diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml index 1ce97817..091d4e67 100644 --- a/.github/workflows/build.yaml +++ b/.github/workflows/build.yaml @@ -73,12 +73,20 @@ jobs: repository: anybody/ammr ref: master path: ammr - + - uses: actions/checkout@v4 + name: Checkout AMMR4 + with: + repository: anybody/ammr4-beta + ref: ammr4-beta + path: ammr4 + + + - name: Link AMMR shell: cmd run: | echo #include "%GITHUB_WORKSPACE%/ammr/libdef.any" > libdef.any - + echo #include "%GITHUB_WORKSPACE%/ammr4/libdef.any" > libdef-ammr4.any - uses: prefix-dev/setup-pixi@v0.8.1 with: diff --git a/A_Getting_started/intro.md b/A_Getting_started/intro.md index f105b76d..1cfefc0b 100644 --- a/A_Getting_started/intro.md +++ b/A_Getting_started/intro.md @@ -3,61 +3,64 @@ # Getting Started Tutorial -:::{note} -The AnyBody software comes with an inbuilt model repository - The AnyBody Managed Model Repository (AMMR). This tutorial starts with unpacking a local version of the AMMR. You can skip to {doc}`lesson 1 ` if you have already done this. +:::{note} The AnyBody software comes with an inbuilt model repository - The +AnyBody Managed Model Repository (AMMR). This tutorial starts with unpacking a +local version of the AMMR. You can skip to {doc}`lesson 1 ` if you have +already done this. ::: - ## Goals for this tutorial -This tutorial takes the top-down approach and aims to accomplish the following: +This tutorial takes a top-down approach and aims to accomplish the following: 1. Create a new standing model using the Human Standing template model -2. Learn how to load & change the posture of the human model, and use the model view window -3. Run an inverse dynamics analysis and review the results. +2. Learn how to load & change the posture of the human model, and use +the model view window +3. Run an inverse dynamics analysis and review the results -This entire tutorial relies heavily on using the AnyBody Managed Model Respository (AMMR). +This tutorial relies heavily on using the AnyBody Managed Model Repository (AMMR). Follow the steps below to unpack a local version of the AMMR. # Setup the AMMR - -Before you continue you must unpack the entire repository and save it on -your hard disk. To get a copy of the AMMR press the Demo tab in the -AnyBody assistant dialog box. +Before you continue, you must unpack the entire repository and save it on your +hard disk. To get a copy of the AMMR, press the Demo tab in the AnyBody +assistant dialog box. ![...](_static/intro/image1.png) -Following the instructions in the Demo tab will install a copy of the AMMR in your documents folder by -default. It is good practice to create a second local copy of the AMMR -so that you do not overwrite the original AMMR folder by accident. +Following the instructions in the Demo tab will install a copy of the AMMR in +your documents folder by default. It is good practice to create a second local +copy of the AMMR so that you do not overwrite the original AMMR folder by +accident. # AMMR structure Open a file manager and navigate to the directory where you unpacked the -repository. You should see a folder structure that includes the -following subfolders: +repository. You should see a folder structure that includes the following +subfolders: -- **Application** includes demo simulations of activities such as cycling, lifting - a box or propelling a wheelchair. -- **Body** contains models of body parts and collections of body parts such as the lumbar spine model, leg models etc. - which are used by the applications. +- **Application**: Includes demo simulations of activities such as cycling, + lifting a box, or propelling a wheelchair. +- **Body**: Contains models of body parts and collections of body parts such as + the lumbar spine model, leg models, etc., which are used by the applications. A closer inspection of the Application branch reveals that it has four subfolders: -- The **Beta** folder contains models that are unfinished, but may still be useful. -- The **Examples** folder contains many models of various activities of daily living, and it is likely that you - will find a model that is similar to your own end goal. -- The **MocapExamples** folder contains models utilizing the AnyMoCap framework. If you have your own motion capture data this is a good place to start, - whether you want to analyze multi trial/subject MoCap data or a single subject wearing an inertial MoCap suit. -- The **Validation** folder contains models that have been used for validation purposes, typically by comparison of the model predictions - with experimental measurements. - +- The **Beta** folder contains models that are unfinished but may still be useful. +- The **Examples** folder contains many models of various activities of daily + living, and it is likely that you will find a model that is similar to your + own end goal. +- The **MocapExamples** folder contains models utilizing the AnyMoCap framework. + If you have your own motion capture data, this is a good place to start, + whether you want to analyze multi-trial/subject MoCap data or a single