Francisco Chinesta

Reduced-order modeling of soft robots

We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method.

Consistent data-driven computational mechanics

We present a novel method, within the realm of data-driven computational mechanics, to obtain reliable and thermodynamically sound simulation from experimental data. We thus avoid the need to fit any phenomenological model in the construction of the simulation model. This kind of techniques opens unprecedented possibilities in the framework of data-driven application systems and, particularly, in the paradigm of industry 4.0.We present a novel method, within the realm of data-driven computational mechanics, to obtain reliable and thermodynamically sound simulation from experimental data. We thus avoid the need to fit any phenomenological model in the construction of the simulation model. This kind of techniques opens unprecedented possibilities in the framework of data-driven application systems and, particularly, in the paradigm of industry 4.0.

Simulation of the microwave heating of a thin multilayered composite material: A parameter analysis

Microwave (MW) technology relies on volumetric heating. Thermal energy is transferred to the material that can absorb it at specific frequencies. The complex physics involved in this process is far from being understood and that is why a simulation tool has been developed in order to solve the electromagnetic and thermal equations in such a complex material as a multilayered composite part. The code is based on the in-plane-out-of-plane separated representation within the Proper Generalized Decomposition framework. To improve the knowledge on the process, a parameter study in carried out in this paper.