diff --git a/Motion_Capture_Movement/lesson1.md b/Motion_Capture_Movement/lesson1.md index f68de017..d8f73f1e 100644 --- a/Motion_Capture_Movement/lesson1.md +++ b/Motion_Capture_Movement/lesson1.md @@ -27,8 +27,8 @@ for data processing. :::{note} Make sure you have installed your own copy of the AnyBody Model repository (AMMR). -See the {doc}`AMMR documentation ` for instructions on how -to install it. +See the {doc}`Getting Started Tutorial ` +for instructions on how to install it. ::: 1. Go to the folder {file}`Application/MocapExamples/Plug-in-gait_Simple`. diff --git a/Parameter_studies_and_optimization/Downloads/OptimBike.zip b/Parameter_studies_and_optimization/Downloads/OptimBike.zip deleted file mode 100644 index 2af385e3..00000000 Binary files a/Parameter_studies_and_optimization/Downloads/OptimBike.zip and /dev/null differ diff --git a/Parameter_studies_and_optimization/Downloads/OptimBike2 copy.zip b/Parameter_studies_and_optimization/Downloads/OptimBike2 copy.zip deleted file mode 100644 index 20582015..00000000 Binary files a/Parameter_studies_and_optimization/Downloads/OptimBike2 copy.zip and /dev/null differ diff --git a/Parameter_studies_and_optimization/Downloads/OptimBike2-final.zip b/Parameter_studies_and_optimization/Downloads/OptimBike2-final.zip deleted file mode 100644 index e56690de..00000000 Binary files a/Parameter_studies_and_optimization/Downloads/OptimBike2-final.zip and /dev/null differ diff --git a/Parameter_studies_and_optimization/Downloads/OptimBike2-lesson3.zip b/Parameter_studies_and_optimization/Downloads/OptimBike2-lesson3.zip deleted file mode 100644 index b7d88510..00000000 Binary files a/Parameter_studies_and_optimization/Downloads/OptimBike2-lesson3.zip and /dev/null differ diff --git a/Parameter_studies_and_optimization/Downloads/OptimBike2.zip b/Parameter_studies_and_optimization/Downloads/OptimBike2.zip deleted file mode 100644 index 2a8b3c2d..00000000 Binary files a/Parameter_studies_and_optimization/Downloads/OptimBike2.zip and /dev/null differ diff --git a/Parameter_studies_and_optimization/Downloads/ParamBike.zip b/Parameter_studies_and_optimization/Downloads/ParamBike.zip index 8f53f665..e5d96cd4 100644 Binary files a/Parameter_studies_and_optimization/Downloads/ParamBike.zip and b/Parameter_studies_and_optimization/Downloads/ParamBike.zip differ diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal.zip b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal.zip index f64acd7b..7b67fe29 100644 Binary files a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal.zip and b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal.zip differ diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/.gitattributes b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/.gitattributes deleted file mode 100644 index 07fe41c5..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/.gitattributes +++ /dev/null @@ -1,2 +0,0 @@ -# GitHub syntax highlighting -pixi.lock linguist-language=YAML linguist-generated=true diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/BikeModel2D.main.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/BikeModel2D.main.any deleted file mode 100644 index 8ac85c5c..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/BikeModel2D.main.any +++ /dev/null @@ -1,120 +0,0 @@ -#include "libdef.any" - -/**2-D bicyle model. -Although this model can be rotated in 3-D space it really is just a saggital -plane pedaling model with only a few muscles in each leg. The beauty of -pedaling is that it is one of the few cases of biomechanics that can be modeled -reasonably on two dimensions only. - -The 2-D legs are supplemented with models of the bike frame, crank, and -wheels. - -You can do lots of interesting stuff with this model: -- Investigate the influence of the bicycle design -- Change riding parameters sich as cadence and output power -- Separate internal work for acceleraton of body segments -from external work on the crank.*/ -Main = { - - /// Various parameters for setting up the bicycle and the riding characteristics. - AnyFolder BikeParameters = { - - // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank - - // Loading parameters - AnyVar Cadence = 80.0; //Cadence in RPM - AnyVar MechOutput = 165; //Average Mechanical output over a cycle in Watt - AnyVar PhaseShift = atan(SaddlePos/SaddleHeight); // Phase shift for different seat positions - - // The function for the crank moment is defined as Moment=Offset-Amp*cos(4*pi*t/T+Phase) - AnyVar T = 60/Cadence; //Cycle time - - AnyVar CrankMomentTopDeadCenter = 3.0; // This is the moment which can be applied by the rider in the top dead center point - AnyVar CrankMomentOffset = (MechOutput*T)/(2*pi); - AnyVar CrankMomentAmp = CrankMomentOffset-CrankMomentTopDeadCenter; - AnyVar CrankMomentPhase = -PhaseShift; - }; - - /// These are the attachment positions of the bike frames to the global - /// reference frame - AnyFixedRefFrame GlobalRef = { - AnyRefNode Bike2DGround = { sRel = {0.0, 0.0, 0.0}; }; - AnyRefNode Bike3DGround = { sRel = {0.0, 0.0, 0.0}; }; - }; // Global reference frame - - /// Body parameters that the leg model will need a reference to. - AnyFolder BodyParameters = { - AnyVar BodyMass = 75; - AnyVar Density = 1000; - }; //Bodyparameters - - #include "Model/DrawSettings.any" - #include "Model/Scaling.any" - - - /// This folder is a place to assemble all the elements to include in the - /// study. - AnyFolder Model = { - - // Notice the '&'. It means that HumanFolder is just a pointer - AnyFolder &HumanFolder = Leg2D; - #include "Model/Leg2D.any" - #include "Model/BikeFrameAndWheels.any" - #include "Model/BikeLegConnection.any" - AnyRefNode& GroundNode = Main.GlobalRef.Bike2DGround; - #include "Model/BikeFrameGroundConnection.any" - }; - - // The study: Operations to be performed on the model - AnyBodyStudy Study = { - AnyFolder &Model = .Model; - - Gravity = {0.0, -9.81, 0.0}; - tEnd = Main.BikeParameters.T; - - // Useful variables for the optimization - AnyFolder &r = Main.Model.Leg2D.Right.Mus; - AnyFolder &l = Main.Model.Leg2D.Left.Mus; - AnyVar Pmet_total = r.Ham.Pmet+r.BiFemSh.Pmet+r.GlutMax.Pmet+r.RectFem.Pmet+r.Vasti.Pmet+r.Gas.Pmet+r.Sol.Pmet+r.TibAnt.Pmet+l.Ham.Pmet+l.BiFemSh.Pmet+l.GlutMax.Pmet+l.RectFem.Pmet+l.Vasti.Pmet+l.Gas.Pmet+l.Sol.Pmet+l.TibAnt.Pmet; - - AnyOutputFun MaxAct = { - Val = .MaxMuscleActivity; - }; - AnyOutputFun Metabolism = { - Val = .Pmet_total; - }; - }; - - AnyParamStudy ParamStudy = { - Analysis = { - AnyOperation &Operation = ..Study.InverseDynamics; - }; - nStep = {10,10}; - - AnyDesVar SaddleHeight = { - Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; - }; - AnyDesVar SaddlePos = { - Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; - }; - AnyDesMeasure MaxAct = { - Val = max(..Study.MaxAct()); - }; - AnyDesMeasure Metab = { - Val = secint(..Study.Metabolism(),..Study.tArray); - }; - }; - - // Include an operation sequence to run all required steps of your application (see Operations tab) - #include "Model\RunAppSequence.any" - -}; // Main - diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Input/bikeframe.anysurf b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Input/bikeframe.anysurf deleted file mode 100644 index a23d4122..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Input/bikeframe.anysurf +++ /dev/null @@ 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8.471885e-001 3.476993e-001 -2.287477e-004 7.551342e-001 4.409831e-001 -4.850838e-001 - 8.464959e-001 3.478443e-001 -7.578524e-004 3.621853e-001 5.168557e-001 -7.756816e-001 - 8.456219e-001 3.479989e-001 -7.578524e-004 -1.529967e-001 6.079688e-001 -7.790802e-001 - 8.449293e-001 3.481245e-001 -2.287477e-004 -5.590320e-001 6.788655e-001 -4.760512e-001 - 8.446572e-001 3.481631e-001 6.152898e-004 -7.096987e-001 7.045051e-001 5.666233e-004 - 8.449293e-001 3.481245e-001 1.453046e-003 -5.587596e-001 6.787427e-001 4.765460e-001 - 1.035644e+000 2.389313e-001 1.453046e-003 1.602205e-002 8.732476e-001 4.870133e-001 - 5.437130e-001 -1.742820e-001 1.774260e-003 -7.439094e-001 5.003192e-003 6.682618e-001 - 1.036066e+000 2.383739e-001 1.982151e-003 2.798258e-001 5.525046e-001 7.851345e-001 - 5.442556e-001 -1.749281e-001 2.051419e-003 -4.365874e-001 -3.635840e-001 8.229205e-001 - 1.036338e+000 2.380382e-001 6.152898e-004 7.753289e-001 6.315577e-001 -3.802608e-005 - 1.036609e+000 2.377025e-001 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5.943424e-001 3.012285e-001 1.220504e-002 4.427301e-001 -5.463463e-001 7.109823e-001 - 7.903214e-001 3.702902e-001 -1.090515e-002 -3.393737e-002 -6.441730e-001 -7.641265e-001 - 8.961246e-001 3.571181e-001 -1.034463e-002 1.028507e-001 2.908831e-001 -9.512144e-001 - 8.950447e-001 3.537288e-001 -1.090515e-002 -2.312295e-001 -6.018797e-001 -7.643780e-001 - 8.950447e-001 3.537288e-001 1.215465e-002 -1.665651e-001 -6.230723e-001 7.642231e-001 - 6.856088e-001 3.537288e-001 -1.090515e-002 1.665721e-001 -6.230720e-001 -7.642219e-001 - 7.903214e-001 3.738612e-001 -1.034463e-002 7.976942e-003 3.091271e-001 -9.509873e-001 - 7.903214e-001 3.702902e-001 1.215465e-002 3.394746e-002 -6.441715e-001 7.641274e-001 - 9.915570e-001 3.084710e-001 -1.034463e-002 1.877820e-001 2.448344e-001 -9.512066e-001 - 9.894828e-001 3.056056e-001 -1.090515e-002 -4.059539e-001 -5.008023e-001 -7.644596e-001 - 9.894828e-001 3.056056e-001 1.215465e-002 -3.508918e-001 -5.407755e-001 7.644847e-001 - 1.067317e+000 2.327312e-001 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3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 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7.706469e-001 -5.882029e-001 - 8.984125e-001 3.641532e-001 -2.937058e-003 2.963145e-001 9.040295e-001 -3.081046e-001 - 7.903214e-001 3.812492e-001 -2.937058e-003 2.608529e-003 9.508654e-001 -3.095936e-001 - 9.959298e-001 3.144583e-001 -2.937058e-003 5.613001e-001 7.682237e-001 -3.078546e-001 - 1.073315e+000 2.370827e-001 -2.937058e-003 7.715025e-001 5.574179e-001 -3.067071e-001 - 1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 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9.962612e-001 3.149074e-001 6.217559e-004 5.877700e-001 8.090280e-001 2.097818e-004 - 1.073764e+000 2.374035e-001 6.217559e-004 8.090384e-001 5.877554e-001 -7.515534e-004 - 1.123512e+000 1.397458e-001 6.217559e-004 9.510695e-001 3.089748e-001 1.163778e-003 - 1.140661e+000 3.149266e-002 6.217559e-004 1.000000e+000 2.145510e-005 1.546869e-004 - 1.123512e+000 -7.679254e-002 6.217559e-004 9.510831e-001 -3.089344e-001 -7.162902e-004 - 1.073764e+000 -1.744502e-001 6.217559e-004 8.090491e-001 -5.877402e-001 9.993433e-004 - 9.962612e-001 -2.519541e-001 6.217559e-004 5.877808e-001 -8.090203e-001 -2.821034e-005 - 8.985943e-001 -3.017131e-001 6.217559e-004 3.089545e-001 -9.510763e-001 -9.439899e-004 - 7.903214e-001 -3.188519e-001 6.217559e-004 -7.631453e-006 -1.000000e+000 -6.381175e-007 - 6.820592e-001 -3.017131e-001 6.217559e-004 -3.089617e-001 -9.510740e-001 9.461780e-004 - 5.843922e-001 -2.519541e-001 6.217559e-004 -5.877808e-001 -8.090202e-001 3.034679e-005 - 5.068895e-001 -1.744502e-001 6.217559e-004 -8.090500e-001 -5.877389e-001 -1.035570e-003 - 4.571419e-001 -7.679254e-002 6.217559e-004 -9.510810e-001 -3.089409e-001 6.888867e-004 - 4.399927e-001 3.148197e-002 6.217559e-004 -1.000000e+000 6.192022e-006 -1.548053e-004 - 4.571419e-001 1.397458e-001 6.217559e-004 -9.510721e-001 3.089668e-001 -1.136436e-003 - 5.068895e-001 2.374035e-001 6.217559e-004 -8.090393e-001 5.877540e-001 7.878801e-004 - 5.843922e-001 3.149074e-001 6.217559e-004 -5.877700e-001 8.090280e-001 -2.118524e-004 - 6.820592e-001 3.646664e-001 6.217559e-004 -3.090313e-001 9.510514e-001 9.022192e-004 - 8.984125e-001 3.641532e-001 4.180569e-003 2.915500e-001 9.055039e-001 3.083201e-001 - 7.903214e-001 3.812492e-001 4.180569e-003 -2.613790e-003 9.509823e-001 3.092342e-001 - 9.959298e-001 3.144583e-001 4.180569e-003 5.573988e-001 7.715226e-001 3.066910e-001 - 1.073315e+000 2.370827e-001 4.180569e-003 7.683452e-001 5.613785e-001 3.074083e-001 - 1.122998e+000 1.395747e-001 4.180569e-003 9.047574e-001 2.964504e-001 3.058288e-001 - 1.140083e+000 3.149266e-002 4.180569e-003 9.514106e-001 2.580735e-003 3.079143e-001 - 1.122998e+000 -7.660009e-002 4.180569e-003 9.056125e-001 -2.915110e-001 3.080379e-001 - 1.073315e+000 -1.741081e-001 4.180569e-003 7.711910e-001 -5.572090e-001 3.078679e-001 - 9.959298e-001 -2.514837e-001 4.180569e-003 5.610584e-001 -7.679810e-001 3.088992e-001 - 8.984125e-001 -3.011786e-001 4.180569e-003 2.962741e-001 -9.038268e-001 3.087373e-001 - 7.903214e-001 -3.182959e-001 4.180569e-003 2.481753e-003 -9.515540e-001 3.074718e-001 - 6.822409e-001 -3.011786e-001 4.180569e-003 -2.916603e-001 -9.057269e-001 3.075599e-001 - 5.847237e-001 -2.514837e-001 4.180569e-003 -5.569774e-001 -7.708971e-001 3.090207e-001 - 5.073385e-001 -1.741081e-001 4.180569e-003 -7.679016e-001 -5.610278e-001 3.091518e-001 - 4.576551e-001 -7.660009e-002 4.180569e-003 -9.044762e-001 -2.963405e-001 3.067656e-001 - 4.405701e-001 3.148197e-002 4.180569e-003 -9.513888e-001 -2.573275e-003 3.079818e-001 - 4.576551e-001 1.395747e-001 4.180569e-003 -9.058159e-001 2.915910e-001 3.073634e-001 - 5.073385e-001 2.370827e-001 4.180569e-003 -7.716020e-001 5.575011e-001 3.063053e-001 - 5.847237e-001 3.144583e-001 4.180569e-003 -5.613597e-001 7.683207e-001 3.075038e-001 - 6.822409e-001 3.641532e-001 4.180569e-003 -2.963484e-001 9.041402e-001 3.077470e-001 - 8.978994e-001 3.625815e-001 7.405458e-003 2.451130e-001 7.705209e-001 5.884022e-001 - 7.903214e-001 3.796133e-001 7.405458e-003 -4.789866e-003 8.086392e-001 5.882854e-001 - 9.949676e-001 3.131432e-001 7.405458e-003 4.711158e-001 6.568342e-001 5.887434e-001 - 1.071989e+000 2.361205e-001 7.405458e-003 6.506499e-001 4.788801e-001 5.893459e-001 - 1.121437e+000 1.390722e-001 7.405458e-003 7.670633e-001 2.543115e-001 5.890158e-001 - 1.138458e+000 3.149266e-002 7.405458e-003 8.090783e-001 4.879019e-003 5.876806e-001 - 1.121437e+000 -7.609758e-002 7.405458e-003 7.704974e-001 -2.450538e-001 5.884577e-001 - 1.071989e+000 -1.731458e-001 7.405458e-003 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6.856088e-001 -2.907542e-001 1.215465e-002 1.666570e-001 6.229286e-001 7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 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9.959298e-001 -2.514837e-001 4.180569e-003 5.610584e-001 -7.679810e-001 3.088992e-001 - 8.984125e-001 -3.011786e-001 4.180569e-003 2.962741e-001 -9.038268e-001 3.087373e-001 - 7.903214e-001 -3.182959e-001 4.180569e-003 2.481753e-003 -9.515540e-001 3.074718e-001 - 6.822409e-001 -3.011786e-001 4.180569e-003 -2.916603e-001 -9.057269e-001 3.075599e-001 - 5.847237e-001 -2.514837e-001 4.180569e-003 -5.569774e-001 -7.708971e-001 3.090207e-001 - 5.073385e-001 -1.741081e-001 4.180569e-003 -7.679016e-001 -5.610278e-001 3.091518e-001 - 4.576551e-001 -7.660009e-002 4.180569e-003 -9.044762e-001 -2.963405e-001 3.067656e-001 - 4.405701e-001 3.148197e-002 4.180569e-003 -9.513888e-001 -2.573275e-003 3.079818e-001 - 4.576551e-001 1.395747e-001 4.180569e-003 -9.058159e-001 2.915910e-001 3.073634e-001 - 5.073385e-001 2.370827e-001 4.180569e-003 -7.716020e-001 5.575011e-001 3.063053e-001 - 5.847237e-001 3.144583e-001 4.180569e-003 -5.613597e-001 7.683207e-001 3.075038e-001 - 6.822409e-001 3.641532e-001 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5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 -7.812897e-001 - 1.107608e+000 -7.159211e-002 1.240030e-002 6.073951e-001 -1.441235e-001 7.812167e-001 - 1.096939e+000 -6.813082e-002 1.000041e-002 -7.282686e-001 2.645047e-001 6.321884e-001 - 1.107608e+000 -7.159211e-002 -1.105632e-002 5.761200e-001 -2.403271e-001 -7.812353e-001 - 1.060209e+000 -1.645889e-001 1.240030e-002 5.329224e-001 -3.247983e-001 7.813449e-001 - 1.051159e+000 -1.580124e-001 1.000041e-002 -6.109075e-001 4.766326e-001 6.321498e-001 - 1.060209e+000 -1.645889e-001 -1.105632e-002 4.735985e-001 -4.066097e-001 -7.812637e-001 - 9.864025e-001 -2.383856e-001 1.240030e-002 4.065251e-001 -4.735455e-001 7.813399e-001 - 9.798362e-001 -2.293456e-001 1.000041e-002 -4.337205e-001 6.422160e-001 6.320167e-001 - 9.864025e-001 -2.383856e-001 -1.105632e-002 3.247782e-001 -5.329022e-001 -7.813670e-001 - 8.934165e-001 -2.857850e-001 1.240030e-002 2.403768e-001 -5.760481e-001 7.812731e-001 - 8.899451e-001 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeFrameAndWheels.any deleted file mode 100644 index e9162aec..