subject + wearing an inertial MoCap suit. +- The **Validation** folder contains models that have been used for validation + purposes, typically by comparison of the model predictions with experimental + measurements. :::{admonition} **Continue** :class: seealso With that knowledge, you are all set to go, and you can proceed with -{doc}`Lesson 1: Creating the standing model ` using -template. -::: +{doc}`Lesson 1: Creating the standing model ` using the template. ::: diff --git a/A_Getting_started/lesson1.md b/A_Getting_started/lesson1.md index 82a6deca..0c3da3b8 100644 --- a/A_Getting_started/lesson1.md +++ b/A_Getting_started/lesson1.md @@ -3,25 +3,30 @@ # Lesson 1: Creating a Standing Model -The standing model can be found in the AMMR folder under -Applications/Examples. The main file is called StandingModel.Main.any. +The standing model can be found in the AMMR folder under Applications/Examples. +The main file is called StandingModel.Main.any. -**While this file can be opened with the "File->Open" menu in AnyBody, do not do this! This tutorial will teach you an easier way -to use the Standing Model as a starting template.** +**While this file can be opened with the "File->Open" menu in AnyBody, do not do +this! This tutorial will teach you an easier way to use the Standing Model as a +starting template.** Key (modifiable) features of the standing model are: - Both feet are always connected to the ground. - The posture is defined by the joint angles for all major joints except the ankles. -- The model automatically balances itself by maintaining its center of mass vertically above the ankle joints. - E.g., if the arms move forward, the entire body moves backwards to maintain the balance. -- External forces can be applied to predefined nodes on the model. Muscle forces may change, to resist these forces and maintain balance. +- The model automatically balances itself by maintaining its center of mass + vertically above the ankle joints. For example, if the arms move forward, the + entire body moves backward to maintain balance. +- External forces can be applied to predefined nodes on the model. Muscle forces + may change to resist these forces and maintain balance. (model-templates)= ## Model templates -To create a new standing model using the template model in the AMMR, click the "Create New from template" button ![Model_button](_static/lesson1/image_1.png) in the toolbar: +To create a new standing model using the template model in the AMMR, click the +"Create New from template" button ![Model_button](_static/lesson1/image_1.png) +in the toolbar: ```{image} _static/lesson1/image_2.png :alt: Toolbar @@ -66,11 +71,13 @@ to AMMR repository you want to use. To see the 3D graphical representation of the model you need to load. -**Load/reload is a frequent operation and has been assigned to function -key F7. You may also load your model by clicking** ![Load](_static/lesson1/image_6.png) **in the toolbar.** +**Load/reload is a frequent operation and has been assigned to function key F7. +You may also load your model by clicking** ![Load](_static/lesson1/image_6.png) +**in the toolbar.** -This action will load whatever file is chosen in the text editor. If a file is already loaded, the -above action will simply reload the file until you give another file loading priority by right-clicking its tab and select “Load Model”. +This action will load whatever file is chosen in the text editor. If a file is +already loaded, the above action will simply reload the file until you give +another file loading priority by right-clicking its tab and select “Load Model”. ```{image} _static/lesson1/image_7.png :alt: Load Model @@ -80,8 +87,8 @@ above action will simply reload the file until you give another file loading pri ## The model view -When loading is completed, the Model View window opens and shows the -standing model: (You can open it manually from View -> Model Views). +When loading is completed, the Model View window opens and shows the standing +model: (You can open it manually from View -> Model Views). ```{image} _static/lesson1/image_5.png :alt: Model view @@ -89,10 +96,10 @@ standing model: (You can open it manually from View -> Model Views). :align: center ``` -The icons in the toolbar at the top of the Model View window allow you -to modify the image: zoom, pan, rotate, etc. They should be mostly -self-explanatory. Now is a good time to play a bit around with them and -to familiarize yourself with the options. +The icons in the toolbar at the top of the Model View window allow you to modify +the image: zoom, pan, rotate, etc. They should be mostly self-explanatory. Now +is a good time to play a bit around with them and to familiarize yourself with +the options. In practical use it is often necessary to change quickly between these functions, so keyboard shortcuts have been provided: diff --git a/A_Getting_started/lesson2.md b/A_Getting_started/lesson2.md index 8cdb71fd..e2f67444 100644 --- a/A_Getting_started/lesson2.md +++ b/A_Getting_started/lesson2.md @@ -20,8 +20,8 @@ Scroll down to the line that says `#include "Model\Mannequin.any"`. :end-before: //# END SNIPPET 1 ``` -**This line means that your model will include the content of the "Mannequin.any" file located in the Model folder, -within the main file.