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Initial commit beta version of documentation OCN-SIM-FLEX

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# ignore all latex internal files
*.aux
*.bbl
*.blg
*.log
*.nav
*.out
*.snm
*.gz
*.toc
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%==============================================================================
% Beamer style for the poster template posted at
% http://www.nathanieljohnston.com/2009/08/latex-poster-template/
%
% Created by the Computational Physics and Biophysics Group at Jacobs University
% https://teamwork.jacobs-university.de:8443/confluence/display/CoPandBiG/LaTeX+Poster
% Modified by Nathaniel Johnston (nathaniel@nathanieljohnston.com) in August 2009
% =============================================================================
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% Requirement: Lato font for latex. On Ubuntu, it's e.g. contained in texlive-fonts-extra.
% In a terminal, do: sudo apt-get install texlive-fonts-extra.
% If you don't want to install the lato font for latex, just comment the line below.
% However, you're no longer corporate-identity-compliant then.
% Set sans serif font to lato in accordance with logo. hardest task was to figure
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% http://tex.stackexchange.com/questions/25249/how-do-i-use-a-particular-font-for-a-small-section-of-text-in-my-document/25251
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% Include this package in order to prevent latex beamer class from overwriting
% the neat math font we are used to in latex. Compare e.g.:
% http://tex.stackexchange.com/questions/193278/how-to-change-the-font-family-to-default-for-math-codes-in-beamer
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% If we don't do this, strangely there will be no figure numbering and no correct
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%==============================================================================
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% Tikz: draw an arrow conforming to OCN Academy standards
% Parameters:
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% 2: starting point
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%==============================================================================
% WIDTHS
%==============================================================================
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%==============================================================================
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%==============================================================================
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\setbeamercolor{bibliography entry author} {fg=black,bg=white}
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%==============================================================================
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%==============================================================================
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%==============================================================================
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%==============================================================================
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% Since spacing in beamercolorboxes appears to be a little bit messy to
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% to do, but hey...
%==============================================================================
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%==============================================================================
% Alert block
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%==============================================================================
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% --- Header ---
% Easy peasy...
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% Calc the widths of the embedded boxes
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\addtolength{\inboxwd}{-0.1cm}
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% --- Block content ---
% We have to use a minipage, since somehow we can't manage to align
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% minipage behaves well and politely centers itself.
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% Inner box to get the color right
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# Case name ====================================================================
# ==============================================================================
nameOfCase = example # This will be the name of the output folder
# Solver configuration =========================================================
# Solver types (solType)
# 1 - Lagrangian dynamics - explicit Euler-method
# 2 - Lagrangian dynamics - velocity-Verlet integration
# 3 - Reconstructed reaction forces formulation type I
# 4 - Reconstructed reaction forces formulation type II
# 5 - Reconstructed reaction forces formulation type III -- recommmended
# for most applications
# ==============================================================================
solType = 5 # Type of solver according to listing above
nSteps = 4000 # Number of timesteps
nOut = 100 # Write every nOut-th step to disk
tStep = 0.005 # Size of timestep
# Global configuration =========================================================
# ==============================================================================
# G-vector
gx = 0.0 # x-component of g-vector
gy = 0.0 # y-component of g-vector
gz = -9.81 # z-component of g-vector
# Fluid model data =============================================================
# ==============================================================================
fluidModel = example.fld
# Multibody structural configuration ===========================================
# ==============================================================================
multibodyData = example.mbd
# Multibody solver configuration ===============================================
# ==============================================================================
# Coefficients for PID-controlled constraints
constr_kp = 100
constr_ki = 100
constr_kd = 100
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# Common properties=============================================================
# ==============================================================================
# Fluid density [kg/m^3]
rho = 1000.0
# Type of velocity field calculation============================================
# Types of velocity fields (fieldType)
# 1 - Non-moving fluid
# 2 - Constant, uniform velocity field
# ==============================================================================
fieldType = 2
u = 1.0
v = 0.0
w = 0.0
# Hydrodynamic forces===========================================================
# ==============================================================================
# Apply simple, mass-proportional damping fD = vRel*m*dampFac . 1:true, 0:false.
# Use only for simple testing purposes.
simpDamp = 0
#dampFac = 20.0
# Coefficient tables ===========================================================
# ==============================================================================
nCTables = 1 # List format as used in multibody data file.
