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The University of Iowa College of Engineering has recently installed a large network of computer workstations, intended to support the teaching of computer-aided engineering concepts. This network, known as the Iowa Computer-Aided Engineering Network (ICAEN) is one of the largest of its kind at any University. In this paper, the structure of the ICAEN system is discussed and its use throughout the Engineering Curriculum is described.

Reliability-based design optimization (RBDO), which includes design optimization in design space and inverse reliability analysis in standard normal space, has been recently developed under the assumption that all input variables are independent because it is difficult to construct a joint probability distribution function (PDF) of input variables with limited data such as the marginal PDF and covariance matrix. However, since in real applications, it is common that some of the input variables are correlated, the RBDO results might contain a significant error if the correlation between input variables for RBDO is not considered. In this paper, Rosenblatt and Nataf transformations, which are the most representative transformation methods and have been widely used in the reliability analysis, have been studied and compared in terms of applicability to RBDO with correlated input variables.

A summary is given of the enabling technologies for real time high fidelity vehicle dynamics simulation. Methods of utilizing this technology to increase realism in an operator in the loop simulation are then discussed. Finally some of the research that can be performed using a high fidelity, highly realistic operator in the loop simulator is presented. Automotive engineers have long used sophisticated, batch job computer simulations of the dynamics of vehicles and vehicle subsystems to aid them in improving vehicle performance and safety. Recent technological advances have brought high-fidelity vehicle dynamics simulation into a new realm; that of real time.

The slope discontinuity in C° contact formulation is known as the cause of iteration convergence difficulty in sliding contact. In this paper, a smooth contact surface representation is introduced to remove the slope discontinuity in a C° contact formulation. The non-uniqueness in the solution of closest point projection near the junction of C° surfaces is eliminated by this new approach. The smooth surface representation is incorporated into meshfree formulation to yield a consistent tangent operator for frictional contact problems. The proposed method is successfully applied to a sheet metal deep drawing problem involving large sliding contact and a sheet metal stamping problem.

Axial strain-controlled low cycle fatigue behavior was obtained from smooth specimens machined from spokes of A356-T6 cast aluminum alloy wheels. Two different foundries cast the wheels. Three wheels were used from one production run at one foundry and two wheels were used from two different production runs at the other foundry. Specimens from the three wheels of the same production run had essentially the same monotonic tensile properties and low cycle fatigue resistance. Specimens from the two wheels of the different production runs had different monotonic tensile properties and different low cycle fatigue resistance. All these A356-T6 wheel specimens cyclic strain harden with hysteresis loops typically offset to the compression side by five percent or less. The usual log-log linear model for low cycle fatigue adequately described the low cycle fatigue behavior.

The objective of this research was to determine the feasibility of applying strain based fatigue life calculation models, which are commonly used for metals, to smooth SRIM polymer matrix composite axial specimens subjected to variable amplitude loading. A thorough investigation of the monotonic and strain controlled constant amplitude low cycle fatigue behavior of this material was conducted, including the effects of mean strains/stresses on the fatigue life of smooth specimens. Using these results, mean stress life calculations were made on the constant amplitude tests, as well as on smooth specimens subjected to strain controlled variable amplitude loading, using the Morrow and SWT mean stress models. These results were compared to experimental data, and it was found that the correlation between experimental and calculated lives was very poor, for both the constant amplitude and variable amplitude tests.

The results of the SAEFDE Committee's round robin low cycle fatigue test program with A356-T6 cast aluminum alloy indicated that the conventional low cycle fatigue model was not a satisfactory representation of the data. This occurred because the elastic strain amplitude-life curve was not log-log linear and this yielded a non-conservative fatigue life representation at both extremes of long and short lives. This paper involves a reanalysis of the A356-T6 composite all-laboratory data using two additional empirical models. These models are: 1. linear log-log total strain amplitude-life 2. bilinear log-log elastic strain amplitude-life Both proposed empirical models improve the representation of the data compared to the conventional low cycle fatigue model. The bi-linear log-log elastic equation, however, when added to the plastic equation, yields a discontinuous curve with non-conservatism in the region of the discontinuity.

