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# Journée utilisateur et ateliers LMGC90: MBS-DEM workshop
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Nantes, 12/2006
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This page describes the workshop related to the numerical coupling
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of granular media models based on a discrete element method (DEM)
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and articulated systems modelled as multibody systems (MBS).
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It is implemented by coupling two programs:
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* LMGC90 for the DEM,
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* Robotran for the MBS.
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## Outline
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* Brief introduction to Robotran
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* Installing Robotran:
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* MBsysPad: The graphical editor
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* MBsysC: The numerical environment, development version
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* Compiling MBsysC
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* Compiling LMGC90 liking to Robotran/MBsysC
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* Compiling a Robotran project
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* Simulating MBS-DEM models:
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* The multiple pendulum
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* The TTT picker robot
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## Introduction to Robotran
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* The Robotran framework
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* [MBS modelling cycle](http://www.robotran.be/documentation/Slides/HTML_RobotranSuite/RobotranSuite.html):
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* MBsysPad: Editing the project
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* MBsysTran: Generating the symbolic equation
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* User brain: Writing the constitutive equation of the model
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* MBsysC: Simulating the motion
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* MBsysPad: Animating the results
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* User brain: Analysing the results
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* Structure of a project
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* [Structure of the MBsysC numerical modules](http://www.robotran.be/documentation/Slides/HTML_MBsysC/MBsysLibDiag.html)
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* How it interacts with LMGC90:
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* interaction diagram
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* MBS3D and MBS2D, similar to RBDY3 and RBDY2
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## Installing
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All information is available on www.robotran.eu. Here are some details
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and specific instruction for the workshop.
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### Installing MBsysPad
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Follow instructions here:
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* [Linux](http://www.robotran.eu/tutorial/install/Linux/MBsysPad.html)
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* [MacOS](http://www.robotran.eu/tutorial/install/MacOS/MBsysPad.html)
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* [Windows](http://www.robotran.eu/tutorial/install/Win64/MBsysPad.html), but the MBS-DEM coupling is not working with Windows :-(
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### Installing MBsysC
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For the workshop, install the development version:
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* Go to the directory where you want to put MBsysC modules
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* Clone MBsysC modules from git.immc.ucl.ac.be: `git clone git@git.immc.ucl.ac.be:robotran/mbsysc.git`
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* Tell MBsysPad that you want to use the development version:
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* Open MBsysPad
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* Go to menu *Tools/Edit preferences*
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* Check the box *Specify a custome MBsysC path*
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* Fill the field *MBsysC path* with the path to the development version of MBsysC modules
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## Compiling MBsysC modules
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First you must install the dependencies:
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* Ubuntu 16.04: `sudo apt-get install libxml2-dev libgsl2 libgsl-dev`
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* Ubuntu 14.04 and previous: `sudo apt-get install libxml2-dev libgsl0ldbl libgsl0-dev`
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* MacOS: look [here](http://www.robotran.be/tutorial/install/MacOS/MBsysC.html) to install GSL and LibXML2
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Then you can compile.
