Interactive simulation of flexible parts

Computer simulations play an ever growing role for the development of automotive products. Assembly simulation, as well as many other processes, are used systematically even before the first physical prototype of a vehicle is built in order to check whether particular components can be assembled easily or whether another part is in the way. Usually, this kind of simulation is limited to rigid bodies. However, a vehicle contains a multitude of flexible parts of various types: cables, hoses, carpets, seat surfaces, insulations, weatherstrips... Since most of the problems using these simulations concern one-dimensional components and since an intuitive tool for cable routing is still needed, we have chosen to concentrate on this category, which includes cables, hoses and wiring harnesses. In this thesis, we present a system for simulating one dimensional flexible parts such as cables or hoses. The modeling of bending and torsion follows the Cosserat model. For this purpose we use a generalized spring-mass system and describe its configuration by a carefully chosen set of coordinates. Gravity and contact forces as well as the forces responsible for length conservation are expressed in Cartesian coordinates. But bending and torsion effects can be dealt with more effectively by using quaternions to represent the orientation of the segments joining two neighboring mass points. This augmented system allows an easy formulation of all interactions with the best appropriate coordinate type and yields a strongly banded Hessian matrix. An energy minimizing process accounts for a solution exempt from the oscillations that are typical of spring-mass systems. The use of integral forces, similar to an integral controller, allows to enforce exactly the constraints. The whole system is numerically stable and can be solved at interactive frame rates. It is integrated in the DaimlerChrysler in-house Virtual Reality Software veo for use in applications such as cable routing and assembly simulation and has been well received by users. Parts of this work have been published at the ACM Solid and Physical Modeling Conference 2006 and have been selected for the special issue of the Computer-Aided-Design Journal to the conference.

Process-based modelling of lichens and bryophytes and their role in global biogeochemical cycles

This thesis presents a process-based modelling approach to quantify carbon uptake by lichens and bryophytes at the global scale. Based on the modelled carbon uptake, potential global rates of nitrogen fixation, phosphorus uptake and chemical weathering by the organisms are estimated. In this way, the significance of lichens and bryophytes for global biogeochemical cycles can be assessed. The model uses gridded climate data and key properties of the habitat (e.g. disturbance intervals) to predict processes which control net carbon uptake, namely photosynthesis, respiration, water uptake and evaporation. It relies on equations used in many dynamical vegetation models, which are combined with concepts specific to lichens and bryophytes, such as poikilohydry or the effect of water content on CO2 diffusivity. To incorporate the great functional variation of lichens and bryophytes at the global scale, the model parameters are characterised by broad ranges of possible values instead of a single, globally uniform value. The predicted terrestrial net uptake of 0.34 to 3.3 Gt / yr of carbon and global patterns of productivity are in accordance with empirically-derived estimates. Based on the simulated estimates of net carbon uptake, further impacts of lichens and bryophytes on biogeochemical cycles are quantified at the global scale. Thereby the focus is on three processes, namely nitrogen fixation, phosphorus uptake and chemical weathering. The presented estimates have the form of potential rates, which means that the amount of nitrogen and phosphorus is quantified which is needed by the organisms to build up biomass, also accounting for resorption and leaching of nutrients. Subsequently, the potential phosphorus uptake on bare ground is used to estimate chemical weathering by the organisms, assuming that they release weathering agents to obtain phosphorus. The predicted requirement for nitrogen ranges from 3.5 to 34 Tg / yr and for phosphorus it ranges from 0.46 to 4.6 Tg / yr. Estimates of chemical weathering are between 0.058 and 1.1 km³ / yr of rock. These values seem to have a realistic order of magnitude and they support the notion that lichens and bryophytes have the potential to play an important role for global biogeochemical cycles.