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeFrameAndWheels.any +++ /dev/null @@ -1,86 +0,0 @@ -/** This folder contains the definition of the bicycle -- GlobalRefFrame -- BikeFrame -- Crank motion and loading -- Rear wheel definition -*/ -AnyFolder BikeModel = { - - //Bike Segment - AnySeg BikeFrame = { - Jii = {0.00,0.00,0.00}; - Mass =0.0; - AnyRefNode SaddelPos = { - AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; - }; - AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; - - AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; - RGB=....DrawSettings.Colors.AnyBodyBlue; - }; - }; // BikeFrame - - AnySeg Crank = { - Mass=0.5; - Jii = {0.001,0.001,0.001}; - - AnyRefNode CrankJoint = { sRel = {0,0,0}; }; - AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; - AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; - AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; - RGB=....DrawSettings.Colors.AnyBodyGreen; - }; - };//Crank - - AnyRevoluteJoint CrankJoint ={ - Axis = z; - AnyRefNode &Ground = .BikeFrame.Crank; - AnyRefNode &Crank = .Crank.CrankJoint; - }; - - AnyKinEqSimpleDriver CrankRotation = { - AnyRevoluteJoint &Jnt = .CrankJoint; - DriverPos = {0}; - DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment - }; - - //This is the definiton of the crank moment - AnyForce CrankMoment ={ - AnyJoint &Jnt=.CrankJoint; - F={...BikeParameters.CrankMomentOffset-...BikeParameters.CrankMomentAmp*cos(4*pi*t/...BikeParameters.T+ ...BikeParameters.CrankMomentPhase)}; - }; - - // This is the definition of the rear wheel. It is pure graphics! - AnySeg RearWheel = { - Mass=0.0; - Jii = {0.00,0.00,0.00}; - AnyRefNode Wheel = { sRel = {0,0,0}; }; - - AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; - RGB=....DrawSettings.Colors.AnyBodyGreen; - }; - }; - - AnyRevoluteJoint WheelJoint ={ - Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; - AnyRefNode &Wheel = .RearWheel.Wheel; - }; - - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; - DriverPos = {0}; - DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel - }; -}; //Bikemodel - diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeFrameGroundConnection.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeFrameGroundConnection.any deleted file mode 100644 index 3b7339a8..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeFrameGroundConnection.any +++ /dev/null @@ -1,16 +0,0 @@ -/// This is the joint which connecting the Pelvis segment to the bike. -AnyRevoluteJoint BikeGroundJoint ={ - Axis = z; - AnyRefNode & crank = .BikeModel.BikeFrame.SaddelPos; - AnyRefNode & ground = .GroundNode; -}; - -AnyKinEqSimpleDriver BikeGroundRotation = { - AnyRevoluteJoint &Jnt = .BikeGroundJoint; - DriverPos = {0}; - DriverVel = {0}; - //Setting Reaction.Type=1 means that the joint will generate the moment it will - //need to balance this DOF, setting it to 0 which is default will mean that muscles - //forces will be used for balancing the joint - Reaction.Type = {On}; -}; diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeLegConnection.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeLegConnection.any deleted file mode 100644 index 8a2b2dea..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/BikeLegConnection.any +++ /dev/null @@ -1,13 +0,0 @@ -/** This folder contains the joints and drivers that connects the lower -extremity model with the bike model. Furthermore it defines the positions -and orientations of the segments. */ -AnyFolder BikeLegConnection = { - - AnyFolder &ModelFolder = .HumanFolder; - AnyFolder InitialPositions = { - #include "InitialPositions.any" - }; - AnyFolder JointsAndDrivers = { - #include "JointsAndDrivers.any" - }; -}; \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/DrawSettings.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/DrawSettings.any deleted file mode 100644 index 5fae414b..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/DrawSettings.any +++ /dev/null @@ -1,151 +0,0 @@ -// Include the default DrawSettings values so they can be customized below. -#include "/DrawSettings/DrawSettingsDefault.any" - - -DrawSettings ={ - - - //This is the color definitions of the nodes and segments -Colors = { - AnyBodyRed = {149/256,51/256,55/256}; //AnyBody standard red - AnyBodyGreen = {47/256,131/256,80/256}; //AnyBody standard green - AnyBodyBlue = {82/256,85/256,111/256}; //AnyBody standard blue - AnyBodyYellow= {235/256,197/256,17/256}; //AnyBody standard yellow - AnyBodyPaleYellow = {248/256,204/256,115/256}; //AnyBody standard pale yellow - AnyBodyGrey = {153/256,153/256,153/256}; //AnyBody standard grey - - Nodes = AnyBodyPaleYellow; - Segments = AnyBodyPaleYellow; -}; - - Muscle ={ - RGB = .Colors.AnyBodyRed; - DrawScaleOnOff =Off; - Bulging =0.0; - ColorScale =1.0; - RGBColorScale = {0.957031, 0.785156, 0.785156}; - MaxStress = 2500000.000000; //N/m^2 //This number is for graphics only! - Opacity =1.0; - DrawScale = - { - EnableCreasing = Off; - CreasingAngle = 0.524; - EnableWireframe = Off; - EnableSmoothing = On; - Param = 0.0; - ParamArray = {0.0, 0.167, 0.333, 0.5, 0.667, 0.833, 1.0}; - RGBArray = {{0.0, 0.0, 0.6}, {0.0, 0.0, 1.0}, {0.0, 1.0, 1.0}, {0.0, 1.0, 0.0}, {1.0, 1.0, 0.0}, {1.0, 0.0, 0.0}, {0.6, 0.0, 0.0}}; - OpacityArray = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}; - }; - }; - - - BonesOpacity ={ - - GlobalCoef = 1; - - Skull = 1*GlobalCoef; - Thorax = 1*GlobalCoef; - Pelvis = 1*GlobalCoef; - Sacrum = 1*GlobalCoef; - L5 = 1*GlobalCoef; - L4 = 1*GlobalCoef; - L3 = 1*GlobalCoef; - L2 = 1*GlobalCoef; - L1 = 1*GlobalCoef; - - RightFoot = 1*GlobalCoef; - RightShank = 1*GlobalCoef; - RightThigh = 1*GlobalCoef; - - LeftFoot = 1*GlobalCoef; - LeftShank = 1*GlobalCoef; - LeftThigh = 1*GlobalCoef; - - - RightClavicula = 1*GlobalCoef; - RightScapula = 1*GlobalCoef; - RightHumerus = 1*GlobalCoef; - RightUlna = 1*GlobalCoef; - RightRadius = 1*GlobalCoef; - RightHand = 1*GlobalCoef; - - LeftClavicula = 1*GlobalCoef; - LeftScapula = 1*GlobalCoef; - LeftHumerus = 1*GlobalCoef; - LeftUlna = 1*GlobalCoef; - LeftRadius = 1*GlobalCoef; - LeftHand = 1*GlobalCoef; - - - // For leg TD only. - RightTalus = 1*GlobalCoef; - RightPatella = 1*GlobalCoef; - - LeftTalus = 1*GlobalCoef; - LeftPatella = 1*GlobalCoef; - - - // For detailed cervical model only. - C1 = 1*GlobalCoef; - C2 = 1*GlobalCoef; - C3 = 1*GlobalCoef; - C4 = 1*GlobalCoef; - C5 = 1*GlobalCoef; - C6 = 1*GlobalCoef; - C7 = 1*GlobalCoef; - }; - - - - SegmentAxes ={ - RGB ={0,0,1}; - ScaleXYZ ={0.0001,0.00001,0.00001}; - }; - BML ={ - ScaleXYZ ={0.0006,0.0006,0.0006}; - RGB = .Colors.AnyBodyBlue; - }; - JointAxesProximal = { - RGB = .Colors.AnyBodyRed; - ScaleXYZ = {0.015,0.015,0.015}; - }; - JointAxesDistal = { - RGB = .Colors.AnyBodyGreen; - ScaleXYZ = {0.01,0.01,0.01}; - }; - - - SegmentNodes ={ - ScaleXYZ ={0.0005,0.0005,0.0005}; - RGB = .Colors.AnyBodyRed; - }; - WrapGeometry ={ - RGB ={1,1,1}; - }; - - DrawSettingsSupport={ - Lin={ - ScaleFactor=0.004; - RGB = {0,0,1}; - Thickness = 0.004; - HeadThickness = 2*Thickness; - HeadLength = 3*Thickness; - }; - Rot={ - ScaleFactor=0.08; - RGB = {1,0,0}; - Thickness = 0.075; - HeadThickness = 2*Thickness; - HeadLength = 5*Thickness; - }; - }; - - - Marker={ - Color={0,0,1}; - Radius=0.00; - - }; - -}; //DrawSettings \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/InitialPositions.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/InitialPositions.any deleted file mode 100644 index 420d9648..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/InitialPositions.any +++ /dev/null @@ -1,23 +0,0 @@ -// This file gives the initial positions of the segments. The purpose is -// to enable the kinematic system to assemble the mechanism correctly. - -AnyFolder &ModelFolderRef = .ModelFolder; -AnyFolder &BikeFolderRef = ..BikeModel; - -ModelFolderRef.Right.Seg.Thigh.r0 = {0.168234, -0.002221, 0.134000}; -ModelFolderRef.Right.Seg.Thigh.Axes0 = {{0.391984, -0.919972, 0.000000}, {0.919972, 0.391984, 0.000000}, {0.000000, 0.000000, 1.000000}}; -ModelFolderRef.Right.Seg.Shank.r0 = {0.263368, -0.275167, 0.106000}; -ModelFolderRef.Right.Seg.Shank.Axes0 = {{0.747061, 0.664756, 0.000000}, {-0.664756, 0.747061, 0.000000}, {0.000000, 0.000000, 1.000000}}; -ModelFolderRef.Right.Seg.Foot.r0 = {0.150000, -0.530000,0.106000}; -ModelFolderRef.Right.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; - -ModelFolderRef.Left.Seg.Thigh.r0 = {0.064572, -0.106084, -0.134}; -ModelFolderRef.Left.Seg.Thigh.Axes0 = {{0.919210, -0.393767, 0.000000}, {0.393767, 0.919210, 0.000000}, {0.000000, 0.000000, 1.000000}}; -ModelFolderRef.Left.Seg.Shank.r0 = {0.120153, -0.550949, -0.106}; -ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.115617, 0.993294, 0.000000}, {0.000000, 0.000000, 1.000000}}; -ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; -ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; - -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/JointsAndDrivers.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/JointsAndDrivers.any deleted file mode 100644 index 376c5609..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/JointsAndDrivers.any +++ /dev/null @@ -1,126 +0,0 @@ -AnyFolder &BikeParameters = Main.BikeParameters; - -/// This is the joint connecting the Pelvis segment to the bike. -AnyKinLinear SaddleJointLin = { - //AnyRefNode & Sacrum= ..ModelFolder.Pelvis.LigArcuatumPubis; - AnyRefNode & Sacrum= ..ModelFolder.Pelvis.HipJointsCenter; - AnyRefNode & Saddel = ...BikeModel.BikeFrame.SaddelPos; -}; - -AnyKinEq SaddelJointLinConstraints = { - AnyKinLinear &ref= .SaddleJointLin; -}; - -AnyKinRotational SaddelJointRot ={ - //AnyRefNode & Sacrum= ..ModelFolder.Pelvis.LigArcuatumPubis; - AnyRefNode & Sacrum= ..ModelFolder.Pelvis.HipJointsCenter; - AnyRefNode & Saddel = ...BikeModel.BikeFrame.SaddelPos; - Type=RotAxesAngles; -}; - -AnyKinEqSimpleDriver SaddelRotation = { - AnyKinRotational &Jnt = .SaddelJointRot; - DriverPos = {0.15*pi,0,0}; - DriverVel = {0.0,0,0}; - //Setting Reaction.Type=1 means that the joint will generate the moment it will - //need to balance this DOF, setting it to 0 which is default will mean that muscles - //forces will be used for balancing the joint - Reaction.Type = {On,On,On}; -}; - -AnyFolder Right = { - // This is the joint connecting the foot to the pedal. It simply - // specifies that the linear distances between the two must be zero - AnyKinLinear PedalJointLin = { - AnyRefNode &Foot = ...ModelFolder.Right.Seg.Foot.GroundJoint; - AnyRefNode &PedalR= ....BikeModel.Crank.RPedal; - }; - AnyKinMeasureOrg PedalJointLinXY = { - AnyKinLinear &ref=.PedalJointLin; - MeasureOrganizer={0,1}; - }; - - AnyKinEq PedalJointLinConstraints = { - AnyKinMeasureOrg &ref= .PedalJointLinXY; - }; - - // This measure is for controlling the rotation. - AnyKinRotational PedalJointRot = { - AnyRefFrame &Ground = ....BikeModel.BikeFrame; - AnyRefNode &Foot = ...ModelFolder.Right.Seg.Foot.GroundJoint; - Type=RotAxesAngles; - }; - AnyKinMeasureOrg FootRMovement = { - AnyKinRotational &GroundFoot = .PedalJointRot; - MeasureOrganizer = {0,1}; // Standard rotational order = z,y,x = 0,1,2 - }; - - AnyKinEqFourierDriver PedalRRotationFourier = { - AnyKinMeasure& Jnt = .FootRMovement; - Type = CosSin; - AnyVar a0 = -0.3797-0.5*pi; - AnyVar a1 = -0.0205; - AnyVar b1 = 0.3393; - AnyVar a2 = 0.004906; - AnyVar b2 = 0.03654; - AnyVar w = 7.681; - Freq = ..BikeParameters.Cadence/60; - // A = { {a0+0.5*pi,a1,a2},{0, 0,0} }; - // B = {{0,b1,b2},{0, 0,0} }; - // Reaction.Type = {Off,Off}; - A = { {a0+0.5*pi,a1,a2} }; - B = {{0,b1,b2} }; - Reaction.Type = {Off}; - MeasureOrganizer={0}; - }; -}; - -AnyFolder Left = { - - // This is the joint connecting the foot to the pedal. It simply - // specifies that the linear distances between the two mush be zero - AnyKinLinear PedalJointLin = { - AnyRefNode &Foot = ...ModelFolder.Left.Seg.Foot.GroundJoint; - AnyRefNode &PedalR= ....BikeModel.Crank.LPedal; - }; - - AnyKinMeasureOrg PedalJointLinXY = { - AnyKinLinear &ref=.PedalJointLin; - MeasureOrganizer={0,1}; - }; - - AnyKinEq PedalJointLinConstraints = { - AnyKinMeasure& ref= .PedalJointLinXY; - }; - - // This measure is for controlling the rotation. - AnyKinRotational PedalJointRot = { - AnyRefFrame &Ground = ....BikeModel.BikeFrame; - AnyRefNode &Foot = ...ModelFolder.Left.Seg.Foot.GroundJoint; - Type=RotAxesAngles; - }; - AnyKinMeasureOrg FootLMovement = { - AnyKinRotational &GroundFoot = .PedalJointRot; - MeasureOrganizer = {0,1}; // Standard rotational order = z,y,x = 0,1,2 - }; - - AnyKinEqFourierDriver PedalLRotationFourier ={ - AnyKinMeasure& Jnt = .FootLMovement; - Type = CosSin; - AnyVar a0 = -0.3792-0.5*pi; - AnyVar a1 = 0.0205; - AnyVar b1 = -0.3373; - AnyVar a2 = 0.004906; - AnyVar b2 = 0.03654; - AnyVar w = 7.681; - Freq = ..BikeParameters.Cadence/60; - // A = { {a0+0.5*pi,a1,a2},{0, 0,0} }; - // B = {{0,b1,b2},{0, 0,0} }; - // Reaction.Type = {Off,Off}; - - A = { {a0+0.5*pi,a1,a2} }; - B = {{0,b1,b2} }; - Reaction.Type = {Off}; - MeasureOrganizer={0}; - }; -}; diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/Leg2D.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/Leg2D.any deleted file mode 100644 index 0079f50f..