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* Go to the path: `....../mbsysC/MBsysC`
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* Make a build directory: `mkdir build`
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* Go to the build directory: `cd build`
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* Configure the project: `cmake ..`
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* Adapt the options so as to compile the MBS-DEM and the python interfaces
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* Open cmake-gui
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* Check the following options:
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* FLAG_ADDON_MBSLMGC (to compile the MBS-DEM coupling)
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* FLAG_INTERFACE_PYTHON (to compile the python interface to MBsysC modules)
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* FLAG_IPY_WITH_MBS_LMGC (to compile the python interface to the MBS-DEM coupling)
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* **Warning for MacOS user**, you have to force to use the same compiler
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as LMGC90, i.e. gcc:
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* With cmake-gui: check *avdanced* and set the option CMAKE_C_COMPILER to gcc
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* Alternatively, in the command line: `cmake . -DCMAKE_C_COMPILER=gcc`
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* Compile MBsysC: `make`
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## Compiling LMGC90 by linking to Robotran/MBsysC
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* Go to the build folder of LMGC90
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* Open cmake-gui and set the following options:
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* set EXT_MBS_VERSION to *Robotran*
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* set EXT_MBS_FILE with the path `....../mbsysC/MBsysC/build/mbs_add_on/mbs_lmgc/Robotran_Lmgc90.cfg`
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* Alternatively, in the command line: `cmake . -DEXT_MBS_VERSION=Robotran -DEXT_MBS_FILE=....../mbsysC/MBsysC/build/mbs_add_on/mbs_lmgc/Robotran_Lmgc90.cfg`
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* re-Compile LMGC90: `make`
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## Compiling a Robotran project: the MultiplePendulum example
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The MultiplePendulum example comes with the MBsysC distribution and is
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stroed in the ExampleProjects folder
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* Go to the *workR* folder of the MultiplePendulum project
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`cd ...../mbsysc/ExampleProjects/MultiplePendulum/workR`
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* Create a build directory: `mkdir build`
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* Go to the build directory: `cd build`
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* Configure the project: `cmake ..`
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* Configure the project to build in *separate* mode
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* open cmake-gui and check FLAG_SEPARATE_BUILD
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* Alternatively, in the shell: `cmake -DFLAG_SEPARATE_BUILD=ON ..`
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* Compile the project: `make`
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## Running the MultiplePendulum example
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The simulation is controlled by a python script. This script is very
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similar to the command script of a LMGC90 project with some specific
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commands to initialize and call the MBS computations.
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Remark: there is no preprocessor for the MBS-DEM coupling: contactors
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and mbs elements are added directly in the command script
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* Add the MBS-DEM coupling anf the python interface of MBsysC to the
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python path:
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* `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_add_on/mbs_lmgc/lib:${PYTHONPATH}`
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* `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_interface/mbs_python/lib:${PYTHONPATH}`
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* Go to the work/lmgc90 folder: `cd ...../mbsysc/ExampleProjects/MultiplePendulum/workR/lmgc90`
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* Run the script: `python command_MBS_LMGC.py`
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You can then look at the simulation results in paraview as for a
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LMGC90 project.
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## Simulating the TTT picker robot
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* Go to the folder in which you want to put the project: `cd my/mbs/folder`
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* Get the project from git.immc.ucl.ac.be: `git clone git@git.immc.ucl.ac.be:mbs_lmgc90/Robot-TTT.git`
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* Go to the workR directory: `cd Robot-TTT/workR`
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* Create the build directory: `mkdir build`
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* Go to the build directory: `cd build`
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* Configure the project: `cmake ..`
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* Adapt options:
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* Open cmake-gui
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* check FLAG_SEPARATE_BUILD and click configure
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* In the field LibRobotranC_DIR, set the path to MBsysC: `....../mbsysC/MBsysC/build`
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* Alternatively, in the command line: `cmake .. -DFLAG_SEPARATE_BUILD=ON -DROBOTRAN_SOURCE_DIR=....../mbsysC/MBsysC`
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* Compile: `make`
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* Go to the work/lmgc90 folder: `cd my/mbs/folder/Robot-TTT/workR/lmgc90`
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* Add the MBS-DEM coupling anf the python interface of MBsysC to the
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python path:
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* `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_add_on/mbs_lmgc/lib:${PYTHONPATH}`
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* `export PYTHONPATH=...../mbsysc/MBsysC/build/mbs_interface/mbs_python/lib:${PYTHONPATH}`
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* Run the script: `python command_MBS_interface.py`
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* Look at the motion in paraview
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* Setting the correct position of the target:
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* Open MBsysPad
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* OPen the project by selecting the dataR/Rob_TTT.mbs file
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* Click on the *User Model* button
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* Select the *Target* suer model and set the X and Y values:
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* X: -0.1
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* Y: -0.3
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* Save the project
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* Run again |
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[LMGC90 user days](TP_MBS_DEM) |
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\ No newline at end of file |