** +**This line means that your model will include the content of the +"Mannequin.any" file located in the Model folder, within the main file.** Double-clicking the file name in the editor window after loading your model opens the mannequin file in a new tab. Then you see the @@ -34,9 +34,11 @@ of the lines): :end-before: //# END SNIPPET 1 ``` -**The section between each pair of braces creates a Folder, with all variables defined within forming the folder contents.** +**The section between each pair of braces creates a Folder, with all variables +defined within forming the folder contents.** -Once the loading process is complete, you can see this folder structure being replicated in "Model tree" on the left of your screen. All contents of this file +Once the loading process is complete, you can see this folder structure being +replicated in "Model tree" on the left of your screen. All contents of this file can be seen by expanding the "Mannequin" folder icon in the tree. ```{image} _static/lesson2/image1.png @@ -45,11 +47,12 @@ can be seen by expanding the "Mannequin" folder icon in the tree. :align: center ``` -There are sub-folders for postural joint angles (in degrees) and angular velocities (in degrees/second), -for the right and left halves of the body. +There are sub-folders for postural joint angles (in degrees) and angular +velocities (in degrees/second), for the right and left halves of the body. -Changing any of the joint angles and reloading the model, will change the model's posture at load time. To start with, ensure that the contents of the `Right` -and `Left` sub-folders are as follows. +Changing any of the joint angles and reloading the model, will change the +model's posture at load time. To start with, ensure that the contents of the +`Right` and `Left` sub-folders are as follows. ```{literalinclude} Snippets/lesson2/MyStandingHuman-3/Model/Mannequin.any :language: AnyScriptDoc @@ -57,16 +60,19 @@ and `Left` sub-folders are as follows. :end-before: //# END SNIPPET 1 ``` -If you scroll down, you'll see that the contents of `Left` folder are set to be equal -to those from the `Right` folder, in order to create a symmetric posture. +If you scroll down, you'll see that the contents of `Left` folder are set to be +equal to those from the `Right` folder, in order to create a symmetric posture. -**This is an important feature of the AnyScript language. Instead of numbers, you can create references to other variables or write -mathematical expressions wherever necessary.** +**This is an important feature of the AnyScript language. Instead of numbers, +you can create references to other variables or write mathematical expressions +wherever necessary.** -To create a non-symmetric posture, you would have to replace some of the expressions in the `Left` folder with numbers of your choice. +To create a non-symmetric posture, you would have to replace some of the +expressions in the `Left` folder with numbers of your choice. -Scrolling further below, you will find the `PosturVel folder`. This is organized exactly like Posture, but the numbers here specify -joint angular velocities in degrees per second. For now, please leave all the values in this folder as zero. +Scrolling further below, you will find the `PosturVel folder`. This is organized +exactly like Posture, but the numbers here specify joint angular velocities in +degrees per second. For now, please leave all the values in this folder as zero. (running-analysis)= @@ -74,9 +80,11 @@ joint angular velocities in degrees per second. For now, please leave all the va Simulation based analyses in AnyBody are termed "Studies". -**Step 1**: Click on the operations drop-down menu at the top (see figure). Select “Main.RunApplication” +**Step 1**: Click on the operations drop-down menu at the top (see figure). +Select “Main.RunApplication” -"RunApplication" is a readymade package of some pre-processing steps and the "InverseDynamics" analysis. Other drop-down operations include: +"RunApplication" is a readymade package of some pre-processing steps and the +"InverseDynamics" analysis. Other drop-down operations include: - **Kinematics**: Runs Kinematic analysis - **InverseDynamics**: Runs Inverse dynamic analysis @@ -92,7 +100,8 @@ useful for testing and debugging. :align: center ``` -**Step 2**: Click the "Execute" button on the Execute toolbar. This toolbar is next to the drop-down menu, and contains three buttons: +**Step 2**: Click the "Execute" button on the Execute toolbar. This toolbar is +next to the drop-down menu, and contains three buttons: - **Run operation**: Starts or pauses the chosen operation. Shortcut F5. diff --git a/A_Getting_started/lesson3.md b/A_Getting_started/lesson3.md index a15632d0..a477a9f9 100644 --- a/A_Getting_started/lesson3.md +++ b/A_Getting_started/lesson3.md @@ -1,20 +1,22 @@ ::: {rst-class} break ::: - # Lesson 3: Reviewing Analysis Results (chart-view)= ## Introducing chart view -You can plot simulation results as graphs by using the Chart View, which can be opened by clicking the “Chart 1” tab in the Model View window. To -open Chart views manually go to View -> Charts. +You can plot simulation results as graphs by using the Chart View, +which can be opened by clicking the “Chart 1” tab in the Model View window. +To open Chart views manually, go to View -> Charts. -**Not all variables in your model tree are necessarily simulation outputs. The chart view therefore presents a -filtered down version of the model tree, which only contains simulation outputs that can be plotted.