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/Leg2D.any +++ /dev/null @@ -1,62 +0,0 @@ -AnyFolder Leg2D = { - // ********************************************************** - // The following references refers to stuff that the Leg2D model needs - // and which does not differ for rigth and left side - // ********************************************************** - - // ********************************************************** - // This is a reference to where the body parameters are located. - // The model will need the following quantities - // AnyVar BodyMass - // AnyVar BodyHeight - // AnyVar Density - // ********************************************************** - AnyFolder &BodyParRef = ..BodyParameters; - - // ********************************************************** - // This is a reference to where the colors for the model are located - // The model will need the following quantities - // AnyVec3 Nodes - // AnyVec3 Segments - // ********************************************************** - AnyFolder &ColorRef = ..DrawSettings.Colors; - AnyVar HipWidth = ..BikeParameters.PedalArmWidth; - - // ********************************************************** - // This is a reference to the folder which contains the drawing settings for the muscles - // ********************************************************** - AnyFolder &MusDrawRef = ..DrawSettings.Muscle; - - //This is the path to the trunk segments which the legs will attach too - #include "\Leg2D\SegmentsTrunk.any" - - //This folder contains the right leg - AnyFolder Right = { - - //This is a sign variable which indicates that this is the right side - AnyVar Sign = 1; - - //This is the node where the leg is attached to the pelvis right hipnode - AnyRefFrame &HipNodeRef = .Pelvis.HipJointRight; - - //This the include file that contains the leg - #include "\Leg2D\Leg.root.any" - - }; //Right - - //This folder contains the left leg - AnyFolder Left = { - - //This is a sign variable which indicates that this is the left side - AnyVar Sign = -1; - - //This is the node where the leg is attached to the pelvis left hipnode - AnyRefFrame &HipNodeRef = .Pelvis.HipJointLeft; - - //This the include file that contains the leg - #include "\Leg2D\Leg.root.any" - - }; //Left - -}; //Leg2D - \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/RunAppSequence.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/RunAppSequence.any deleted file mode 100644 index f2b8007d..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/RunAppSequence.any +++ /dev/null @@ -1,20 +0,0 @@ - // Switch to define an automatic save of results to the Output folder -#ifndef AutoSaveOption -#define AutoSaveOption 0 -#endif - -/**Execute this operation to run the model in the intended operation sequence. -It is also possible to run operations seperately, by manual selections in the operation tree*/ -AnyOperationSequence RunApplication = { - - ///This operation is the inverse dynamic analysis - AnyOperation &InvAnal=Main.Study.InverseDynamics; - - #if AutoSaveOption - /// This operation saves the output of the study to an h5 file in the Output folder - AnyOperationMacro save = { - MacroStr={ "classoperation Main.Study.Output " + strquote("Save data") + " --type=Deep" + " --file="+ strquote(ANYBODY_PATH_OUTPUT + ANYBODY_NAME_MAINFILE + ".anydata.h5")}; - }; - #endif -}; - diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/Scaling.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/Scaling.any deleted file mode 100644 index 2680b401..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/Model/Scaling.any +++ /dev/null @@ -1,24 +0,0 @@ -/// This folder provides a very simple uniform scaling of the Body model. -AnyFolder Scaling = { - - // Scaling parameters for the Leg - AnyFolder Leg = { - - // These parameters scale the individual segments of the leg. - AnyVar ThighScale = 1.0; - AnyVar ShankScale = 1.0; - AnyVar FootScale = 1.0; - - // These matrices determine how the scaling is performed. - AnyFolder Foot = { AnyMat33 Smat={{.FootScale,0,0},{0,.FootScale,0},{0,0,.FootScale}}; AnyVec3 Soffset={0,0,0};}; - AnyFolder Shank = { AnyMat33 Smat={{.ShankScale,0,0},{0,.ShankScale,0},{0,0,.ShankScale}}; AnyVec3 Soffset={0,0,0};}; - AnyFolder Thigh = { AnyMat33 Smat={{.ThighScale,0,0},{0,.ThighScale,0},{0,0,.ThighScale}}; AnyVec3 Soffset={0,0,0};}; - }; // Leg - - // Trunk scaling - AnyFolder Trunk = { - AnyVar TrunkScale = 1.0; - AnyFolder Pelvis = { AnyMat33 Smat={{.TrunkScale,0,0},{0,.TrunkScale,0},{0,0,.TrunkScale}}; AnyVec3 Soffset={0,0,0};}; - AnyFolder Trunk = { AnyMat33 Smat={{.TrunkScale,0,0},{0,.TrunkScale,0},{0,0,.TrunkScale}}; AnyVec3 Soffset={0,0,0};}; - }; -}; // Scaling folder \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/libdef.any b/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/libdef.any deleted file mode 100644 index 1675cfa3..00000000 --- a/Parameter_studies_and_optimization/Downloads/ParamBikeFinal/Download/libdef.any +++ /dev/null @@ -1,7 +0,0 @@ -#ifpathexists "../libdef.any" -#include "../libdef.any" -#else -#ifpathexists "/AMMR/libdef.any" -#include "/AMMR/libdef.any" -#endif -#endif \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Downloads/Python-Optimization.zip b/Parameter_studies_and_optimization/Downloads/Python-Optimization.zip index 97ca2e6a..1cafd201 100644 Binary files a/Parameter_studies_and_optimization/Downloads/Python-Optimization.zip and b/Parameter_studies_and_optimization/Downloads/Python-Optimization.zip differ diff --git a/Parameter_studies_and_optimization/Snippets/Input/BackWheel.STL b/Parameter_studies_and_optimization/Snippets/Input/BackWheel.STL new file mode 100644 index 00000000..2205555f Binary files /dev/null and b/Parameter_studies_and_optimization/Snippets/Input/BackWheel.STL differ diff --git a/Parameter_studies_and_optimization/Snippets/Input/Frame.STL b/Parameter_studies_and_optimization/Snippets/Input/Frame.STL new file mode 100644 index 00000000..66b6064c Binary files /dev/null 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vertex -5.076611e-02 1.882436e-01 1.151392e-02 + endloop + endfacet +endsolid SaddlePin \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/Input/Sprocket.STL b/Parameter_studies_and_optimization/Snippets/Input/Sprocket.STL new file mode 100644 index 00000000..61eeb5a6 Binary files /dev/null and b/Parameter_studies_and_optimization/Snippets/Input/Sprocket.STL differ diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-1/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-1/BikeModel2D.main.any index e591b1e7..1f78df44 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-1/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-1/BikeModel2D.main.any @@ -22,10 +22,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/BikeModel2D.main.any index 5ffd4a18..cb405421 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/BikeModel2D.main.any @@ -22,10 +22,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/BikeFrameAndWheels.any index e9162aec..921e8cc2 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-2/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/BikeModel2D.main.any index 4ccb685b..716026cf 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/BikeModel2D.main.any @@ -22,10 +22,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/BikeFrameAndWheels.any index e9162aec..921e8cc2 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-3/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/BikeModel2D.main.any index c0640113..d7ebd052 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/BikeModel2D.main.any @@ -22,10 +22,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -93,13 +93,13 @@ AnyParamStudy ParamStudy = { nStep = ; AnyDesVar §SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69; + Min = 0.57; + Max = 0.65; };§ AnyDesVar §SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20; - Max = -0.05; + Min = -0.22; + Max = -0.12; };§ AnyDesMeasure & = ; //AnyDesMeasure & = ; You can make any number of AnyDesMeasure objects! diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/BikeFrameAndWheels.any index e9162aec..921e8cc2 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-4/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/BikeModel2D.main.any index 3e049885..57c118fc 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -88,14 +88,14 @@ AnyParamStudy ParamStudy = { nStep = {5,5}; //This definition of steps is not presented yet in tutorial AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69; + Min = 0.57; + Max = 0.65; }; //# BEGIN SNIPPET 1 AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20; - Max = -0.05; + Min = -0.22; + Max = -0.12; }; §AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Input/bikeframe.anysurf b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Input/bikeframe.anysurf deleted file mode 100644 index a23d4122..00000000 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Input/bikeframe.anysurf +++ /dev/null @@ -1,4565 +0,0 @@ -ANYSURF -FORMAT 2 -1477 2578 - -1.753673e-001 6.955571e-001 6.605433e-003 7.811125e-001 2.095557e-001 5.881748e-001 - 2.050194e-002 -2.832543e-002 2.914481e-003 9.186322e-001 2.457855e-001 3.093613e-001 - -1.729270e-001 6.962041e-001 -1.186352e-003 9.658613e-001 2.590598e-001 -4.983099e-006 - 2.050194e-002 -2.832543e-002 -5.286781e-003 9.378694e-001 2.520235e-001 2.385063e-001 - -1.753673e-001 6.955571e-001 -8.977733e-003 7.823700e-001 2.125717e-001 -5.854148e-001 - 1.583202e-002 -2.957484e-002 9.540617e-003 5.676100e-001 1.517404e-001 8.091932e-001 - -1.817855e-001 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7.109765e-001 - 1.060087e+000 2.274629e-001 1.220504e-002 -5.462883e-001 -4.427815e-001 7.109948e-001 - 1.107418e+000 1.345161e-001 1.220504e-002 -6.564393e-001 -2.521983e-001 7.109736e-001 - 1.123754e+000 3.149249e-002 1.220504e-002 -7.022200e-001 -3.712679e-002 7.109914e-001 - 1.107418e+000 -7.156215e-002 1.220504e-002 -6.793170e-001 1.817697e-001 7.109770e-001 - 1.060087e+000 -1.644882e-001 1.220504e-002 -5.899118e-001 3.827449e-001 7.109926e-001 - 9.862904e-001 -2.382539e-001 1.220504e-002 -4.426976e-001 5.463801e-001 7.109765e-001 - 8.933547e-001 -2.856170e-001 1.220504e-002 -2.522902e-001 6.563898e-001 7.109867e-001 - 7.903216e-001 -3.019324e-001 1.220504e-002 -3.706282e-002 7.022322e-001 7.109826e-001 - 6.872988e-001 -2.856170e-001 1.220504e-002 1.817326e-001 6.793194e-001 7.109841e-001 - 5.943424e-001 -2.382539e-001 1.220504e-002 3.827533e-001 5.899187e-001 7.109823e-001 - 5.205670e-001 -1.644882e-001 1.220504e-002 5.463216e-001 4.427499e-001 7.109889e-001 - 4.732352e-001 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3.394746e-002 -6.441715e-001 7.641274e-001 - 9.915570e-001 3.084710e-001 -1.034463e-002 1.877820e-001 2.448344e-001 -9.512066e-001 - 9.894828e-001 3.056056e-001 -1.090515e-002 -4.059539e-001 -5.008023e-001 -7.644596e-001 - 9.894828e-001 3.056056e-001 1.215465e-002 -3.508918e-001 -5.407755e-001 7.644847e-001 - 1.067317e+000 2.327312e-001 -1.034463e-002 2.550546e-001 1.754686e-001 -9.508722e-001 - 1.064452e+000 2.306250e-001 -1.090515e-002 -5.411701e-001 -3.509583e-001 -7.641749e-001 - 1.064452e+000 2.306250e-001 1.215465e-002 -5.009707e-001 -4.058629e-001 7.643976e-001 - 1.115953e+000 1.372867e-001 -1.034463e-002 2.962975e-001 8.785471e-002 -9.510464e-001 - 1.112542e+000 1.361855e-001 -1.090515e-002 -6.232718e-001 -1.668215e-001 -7.640045e-001 - 1.112542e+000 1.361855e-001 1.215465e-002 -6.022684e-001 -2.313333e-001 7.640404e-001 - 1.132706e+000 3.149266e-002 -1.034463e-002 3.090642e-001 -7.994816e-003 -9.510076e-001 - 1.129146e+000 3.149266e-002 -1.090515e-002 -6.441593e-001 3.408646e-002 -7.641314e-001 - 1.129146e+000 3.149266e-002 1.215465e-002 -6.441578e-001 -3.409652e-002 7.641323e-001 - 1.115953e+000 -7.431207e-002 -1.034463e-002 2.908405e-001 -1.028836e-001 -9.512238e-001 - 1.112542e+000 -7.321083e-002 -1.090515e-002 -6.022408e-001 2.312605e-001 -7.640842e-001 - 1.112542e+000 -7.321083e-002 1.215465e-002 -6.232799e-001 1.667966e-001 7.640033e-001 - 1.067317e+000 -1.697566e-001 -1.034463e-002 2.449484e-001 -1.878004e-001 -9.511736e-001 - 1.064452e+000 -1.676717e-001 -1.090515e-002 -5.008767e-001 4.058853e-001 -7.644473e-001 - 1.064452e+000 -1.676717e-001 1.215465e-002 -5.410676e-001 3.508471e-001 7.642985e-001 - 9.915570e-001 -2.455177e-001 -1.034463e-002 1.750735e-001 -2.545399e-001 -9.510829e-001 - 9.894828e-001 -2.426310e-001 -1.090515e-002 -3.509913e-001 5.409459e-001 -7.643184e-001 - 9.894828e-001 -2.426310e-001 1.215465e-002 -4.059309e-001 5.009611e-001 7.643678e-001 - 8.961246e-001 -2.941434e-001 -1.034463e-002 8.783590e-002 -2.960662e-001 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5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 -6.649784e-003 -5.870606e-001 -8.095157e-001 - 6.835346e-001 -2.971906e-001 -8.707022e-003 -1.878396e-001 -5.564134e-001 -8.093951e-001 - 5.871934e-001 -2.481051e-001 -8.707022e-003 -3.506167e-001 -4.712926e-001 -8.092905e-001 - 5.107491e-001 -1.716597e-001 -8.707022e-003 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4.180569e-003 2.915500e-001 9.055039e-001 3.083201e-001 - 7.903214e-001 3.812492e-001 4.180569e-003 -2.613790e-003 9.509823e-001 3.092342e-001 - 9.959298e-001 3.144583e-001 4.180569e-003 5.573988e-001 7.715226e-001 3.066910e-001 - 1.073315e+000 2.370827e-001 4.180569e-003 7.683452e-001 5.613785e-001 3.074083e-001 - 1.122998e+000 1.395747e-001 4.180569e-003 9.047574e-001 2.964504e-001 3.058288e-001 - 1.140083e+000 3.149266e-002 4.180569e-003 9.514106e-001 2.580735e-003 3.079143e-001 - 1.122998e+000 -7.660009e-002 4.180569e-003 9.056125e-001 -2.915110e-001 3.080379e-001 - 1.073315e+000 -1.741081e-001 4.180569e-003 7.711910e-001 -5.572090e-001 3.078679e-001 - 9.959298e-001 -2.514837e-001 4.180569e-003 5.610584e-001 -7.679810e-001 3.088992e-001 - 8.984125e-001 -3.011786e-001 4.180569e-003 2.962741e-001 -9.038268e-001 3.087373e-001 - 7.903214e-001 -3.182959e-001 4.180569e-003 2.481753e-003 -9.515540e-001 3.074718e-001 - 6.822409e-001 -3.011786e-001 4.180569e-003 -2.916603e-001 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2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 9.507430e-001 - 1.115953e+000 -7.431207e-002 1.159412e-002 2.968331e-001 -8.797261e-002 9.508685e-001 - 1.067317e+000 -1.697566e-001 1.159412e-002 2.551737e-001 -1.754985e-001 9.508347e-001 - 9.915570e-001 -2.455177e-001 1.159412e-002 1.882775e-001 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-5/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/BikeModel2D.main.any index 5592a89e..3e1ac624 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -89,13 +89,13 @@ AnyParamStudy ParamStudy = { nStep = §{5,5}§; AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69; + Min = 0.57; + Max = 0.65; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20; - Max = -0.05; + Min = -0.22; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Input/bikeframe.anysurf b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Input/bikeframe.anysurf deleted file mode 100644 index a23d4122..00000000 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Input/bikeframe.anysurf +++ /dev/null @@ -1,4565 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5.943424e-001 3.012285e-001 1.220504e-002 4.427301e-001 -5.463463e-001 7.109823e-001 - 7.903214e-001 3.702902e-001 -1.090515e-002 -3.393737e-002 -6.441730e-001 -7.641265e-001 - 8.961246e-001 3.571181e-001 -1.034463e-002 1.028507e-001 2.908831e-001 -9.512144e-001 - 8.950447e-001 3.537288e-001 -1.090515e-002 -2.312295e-001 -6.018797e-001 -7.643780e-001 - 8.950447e-001 3.537288e-001 1.215465e-002 -1.665651e-001 -6.230723e-001 7.642231e-001 - 6.856088e-001 3.537288e-001 -1.090515e-002 1.665721e-001 -6.230720e-001 -7.642219e-001 - 7.903214e-001 3.738612e-001 -1.034463e-002 7.976942e-003 3.091271e-001 -9.509873e-001 - 7.903214e-001 3.702902e-001 1.215465e-002 3.394746e-002 -6.441715e-001 7.641274e-001 - 9.915570e-001 3.084710e-001 -1.034463e-002 1.877820e-001 2.448344e-001 -9.512066e-001 - 9.894828e-001 3.056056e-001 -1.090515e-002 -4.059539e-001 -5.008023e-001 -7.644596e-001 - 9.894828e-001 3.056056e-001 1.215465e-002 -3.508918e-001 -5.407755e-001 7.644847e-001 - 1.067317e+000 2.327312e-001 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6.439204e-001 -7.643361e-001 - 7.903214e-001 -3.073370e-001 1.215465e-002 -3.400098e-002 6.439199e-001 7.643371e-001 - 6.845289e-001 -2.941434e-001 -1.034463e-002 -1.030365e-001 -2.913813e-001 -9.510417e-001 - 6.856088e-001 -2.907542e-001 -1.090515e-002 2.313406e-001 6.019586e-001 -7.642823e-001 - 6.856088e-001 -2.907542e-001 1.215465e-002 1.666570e-001 6.229286e-001 7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 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9.962612e-001 3.149074e-001 6.217559e-004 5.877700e-001 8.090280e-001 2.097818e-004 - 1.073764e+000 2.374035e-001 6.217559e-004 8.090384e-001 5.877554e-001 -7.515534e-004 - 1.123512e+000 1.397458e-001 6.217559e-004 9.510695e-001 3.089748e-001 1.163778e-003 - 1.140661e+000 3.149266e-002 6.217559e-004 1.000000e+000 2.145510e-005 1.546869e-004 - 1.123512e+000 -7.679254e-002 6.217559e-004 9.510831e-001 -3.089344e-001 -7.162902e-004 - 1.073764e+000 -1.744502e-001 6.217559e-004 8.090491e-001 -5.877402e-001 9.993433e-004 - 9.962612e-001 -2.519541e-001 6.217559e-004 5.877808e-001 -8.090203e-001 -2.821034e-005 - 8.985943e-001 -3.017131e-001 6.217559e-004 3.089545e-001 -9.510763e-001 -9.439899e-004 - 7.903214e-001 -3.188519e-001 6.217559e-004 -7.631453e-006 -1.000000e+000 -6.381175e-007 - 6.820592e-001 -3.017131e-001 6.217559e-004 -3.089617e-001 -9.510740e-001 9.461780e-004 - 5.843922e-001 -2.519541e-001 6.217559e-004 -5.877808e-001 -8.090202e-001 3.034679e-005 - 5.068895e-001 -1.744502e-001 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2.964504e-001 3.058288e-001 - 1.140083e+000 3.149266e-002 4.180569e-003 9.514106e-001 2.580735e-003 3.079143e-001 - 1.122998e+000 -7.660009e-002 4.180569e-003 9.056125e-001 -2.915110e-001 3.080379e-001 - 1.073315e+000 -1.741081e-001 4.180569e-003 7.711910e-001 -5.572090e-001 3.078679e-001 - 9.959298e-001 -2.514837e-001 4.180569e-003 5.610584e-001 -7.679810e-001 3.088992e-001 - 8.984125e-001 -3.011786e-001 4.180569e-003 2.962741e-001 -9.038268e-001 3.087373e-001 - 7.903214e-001 -3.182959e-001 4.180569e-003 2.481753e-003 -9.515540e-001 3.074718e-001 - 6.822409e-001 -3.011786e-001 4.180569e-003 -2.916603e-001 -9.057269e-001 3.075599e-001 - 5.847237e-001 -2.514837e-001 4.180569e-003 -5.569774e-001 -7.708971e-001 3.090207e-001 - 5.073385e-001 -1.741081e-001 4.180569e-003 -7.679016e-001 -5.610278e-001 3.091518e-001 - 4.576551e-001 -7.660009e-002 4.180569e-003 -9.044762e-001 -2.963405e-001 3.067656e-001 - 4.405701e-001 3.148197e-002 4.180569e-003 -9.513888e-001 -2.573275e-003 3.079818e-001 - 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9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 9.507430e-001 - 1.115953e+000 -7.431207e-002 1.159412e-002 2.968331e-001 -8.797261e-002 9.508685e-001 - 1.067317e+000 -1.697566e-001 1.159412e-002 2.551737e-001 -1.754985e-001 9.508347e-001 - 9.915570e-001 -2.455177e-001 1.159412e-002 1.882775e-001 -2.455661e-001 9.509200e-001 - 8.961246e-001 -2.941434e-001 1.159412e-002 1.033002e-001 -2.920768e-001 9.507998e-001 - 7.903214e-001 -3.108866e-001 1.159412e-002 8.022816e-003 -3.093067e-001 9.509285e-001 - 6.845289e-001 -2.941434e-001 1.159412e-002 -8.803206e-002 -2.967836e-001 9.508784e-001 - 5.890965e-001 -2.455177e-001 1.159412e-002 -1.754782e-001 -2.551619e-001 9.508416e-001 - 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-6/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/BikeModel2D.main.any index 635c97f0..c3d1f518 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -97,13 +97,13 @@ AnyParamStudy ParamStudy = { //# BEGIN SNIPPET 1 AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 §+ 0.02§; + Min = 0.57; + Max = 0.65 §+ 0.03§; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 §- 0.03§; - Max = -0.05; + Min = -0.22 §- 0.02§; + Max = -0.12; }; //# END SNIPPET 1 AnyDesMeasure MaxAct = { diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Input/bikeframe.anysurf b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Input/bikeframe.anysurf deleted file mode 100644 index a23d4122..00000000 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Input/bikeframe.anysurf 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5.943424e-001 3.012285e-001 1.220504e-002 4.427301e-001 -5.463463e-001 7.109823e-001 - 7.903214e-001 3.702902e-001 -1.090515e-002 -3.393737e-002 -6.441730e-001 -7.641265e-001 - 8.961246e-001 3.571181e-001 -1.034463e-002 1.028507e-001 2.908831e-001 -9.512144e-001 - 8.950447e-001 3.537288e-001 -1.090515e-002 -2.312295e-001 -6.018797e-001 -7.643780e-001 - 8.950447e-001 3.537288e-001 1.215465e-002 -1.665651e-001 -6.230723e-001 7.642231e-001 - 6.856088e-001 3.537288e-001 -1.090515e-002 1.665721e-001 -6.230720e-001 -7.642219e-001 - 7.903214e-001 3.738612e-001 -1.034463e-002 7.976942e-003 3.091271e-001 -9.509873e-001 - 7.903214e-001 3.702902e-001 1.215465e-002 3.394746e-002 -6.441715e-001 7.641274e-001 - 9.915570e-001 3.084710e-001 -1.034463e-002 1.877820e-001 2.448344e-001 -9.512066e-001 - 9.894828e-001 3.056056e-001 -1.090515e-002 -4.059539e-001 -5.008023e-001 -7.644596e-001 - 9.894828e-001 3.056056e-001 1.215465e-002 -3.508918e-001 -5.407755e-001 7.644847e-001 - 1.067317e+000 2.327312e-001 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6.439204e-001 -7.643361e-001 - 7.903214e-001 -3.073370e-001 1.215465e-002 -3.400098e-002 6.439199e-001 7.643371e-001 - 6.845289e-001 -2.941434e-001 -1.034463e-002 -1.030365e-001 -2.913813e-001 -9.510417e-001 - 6.856088e-001 -2.907542e-001 -1.090515e-002 2.313406e-001 6.019586e-001 -7.642823e-001 - 6.856088e-001 -2.907542e-001 1.215465e-002 1.666570e-001 6.229286e-001 7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 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9.962612e-001 3.149074e-001 6.217559e-004 5.877700e-001 8.090280e-001 2.097818e-004 - 1.073764e+000 2.374035e-001 6.217559e-004 8.090384e-001 5.877554e-001 -7.515534e-004 - 1.123512e+000 1.397458e-001 6.217559e-004 9.510695e-001 3.089748e-001 1.163778e-003 - 1.140661e+000 3.149266e-002 6.217559e-004 1.000000e+000 2.145510e-005 1.546869e-004 - 1.123512e+000 -7.679254e-002 6.217559e-004 9.510831e-001 -3.089344e-001 -7.162902e-004 - 1.073764e+000 -1.744502e-001 6.217559e-004 8.090491e-001 -5.877402e-001 9.993433e-004 - 9.962612e-001 -2.519541e-001 6.217559e-004 5.877808e-001 -8.090203e-001 -2.821034e-005 - 8.985943e-001 -3.017131e-001 6.217559e-004 3.089545e-001 -9.510763e-001 -9.439899e-004 - 7.903214e-001 -3.188519e-001 6.217559e-004 -7.631453e-006 -1.000000e+000 -6.381175e-007 - 6.820592e-001 -3.017131e-001 6.217559e-004 -3.089617e-001 -9.510740e-001 9.461780e-004 - 5.843922e-001 -2.519541e-001 6.217559e-004 -5.877808e-001 -8.090202e-001 3.034679e-005 - 5.068895e-001 -1.744502e-001 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2.964504e-001 3.058288e-001 - 1.140083e+000 3.149266e-002 4.180569e-003 9.514106e-001 2.580735e-003 3.079143e-001 - 1.122998e+000 -7.660009e-002 4.180569e-003 9.056125e-001 -2.915110e-001 3.080379e-001 - 1.073315e+000 -1.741081e-001 4.180569e-003 7.711910e-001 -5.572090e-001 3.078679e-001 - 9.959298e-001 -2.514837e-001 4.180569e-003 5.610584e-001 -7.679810e-001 3.088992e-001 - 8.984125e-001 -3.011786e-001 4.180569e-003 2.962741e-001 -9.038268e-001 3.087373e-001 - 7.903214e-001 -3.182959e-001 4.180569e-003 2.481753e-003 -9.515540e-001 3.074718e-001 - 6.822409e-001 -3.011786e-001 4.180569e-003 -2.916603e-001 -9.057269e-001 3.075599e-001 - 5.847237e-001 -2.514837e-001 4.180569e-003 -5.569774e-001 -7.708971e-001 3.090207e-001 - 5.073385e-001 -1.741081e-001 4.180569e-003 -7.679016e-001 -5.610278e-001 3.091518e-001 - 4.576551e-001 -7.660009e-002 4.180569e-003 -9.044762e-001 -2.963405e-001 3.067656e-001 - 4.405701e-001 3.148197e-002 4.180569e-003 -9.513888e-001 -2.573275e-003 3.079818e-001 - 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9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 9.507430e-001 - 1.115953e+000 -7.431207e-002 1.159412e-002 2.968331e-001 -8.797261e-002 9.508685e-001 - 1.067317e+000 -1.697566e-001 1.159412e-002 2.551737e-001 -1.754985e-001 9.508347e-001 - 9.915570e-001 -2.455177e-001 1.159412e-002 1.882775e-001 -2.455661e-001 9.509200e-001 - 8.961246e-001 -2.941434e-001 1.159412e-002 1.033002e-001 -2.920768e-001 9.507998e-001 - 7.903214e-001 -3.108866e-001 1.159412e-002 8.022816e-003 -3.093067e-001 9.509285e-001 - 6.845289e-001 -2.941434e-001 1.159412e-002 -8.803206e-002 -2.967836e-001 9.508784e-001 - 5.890965e-001 -2.455177e-001 1.159412e-002 -1.754782e-001 -2.551619e-001 9.508416e-001 - 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-7/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/BikeModel2D.main.any index f9168edf..1cda09fd 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -100,13 +100,13 @@ AnyParamStudy ParamStudy = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 §/*+ 0.02*/§; + Min = 0.57; + Max = 0.65 §/*+ 0.03*/§; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 §/*- 0.03*/§; - Max = -0.05; + Min = -0.22 §/*- 0.02*/§; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Input/bikeframe.anysurf b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Input/bikeframe.anysurf deleted file mode 100644 index a23d4122..00000000 --- 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1.064608e+000 2.307425e-001 -1.093035e-002 5.463584e-001 4.427022e-001 -7.109903e-001 - 1.060087e+000 2.274629e-001 -1.093035e-002 -5.899329e-001 -3.827081e-001 -7.109948e-001 - 1.064608e+000 2.307425e-001 1.220504e-002 5.899704e-001 3.826587e-001 7.109903e-001 - 1.112726e+000 1.362438e-001 -1.093035e-002 6.564479e-001 2.521740e-001 -7.109743e-001 - 1.107418e+000 1.345161e-001 -1.093035e-002 -6.793200e-001 -1.817716e-001 -7.109736e-001 - 1.112726e+000 1.362438e-001 1.220504e-002 6.793277e-001 1.817400e-001 7.109743e-001 - 1.129330e+000 3.149249e-002 -1.093035e-002 7.022230e-001 3.710639e-002 -7.109894e-001 - 1.123754e+000 3.149249e-002 -1.093035e-002 -7.022217e-001 3.709408e-002 -7.109914e-001 - 1.129330e+000 3.149249e-002 1.220504e-002 7.022236e-001 -3.709562e-002 7.109894e-001 - 1.112726e+000 -7.326921e-002 -1.093035e-002 6.793366e-001 -1.817137e-001 -7.109725e-001 - 1.107418e+000 -7.156215e-002 -1.093035e-002 -6.564247e-001 2.522267e-001 -7.109770e-001 - 1.112726e+000 -7.326921e-002 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7.109838e-001 - 5.910524e-001 3.057496e-001 -1.093035e-002 -4.427303e-001 5.463398e-001 -7.109871e-001 - 5.943424e-001 3.012285e-001 -1.093035e-002 3.827531e-001 -5.899188e-001 -7.109823e-001 - 5.910524e-001 3.057496e-001 1.220504e-002 -3.827148e-001 5.899379e-001 7.109871e-001 - 6.872988e-001 3.485916e-001 -1.093035e-002 1.816871e-001 -6.793290e-001 -7.109865e-001 - 7.903216e-001 3.648966e-001 1.220504e-002 3.705036e-002 -7.022378e-001 7.109777e-001 - 6.872988e-001 3.485916e-001 1.220504e-002 2.522326e-001 -6.564121e-001 7.109865e-001 - 8.933547e-001 3.485916e-001 1.220504e-002 -1.816996e-001 -6.793230e-001 7.109891e-001 - 9.862904e-001 3.012285e-001 1.220504e-002 -3.827640e-001 -5.899187e-001 7.109765e-001 - 1.060087e+000 2.274629e-001 1.220504e-002 -5.462883e-001 -4.427815e-001 7.109948e-001 - 1.107418e+000 1.345161e-001 1.220504e-002 -6.564393e-001 -2.521983e-001 7.109736e-001 - 1.123754e+000 3.149249e-002 1.220504e-002 -7.022200e-001 -3.712679e-002 7.109914e-001 - 1.107418e+000 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5.899525e-001 -3.826849e-001 7.109911e-001 - 5.943424e-001 3.012285e-001 1.220504e-002 4.427301e-001 -5.463463e-001 7.109823e-001 - 7.903214e-001 3.702902e-001 -1.090515e-002 -3.393737e-002 -6.441730e-001 -7.641265e-001 - 8.961246e-001 3.571181e-001 -1.034463e-002 1.028507e-001 2.908831e-001 -9.512144e-001 - 8.950447e-001 3.537288e-001 -1.090515e-002 -2.312295e-001 -6.018797e-001 -7.643780e-001 - 8.950447e-001 3.537288e-001 1.215465e-002 -1.665651e-001 -6.230723e-001 7.642231e-001 - 6.856088e-001 3.537288e-001 -1.090515e-002 1.665721e-001 -6.230720e-001 -7.642219e-001 - 7.903214e-001 3.738612e-001 -1.034463e-002 7.976942e-003 3.091271e-001 -9.509873e-001 - 7.903214e-001 3.702902e-001 1.215465e-002 3.394746e-002 -6.441715e-001 7.641274e-001 - 9.915570e-001 3.084710e-001 -1.034463e-002 1.877820e-001 2.448344e-001 -9.512066e-001 - 9.894828e-001 3.056056e-001 -1.090515e-002 -4.059539e-001 -5.008023e-001 -7.644596e-001 - 9.894828e-001 3.056056e-001 1.215465e-002 -3.508918e-001 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7.903214e-001 -3.073370e-001 -1.090515e-002 3.401119e-002 6.439204e-001 -7.643361e-001 - 7.903214e-001 -3.073370e-001 1.215465e-002 -3.400098e-002 6.439199e-001 7.643371e-001 - 6.845289e-001 -2.941434e-001 -1.034463e-002 -1.030365e-001 -2.913813e-001 -9.510417e-001 - 6.856088e-001 -2.907542e-001 -1.090515e-002 2.313406e-001 6.019586e-001 -7.642823e-001 - 6.856088e-001 -2.907542e-001 1.215465e-002 1.666570e-001 6.229286e-001 7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 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3.818265e-001 6.217559e-004 -7.634410e-006 1.000000e+000 6.729154e-007 - 9.962612e-001 3.149074e-001 6.217559e-004 5.877700e-001 8.090280e-001 2.097818e-004 - 1.073764e+000 2.374035e-001 6.217559e-004 8.090384e-001 5.877554e-001 -7.515534e-004 - 1.123512e+000 1.397458e-001 6.217559e-004 9.510695e-001 3.089748e-001 1.163778e-003 - 1.140661e+000 3.149266e-002 6.217559e-004 1.000000e+000 2.145510e-005 1.546869e-004 - 1.123512e+000 -7.679254e-002 6.217559e-004 9.510831e-001 -3.089344e-001 -7.162902e-004 - 1.073764e+000 -1.744502e-001 6.217559e-004 8.090491e-001 -5.877402e-001 9.993433e-004 - 9.962612e-001 -2.519541e-001 6.217559e-004 5.877808e-001 -8.090203e-001 -2.821034e-005 - 8.985943e-001 -3.017131e-001 6.217559e-004 3.089545e-001 -9.510763e-001 -9.439899e-004 - 7.903214e-001 -3.188519e-001 6.217559e-004 -7.631453e-006 -1.000000e+000 -6.381175e-007 - 6.820592e-001 -3.017131e-001 6.217559e-004 -3.089617e-001 -9.510740e-001 9.461780e-004 - 5.843922e-001 -2.519541e-001 6.217559e-004 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson1/2Dbike-8/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/BikeModel2D.main.any index f66b14ff..39fbd499 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/BikeModel2D.main.any @@ -22,10 +22,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -100,13 +100,13 @@ AnyParamStudy ParamStudy = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.57; + Max = 0.65 /*+ 0.03*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; + Min = -0.22 /*- 0.02*/; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); @@ -124,13 +124,13 @@ AnyParamStudy ParamStudy = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.57; + Max = 0.65 /*+ 0.03*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; + Min = -0.22 /*- 0.02*/; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike1/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/BikeModel2D.main.any index 3712813c..fe369eba 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -97,13 +97,13 @@ Main = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.57; + Max = 0.65 /*+ 0.03*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; + Min = -0.22 /*- 0.02*/; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); @@ -121,13 +121,13 @@ Any§Opt§Study §Opt§Study = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.57; + Max = 0.65 /*+ 0.03*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; + Min = -0.22 /*- 0.02*/; + Max = -0.12; }; AnyDesMeasure Metab = { Val = secint(..Study.Metabolism(),..Study.tArray); 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3.476993e-001 1.453046e-003 7.547808e-001 4.409598e-001 4.856547e-001 - 8.460441e-001 3.479022e-001 6.152898e-004 1.800792e-001 9.836521e-001 -1.994528e-005 - 8.456219e-001 3.479989e-001 1.982151e-003 -1.529922e-001 6.079840e-001 7.790692e-001 - 8.474903e-001 3.476607e-001 6.152898e-004 9.067719e-001 4.216210e-001 6.726555e-004 - 8.471885e-001 3.476993e-001 -2.287477e-004 7.551342e-001 4.409831e-001 -4.850838e-001 - 8.464959e-001 3.478443e-001 -7.578524e-004 3.621853e-001 5.168557e-001 -7.756816e-001 - 8.456219e-001 3.479989e-001 -7.578524e-004 -1.529967e-001 6.079688e-001 -7.790802e-001 - 8.449293e-001 3.481245e-001 -2.287477e-004 -5.590320e-001 6.788655e-001 -4.760512e-001 - 8.446572e-001 3.481631e-001 6.152898e-004 -7.096987e-001 7.045051e-001 5.666233e-004 - 8.449293e-001 3.481245e-001 1.453046e-003 -5.587596e-001 6.787427e-001 4.765460e-001 - 1.035644e+000 2.389313e-001 1.453046e-003 1.602205e-002 8.732476e-001 4.870133e-001 - 5.437130e-001 -1.742820e-001 1.774260e-003 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5.121290e-001 -1.290241e-001 6.152898e-004 -8.604532e-001 -5.095294e-001 -2.504673e-008 - 5.117120e-001 -1.283180e-001 1.774260e-003 -7.334707e-001 1.320416e-001 6.667727e-001 - 5.128268e-001 -1.302141e-001 1.049915e-003 -9.506682e-002 -9.664995e-001 2.384134e-001 - 5.128268e-001 -1.302141e-001 1.743839e-004 -9.498638e-002 -9.666356e-001 -2.378934e-001 - 5.125545e-001 -1.297697e-001 -5.499616e-004 -2.488112e-001 -7.060850e-001 -6.629759e-001 - 5.121290e-001 -1.290241e-001 -8.271200e-004 -4.929485e-001 -2.819419e-001 -8.231103e-001 - 5.117120e-001 -1.283180e-001 -5.499616e-004 -7.334729e-001 1.320326e-001 -6.667720e-001 - 5.114396e-001 -1.278884e-001 1.743839e-004 -8.855991e-001 3.893044e-001 -2.532910e-001 - 5.114396e-001 -1.278884e-001 1.049915e-003 -8.854989e-001 3.891487e-001 2.538799e-001 - 1.068643e+000 1.917541e-001 1.982151e-003 6.097146e-001 6.300304e-002 7.901131e-001 - 1.069034e+000 1.911418e-001 1.453046e-003 8.245985e-001 -2.939872e-001 4.833311e-001 - 1.068464e+000 1.921491e-001 6.152898e-004 8.691575e-001 4.945354e-001 2.838797e-005 - 1.068217e+000 1.925195e-001 1.982151e-003 3.656683e-001 4.903354e-001 7.911118e-001 - 1.069154e+000 1.909393e-001 6.152898e-004 9.007737e-001 -4.342885e-001 5.353042e-004 - 1.069034e+000 1.911418e-001 -2.287477e-004 8.248234e-001 -2.941488e-001 -4.828487e-001 - 1.068643e+000 1.917541e-001 -7.578524e-004 6.097402e-001 6.303222e-002 -7.900910e-001 - 1.068217e+000 1.925195e-001 -7.578524e-004 3.657021e-001 4.903435e-001 -7.910912e-001 - 1.067886e+000 1.931713e-001 -2.287477e-004 1.611830e-001 8.601193e-001 -4.839575e-001 - 1.067741e+000 1.933935e-001 6.152898e-004 7.791644e-002 9.969597e-001 5.433620e-004 - 1.067886e+000 1.931713e-001 1.453046e-003 1.612336e-001 8.598308e-001 4.844531e-001 - 9.958685e-001 2.784003e-001 1.453046e-003 -1.420884e-001 8.623318e-001 4.859988e-001 - 5.831904e-001 -2.140446e-001 1.774260e-003 -7.360815e-001 -1.206842e-001 6.660476e-001 - 9.964132e-001 2.779329e-001 1.982151e-003 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6.564225e-001 2.522330e-001 7.109768e-001 - 4.568993e-001 3.148214e-002 1.220504e-002 7.022212e-001 3.710476e-002 7.109913e-001 - 4.732352e-001 1.345161e-001 1.220504e-002 6.793210e-001 -1.817655e-001 7.109742e-001 - 5.205670e-001 2.274629e-001 1.220504e-002 5.899525e-001 -3.826849e-001 7.109911e-001 - 5.943424e-001 3.012285e-001 1.220504e-002 4.427301e-001 -5.463463e-001 7.109823e-001 - 7.903214e-001 3.702902e-001 -1.090515e-002 -3.393737e-002 -6.441730e-001 -7.641265e-001 - 8.961246e-001 3.571181e-001 -1.034463e-002 1.028507e-001 2.908831e-001 -9.512144e-001 - 8.950447e-001 3.537288e-001 -1.090515e-002 -2.312295e-001 -6.018797e-001 -7.643780e-001 - 8.950447e-001 3.537288e-001 1.215465e-002 -1.665651e-001 -6.230723e-001 7.642231e-001 - 6.856088e-001 3.537288e-001 -1.090515e-002 1.665721e-001 -6.230720e-001 -7.642219e-001 - 7.903214e-001 3.738612e-001 -1.034463e-002 7.976942e-003 3.091271e-001 -9.509873e-001 - 7.903214e-001 3.702902e-001 1.215465e-002 3.394746e-002 -6.441715e-001 7.641274e-001 - 9.915570e-001 3.084710e-001 -1.034463e-002 1.877820e-001 2.448344e-001 -9.512066e-001 - 9.894828e-001 3.056056e-001 -1.090515e-002 -4.059539e-001 -5.008023e-001 -7.644596e-001 - 9.894828e-001 3.056056e-001 1.215465e-002 -3.508918e-001 -5.407755e-001 7.644847e-001 - 1.067317e+000 2.327312e-001 -1.034463e-002 2.550546e-001 1.754686e-001 -9.508722e-001 - 1.064452e+000 2.306250e-001 -1.090515e-002 -5.411701e-001 -3.509583e-001 -7.641749e-001 - 1.064452e+000 2.306250e-001 1.215465e-002 -5.009707e-001 -4.058629e-001 7.643976e-001 - 1.115953e+000 1.372867e-001 -1.034463e-002 2.962975e-001 8.785471e-002 -9.510464e-001 - 1.112542e+000 1.361855e-001 -1.090515e-002 -6.232718e-001 -1.668215e-001 -7.640045e-001 - 1.112542e+000 1.361855e-001 1.215465e-002 -6.022684e-001 -2.313333e-001 7.640404e-001 - 1.132706e+000 3.149266e-002 -1.034463e-002 3.090642e-001 -7.994816e-003 -9.510076e-001 - 1.129146e+000 3.149266e-002 -1.090515e-002 -6.441593e-001 3.408646e-002 -7.641314e-001 - 1.129146e+000 3.149266e-002 1.215465e-002 -6.441578e-001 -3.409652e-002 7.641323e-001 - 1.115953e+000 -7.431207e-002 -1.034463e-002 2.908405e-001 -1.028836e-001 -9.512238e-001 - 1.112542e+000 -7.321083e-002 -1.090515e-002 -6.022408e-001 2.312605e-001 -7.640842e-001 - 1.112542e+000 -7.321083e-002 1.215465e-002 -6.232799e-001 1.667966e-001 7.640033e-001 - 1.067317e+000 -1.697566e-001 -1.034463e-002 2.449484e-001 -1.878004e-001 -9.511736e-001 - 1.064452e+000 -1.676717e-001 -1.090515e-002 -5.008767e-001 4.058853e-001 -7.644473e-001 - 1.064452e+000 -1.676717e-001 1.215465e-002 -5.410676e-001 3.508471e-001 7.642985e-001 - 9.915570e-001 -2.455177e-001 -1.034463e-002 1.750735e-001 -2.545399e-001 -9.510829e-001 - 9.894828e-001 -2.426310e-001 -1.090515e-002 -3.509913e-001 5.409459e-001 -7.643184e-001 - 9.894828e-001 -2.426310e-001 1.215465e-002 -4.059309e-001 5.009611e-001 7.643678e-001 - 8.961246e-001 -2.941434e-001 -1.034463e-002 8.783590e-002 -2.960662e-001 -9.511202e-001 - 8.950447e-001 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6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 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1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 -5.876543e-001 - 5.086643e-001 -1.731458e-001 -6.155965e-003 -6.569305e-001 -4.713097e-001 -5.884806e-001 - 4.592161e-001 -7.609758e-002 -6.155965e-003 -7.706056e-001 -2.451311e-001 -5.882837e-001 - 4.421952e-001 3.148197e-002 -6.155965e-003 -8.092020e-001 4.835511e-003 -5.875106e-001 - 4.592161e-001 1.390722e-001 -6.155965e-003 -7.671940e-001 2.543157e-001 -5.888437e-001 - 5.086643e-001 2.361205e-001 -6.155965e-003 -6.507905e-001 4.789440e-001 -5.891387e-001 - 5.856859e-001 3.131432e-001 -6.155965e-003 -4.712303e-001 6.569352e-001 -5.885390e-001 - 6.827541e-001 3.625815e-001 -6.155965e-003 -2.451952e-001 7.706469e-001 -5.882029e-001 - 8.984125e-001 3.641532e-001 -2.937058e-003 2.963145e-001 9.040295e-001 -3.081046e-001 - 7.903214e-001 3.812492e-001 -2.937058e-003 2.608529e-003 9.508654e-001 -3.095936e-001 - 9.959298e-001 3.144583e-001 -2.937058e-003 5.613001e-001 7.682237e-001 -3.078546e-001 - 1.073315e+000 2.370827e-001 -2.937058e-003 7.715025e-001 5.574179e-001 -3.067071e-001 - 1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike2/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/BikeModel2D.main.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/BikeModel2D.main.any index 939438cd..cef91c9b 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength = 0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -97,13 +97,13 @@ Main = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.57; + Max = 0.65 /*+ 0.03*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; + Min = -0.22 /*- 0.02*/; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); @@ -113,6 +113,7 @@ Main = { }; }; +//# BEGIN SNIPPET 2 AnyOptStudy OptStudy = { Analysis = { AnyOperation &Operation = ..Study.InverseDynamics; @@ -120,14 +121,15 @@ AnyOptStudy OptStudy = { AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.5§8§; + Max = 0.6§4§ /*+ 0.03*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*- 0.03*/; - Max = -0.05; + Min = -0.2§1§ /*- 0.02*/; + Max = -0.1§3§; }; +//# END SNIPPET 2 //# BEGIN SNIPPET 1 AnyDesMeasure Metab = { Val = secint(..Study.Metabolism(),..Study.tArray); diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Input/bikeframe.anysurf b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Input/bikeframe.anysurf deleted file mode 100644 index a23d4122..00000000 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Input/bikeframe.anysurf +++ /dev/null @@ -1,4565 +0,0 @@ -ANYSURF -FORMAT 2 -1477 2578 - -1.753673e-001 6.955571e-001 6.605433e-003 7.811125e-001 2.095557e-001 5.881748e-001 - 2.050194e-002 -2.832543e-002 2.914481e-003 9.186322e-001 2.457855e-001 3.093613e-001 - -1.729270e-001 6.962041e-001 -1.186352e-003 9.658613e-001 2.590598e-001 -4.983099e-006 - 2.050194e-002 -2.832543e-002 -5.286781e-003 9.378694e-001 2.520235e-001 2.385063e-001 - 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7.109743e-001 - 1.129330e+000 3.149249e-002 -1.093035e-002 7.022230e-001 3.710639e-002 -7.109894e-001 - 1.123754e+000 3.149249e-002 -1.093035e-002 -7.022217e-001 3.709408e-002 -7.109914e-001 - 1.129330e+000 3.149249e-002 1.220504e-002 7.022236e-001 -3.709562e-002 7.109894e-001 - 1.112726e+000 -7.326921e-002 -1.093035e-002 6.793366e-001 -1.817137e-001 -7.109725e-001 - 1.107418e+000 -7.156215e-002 -1.093035e-002 -6.564247e-001 2.522267e-001 -7.109770e-001 - 1.112726e+000 -7.326921e-002 1.220504e-002 6.564659e-001 -2.521324e-001 7.109725e-001 - 1.064608e+000 -1.677886e-001 -1.093035e-002 5.899710e-001 -3.826475e-001 -7.109959e-001 - 1.060087e+000 -1.644882e-001 -1.093035e-002 -5.462771e-001 4.427989e-001 -7.109926e-001 - 1.064608e+000 -1.677886e-001 1.220504e-002 5.463260e-001 -4.427333e-001 7.109959e-001 - 9.896010e-001 -2.427750e-001 -1.093035e-002 4.426978e-001 -5.463735e-001 -7.109815e-001 - 9.862904e-001 -2.382539e-001 -1.093035e-002 -3.827641e-001 5.899186e-001 -7.109765e-001 - 9.896010e-001 -2.427750e-001 1.220504e-002 3.827248e-001 -5.899382e-001 7.109815e-001 - 8.950721e-001 -2.909348e-001 -1.093035e-002 2.522286e-001 -6.564161e-001 -7.109843e-001 - 8.933547e-001 -2.856170e-001 -1.093035e-002 -1.817451e-001 6.793133e-001 -7.109867e-001 - 8.950721e-001 -2.909348e-001 1.220504e-002 1.817041e-001 -6.793269e-001 7.109843e-001 - 7.903216e-001 -3.075191e-001 -1.093035e-002 3.705615e-002 -7.022340e-001 -7.109812e-001 - 7.903216e-001 -3.019324e-001 -1.093035e-002 3.707367e-002 7.022317e-001 -7.109826e-001 - 7.903216e-001 -3.075191e-001 1.220504e-002 -3.706682e-002 -7.022335e-001 7.109812e-001 - 6.855814e-001 -2.909348e-001 -1.093035e-002 -1.817110e-001 -6.793254e-001 -7.109839e-001 - 6.872988e-001 -2.856170e-001 -1.093035e-002 2.522548e-001 6.564062e-001 -7.109841e-001 - 6.855814e-001 -2.909348e-001 1.220504e-002 -2.522318e-001 -6.564153e-001 7.109839e-001 - 5.910524e-001 -2.427750e-001 -1.093035e-002 -3.827252e-001 -5.899378e-001 -7.109816e-001 - 5.943424e-001 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5.943424e-001 -2.382539e-001 1.220504e-002 3.827533e-001 5.899187e-001 7.109823e-001 - 5.205670e-001 -1.644882e-001 1.220504e-002 5.463216e-001 4.427499e-001 7.109889e-001 - 4.732352e-001 -7.156215e-002 1.220504e-002 6.564225e-001 2.522330e-001 7.109768e-001 - 4.568993e-001 3.148214e-002 1.220504e-002 7.022212e-001 3.710476e-002 7.109913e-001 - 4.732352e-001 1.345161e-001 1.220504e-002 6.793210e-001 -1.817655e-001 7.109742e-001 - 5.205670e-001 2.274629e-001 1.220504e-002 5.899525e-001 -3.826849e-001 7.109911e-001 - 5.943424e-001 3.012285e-001 1.220504e-002 4.427301e-001 -5.463463e-001 7.109823e-001 - 7.903214e-001 3.702902e-001 -1.090515e-002 -3.393737e-002 -6.441730e-001 -7.641265e-001 - 8.961246e-001 3.571181e-001 -1.034463e-002 1.028507e-001 2.908831e-001 -9.512144e-001 - 8.950447e-001 3.537288e-001 -1.090515e-002 -2.312295e-001 -6.018797e-001 -7.643780e-001 - 8.950447e-001 3.537288e-001 1.215465e-002 -1.665651e-001 -6.230723e-001 7.642231e-001 - 6.856088e-001 3.537288e-001 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5.409459e-001 -7.643184e-001 - 9.894828e-001 -2.426310e-001 1.215465e-002 -4.059309e-001 5.009611e-001 7.643678e-001 - 8.961246e-001 -2.941434e-001 -1.034463e-002 8.783590e-002 -2.960662e-001 -9.511202e-001 - 8.950447e-001 -2.907542e-001 -1.090515e-002 -1.666505e-001 6.229310e-001 -7.643197e-001 - 8.950447e-001 -2.907542e-001 1.215465e-002 -2.313369e-001 6.019584e-001 7.642835e-001 - 7.903214e-001 -3.108866e-001 -1.034463e-002 -7.989687e-003 -3.085644e-001 -9.511699e-001 - 7.903214e-001 -3.073370e-001 -1.090515e-002 3.401119e-002 6.439204e-001 -7.643361e-001 - 7.903214e-001 -3.073370e-001 1.215465e-002 -3.400098e-002 6.439199e-001 7.643371e-001 - 6.845289e-001 -2.941434e-001 -1.034463e-002 -1.030365e-001 -2.913813e-001 -9.510417e-001 - 6.856088e-001 -2.907542e-001 -1.090515e-002 2.313406e-001 6.019586e-001 -7.642823e-001 - 6.856088e-001 -2.907542e-001 1.215465e-002 1.666570e-001 6.229286e-001 7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/BikeFrameAndWheels.any index e9162aec..4c1d45bb 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../../../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../../../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../../../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../../../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../../../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/InitialPositions.any b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/Snippets/lesson2/2Dbike3/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, 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a/Parameter_studies_and_optimization/_static/Optimization_studies/runopt.png