iCTable = 1
fName = ropeCoeffs.matr
\ No newline at end of file
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# Inertial frames ==============================================================
# Here, we define fixed markers in the inertial coordinate system (CSYS0),
# to which we will be able to attach further elements (Ropes, Springs, etc).
# Each marker has three translational coordinates. Rotations of markers
# cannot be defined. In order to attach, for instance, a rope rotated by an
# initial angle, give the corresponding joint of the rope an initial angle
# alpha0 or beta0 (compare below).
# ==============================================================================
CSYS0__nMarkers = 2
CSYS0__iMarker = 1
x = 0.0
y = 0.0
z = 0.0
CSYS0__iMarker = 2
x = 0.0
y = 20.0
z = 0.0
# Ropes ========================================================================
# Local longitudinal axis: z!
# ==============================================================================
nRopes = 6 # Total number of ropes
iRope = 1 # Number of current rope. Numbers need to be in ascending order and complete. 1,2,3,...,nRopes
length = 20.0 # Length of the rope
diam = 0.02 # Diameter
rho = 1500.0 # Density
nElems = 20 # Number of elements
iPred = 0 # Predecessor body ID. 0: if rope is attached to marker in CSYS0; >0: if rope is attached to another rope
mPred = 1 # Marker on predecessor body. In CSYS0, this equals the marker, on another rope it equals the n-th element of the rope and must thus be <=nElems(iPred)
alpha0 = -180.0 # Initial joint angle alpha in terms of xyz-Kardan angles.
beta0 = 90.0 # Initial joint angle beta in terms of xyz-Kardan angles
IDCTable = 1 # ID of hydrodynamic coefficient table. Tables are defined in fluidModel file, which is in turn specified in the load case main file.
iRope = 2
length = 20.0
diam = 0.02
rho = 1.5e+3
nElems = 20
iPred = 0
mPred = 2
alpha0 = -180.0
beta0 = 90.0
IDCTable = 1
iRope = 3
length = 10.0
diam = 0.02
rho = 800.0
nElems = 10
iPred = 1
mPred = 10
alpha0 = 90.0
beta0 = 0.0
IDCTable = 1
iRope = 4
length = 10.0
diam = 0.02
rho = 800.0
nElems = 10
iPred = 2
mPred = 10
alpha0 = -90.0
beta0 = 0.0
IDCTable = 1
iRope = 5
length = 10.0
diam = 0.02
rho = 2500
nElems = 10
iPred = 1
mPred = 5
alpha0 = 90.0
beta0 = 0.0
IDCTable = 1
iRope = 6
length = 10.0
diam = 0.02
rho = 2500
nElems = 10
iPred = 2
mPred = 5
alpha0 = -90.0
beta0 = 0.0
IDCTable = 1
# Rigid bodies =================================================================
# ==============================================================================
nRigids = 2 # Total number of rigid bodies in system.
# --- Example rigid body number 1 ---
iRigid = 1 # ID of rigid body. Numbers need to be in ascending order. 1,2,3,...,nRigids.
mass = 1001.0 # Mass
vol = 1.0 # Volume
# Initial pose. Defined in general matrix format, i.e. preceded by number of rows and columns. Always needs to be nRows=1, nCols=7.
# Unlike ropes, rigid bodies are not attached to other bodies by joints. They are rather connected by force elements, as e.g. springs.
# In consequence, the initial pose needs to be physically consistent, i.e. if they are connected to other elements by a spring, the
# initial elongation should be such, that initial accelerations are not too high. Typically, the initial pose is chosen such, that the
# initial elongation of attached spring elements is zero.
# The initial pose is determined by 3 translational coordinates in CSYS0 plus four Euler-parameters defining the rotational