** +**Not all variables in your model tree are necessarily simulation outputs. +The chart view therefore presents a filtered-down version of the model tree, +which only contains simulation outputs that can be plotted.** -One of the first nodes you encounter in this tree is the MaxMuscleActivity variable: +One of the first nodes you encounter in this tree is the MaxMuscleActivity +variable: ```{image} _static/lesson3/image1.png :alt: Model tree @@ -31,8 +33,9 @@ due to the static posture of the model. :align: center ``` -If you want to see details of the actual values being plotted, click this -button Details_values. It adds a table with values below the chart: +If you want to see details of the actual values being plotted, click this button +Details_values. It +adds a table with values below the chart: ```{image} _static/lesson3/image4.png :alt: Chart actual values @@ -40,15 +43,15 @@ button Details_values` + diff --git a/A_Getting_started_anyscript/lesson1.md b/A_Getting_started_anyscript/lesson1.md index 001ba671..f9fddfb9 100644 --- a/A_Getting_started_anyscript/lesson1.md +++ b/A_Getting_started_anyscript/lesson1.md @@ -4,16 +4,17 @@ # Lesson 1: Basic Concepts :::{note} -**To follow this tutorial it is recommended to first to watch the -introductory video found in this link** "{doc}`Tutorial Overview <../index>`". +**To follow this tutorial, it is recommended to first watch the +introductory video found at this link:** "{doc}`Tutorial Overview <../index>`". ::: -To create an AnyScript model from scratch, go to "File menu -> New from template…" this will bring up a new window in -which you choose "Basic Main" and provide a "Target Name" (e.g., -*NewModel*) and click OK. This is similar to {ref}`this step ` from the previous tutorial. +To create an AnyScript model from scratch, go to "File menu -> New from +template…". This will bring up a new window where you choose "Basic Main", +provide a "Target Name" (e.g. *NewModel*), and click OK. This is similar to +{ref}`this step ` from the previous tutorial. -The new file that opens up in the text editor contains a basic skeleton -for your model, based on a built-in template. +The new file that opens in the text editor contains a basic skeleton for your +model, based on a built-in template. ```{image} _static/lesson1/image2.png :alt: Script editor @@ -24,18 +25,20 @@ for your model, based on a built-in template. ## What are Classes? -Let's have a look at what the system has generated for you. If you ignore most of the text and comments (green lines beginning with {literal}`//`), -the overall structure of the model looks like this: +Let's have a look at what the system has generated for you. If you ignore most +of the text and comments (green lines beginning with {literal}`//`), the overall +structure of the model looks like this: -:::{admonition} tl;dr -:class: tip margin dropdown -When you load the model, the name -assigned to a pair of braces, and all the contents between the braces will show up as -folders and sub-folders in the Model Tree. +:::{admonition} tl;dr +:class: tip margin dropdown +When you load the model, the +name assigned to a pair of braces, and all the contents between the braces will +show up as folders and sub-folders in the Model Tree. The code creates two objects - `MyModel` & `MyStudy` - which perform very -specific functions, which depend on the pre-preprogrammed object types (`AnyFolder` & `AnyBodyStudy`) -used to create these objects. These inbuilt object types are also known as CLASSES. +specific functions, which depend on the pre-preprogrammed object types +(`AnyFolder` & `AnyBodyStudy`) used to create these objects. These inbuilt +object types are also known as CLASSES. ::: ```AnyScriptDoc @@ -50,31 +53,33 @@ Main = { }; ``` +What you see is a hierarchy of braces - the outermost pair of braces is named +`Main = {}`. Everything else in the model goes between these braces, and any +basic AnyScript must contain this Main folder. -What you see is a hierarchy of braces - the outermost pair of braces is named `Main = {}`. -Everything else in the model goes between these braces, and any basic AnyScript must contain this Main folder. - -"MyModel" (of class type `AnyFolder`) is simply an -organizational folder for containing the entire model you are going to -build. Let us change the folder name "MyModel" to "ArmModel". +"MyModel" (of class