and /dev/null differ diff --git a/Parameter_studies_and_optimization/_static/Optimization_studies/selectheight.png b/Parameter_studies_and_optimization/_static/Optimization_studies/selectheight.png deleted file mode 100644 index ecccbdae..00000000 Binary files a/Parameter_studies_and_optimization/_static/Optimization_studies/selectheight.png and /dev/null differ diff --git a/Parameter_studies_and_optimization/lesson1.md b/Parameter_studies_and_optimization/lesson1.md index 45bf13ba..f02a6470 100644 --- a/Parameter_studies_and_optimization/lesson1.md +++ b/Parameter_studies_and_optimization/lesson1.md @@ -13,36 +13,35 @@ finding the standing posture by which you can hold a heavy box as easily as possible between your hands. Or how the position of a handle influences the muscular effort of operating it. -Or you may be interested in knowing how the seat height and horizontal +Or you may be interested in knowing how the saddle height and horizontal position influence the muscle effort and metabolism of the rider. This is precisely what we shall do in this tutorial. To make life a bit easier for you, we have prepared a bicycle model you can download and -play around with. {download}`Please click here to download the zip file ParamBike.zip ` and unpack it to some -pertinent place on your hard disk. +play around with. Please {download}`click here to download ` +the zip file "ParamBike.zip" and unpack it to some pertinent place on your hard disk. -The bicycle model is pretty much the {ref}`2D Bike ` that you may know from the -{doc}`AnyBody Managed Model Repository `. +The bicycle model is pretty much the {ref}`2D Bike ` +that you may know from the {doc}`AnyBody Managed Model Repository `. ```{image} _static/Defining_a_parameter/bike2D.png :alt: 2D bike model -:class: bg-primary :align: center +:width: 60% ``` -As you can see the model is very simple. It has two legs and a pelvis -that is rigidly fixed to the seat. The feet are attached to the crank -mechanism, and the crank is loaded by a sinusoidal torque and constant -angular velocity producing a mean mechanical output of 165 W. It has a -total of 18 muscles - nine on each leg. You can control the -design parameters of the bicycle and the way the rider propels the -pedals by means of the variables at the top of the main file. It might -be a good idea to play a bit around with the variables and run some -analyses. Try, for instance, to raise and lower the seat. Notice that if -you raise the seat more than a few centimeters, the model has trouble -reaching the pedals. This is really a kinematical problem, but it causes -momentarily very high muscle activities and, if you raise the seat -further, makes the kinematical analysis break down because the feet lose -the contact with the pedals. +If you load and run the `InitialConditions` operation, you can see that the +model is very simple. It has two legs and a pelvis that is rigidly fixed to the +seat. The feet are attached to the crank mechanism, and the crank is loaded by a +sinusoidal torque and constant angular velocity producing a mean mechanical +output of 165 W. It has a total of 18 muscles - nine on each leg. You can +control the design parameters of the bicycle and the way the rider propels the +pedals by means of the variables at the top of the main file. It might be a good +idea to play a bit around with the variables and run some analyses. Try, for +instance, to raise and lower the seat. Notice that if you raise the seat too +much, the model has trouble reaching the pedals. This is really a kinematical +problem, but it causes momentarily very high muscle activities and, if you raise +the seat further, makes the kinematical analysis break down because the feet +lose the contact with the pedals. The crank torque profile of a bicycle rider changes when the set is moved horizontally because the location of the cycle's dead center @@ -103,8 +102,8 @@ natural position in the model is below the existing `AnyBodyStudy`. We can insert a new parameter study by means of the object inserter mechanism from the class tree. Place the cursor below the definition of the `AnyBodyStudy`, click the Classes tab in the tree view, locate the -AnyParamStudy under Class List, right-click, and insert a template of the class. You -should get the following result: +`AnyParamStudy` under Class List, right-click, and insert a template of the class. +You should get the following result: ```{literalinclude} Snippets/lesson1/2Dbike-1/BikeModel2D.main.any :language: AnyScriptDoc @@ -262,8 +261,8 @@ the final `AnyParamStudy` looks like this: ## Running and Visualizing the Parameter Study It is finally time try it out. If you have typed everything correctly, -then you should be able to load the model. Then find the `ParamStudy.ParameterStudy` operation in -the operation dropdown: +then you should be able to load the model. Then find the `ParamStudy.ParameterStudy` +operation in the operation dropdown: ```{image} _static/Defining_a_parameter/operation_select.png :alt: Operation selection @@ -321,7 +320,15 @@ then? It is very simple to do this: When you re-run the parameter study, things will go well in the beginning, but towards the end of the 25 combinations you may notice muscles beginning to bulge more and momentarily attain the color -of magenta. This is the system's way of demonstrating that the muscles +of magenta. Additionally, you will see the following notice messages +in the output window: + +```none +NOTICE(OBJ.OPR1): BikeModel2D.main.any(72): Study.InverseDynamics: Operation finished with non-fatal errors. Please verify whether these errors are acceptable. +NOTICE(OBJ.OPR1): BikeModel2D.main.any(82): ParamStudy.Analysis: Operation finished with non-fatal errors. Please verify whether these errors are acceptable. +``` + +This is the system's way of demonstrating that the muscles have been loaded above 100% of their strength. The reason why this happens is that, as the seat rises, the model gets into positions where it is difficult for the feet to reach the pedals. Just before the feet @@ -345,8 +352,8 @@ you change the scale of the value axis. This and all other settings are available if you open the Property Window ![chartsettings.png](_static/Defining_a_parameter/chartsettings.png) in the toolbar. Doing so will produce a window with a tree view -in which you can select `ValueAxis`->\`\`Max\`\` and `ValueAxis`->\`\`Min\`\`. Try setting Max to 0.30 and Min to 0.15 and you -should obtain the following: +in which you can select `ValueAxis`->`Max` and `ValueAxis`->`Min`. +Try setting Max to 0.30 and Min to 0.15 and you should obtain the following: ```{image} _static/Defining_a_parameter/anychart4.png :alt: AnyChart 4 view @@ -381,7 +388,7 @@ simple to add up the muscle metabolisms in the AnyBody study: ``` Notice that we have defined the `r` and `l` variables for convenience to -limit the size of the expressions. If you run the **InverseDynamics Analysis** +limit the size of the expressions. If you run the **Inverse Dynamics Analysis** (go on and try!) you will find the new variable mentioned in the list of output. Plotting 'Pmet' as a function of 't' should result in the following chart: @@ -392,10 +399,11 @@ output. Plotting 'Pmet' as a function of 't' should result in the following char ``` The area under this curve is the total metabolism combusted over a crank -revolution. To compute this we must introduce two more elements. The -first one is an `AnyOutputFun` as we have seen it before. The purpose of -this function is to make it semantically possible to refer to the output -of the `Pmet_total` variable before is has actually been computed: +revolution. To compute this we must introduce two more elements. The first one +is an `AnyOutputFun` as we have seen it before. The purpose of this function is +to make it semantically possible to refer to the output of the `Pmet_total` +variable before is has actually been computed. This is done by adding the +following code to the `AnyBodyStudy`: ```{literalinclude} Snippets/lesson1/2Dbike-8/BikeModel2D.main.any :language: AnyScriptDoc @@ -417,7 +425,7 @@ The secint function performs a numerical integration of the first argument against the second argument. Each argument must be an array and the number of components in the two arguments must be the same. -Notice the other two changes: We have changed the variable limits back +**Notice the other two changes**: We have changed the variable limits back to what they were before and we have decided to be a little more adventurous and have specified 10 variable steps in each direction. It is time to run the parameter study again. Now it is recemmended to turn off the model diff --git a/Parameter_studies_and_optimization/lesson2.md b/Parameter_studies_and_optimization/lesson2.md index 23c592ed..748276ff 100644 --- a/Parameter_studies_and_optimization/lesson2.md +++ b/Parameter_studies_and_optimization/lesson2.md @@ -131,15 +131,25 @@ another advantage of optimization over a parameter study. Finally, we have added a type specification to the Metab object specifying that this is the objective function of the problem. -This is the definition of an optimization problem that will vary the -saddle height and horizontal position to minimize the metabolism. Let -us run it and see what happens. Loading the model should give you the following -model view: +This is the definition of an optimization problem that will vary the saddle +height and horizontal position to minimize the metabolism. Let us run it and see +what happens. Loading the model and running the `InitialConditions` operation +should give you the following model view: -```{image} _static/Optimization_studies/runopt.png +```{image} _static/Defining_a_parameter/bike2D.png :alt: Loading the optimization study -:class: bg-primary :align: center +:width: 60% +``` + +Before we run the optimization, we make the following minor modifications to the +variable limits. This is done to speed up the optimization process and make it +converge faster in this case by narrowing down the possibe design space: + +```{literalinclude} Snippets/lesson2/2Dbike3/BikeModel2D.main.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 2 +:end-before: //# END SNIPPET 2 ``` ## Running the Optimization Study @@ -153,17 +163,23 @@ converges. Every time you see the left-most number changing in the Output window it is an indication that the optimizer has picked a new optimization direction to try. -You should see the number increasing in slow steps up to 6 before the process +You should see the number increasing in slow steps up to 4 before the process stops and the system announces that it is finished. Please notice that the changes of saddle position in the last several steps is very minute, which is typical for optimization: the first steps bring large changes and large improvements, while the last many steps only improve slightly. +:::{note} +If you turn off the model view by clicking the +![TurnOnOff.png](_static/Defining_a_parameter/TurnOnOffModel.png) +button, the computation should speed up. +::: + Now we are going to study the results in more detail using the Chart window. Do you still have the Chart window from the previous lesson with the Metabolism parameter study open? It should look like this: -```{image} _static/Optimization_studies/metab100.png +```{image} _static/Defining_a_parameter/anychart5.png :alt: Chart paramStudy 1 :class: bg-primary :align: center @@ -174,7 +190,7 @@ have this surface ready, please open another Chart window by clicking `View`->`Charts`->`Chart2`.  In the new window, please expand the tree down to `Main.OptStudy.Output.Metab`. Then click the `Val` variable under Metab. This produces a simple 2-D graph showing the development of -the metabolism over the 6 iterations: +the metabolism over the 3 iterations: ```{image} _static/Optimization_studies/metabcon2.png :alt: Chart Opttudy 1 @@ -198,6 +214,7 @@ The optimal solution in the Model View looks like this: ```{image} _static/Optimization_studies/bikeopt2.png :alt: Final Model view :align: center +:width: 60% ``` Just above the `Metab` variable in the tree you can find the two @@ -228,9 +245,8 @@ and then expanding the `OptStudy` branch until the `SaddleHeight.Val` and `SaddlePos.Val`, respectively, can be selected. Finally, in the `Value` field select `OptStudy.Metab.Val` and look carefully -at the plot. You will see that an additional polyline has been added. It -originates approximately at the middle of the surface and shows the path -the optimization process has taken through the design space to the +at the plot. You will see that an additional polyline has been added. It shows the +path the optimization process has taken through the design space to the minimum point. You can change the color of the line by clicking the Property Window button (![chartsettings.png](_static/Optimization_studies/chartsettings.png)) in the toolbar directly over the graphics pane. This gives you access to all the @@ -320,8 +336,8 @@ like this: Notice that constraints are defined as `AnyDesMeasures` of type `LessThanZero` or `GreaterThanZero`. In the mathematical formulation of the -optimization problem stated in the beginning of this lesson, we have -only less-than-or-equal-to constraints, but there is only a minus sign +optimization problem stated in the beginning of this lesson, we only +have less-than-or-equal-to constraints, but there is only a minus sign in difference of making a greater-than-or-equal-to into a less-than-or-equal-to constraint. You can put this minus sign manually or you can use `Type = GreaterThanZero`, which is equivalent. Notice that @@ -340,20 +356,21 @@ combination of variables, but in general it can also be properties such as muscle forces, joint reactions, point locations, segment velocities, and any other model property that the system can compute. -Enough talk; let's try the optimization with the constraint added. -Please load the model again, select the `Main.OptStudy.Optimization` operation, and -click the run button. The optimization process will have the following -convergence picture: +Enough talk; let's try the optimization with the constraint added. Please load +the model again, select the `Main.OptStudy.Optimization` operation, and click +the run button. The optimization process may sometimes take longer to converge +when you add constraints to it. In this case it should converge in 5 iterations +with the following convergence picture for the metabolism: ```{image} _static/Optimization_studies/metab2_constrained.png :alt: Metab value vs Steps :class: bg-primary :align: center -:width: 75% +:width: 70% ``` If you also re-run the parameter study, you can get this picture of the -convergence: +convergence path in the design space: ```{image} _static/Optimization_studies/optpath2_constrained.png :alt: opt Study constrained @@ -368,7 +385,7 @@ case. The path of the design values bounces off the constraint and finally it gets stuck