Fracture toughness tests were conducted on the SAEFDE Committee's round-robin A356-T6 cast aluminum alloy materials designated X, Y and Z. Compact type specimens with a thickness of 9.1 and 20.3 mm were tested. Valid Klc values couid not be obtained for 9.1 mm thick specimens but were obtained for 20.3 mm thickness specimens. Due to larger castings, and hence slower cooling rates, a coarse secondary dendrite arm spacing, DAS, of 80 to 90 μm existed in the three materials. Similar Klc values were 18, 16.7 and 17.3 for the A356-T6 materials X, Y and Z respectively. Final fracture surfaces were also similar with predominant cleavage fracture with some localized ductile dimples and secondary cracking.

SI property class 12.9 high strength steel bolts were used to investigate the fatigue behavior of bolt threads rolled before/after heat treatment using two different thread profiles and five different preload values. Bolts were 3/8 UNRC-16 (coarse) and 3/8 UNRF-24 (fine) and preloads were taken as 1, 50, 75, 90, and 100% of roll before heat treatment proof stress. Maximum near surface residual compressive stresses, obtained via x-ray diffraction, ranged from -500 to -1000 MPa. Axial loads were applied through the nut and all fatigue failures occurred at the first thread of the nut/bolt interface. SEM evaluation indicated all fatigue crack growth regions contained multiple fatigue facets, while final fracture regions were ductile dimples.

A continuation of the SAEFDE round-robin fatigue test program was conducted to determine the influence of a finer microstructure on monotonic tension, strain-controlled low cycle fatigue, fatigue crack growth, and fracture toughness of A356-T6 cast aluminum alloy. The finer microstructure castings, referred to as material W, were obtained using a water-chilled sand casting procedure. Material W exhibited more desirable ductile behavior than the previous SAEFDE materials X, Y, and Z. Material W exhibited superior smooth specimen low cycle fatigue resistance at both short and long lives, when compared to materials X, Y, and Z. This was due in part to the higher ductility and lower porosity of material W over materials X, Y, and Z. Material W exhibited similar fatigue crack growth behavior, and slightly higher values of fracture toughness at the same thickness when compared to materials X, Y, and Z.

Fatigue crack growth behavior was obtained for the SAEFDE Committee's round-robin A356-T6 cast aluminum alloy program with crack growth rates between 10−11 and 10−6 m/cycle for R-ratios equal to 0.1 and 0.5. Three different mold temperatures resulted in secondary dendrite arm spacings (DAS) that varied from approximately 80 to 90 µm, resulting in only coarse microstructure. Threshold levels, ΔKth, and the Paris exponent, m, were approximately twice the values usually found for wrought aluminum alloys. The influence of R-ratio was quite pronounced and crack closure, as measured with a crack mouth COD gage, did not eliminate all threshold and near-threshold R-ratio differences. Roughness-induced crack closure appeared to be more important than plasticity-induced closure.

This paper describes an effective integrated method for estimation of subject-specific mass, inertia tensor, and center of mass of individual body segments of a digital avatar for use with physics-based digital human modeling simulation environment. One of the main goals of digital human modeling and simulation environments is that a user should be able to change the avatar (from male to female to a child) at any given time. The user should also be able to change the various link dimensions, like lengths of upper and lower arms, lengths of upper and lower legs, etc. These customizations in digital avatar's geometry change the kinematic and dynamic properties of various segments of its body. Hence, the mass and center of mass/inertia data of the segments must be updated before simulating physics-based realistic motions. Most of the current methods use mass and inertia properties calculated from a set of regression equations based on average of some population.

The effect of restrictive clothing on functional reach and on balance and gait during obstacle crossing of five normal subjects is presented in this work using motion capture and stability analyses. The study has shown that restrictive clothing has considerably reduced participants' functional reach. It also forced the participants to change their motion strategy when they cross-higher obstacles. When crossing higher obstacles, the participants averted their stance foot, abducted their arms, flexed their torso, used longer stance time, and increased their hip angle in the medial-lateral (Rolling) and vertical (Yawing) directions. The stability analysis of a virtual human skeletal model with 18 links and 25 degrees of freedom has shown that participants' stability has become critical when they wear restrictive clothing and when they cross higher obstacles.