type `AnyFolder`) is simply an organizational folder for +containing the entire model you are going to build. Let us change the folder +name "MyModel" to "ArmModel". The object named "MyStudy" (of class type `AnyBodyStudy`) is a collection of -simulation tasks that you want to perform with your model. The {doc}`Study of Studies <../A_study_of_studies/intro>` tutorial -contains much more information on simulation studies. - -:::{attention} -:class: margin -All changes you need to do in your model will be highlighted in red in future tutorials. -::: - -**👉 Now** reename `MyStudy` to `ArmModelStudy`, and replace all occurences of `MyModel` with `ArmModel`. - -:::{note} -Generally, when declaring an object in AnyScript, you typically start with the class type, followed by a chosen object name, and then assign it a value. The value can be a number, a string, or another object. -` = ;` +simulation tasks that you want to perform with your model. The {doc}`Study of +Studies <../A_study_of_studies/intro>` tutorial contains much more information +on simulation studies. + +Generally, when declaring an object in AnyScript, you typically start +with the class type, followed by a chosen object name, and then assign it a +value. The value can be a number, a string, or another object. ` + = ;`. + +**👉 Now** reename `MyStudy` to `ArmModelStudy`, and replace all occurences of +`MyModel` with `ArmModel`. + +:::{attention} +:class: margin +All changes you need to do in your model will be +highlighted in red in future tutorials. ::: - ## What does this file contain so far? ```{literalinclude} Snippets/lesson1/snip.NewModel.main-1.any @@ -83,13 +88,15 @@ Generally, when declaring an object in AnyScript, you typically start with the c :end-before: //# END SNIPPET 1 ``` -Within `ArmModel = {}` is an object named `GlobalRef`, created with the `AnyFixedRefFrame` class. This object is the global reference frame for your model. +Within `ArmModel = {}` is an object named `GlobalRef`, created with the +`AnyFixedRefFrame` class. This object is the global reference frame for your +model. -You will notice "Todo:" comments inside the braces, to which we will return later. +You will notice "Todo:" comments inside the braces, to which we will return +later. -:::{note} -The model objects that you create henceforth must be placed within the "ArmModel" folder and should go between its -pair of braces. +:::{note} The model objects that you create henceforth must be placed within the +"ArmModel" folder and should go between its pair of braces. ::: ## Loading an AnyBody model @@ -115,24 +122,28 @@ Elapsed Time : 0.030000 ## Basic troubleshooting -If you mistype something, you will get an error message. A common -mistake is to forget a semicolon somewhere. Try removing a semicolon and re-load the model, which may give you an error message like this: +If you mistype something, you will get an error message. A common mistake is to +forget a semicolon somewhere. Try removing a semicolon and re-load the model, +which may give you an error message like this: -:::{attention} -:class: margin -The error messages may look different depending on which semi-colon you removed. -Missing semicolons can be tricky, so keep that in mind. +:::{attention} +:class: margin +The error messages may look different depending on +which semi-colon you removed. Missing semicolons can be tricky, so keep that in +mind. ::: ```none ERROR(SCR.PRS11) : C:\\...\\NewModel.main.any(26) : 'EOF' unexpected Model loading skipped ``` -The message contains clickable links for both error code and the location of the error in your file. Upon clicking the file link, the text cursor -jumps to the exact problematic line in the file. Remember that an error can sometimes be caused by something you mistyped earlier -in the file. +The message contains clickable links for both error code and the location of the +error in your file. Upon clicking the file link, the text cursor jumps to the +exact problematic line in the file. Remember that an error can sometimes be +caused by something you mistyped earlier in the file. -Clicking the error code, e.g: `ERROR(SCR.PRS11)` opens a pop-up window with a complete explanation: +Clicking the error code, e.g: `ERROR(SCR.PRS11)` opens a pop-up window with a +complete explanation: ```{image} _static/lesson1/image5.png :alt: Error code @@ -142,6 +153,7 @@ Clicking the error code, e.g: `ERROR(SCR.PRS11)` opens a pop-up window with a co ``` We now assume that you have removed the errors and have loaded the model -successfully. If you are up to it, let's continue onward to {doc}`Lesson 2: Segments ` +successfully. If you are up to it, let's continue onward to {doc}`Lesson +2: Segments ` diff --git a/A_Getting_started_anyscript/lesson2.md b/A_Getting_started_anyscript/lesson2.md index 8796c1d2..d4eb7e5f 100644 --- a/A_Getting_started_anyscript/lesson2.md +++ b/A_Getting_started_anyscript/lesson2.md @@ -1,16 +1,15 @@ - ::: {rst-class} break ::: # Lesson 2: Defining Segments and Displaying Objects -:::{note} -Here's an AnyScript file to start on if you have