on the constraint even though the objective function still has a downwards inclination. The constraint lies like a wall through the design space. We can see the convergence path along the -constraint by plot the constraint value, i.e., the `SeatDist.Val`. This +constraint by plotting the constraint value, i.e., the `SeatDist.Val`. This looks like: ```{image} _static/Optimization_studies/SeatDist2_constrained.png @@ -378,20 +395,21 @@ looks like: :width: 70% ``` -where it is obvious how the optimizer hits the constraint, bounces off, -hits again, etc. and finally it converges. At no point in time, the -constraint value becomes negative, which was exactly what we prescribed +Here it is obvious how the optimizer hits the constraint, bounces off, +hits again, etc. and finally it converges. At no point in time, does the +constraint value become negative, which was exactly what we prescribed in its definition. A final look at the result could be the picture of the model after this constained optimization, which shows a visible difference compared to -the unconstrained solution: The hip position is now higher, i.e., longer -from the crank and to achieve this it is further forward, see the +the unconstrained solution: The saddle position is now higher, i.e., longer +from the crank and to achieve this it is further forward. See the picture below: -```{image} _static/Optimization_studies/BikeOpt2_constrained.png -:alt: Final model view 2 +```{image} _static/Optimization_studies/bikeOpt3.png +:alt: Final Model view constrained :align: center +:width: 60% ``` This completes the introduction to optimization studies. diff --git a/Parameter_studies_and_optimization/lesson3/BikeModel2D.main.any b/Parameter_studies_and_optimization/lesson3/BikeModel2D.main.any index 2e010bad..538f8f26 100644 --- a/Parameter_studies_and_optimization/lesson3/BikeModel2D.main.any +++ b/Parameter_studies_and_optimization/lesson3/BikeModel2D.main.any @@ -20,10 +20,10 @@ Main = { AnyFolder BikeParameters = { // Geometry parameters - AnyVar PedalArmLength =0.17; //Length of pedal arm - AnyVar PedalArmWidth = 0.106; //Horizontal distance between left and right connecting point between foot and pedal - AnyVar SaddleHeight = 0.66 ; //Height of hip joint measured vertically from the crank - AnyVar SaddlePos = -0.16; //Horizontal pos of hipjoint measured from the crank + AnyVar PedalArmLength = 0.19; //Length of pedal arm + AnyVar PedalArmWidth = 0.120; //Horizontal distance between left and right connecting point between foot and pedal + AnyVar SaddleHeight = 0.64; //Height of hip joint measured vertically from the crank + AnyVar SaddlePos = -0.19; //Horizontal pos of hipjoint measured from the crank // Loading parameters AnyVar Cadence = 80.0; //Cadence in RPM @@ -56,7 +56,6 @@ Main = { #include "Model/Scaling.any" - /// This folder is a place to assemble all the elements to include in the /// study. AnyFolder Model = { @@ -70,41 +69,41 @@ Main = { #include "Model/BikeFrameGroundConnection.any" }; - /// The study: Operations to be performed on the model + // The study: Operations to be performed on the model AnyBodyStudy Study = { AnyFolder &Model = .Model; - nStep = 50; Gravity = {0.0, -9.81, 0.0}; tEnd = Main.BikeParameters.T; - + // Useful variables for the optimization AnyFolder &r = Main.Model.Leg2D.Right.Mus; AnyFolder &l = Main.Model.Leg2D.Left.Mus; AnyVar Pmet_total = r.Ham.Pmet+r.BiFemSh.Pmet+r.GlutMax.Pmet+r.RectFem.Pmet+r.Vasti.Pmet+r.Gas.Pmet+r.Sol.Pmet+r.TibAnt.Pmet+l.Ham.Pmet+l.BiFemSh.Pmet+l.GlutMax.Pmet+l.RectFem.Pmet+l.Vasti.Pmet+l.Gas.Pmet+l.Sol.Pmet+l.TibAnt.Pmet; - + AnyOutputFun MaxAct = { Val = .MaxMuscleActivity; }; AnyOutputFun Metabolism = { Val = .Pmet_total; - }; + }; }; AnyParamStudy ParamStudy = { Analysis = { AnyOperation &Operation = ..Study.InverseDynamics; }; - nStep = {20,20}; + nStep = {10,10}; + AnyDesVar SaddleHeight = { Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; + Min = 0.57; + Max = 0.65 /*+ 0.02*/; }; AnyDesVar SaddlePos = { Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*-0.03*/; - Max = -0.05; + Min = -0.22 /*- 0.03*/; + Max = -0.12; }; AnyDesMeasure MaxAct = { Val = max(..Study.MaxAct()); @@ -112,35 +111,40 @@ Main = { AnyDesMeasure Metab = { Val = secint(..Study.Metabolism(),..Study.tArray); }; - }; + }; - AnyOptStudy OptStudy = { - Analysis = { - AnyOperation &Operation = ..Study.InverseDynamics; - Settings.Echo = Off; - Settings.ModelSceneUpdate=Off; - }; - AnyDesVar SaddleHeight = { - Val = Main.BikeParameters.SaddleHeight; - Min = 0.61; - Max = 0.69 /*+ 0.02*/; - }; - AnyDesVar SaddlePos = { - Val = Main.BikeParameters.SaddlePos; - Min = -0.20 /*-0.03*/; - Max = -0.05; - }; - AnyDesMeasure Metab = { - Val = secint(..Study.Metabolism(),..Study.tArray); - Type = ObjectiveFun; - }; - AnyDesMeasure SeatDist = { - Val = (.SaddleHeight.Val^2+.SaddlePos.Val^2)^0.5 - 0.66; - Type = GreaterThanZero; - }; +AnyOptStudy OptStudy = { + Analysis = { + AnyOperation &Operation = ..Study.InverseDynamics; }; - - + + AnyDesVar SaddleHeight = { + Val = Main.BikeParameters.SaddleHeight; + Min = 0.58; + Max = 0.64 /*+ 0.02*/; + }; + AnyDesVar SaddlePos = { + Val = Main.BikeParameters.SaddlePos; + Min = -0.21 /*- 0.03*/; + Max = -0.13; + }; + AnyDesMeasure Metab = { + Val = secint(..Study.Metabolism(),..Study.tArray); + Type = ObjectiveFun; + }; + AnyDesMeasure SeatDist = { + Val = (.SaddleHeight.Val^2+.SaddlePos.Val^2)^0.5 - 0.66; + Type = GreaterThanZero; + }; +}; + + AnyFolder Output = { + AnyFolder &Model = .Model; + AnyFolder &Study = .Study; + AnyFolder &ParamStudy = .ParamStudy; + AnyFolder &OptStudy = .OptStudy; +}; + // Include an operation sequence to run all required steps of your application (see Operations tab) #include "Model\RunAppSequence.any" diff --git a/Parameter_studies_and_optimization/lesson3/Input/BackWheel.STL 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3.476607e-001 6.152898e-004 9.067719e-001 4.216210e-001 6.726555e-004 - 8.471885e-001 3.476993e-001 -2.287477e-004 7.551342e-001 4.409831e-001 -4.850838e-001 - 8.464959e-001 3.478443e-001 -7.578524e-004 3.621853e-001 5.168557e-001 -7.756816e-001 - 8.456219e-001 3.479989e-001 -7.578524e-004 -1.529967e-001 6.079688e-001 -7.790802e-001 - 8.449293e-001 3.481245e-001 -2.287477e-004 -5.590320e-001 6.788655e-001 -4.760512e-001 - 8.446572e-001 3.481631e-001 6.152898e-004 -7.096987e-001 7.045051e-001 5.666233e-004 - 8.449293e-001 3.481245e-001 1.453046e-003 -5.587596e-001 6.787427e-001 4.765460e-001 - 1.035644e+000 2.389313e-001 1.453046e-003 1.602205e-002 8.732476e-001 4.870133e-001 - 5.437130e-001 -1.742820e-001 1.774260e-003 -7.439094e-001 5.003192e-003 6.682618e-001 - 1.036066e+000 2.383739e-001 1.982151e-003 2.798258e-001 5.525046e-001 7.851345e-001 - 5.442556e-001 -1.749281e-001 2.051419e-003 -4.365874e-001 -3.635840e-001 8.229205e-001 - 1.036338e+000 2.380382e-001 6.152898e-004 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1.220504e-002 -6.793170e-001 1.817697e-001 7.109770e-001 - 1.060087e+000 -1.644882e-001 1.220504e-002 -5.899118e-001 3.827449e-001 7.109926e-001 - 9.862904e-001 -2.382539e-001 1.220504e-002 -4.426976e-001 5.463801e-001 7.109765e-001 - 8.933547e-001 -2.856170e-001 1.220504e-002 -2.522902e-001 6.563898e-001 7.109867e-001 - 7.903216e-001 -3.019324e-001 1.220504e-002 -3.706282e-002 7.022322e-001 7.109826e-001 - 6.872988e-001 -2.856170e-001 1.220504e-002 1.817326e-001 6.793194e-001 7.109841e-001 - 5.943424e-001 -2.382539e-001 1.220504e-002 3.827533e-001 5.899187e-001 7.109823e-001 - 5.205670e-001 -1.644882e-001 1.220504e-002 5.463216e-001 4.427499e-001 7.109889e-001 - 4.732352e-001 -7.156215e-002 1.220504e-002 6.564225e-001 2.522330e-001 7.109768e-001 - 4.568993e-001 3.148214e-002 1.220504e-002 7.022212e-001 3.710476e-002 7.109913e-001 - 4.732352e-001 1.345161e-001 1.220504e-002 6.793210e-001 -1.817655e-001 7.109742e-001 - 5.205670e-001 2.274629e-001 1.220504e-002 5.899525e-001 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7.644847e-001 - 1.067317e+000 2.327312e-001 -1.034463e-002 2.550546e-001 1.754686e-001 -9.508722e-001 - 1.064452e+000 2.306250e-001 -1.090515e-002 -5.411701e-001 -3.509583e-001 -7.641749e-001 - 1.064452e+000 2.306250e-001 1.215465e-002 -5.009707e-001 -4.058629e-001 7.643976e-001 - 1.115953e+000 1.372867e-001 -1.034463e-002 2.962975e-001 8.785471e-002 -9.510464e-001 - 1.112542e+000 1.361855e-001 -1.090515e-002 -6.232718e-001 -1.668215e-001 -7.640045e-001 - 1.112542e+000 1.361855e-001 1.215465e-002 -6.022684e-001 -2.313333e-001 7.640404e-001 - 1.132706e+000 3.149266e-002 -1.034463e-002 3.090642e-001 -7.994816e-003 -9.510076e-001 - 1.129146e+000 3.149266e-002 -1.090515e-002 -6.441593e-001 3.408646e-002 -7.641314e-001 - 1.129146e+000 3.149266e-002 1.215465e-002 -6.441578e-001 -3.409652e-002 7.641323e-001 - 1.115953e+000 -7.431207e-002 -1.034463e-002 2.908405e-001 -1.028836e-001 -9.512238e-001 - 1.112542e+000 -7.321083e-002 -1.090515e-002 -6.022408e-001 2.312605e-001 -7.640842e-001 - 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5.107491e-001 2.346130e-001 -8.707022e-003 -4.709823e-001 3.503900e-001 -8.095694e-001 - 5.871934e-001 3.110798e-001 -8.707022e-003 -3.397995e-001 4.791457e-001 -8.092933e-001 - 6.835346e-001 3.601652e-001 -8.707022e-003 -1.752984e-001 5.614122e-001 -8.087564e-001 - 8.978994e-001 3.625815e-001 -6.155965e-003 2.545259e-001 7.677816e-001 -5.879864e-001 - 7.903214e-001 3.796133e-001 -6.155965e-003 4.744578e-003 8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 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1.395747e-001 4.180569e-003 9.047574e-001 2.964504e-001 3.058288e-001 - 1.140083e+000 3.149266e-002 4.180569e-003 9.514106e-001 2.580735e-003 3.079143e-001 - 1.122998e+000 -7.660009e-002 4.180569e-003 9.056125e-001 -2.915110e-001 3.080379e-001 - 1.073315e+000 -1.741081e-001 4.180569e-003 7.711910e-001 -5.572090e-001 3.078679e-001 - 9.959298e-001 -2.514837e-001 4.180569e-003 5.610584e-001 -7.679810e-001 3.088992e-001 - 8.984125e-001 -3.011786e-001 4.180569e-003 2.962741e-001 -9.038268e-001 3.087373e-001 - 7.903214e-001 -3.182959e-001 4.180569e-003 2.481753e-003 -9.515540e-001 3.074718e-001 - 6.822409e-001 -3.011786e-001 4.180569e-003 -2.916603e-001 -9.057269e-001 3.075599e-001 - 5.847237e-001 -2.514837e-001 4.180569e-003 -5.569774e-001 -7.708971e-001 3.090207e-001 - 5.073385e-001 -1.741081e-001 4.180569e-003 -7.679016e-001 -5.610278e-001 3.091518e-001 - 4.576551e-001 -7.660009e-002 4.180569e-003 -9.044762e-001 -2.963405e-001 3.067656e-001 - 4.405701e-001 3.148197e-002 4.180569e-003 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7.405458e-003 -4.795626e-001 6.519580e-001 5.873418e-001 - 6.827541e-001 3.625815e-001 7.405458e-003 -2.545172e-001 7.676289e-001 5.881895e-001 - 8.971189e-001 3.601652e-001 9.950182e-003 1.753936e-001 5.615214e-001 8.086599e-001 - 7.903214e-001 3.770580e-001 9.950182e-003 -6.665847e-003 5.884997e-001 8.084699e-001 - 9.934601e-001 3.110798e-001 9.950182e-003 3.399316e-001 4.792202e-001 8.091937e-001 - 1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 9.507430e-001 - 1.115953e+000 -7.431207e-002 1.159412e-002 2.968331e-001 -8.797261e-002 9.508685e-001 - 1.067317e+000 -1.697566e-001 1.159412e-002 2.551737e-001 -1.754985e-001 9.508347e-001 - 9.915570e-001 -2.455177e-001 1.159412e-002 1.882775e-001 -2.455661e-001 9.509200e-001 - 8.961246e-001 -2.941434e-001 1.159412e-002 1.033002e-001 -2.920768e-001 9.507998e-001 - 7.903214e-001 -3.108866e-001 1.159412e-002 8.022816e-003 -3.093067e-001 9.509285e-001 - 6.845289e-001 -2.941434e-001 1.159412e-002 -8.803206e-002 -2.967836e-001 9.508784e-001 - 5.890965e-001 -2.455177e-001 1.159412e-002 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6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 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7.643202e-001 - 5.890965e-001 -2.455177e-001 -1.034463e-002 -1.878063e-001 -2.449839e-001 -9.511633e-001 - 5.911707e-001 -2.426310e-001 -1.090515e-002 4.059332e-001 5.009621e-001 -7.643659e-001 - 5.911707e-001 -2.426310e-001 1.215465e-002 3.509910e-001 5.409447e-001 7.643194e-001 - 5.133365e-001 -1.697566e-001 -1.034463e-002 -2.545362e-001 -1.750821e-001 -9.510823e-001 - 5.162018e-001 -1.676717e-001 -1.090515e-002 5.408510e-001 3.509010e-001 -7.644270e-001 - 5.162018e-001 -1.676717e-001 1.215465e-002 5.008488e-001 4.059353e-001 7.644390e-001 - 4.647008e-001 -7.431207e-002 -1.034463e-002 -2.965122e-001 -8.791542e-002 -9.509739e-001 - 4.680793e-001 -7.321083e-002 -1.090515e-002 6.229665e-001 1.666009e-001 -7.643016e-001 - 4.680793e-001 -7.321083e-002 1.215465e-002 6.018693e-001 2.312363e-001 7.643841e-001 - 4.479472e-001 3.148197e-002 -1.034463e-002 -3.093552e-001 7.978326e-003 -9.509131e-001 - 4.515075e-001 3.148197e-002 -1.090515e-002 6.440048e-001 -3.396140e-002 -7.642672e-001 - 4.515075e-001 3.148197e-002 1.215465e-002 6.440033e-001 3.397153e-002 7.642680e-001 - 4.647008e-001 1.372867e-001 -1.034463e-002 -2.916558e-001 1.031867e-001 -9.509413e-001 - 4.680793e-001 1.361855e-001 -1.090515e-002 6.019005e-001 -2.313034e-001 -7.643393e-001 - 4.680793e-001 1.361855e-001 1.215465e-002 6.229591e-001 -1.666118e-001 7.643052e-001 - 5.133365e-001 2.327312e-001 -1.034463e-002 -2.451466e-001 1.878764e-001 -9.511076e-001 - 5.162018e-001 2.306250e-001 -1.090515e-002 5.009445e-001 -4.059142e-001 -7.643875e-001 - 5.162018e-001 2.306250e-001 1.215465e-002 5.409518e-001 -3.510110e-001 7.643052e-001 - 5.890965e-001 3.084710e-001 -1.034463e-002 -1.747495e-001 2.540972e-001 -9.512609e-001 - 5.911707e-001 3.056056e-001 -1.090515e-002 3.508927e-001 -5.407761e-001 -7.644838e-001 - 5.911707e-001 3.056056e-001 1.215465e-002 4.059548e-001 -5.008017e-001 7.644595e-001 - 6.845289e-001 3.571181e-001 -1.034463e-002 -8.797449e-002 2.966107e-001 -9.509377e-001 - 6.856088e-001 3.537288e-001 1.215465e-002 2.312324e-001 -6.018780e-001 7.643785e-001 - 8.971189e-001 3.601652e-001 -8.707022e-003 1.881569e-001 5.578245e-001 -8.083494e-001 - 7.903214e-001 3.770580e-001 -8.707022e-003 6.718340e-003 5.883647e-001 -8.085678e-001 - 9.934601e-001 3.110798e-001 -8.707022e-003 3.500317e-001 4.704925e-001 -8.100090e-001 - 1.069904e+000 2.346130e-001 -8.707022e-003 4.781945e-001 3.391489e-001 -8.101284e-001 - 1.119000e+000 1.382703e-001 -8.707022e-003 5.606630e-001 1.751545e-001 -8.093071e-001 - 1.135903e+000 3.149266e-002 -8.707022e-003 5.878564e-001 -6.609766e-003 -8.089383e-001 - 1.119000e+000 -7.531709e-002 -8.707022e-003 5.564831e-001 -1.877409e-001 -8.093700e-001 - 1.069904e+000 -1.716597e-001 -8.707022e-003 4.709952e-001 -3.504762e-001 -8.095245e-001 - 9.934601e-001 -2.481051e-001 -8.707022e-003 3.397113e-001 -4.789898e-001 -8.094226e-001 - 8.971189e-001 -2.971906e-001 -8.707022e-003 1.751512e-001 -5.606784e-001 -8.092971e-001 - 7.903214e-001 -3.141048e-001 -8.707022e-003 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8.087866e-001 -5.880831e-001 - 9.949676e-001 3.131432e-001 -6.155965e-003 4.796206e-001 6.520938e-001 -5.871437e-001 - 1.071989e+000 2.361205e-001 -6.155965e-003 6.565543e-001 4.709888e-001 -5.891570e-001 - 