
  • Laboratory, service:

 

General software features

SOFA is an open-source, modular mechanical simulation library developed in C++.
It includes geometries such as polygonal and volumetric meshes, internal forces such as FEM or springs, ODE solvers such as Explicit or implicit Euler, collision detection methods, OpenGL viewing, and many other features.
GPU implementations are available for some force fields, such as springs and tetrahedral FEM. The automatic deployment on multi-core architectures is possible.
Its design allows contributors to focus on their domain of competence while reusing other work.

More detail on http://www.sofa-framework.org

Context in which the software is used

Sofa has been applied to interactive medical simulations, CAD assembly, as well as off-line character animation or civil engineering simulations.

Publications related to the software
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