not completed the previous lesson: -{download}`demo.lesson2.any ` +:::{note} Here's an AnyScript file to start with if you have not completed the +previous lesson: {download}`demo.lesson2.any ` ::: -The basic building blocks of a mechanical system are the "segments" [^f1]. In AnyBody, -the segments are treated as rigid elements which represent human bones as well as non-human components such as exoskeleton/machine parts etc. +The basic building blocks of a mechanical system are the "segments" [^f1]. In +AnyBody, segments are treated as rigid elements representing human bones as well +as non-human components such as exoskeleton/machine parts, etc. **A segment is just a coordinate system with mass and inertial properties, which can move around freely in 3D space.** @@ -18,8 +17,8 @@ the segments are treated as rigid elements which represent human bones as well a ## Creating a segment (using the Class Inserter) -We shall start by defining a folder for the segments. Please add the -following text to your model (new text marked in red): +We shall start by defining a folder for the segments. Please add the following +text to your model (new text marked in red): ```{literalinclude} Snippets/lesson2/snip.NewModel.main-1.any @@ -28,12 +27,12 @@ following text to your model (new text marked in red): :end-before: //# END SNIPPET 1 ``` -Load the model by clicking the ![Load_button](_static/lesson2/image1.png) icon or the -F7 key. If you expand the "ArmModel" folder in the tree view, you should +Load the model by clicking the ![Load_button](_static/lesson2/image1.png) icon +or the F7 key. If you expand the "ArmModel" folder in the tree view, you should see a new, empty folder named "Segs". -We are now ready to add a segment to the model, and this would probably be a good time to introduce you to -the Class Inserter. +We are now ready to add a segment to the model, and this would probably be a +good time to introduce you to the Class Inserter. ```{image} _static/lesson2/image2.png :alt: Class Inserter @@ -44,9 +43,9 @@ the Class Inserter. **The Classes tab on the right edge of your AnyBody interface opens a Class List containing all the predefined classes in AnyScript.** -**👉 Now** To insert a segment, start by placing your text cursor within the braces of the newly -defined `AnyFolder Segs`. Then find the class `AnySeg` in the Class List and -double-click it to insert its template into your text editor. +**👉 Now** To insert a segment, start by placing your text cursor within the +braces of the newly defined `AnyFolder Segs`. Then find the class `AnySeg` in +the Class List and double-click it to insert its template into your text editor. You should get this: @@ -57,15 +56,21 @@ You should get this: ``` Every object in AnyBody defined by some properties that are both mandatory (the -template contains some default values) or optional (these properties are commented out). -You can delete all optional properties except for `r0` and `Axes0`. +template contains some default values) or optional (these properties are +commented out). You can delete all optional properties except for `r0` and +`Axes0`. -For an `AnySeg` object `Mass` (segment mass) and `Jii` (diagonal elements of the inertia tensor) are the mandatory properties. Note that by default, -the segment's coordinate system is located at the center of mass, with its local coordinate system being the principal axes of inertia. +For an `AnySeg` object `Mass` (segment mass) and `Jii` (diagonal elements of the +inertia tensor) are the mandatory properties. Note that by default, the +segment's coordinate system is located at the center of mass, with its local +coordinate system being the principal axes of inertia. -You can however change this by editing the properties `sCoM` and `Jij`. Go to "Help->Anyscript Reference" for more information on the `AnySeg` class's properties. +You can however change this by editing the properties `sCoM` and `Jij`. Go to +"Help->Anyscript Reference" for more information on the `AnySeg` class's +properties. -Let us rename the segment as "UpperArm" and set its {literal}`Mass = 2` and {literal}`Jii = {0.001, 0.01, 0.01}`: +Let us rename the segment as "UpperArm" and set its {literal}`Mass = 2` and +{literal}`Jii = {0.001, 0.01, 0.01}`: ```{literalinclude} Snippets/lesson2/snip.NewModel.main-3.any :language: AnyScriptDoc @@ -75,15 +80,17 @@ Let us rename the segment as "UpperArm" and set its {literal}`Mass = 2` and {lit Load the model again and notice the warnings you get. Amongst other messages: -*Model Warning: Study 'Main.ArmStudy' contains too few kinematic -constraints to be kinematically determinate.* +*Model Warning: Study 'Main.ArmStudy' contains too few kinematic constraints to +be kinematically determinate.* -**This means that your model has some degrees of freedom, for which AnyBody does not have any motion or constraint information. -It therefore cannot evaluate the model's kinematics.** We will take care of this in the next lesson +**This means that your model has some degrees of freedom, for which AnyBody does +not have any motion or constraint information. It therefore cannot evaluate the +model's kinematics.