1.121437e+000 1.390722e-001 -6.155965e-003 7.702232e-001 2.449427e-001 -5.888627e-001 - 1.138458e+000 3.149266e-002 -6.155965e-003 8.091611e-001 -4.842330e-003 -5.875670e-001 - 1.121437e+000 -7.609758e-002 -6.155965e-003 7.674497e-001 -2.544166e-001 -5.884667e-001 - 1.071989e+000 -1.731458e-001 -6.155965e-003 6.513400e-001 -4.793200e-001 -5.882249e-001 - 9.949676e-001 -2.501686e-001 -6.155965e-003 4.716987e-001 -6.575294e-001 -5.874993e-001 - 8.978994e-001 -2.996283e-001 -6.155965e-003 2.453202e-001 -7.708105e-001 -5.879364e-001 - 7.903214e-001 -3.166601e-001 -6.155965e-003 -4.904689e-003 -8.088928e-001 -5.879357e-001 - 6.827541e-001 -2.996283e-001 -6.155965e-003 -2.546617e-001 -7.679376e-001 -5.877238e-001 - 5.856859e-001 -2.501686e-001 -6.155965e-003 -4.794983e-001 -6.517237e-001 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1.122998e+000 1.395747e-001 -2.937058e-003 9.056763e-001 2.915426e-001 -3.078204e-001 - 1.140083e+000 3.149266e-002 -2.937058e-003 9.512477e-001 -2.566462e-003 -3.084174e-001 - 1.122998e+000 -7.660009e-002 -2.937058e-003 9.043470e-001 -2.962998e-001 -3.071855e-001 - 1.073315e+000 -1.741081e-001 -2.937058e-003 7.678002e-001 -5.609641e-001 -3.095191e-001 - 9.959298e-001 -2.514837e-001 -2.937058e-003 5.569012e-001 -7.708080e-001 -3.093801e-001 - 8.984125e-001 -3.011786e-001 -2.937058e-003 2.916090e-001 -9.056220e-001 -3.079173e-001 - 7.903214e-001 -3.182959e-001 -2.937058e-003 -2.505208e-003 -9.514388e-001 -3.078277e-001 - 6.822409e-001 -3.011786e-001 -2.937058e-003 -2.962534e-001 -9.037111e-001 -3.090958e-001 - 5.847237e-001 -2.514837e-001 -2.937058e-003 -5.609965e-001 -7.678799e-001 -3.092628e-001 - 5.073385e-001 -1.741081e-001 -2.937058e-003 -7.711143e-001 -5.571419e-001 -3.081813e-001 - 4.576551e-001 -7.660009e-002 -2.937058e-003 -9.055329e-001 -2.914848e-001 -3.082966e-001 - 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1.069904e+000 2.346130e-001 9.950182e-003 4.711314e-001 3.504222e-001 8.094686e-001 - 1.119000e+000 1.382703e-001 9.950182e-003 5.562819e-001 1.875781e-001 8.095461e-001 - 1.135903e+000 3.149266e-002 9.950182e-003 5.878445e-001 6.567088e-003 8.089473e-001 - 1.119000e+000 -7.531709e-002 9.950182e-003 5.607370e-001 -1.752046e-001 8.092449e-001 - 1.069904e+000 -1.716597e-001 9.950182e-003 4.788536e-001 -3.397390e-001 8.094916e-001 - 9.934601e-001 -2.481051e-001 9.950182e-003 3.506434e-001 -4.714342e-001 8.091965e-001 - 8.971189e-001 -2.971906e-001 9.950182e-003 1.878183e-001 -5.565611e-001 8.092985e-001 - 7.903214e-001 -3.141048e-001 9.950182e-003 6.578931e-003 -5.871944e-001 8.094192e-001 - 6.835346e-001 -2.971906e-001 9.950182e-003 -1.752563e-001 -5.607861e-001 8.091997e-001 - 5.871934e-001 -2.481051e-001 9.950182e-003 -3.398358e-001 -4.790587e-001 8.093296e-001 - 5.107491e-001 -1.716597e-001 9.950182e-003 -4.711365e-001 -3.505024e-001 8.094309e-001 - 4.616537e-001 -7.531709e-002 9.950182e-003 -5.566054e-001 -1.877207e-001 8.092906e-001 - 4.447504e-001 3.148197e-002 9.950182e-003 -5.879704e-001 -6.554713e-003 8.088559e-001 - 4.616537e-001 1.382703e-001 9.950182e-003 -5.607315e-001 1.752358e-001 8.092420e-001 - 5.107491e-001 2.346130e-001 9.950182e-003 -4.782520e-001 3.392692e-001 8.100441e-001 - 5.871934e-001 3.110798e-001 9.950182e-003 -3.500620e-001 4.706394e-001 8.099106e-001 - 6.835346e-001 3.601652e-001 9.950182e-003 -1.881439e-001 5.579707e-001 8.082515e-001 - 8.961246e-001 3.571181e-001 1.159412e-002 8.816524e-002 2.973301e-001 9.506954e-001 - 7.903214e-001 3.738612e-001 1.159412e-002 -8.019752e-003 3.098708e-001 9.507449e-001 - 9.915570e-001 3.084710e-001 1.159412e-002 1.751554e-001 2.547202e-001 9.510195e-001 - 1.067317e+000 2.327312e-001 1.159412e-002 2.455614e-001 1.882566e-001 9.509254e-001 - 1.115953e+000 1.372867e-001 1.159412e-002 2.919582e-001 1.033407e-001 9.508318e-001 - 1.132706e+000 3.149266e-002 1.159412e-002 3.098756e-001 8.050335e-003 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2.327312e-001 1.159412e-002 -2.556640e-001 1.758643e-001 9.506354e-001 - 5.890965e-001 3.084710e-001 1.159412e-002 -1.882443e-001 2.454079e-001 9.509674e-001 - 6.845289e-001 3.571181e-001 1.159412e-002 -1.031181e-001 2.915768e-001 9.509730e-001 - 7.903318e-001 3.650600e-001 -1.105632e-002 5.052091e-002 6.220710e-001 -7.813292e-001 - 7.903318e-001 3.650600e-001 1.240030e-002 -5.051150e-002 6.220715e-001 7.813294e-001 - 8.934165e-001 3.487410e-001 1.240030e-002 1.441270e-001 6.072401e-001 7.813366e-001 - 8.899451e-001 3.381128e-001 1.000041e-002 -2.645794e-001 -7.283543e-001 6.320583e-001 - 6.872369e-001 3.487410e-001 -1.105632e-002 -1.441201e-001 6.072416e-001 -7.813367e-001 - 6.872369e-001 3.487410e-001 1.240030e-002 -2.402908e-001 5.759895e-001 7.813427e-001 - 7.903318e-001 3.538718e-001 1.000041e-002 -2.653288e-002 -7.744710e-001 6.320527e-001 - 8.934165e-001 3.487410e-001 -1.105632e-002 2.402928e-001 5.759891e-001 -7.813424e-001 - 9.864025e-001 3.013620e-001 1.240030e-002 3.247565e-001 5.329795e-001 7.813233e-001 - 9.798362e-001 2.923016e-001 1.000041e-002 -4.766958e-001 -6.109323e-001 6.320782e-001 - 9.864025e-001 3.013620e-001 -1.105632e-002 4.065377e-001 4.735725e-001 -7.813170e-001 - 1.060209e+000 2.275551e-001 1.240030e-002 4.735924e-001 4.065769e-001 7.812845e-001 - 1.051159e+000 2.209888e-001 1.000041e-002 -6.422020e-001 -4.336822e-001 6.320572e-001 - 1.060209e+000 2.275551e-001 -1.105632e-002 5.329260e-001 3.248108e-001 -7.813372e-001 - 1.107608e+000 1.345685e-001 1.240030e-002 5.761101e-001 2.403482e-001 7.812362e-001 - 1.096939e+000 1.311072e-001 1.000041e-002 -7.446522e-001 -2.140457e-001 6.322006e-001 - 1.107608e+000 1.345685e-001 -1.105632e-002 6.073813e-001 1.441316e-001 -7.812260e-001 - 1.123906e+000 3.149328e-002 1.240030e-002 6.221254e-001 5.045703e-002 7.812900e-001 - 1.112729e+000 3.149328e-002 1.000041e-002 -7.744226e-001 2.661999e-002 6.321084e-001 - 1.123906e+000 3.149328e-002 -1.105632e-002 6.221265e-001 -5.044756e-002 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J ?ʺAQ?":GAQ?wLi#O?>ʺAQ?_~eH?wLi#O?Wu/??_~eH?-%?Wu/??-%?-%?Wu/??-%?_~eH?Wu/??wLi#O?_~eH?V@Q?wLi#O?uZ.BQ?V@Q?j#O?uZ.BQ?TH?j#O?urͽ??TH?urͽ?? \ No newline at end of file diff --git a/Parameter_studies_and_optimization/lesson3/Model/BikeFrameAndWheels.any b/Parameter_studies_and_optimization/lesson3/Model/BikeFrameAndWheels.any index e9162aec..921e8cc2 100644 --- a/Parameter_studies_and_optimization/lesson3/Model/BikeFrameAndWheels.any +++ b/Parameter_studies_and_optimization/lesson3/Model/BikeFrameAndWheels.any @@ -12,14 +12,49 @@ AnyFolder BikeModel = { Mass =0.0; AnyRefNode SaddelPos = { AnyDrawNode SaddelNode={}; - sRel = {Main.BikeParameters.SaddlePos,Main.BikeParameters.SaddleHeight,0}; + sRel = {Main.BikeParameters.SaddlePos-0.03,Main.BikeParameters.SaddleHeight,0}; }; AnyRefNode Crank = { sRel = {0,0,0}; }; - AnyRefNode Wheel = { sRel = {-0.45,0.01,0}; }; + + AnyRefNode RearWheel = { sRel = {-0.452,0.009,0};}; + + AnyRefNode FrontWheel = { sRel = {0.720,-0.005,0.0}; }; + + AnyRefNode Handlebar = { + sRel = {0.500,0.630,-0.0}; + AnyDrawSurf Handlebar ={ + FileName = "../Input/Handlebar"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + // Locate handlebar on the frame + AnyRefNode FramePt = {sRel = {0.42, 0.56, 0.0}; }; + AnyKinPLine HB_to_Frame = { + AnyRefNode &ref1 = .Handlebar; + AnyRefNode &ref2 = .FramePt; + + AnyDrawPLine drw = { + Thickness = 0.02; + RGB = Main.DrawSettings.Colors.AnyBodyGreen; + Opacity = 1; + }; + }; + + // Saddle pin location on the frame + AnyRefNode SaddlePin = { + sRel = {-tan(24.5*pi/180)*Main.BikeParameters.SaddleHeight+0.176,Main.BikeParameters.SaddleHeight-0.460,-0.0}; + }; + + // Saddle location on the pin + AnyRefNode SaddleOnPin = { + sRel = {Main.BikeParameters.SaddlePos-0.05,Main.BikeParameters.SaddleHeight-0.095,0}; + }; AnyDrawSurf BikeFrameSurf ={ - FileName = "../Input/bikeframe"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Frame"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyBlue; }; }; // BikeFrame @@ -32,8 +67,8 @@ AnyFolder BikeModel = { AnyRefNode RPedal = { sRel = {0,....BikeParameters.PedalArmLength,....BikeParameters.PedalArmWidth}; }; AnyRefNode LPedal = { sRel = {0,-....BikeParameters.PedalArmLength,-....BikeParameters.PedalArmWidth}; }; AnyDrawSurf CrankSurf ={ - FileName = "../Input/crank"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/Sprocket"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; };//Crank @@ -48,7 +83,7 @@ AnyFolder BikeModel = { AnyRevoluteJoint &Jnt = .CrankJoint; DriverPos = {0}; DriverVel = {-(...BikeParameters.Cadence/60)*pi*2}; - Reaction.Type = {Off}; //This has to be zero otherwise the driver will carry the applied moment + Reaction.Type = {Off}; //This has to be Off otherwise the driver will carry the applied moment }; //This is the definiton of the crank moment @@ -64,22 +99,97 @@ AnyFolder BikeModel = { AnyRefNode Wheel = { sRel = {0,0,0}; }; AnyDrawSurf CrankSTL ={ - FileName = "../Input/wheel"; - ScaleXYZ={0.9,0.9,0.9}; + FileName = "../Input/BackWheel"; + ScaleXYZ={1,1,1}; RGB=....DrawSettings.Colors.AnyBodyGreen; }; }; - AnyRevoluteJoint WheelJoint ={ + AnyRevoluteJoint RearWheelJoint ={ Axis = z; - AnyRefNode& Ground = .BikeFrame.Wheel; + AnyRefNode& Ground = .BikeFrame.RearWheel; AnyRefNode &Wheel = .RearWheel.Wheel; }; - AnyKinEqSimpleDriver WheelRotation = { - AnyRevoluteJoint &Jnt = .WheelJoint; + AnyKinEqSimpleDriver RearWheelRotation = { + AnyRevoluteJoint &Jnt = .RearWheelJoint; + DriverPos = {0}; + DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the front wheel its pure graphics! + AnySeg FrontWheel = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Wheel = { sRel = {0,0,0}; }; + AnyDrawSurf Crank ={ + FileName = "../Input/FrontWheel"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyRevoluteJoint FrontWheelJoint ={ + Axis = z; + AnyRefNode &Ground = .BikeFrame.FrontWheel; + AnyRefNode &Wheel = .FrontWheel.Wheel; + }; + + AnyKinEqSimpleDriver FrontWheelRotation = { + AnyRevoluteJoint &Jnt = .FrontWheelJoint; DriverPos = {0}; DriverVel = -{0.9*(...BikeParameters.Cadence/60)*pi*2}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle pin its pure graphics! + AnySeg SaddlePin = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode Pin = { sRel = {0,0,0}; }; + AnyDrawSurf SaddlePin ={ + FileName = "../Input/SaddlePin"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddlePinJoint ={ + Axis = y; + AnyRefNode &Ground = .BikeFrame.SaddlePin; + AnyRefNode &SaddlePin = .SaddlePin.Pin; + }; + + AnyKinEqSimpleDriver PinHeight = { + AnyPrismaticJoint &Jnt = .SaddlePinJoint; + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {On}; //Setting Reaction.Type=On means the joint should provide the needed moment to turn the wheel + }; + + //This is the definition of the saddle its pure graphics! + AnySeg Saddle = { + Mass=0.0; + Jii = {0.00,0.00,0.00}; + AnyRefNode SaddleNode = { sRel = {0,0,0}; }; + AnyDrawSurf SaddleDrw ={ + FileName = "../Input/Saddle"; + ScaleXYZ={1,1,1}; + RGB=Main.DrawSettings.Colors.AnyBodyGreen; + }; + }; + + AnyPrismaticJoint SaddleJoint ={ + Axis = x; + AnyRefNode &Ground = .BikeFrame.SaddleOnPin; + AnyRefNode &SaddlePin = .Saddle.SaddleNode; + }; + + AnyKinEqSimpleDriver SaddleHeightDrv = { + AnyPrismaticJoint &Jnt = .SaddleJoint; + DriverPos = {0}; + DriverVel = {0}; Reaction.Type = {On}; //Setting Reaction.Type=1 means the joint should provide the needed moment to turn the wheel }; }; //Bikemodel diff --git a/Parameter_studies_and_optimization/lesson3/Model/InitialPositions.any b/Parameter_studies_and_optimization/lesson3/Model/InitialPositions.any index 420d9648..662276e5 100644 --- a/Parameter_studies_and_optimization/lesson3/Model/InitialPositions.any +++ b/Parameter_studies_and_optimization/lesson3/Model/InitialPositions.any @@ -18,6 +18,15 @@ ModelFolderRef.Left.Seg.Shank.Axes0 = {{0.993294, 0.115617, 0.000000}, {-0.11561 ModelFolderRef.Left.Seg.Foot.r0 = {0.150000, -0.870000, -0.106}; ModelFolderRef.Left.Seg.Foot.Axes0 = {{0.000000, -1.000000, 0.000000}, {1.000000, 0.000000, 0.000000}, {0.000000, 0.000000, 1.000000}}; -BikeFolderRef.BikeFrame.r0= {0.150000, -0.700000, 0.000000}; -BikeFolderRef.Crank.r0 = {0.150000, -0.700000, 0.000000}; -BikeFolderRef.RearWheel.r0 = {-0.300000, -0.690000, 0.000000}; +Main.Model.BikeModel.BikeFrame.r0 = {0.0500, -0.510, 0.0}; +Main.Model.BikeModel.BikeFrame.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Crank.r0 = {0.05, -0.51, 0.0}; +Main.Model.BikeModel.Crank.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.RearWheel.r0 = {-0.405, -0.505, 0}; +Main.Model.BikeModel.RearWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.FrontWheel.r0 = {0.775, -0.515,0}; +Main.Model.BikeModel.FrontWheel.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.SaddlePin.r0 = {-0.08, -0.3, 0.0}; +Main.Model.BikeModel.SaddlePin.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; +Main.Model.BikeModel.Saddle.r0 = {-0.2, 0.05, 0}; +Main.Model.BikeModel.Saddle.Axes0 = {{1.000000, -0.000000, -0.000000}, {0.000000, 1.000000, -0.000000}, {0.000000, 0.000000, 1.000000}}; diff --git a/Parameter_studies_and_optimization/lesson3/Output/.gitkeep b/Parameter_studies_and_optimization/lesson3/Output/.gitkeep deleted file mode 100644 index e69de29b..00000000 diff --git a/Parameter_studies_and_optimization/lesson3/lesson3.ipynb b/Parameter_studies_and_optimization/lesson3/lesson3.ipynb index d50796cd..2106d76b 100644 --- a/Parameter_studies_and_optimization/lesson3/lesson3.ipynb +++ b/Parameter_studies_and_optimization/lesson3/lesson3.ipynb @@ -27,9 +27,17 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "c:\\Users\\jha\\AppData\\Local\\miniforge3\\Lib\\site-packages\\tqdm\\auto.py:21: TqdmWarning: IProgress not found. Please update jupyter and ipywidgets. See https://ipywidgets.readthedocs.io/en/stable/user_install.html\n", + " from .autonotebook import tqdm as notebook_tqdm\n" + ] + }, { "name": "stdout", "output_type": "stream", @@ -37,12 +45,12 @@ " message: Optimization terminated successfully\n", " success: True\n", " status: 0\n", - " fun: 503.5763438548318\n", - " x: [ 6.501e-01 -1.139e-01]\n", - " nit: 12\n", - " jac: [ 3.944e+01 -6.962e+00]\n", - " nfev: 45\n", - " njev: 12\n" + " fun: 516.4476449033699\n", + " x: [ 6.338e-01 -1.841e-01]\n", + " nit: 11\n", + " jac: [ 6.100e+01 -1.719e+01]\n", + " nfev: 43\n", + " njev: 11\n" ] } ], @@ -93,8 +101,8 @@ "\n", "\n", "CONSTRAINT = {\"type\": \"ineq\", \"fun\": seat_distance_constraint}\n", - "BOUNDS = [(0.61, 0.69), (-0.20, -0.05)]\n", - "INITIAL_GUESS = (0.68, -0.15)\n", + "BOUNDS = [(0.58, 0.64), (-0.21, -0.13)]\n", + "INITIAL_GUESS = (0.64, -0.19)\n", "\n", "solution = scipy.optimize.minimize(\n", " objfun, INITIAL_GUESS, constraints=CONSTRAINT, bounds=BOUNDS, method=\"SLSQP\"\n", @@ -179,38 +187,56 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 2, "metadata": {}, "outputs": [ { - "data": { - "application/vnd.jupyter.widget-view+json": { - "model_id": "0f7db486a3f04b19975ffee4b47bfd20", - "version_major": 2, - "version_minor": 0 - }, - "text/plain": [ - " 0%| | 0/1 [00:00