# orientation w.r.t. CSYS0. Compare e.g. http://mathworld.wolfram.com/EulerParameters.html.
# In consequence, we have
#
# [r_x r_y r_z e_0 e_1 e_2 e_3]
#
# defining the initial pose with r_x/y/z being the translational and e_0..3 the Euler-parameters
nRows = 1
nCols = 7
20.0 1.0 1.0 1.0 0.0 0.0 0.0
# Local markers. Defines marker translational positions in local coordinate system. Markers are used e.g. to attach force elements
# like springs, etc. The 3 translational marker positions are defined columnwise in standard matrix format. Consequently, nRows
# always needs to be nRows=3. For instance, for four local markers, we have
#
# r1_x r2_x r3_x r4_x
# r1_y r2_y r3_y r4_y
# r1_z r2_z r3_z r4_z
#
# with ri_x/y/z defining the x-,y- and z-position of node i.
nRows = 3
nCols = 4
0.0 0.0 0.0 0.0
-1.0 1.0 1.0 -1.0
-1.0 -1.0 1.0 1.0
# --- Example rigid body number 2 ---
iRigid = 2
mass = 1001.0
vol = 1.0
# Initial pose
nRows = 1
nCols = 7
20.0 19.0 1.0 1.0 0.0 0.0 0.0
# Local markers
nRows = 3
nCols = 4
0.0 0.0 0.0 0.0
-1.0 1.0 1.0 -1.0
-1.0 -1.0 1.0 1.0
# Implicit constraints between ropes ===========================================
# Loop closing constraints are defined here. In the current implementation,
# they are realised by sort of cheating by using PID-Controllers instead
# of calculating the corresponding Lagrange multipliers in terms of classical
# Lagrangian dynamics. The corresponding PID-parameters are solver options
# and thus to be found in the main loadcase file.
#
# IMPLICT CONSTRAINTS ONLY ACT BETWEEN ROPES. If you want to connect a rope
# to a marker in CSYS0 use a joint or a force element. If you want to connect
# to a rigid body,use a force element.
#
# ==============================================================================
nConstr = 2 # Total number of implicit loop closing constraints in the system.
iConstr = 1 # ID of constraint. Numbers need to be in ascending order. 1,2,3,...,nConstr
i1 = 3 # ID of first rope involved
m1 = 10 # ID of marker on first rope. Equals the element number and must thus be <=nElems(i1)
i2 = 4 # ID of second rope involved
m2 = 10 # ID of marker on second rope. Equals the element number and must thus be <=nElems(i2)
iConstr = 2
i1 = 5
m1 = 10
i2 = 6
m2 = 10
# Force elements ===============================================================
# Unlike constraints, springs can act on ropes, markers in CSYS0 and markers on rigid bodies
# ==============================================================================
nSprings = 2 # Total number of springs in the system
iSpring = 1 # ID of spring. Numbers need to be in ascending order. 1,2,3,...,nSprings
c = 100.0 # Stiffness
d = 50.0 # Damping constant
i1 = 1 # ID of first target involved. <0: rigid body; 0: CSYS0; >0: rope
m1 = 20 # Marker ID on first target. Compare comments on mPred for the ropes.
i2 = -1 # ID of second target.
m2 = 1 # Marker ID in second target
iSpring = 2
c = 100.0
d = 50.0
i1 = 2
m1 = 20
i2 = -2
m2 = 2
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%----------------------------------------------------------------------------------------
% PACKAGES AND OTHER DOCUMENT CONFIGURATIONS
%----------------------------------------------------------------------------------------
\documentclass[t,10pt]{beamer}
% Could have also used beamerposter package, however, this somehow screws
% up my desired font size
\geometry{a4paper,landscape}
\usetheme{confposter}
\usepackage{listings}
\usepackage{graphicx} % Required for including images
\usepackage[english]{babel}
\usepackage{capt-of}
% Everything we need for tikz
\usepackage{tikz}
\usetikzlibrary{patterns,calc,arrows.meta}
%==============================================================================
% AUTHOR
%==============================================================================
\author{Christoph Otto}
%==============================================================================
% LET THE GAMES BEGIN
%==============================================================================
\begin{document}
%----------------------------------------------------------------------------------------
% PREDEFINE SOURCE CODE TO BE DISPLAYED
%----------------------------------------------------------------------------------------
% Accoring to http://tex.stackexchange.com/questions/68085/how-to-put-c-source-code-into-beamer-slides
% we have to predefine verbatims, because the frame environment can't handle lstlistings otherwise.
\defverbatim[colored]\lstI{
\lstinputlisting[language=Python,basicstyle=\ttfamily,keywordstyle=\color{tSBII}\bfseries,commentstyle=\color{tCIII}]{example.conf}
}
%----------------------------------------------------------------------------------------
% AN INTRO TO OCN-SIM FLEX
%----------------------------------------------------------------------------------------
\title{An Intro to OCN-SIM Flex}
\subtitle{Introduction and General Information}
\begin{frame}\begin{OCNCols}
% --- First col ---
\begin{OCNSingleCol}