** We will take care of this in the next lesson ## Displaying a segment -To make something visible in AnyBody, you have to add a drawing object which defines visibility: +To make something visible in AnyBody, you have to add a drawing object which +defines visibility: ```{literalinclude} Snippets/lesson2/snip.NewModel.main-4.any :language: AnyScriptDoc @@ -92,16 +99,19 @@ To make something visible in AnyBody, you have to add a drawing object which def ``` Reload the model, and look at the Model View (you might have to press -the Zoom-button button to locate your segment). The segment is displayed as an ellipsoid whose dimensions capture the -mass distribution represented by `Jii`. Changing any one component of `Jii` will alter the shape of the ellipse. +the Zoom-button +button to locate your segment). The segment is displayed as an ellipsoid whose +dimensions capture the mass distribution represented by `Jii`. Changing any +one component of `Jii` will alter the shape of the ellipse. ## Adding point nodes to a segment -We define some nodes in the local coordinate system of the segment, for eventually attaching muscles, joints, forces etc. to -the segment. +We define some nodes in the local coordinate system of the segment, for +eventually attaching muscles, joints, forces etc. to the segment. -Figuring out these node locations for the actual human models can be a laborious task, but you can often use ready-made anatomical -nodes defined in most AMMR models. +Figuring out these node locations for the actual human models can be a laborious +task, but you can often use ready-made anatomical nodes defined in most AMMR +models. For this model, copy and paste the following lines into your file: @@ -111,8 +121,8 @@ For this model, copy and paste the following lines into your file: :end-before: //# END SNIPPET 1 ``` -If you reload the model, you should see the newly added nodes connected to the center of gravity by -yellow pins. +If you reload the model, you should see the newly added nodes connected to the +center of gravity by yellow pins. ```{image} _static/lesson2/image4.png :alt: Upper arm with nodes @@ -122,7 +132,8 @@ yellow pins. ## Creating a second segment -You will now add a forearm segment to the mechanism by copy-pasting these lines into the `Segs` folder: +You will now add a forearm segment to the mechanism by copy-pasting these lines +into the `Segs` folder: ```{literalinclude} Snippets/lesson2/snip.NewModel.main-6.any :language: AnyScriptDoc @@ -130,14 +141,17 @@ You will now add a forearm segment to the mechanism by copy-pasting these lines :end-before: //# END SNIPPET 1 ``` -**When you reload the model, you may not see the forearm immediately -because it's defined to look exactly the same and is loaded exactly on top of the upper arm.** +**When you reload the model, you may not see the forearm immediately because +it's defined to look exactly the same and is loaded exactly on top of the upper +arm.** -To solve this problem, you can change the initial/load time position of the two segments by adjusting -r0 (translation w.r.t global frame at load-time) and Axes0 (rotation matrix w.r.t global frame at load-time). +To solve this problem, you can change the initial/load time position of the two +segments by adjusting r0 (translation w.r.t global frame at load-time) and Axes0 +(rotation matrix w.r.t global frame at load-time). -Remember that your simulation, will only use these load-time positions as an initial guess, on the way to -enforcing specified motions and constraints (such as joints between segments). More on this in the next lesson. +Remember that your simulation, will only use these load-time positions as an +initial guess, on the way to enforcing specified motions and constraints (such +as joints between segments). More on this in the next lesson. For now, let us first change `r0` - the global position of the segment at load-time. @@ -181,11 +195,13 @@ Note that matrices in AnyBody are arranged row-wise, so {1, 0, 0} in `Axes0` is first row of a 3x3 matrix. ::: -Rotation matrices are a bit difficult to cook up on the fly. If your spatial thinking is good, you could maybe figure out -the exact expressions for all 9 components of the 3x3 Axes0 matrix. +Rotation matrices are a bit difficult to cook up on the fly. If your spatial +thinking is good, you could maybe figure out the exact expressions for all 9 +components of the 3x3 Axes0 matrix. -**An easier solution is to use a standard function named -`RotMat`, which returns a rotation matrix corresponding to a given axis and rotation angle. Therefore, we can specify:** +**An easier solution is to use a standard function named `RotMat`, which returns +a rotation matrix corresponding to a given axis and rotation angle. Therefore, +we can specify:** ```{literalinclude} Snippets/lesson2/snip.NewModel.main-9.any :language: AnyScriptDoc @@ -193,24 +209,24 @@ the exact expressions for all 9 components of the 3x3 Axes0 matrix. :end-before: //# END SNIPPET 