Training and Research
PhD Programme Courses/classes
This page shows the PhD course's training activities for the academic year 2024/2025. Further activities will be added during the year. Please check regularly for updates!
Modelli dinamici e simulazione di sistemi multibody
Credits: 5
Language: English
Teacher: Iacopo Tamellin
Advanced techniques for acquisition of biomedical images
Credits: 1
Language: Ingelese
Teacher: Pietro Bontempi, Federico Boschi
Theranostics: from materials to devices
Credits: 1
Language: english
Teacher: Nicola Daldosso, Tommaso Del Rosso
Nanomaterials: synthesis, characterization and applications
Credits: 1
Language: English
Teacher: Francesco Enrichi, Tommaso Del Rosso
Brain Computer Interfaces
Credits: 3
Language: Inglese
Teacher: Silvia Francesca Storti
Algorithmic motion planning in robotics
Credits: 1
Language: Italian
Teacher: Paolo Fiorini
Data visualization
Credits: 1
Language: Inglese
Teacher: Andrea Giachetti
Modellazione e analisi 3D
Credits: 1
Language: Inglese
Teacher: Andrea Giachetti
Modelli di Intelligenza Artificiale Spiegabile: stato dell'arte, promesse e sfide
Credits: 2.5
Language: Inglese
Teacher: Gloria Menegaz
Foundation of Robotics Autonomy
Credits: 1
Language: Italian
Teacher: Paolo Fiorini
Generative AI
Credits: 1.5
Language: English
Teacher: Francesco Setti
Modeling and Verification of Digital Systems
Credits: 1.5
Language: Italian
Teacher: Franco Fummi, Nicola Bombieri, Graziano Pravadelli
Soft robotics: from nature to engineering
Credits: 1.5
Language: English
Teacher: Francesco Visentin
Techniques and algorithms for biomechanics of movement
Credits: 2.5
Language: English
Teacher: Roberto Di Marco
Modelli dinamici e simulazione di sistemi multibody (2024/2025)
Teacher
Referent
Credits
5
Language
English
Class attendance
Free Choice
Location
VERONA
Learning objectives
The course will give an overview on the main techniques for modeling rigid multibody systems through Ordinary Differential Equations (ODE) and Differential-Algebraic Equations (DAE). Further, numerical simulation methods for rigid multibody systems will be presented through MATLAB and a commercial software. The numerical integration schemes for the equations of motion for the forward dynamics simulation of multibody systems modeled through Differential-Algebraic Equations (DAE) will be discussed highlighting the related issues. The numerical methods discussed during the course will be tested in MATLAB/Simulink.
The training objectives are:
- understanding of the techniques for modeling multibody systems;
- critical ability to compare them;
- ability to implement a multibody simulator in MATLAB/Simulink environment;
- critical ability to analyze the results according to the chosen implementation.
Prerequisites and basic notions
Fundamentals of physics, fundamentals of mathematics and linear algebra, MATLAB programming
Program
1) Overview of mechanical systems, components and motion.
2) Review of basic methods for modeling rigid multibody systems through DAEs
3) Overview of the numerical methods for converting the DAEs into ODEs and for the simulation of rigid multibody systems
4) Overview of the numerical integration schemes for multibody systems.
5) Discussion of the numerical issues in the forward dynamics simulation of multibody systems.
6) Implementation of sample models and application of the numerical simulation methods in MATLAB
7) Introduction of the advanced state-of-the-art methods for the improvement of the accuracy of multibody system simulations.
8) Introduction to a commercial multibody simulator and implementation of some sample multibody systems.
Bibliography
Didactic methods
Traditional lectures with hands-on experiences with a personal PC.
Lectures calendar:
- 15 january 2025 08:30-12:30 Room M, Ca’ Vignal 2
- 16 january 2025 12:30-16:30 Room M, Ca’ Vignal 2
- 23 january 2025 12:30-16:30 Room M, Ca’ Vignal 2
- 30 january 2025 12:30-16:30 Room M, Ca’ Vignal 2
- 13 february 2025 12:30-16:30 Room M, Ca' Vignal 2
Learning assessment procedures
Individual project related to personal PhD topics
Assessment
Participation in lessons and discussions and discussion of the project.
Criteria for the composition of the final grade
Adequate/Insufficient.
Scheduled Lessons
| When | Classroom | Teacher | topics |
|---|---|---|---|
|
Wednesday 15 January 2025 08:30 - 12:30 Duration: 4:00 AM |
Ca' Vignal 2 - M [68 - 1°] | Iacopo Tamellin | Introduction to multibody systems, mobility and kinematic constraints |
|
Thursday 16 January 2025 12:30 - 16:30 Duration: 4:00 AM |
Ca' Vignal 2 - M [68 - 1°] | Iacopo Tamellin | Modeling of multibody systems with DAEs |
|
Thursday 23 January 2025 12:30 - 16:30 Duration: 4:00 AM |
Ca' Vignal 2 - M [68 - 1°] | Iacopo Tamellin | Implementation and simulation of a multibody system |
|
Thursday 30 January 2025 12:30 - 16:30 Duration: 4:00 AM |
Ca' Vignal 2 - M [68 - 1°] | Iacopo Tamellin | Numerical integration of the equations of motion, constraint violation, stabilization of constraints and implementation |
|
Thursday 13 February 2025 08:30 - 12:30 Duration: 4:00 AM |
Ca' Vignal 2 - M [68 - 1°] | Iacopo Tamellin | Motion of multibody systems and introduction to MSC Adams |
Sustainable Development Goals - SDGs
This initiative contributes to the achievement of the Sustainable Development Goals of the UN Agenda 2030. More information on sustainability