The purpose of this study is to improve predicted tire forces for vehicle simulations on off-road terrain and for simulations incorporating terrain features such as curbs, pavement markers or potholes. The model presented in this paper describes the longitudinal behavior of the tire for traversing high-fidelity terrain profiles. An extended rolling radial-interradial tire model is used to estimate the pressure distribution of the tire contact patch, while a tangential spring model of the tire carcass is used to estimate tractive forces at the tire/road interface. Due to the complexity of the model real-time simulation is not possible, however it is useful for off-line simulations incorporating rough terrain or short-wavelength terrain features.

The objective of this paper is to present our method of predicting and simulating visually realistic and dynamically consistent human stair-climbing motion. The digital human is modeled as a 55-degrees of freedom branched mechanical system with associated human anthropometry-based link lengths, mass moments of inertia, and centers of gravity. The joint angle profiles are determined using a B-spline-based parametric optimization technique subject to different physics-based, task-based, and environment-based constraints. The formulation offers the ability to study effects of the magnitude and location of external forces on the resulting joint angle profiles and joint torque profiles. Several virtual experiments are conducted using this optimization-based approach and results are presented.

The objective of this research was to obtain and compare fracture toughness, stress corrosion cracking and constant and variable amplitude fatigue behavior of AZ91E-T6 cast magnesium alloy in both an air and 3.5% NaC1 corrosive environment. An additional objective was to determine if commonly used models that describe fatigue behavior and fatigue life are applicable to this material and test environments. Fatigue tests included constant amplitude strain-controlled low cycle fatigue with strain ratio, R, equal to 0,−1 and −2, Region II constant amplitude fatigue crack growth with load ratio, R, equal to 0.05 and 0.5 and variable amplitude fatigue tests using keyhole notched specimens. In all fatigue tests, the corrosion environment was significantly detrimental relative to the air environment. The material was also susceptible to stress corrosion cracking. Low cycle fatigue models and the Paris equation properly represented the fatigue data in both environments.

New methods for fast, adaptive motion prediction of a virtual human are proposed and tested. An optimal locomotion for gait-driven motions like pushing, climbing and pick-up/delivery are sought through gradient-based optimization and inverse-dynamics. Such gait-driven motion can be produced by adapting the normal gait motion to the case when a characteristic force is applied, which is called an applied force. The applied force is a resistance force for pushing case and an object weight for delivery case. The concept of the zero moment point is modified to assess the dynamic equilibrium of the motion in presence of the applied force. For fast calculation, analytical forms of the cost/constraint gradients are provided. Stepping patterns are specified a priori to ensure the continuity of the cost/constraint function gradients. Also, by varying knots for the B-spline curve approximation, the gait stage durations are optimized.

In this paper we present a project that interfaced the National Advanced Driving Simulator (NADS) with SynChrono, a module of the Project Chrono open source simulation platform, to enable real-time, physics-based simulation of multiple autonomous vehicles (AVs) interacting with manned vehicles. In this setup, a driver at NADS, at the University of Iowa, participates in a traffic scenario that involves AVs that run at the University of Wisconsin-Madison on a cluster supercomputer. The NADS simulator is a driving simulator giving the “most realistic driving simulation experience in the country” [1]. Thanks to its actuators, it can move across its 64-foot by 64-foot bay, rotate and tilt, to emulate vehicle movement and vibrations. In addition, the human driver drives in a full-size cab, surrounded by LED monitors, resulting in an immersive, high fidelity driving simulation experience.

Active steering systems can help the driver to master critical driving situations. This paper presents a fuzzy logic control strategy on active steering vehicle based on a multi-body vehicle dynamic model. The multi-body vehicle dynamic model using ADAMS can accurately predict the dynamic performance of the vehicle. A new hybrid steering scheme including both active front steering (applying an additional front steering angle besides the driver input) and rear steering is presented to control both yaw velocity and sideslip angle. A set of fuzzy logic rules is designed for the active steering controller, and the fuzzy controller can adjust both sideslip angle and yaw velocity through the co-simulation between ADAMS and the Matlab fuzzy control unit with the optimized membership function. To ensure the design of high-quality fuzzy control rules, a rule optimization strategy is introduced.