1 ``` -When you reload again, you will see that the UpperArm rotated --90 degrees about the global z axis, as the function arguments indicate. The `RotMat` functions needs -rotations as radians, hence the multiplication of the 90 degree angle by pi/180. AnyBody identifies the word -"pi" as 3.14159. +When you reload again, you will see that the UpperArm rotated -90 degrees about +the global z axis, as the function arguments indicate. The `RotMat` functions +needs rotations as radians, hence the multiplication of the 90 degree angle by +pi/180. AnyBody identifies the word "pi" as 3.14159. :::{note} Angles in AnyBody are always in radians. ::: -In the next lesson, we will look at how joints can be used to constrain -the movement of segments and allow them to articulate the way we desire. +In the next lesson, we will look at how joints can be used to constrain the +movement of segments and allow them to articulate the way we desire. ```{rubric} Footnotes ``` -[^f1]: In rigid body dynamics terminology, a "segment" would be called a - "rigid body", but to avoid unnecessary confusion between the rigid - bodies and the total body model, we have chosen to use "segments" for - the rigid parts of the model. +[^f1]: In rigid body dynamics terminology, a "segment" would be called a "rigid + body", but to avoid unnecessary confusion between the rigid bodies and the + total body model, we have chosen to use "segments" for the rigid parts of + the model. diff --git a/A_Getting_started_anyscript/lesson3.md b/A_Getting_started_anyscript/lesson3.md index c2c11aed..afe2dbed 100644 --- a/A_Getting_started_anyscript/lesson3.md +++ b/A_Getting_started_anyscript/lesson3.md @@ -20,13 +20,15 @@ two independent segments in AnyBody, they will have 2 x 6 = 12 degrees of freedo in total. -Joints in AnyBody take away (or constrain) some of these degrees of freedom with the different joint types (e.g. revolute, spherical, prismatic etc.) -differing only in the number and type of degrees of freedom they constrain. +Joints in AnyBody take away (or constrain) some of these degrees of freedom with +the different joint types (e.g. revolute, spherical, prismatic etc.) differing +only in the number and type of degrees of freedom they constrain. ## The global reference frame -Every model needs a global reference frame to serve as a ground reference point for measuring positions & orientations from. -It is already defined in the model template that you originally used, and is shown below: +Every model needs a global reference frame to serve as a ground reference point +for measuring positions & orientations from. It is already defined in the model +template that you originally used, and is shown below: ```{literalinclude} Snippets/lesson3/snip.NewModel.main-1.any :language: AnyScriptDoc @@ -34,11 +36,13 @@ It is already defined in the model template that you originally used, and is sho :end-before: //# END SNIPPET 1 ``` -**Just like with segments, you can add point nodes to the global reference frame for attaching joints and muscles. There is however no -concept of mass associated with this frame.** +**Just like with segments, you can add point nodes to the global reference frame +for attaching joints and muscles. There is however no concept of mass associated +with this frame.** -You will now add some nodes to the global frame by copy-pasting the following lines into your model (Alternatively use the class inserter -and then copy-paste the class properties alone): +You will now add some nodes to the global frame by copy-pasting the following +lines into your model (Alternatively use the class inserter and then copy-paste +the class properties alone): ```{literalinclude} Snippets/lesson3/snip.NewModel.main-2.any :language: AnyScriptDoc @@ -46,9 +50,9 @@ and then copy-paste the class properties alone): :end-before: //# END SNIPPET 1 ``` -The first line, "`AnyDrawRefFrame` ..." merely displays the global -reference system in the graphics window. The remaining lines define point nodes attached to the global reference -system. +The first line, "`AnyDrawRefFrame` ..." merely displays the global reference +system in the graphics window. The remaining lines define point nodes attached +to the global reference system. Let us scale down the display size and change its color to distinguish it from the yellow segments: @@ -61,9 +65,10 @@ size and change its color to distinguish it from the yellow segments: ## Creating a revolute joint -We can now connect the upper arm to the global reference frame through a shoulder joint. -For this planar 2-D model, where we simplify the shoulder as a simple revolute joint (also known as a hinge joint). -We create a new `AnyFolder` object, to contain all joints in the model: +We can now connect the upper arm to the global reference frame through a +shoulder joint. For this planar 2-D model, where we simplify the shoulder as a +simple revolute joint (also known as a hinge joint). We create a new `AnyFolder` +object, to contain all joints in the model: ```{literalinclude} Snippets/lesson3/snip.NewModel.main-4.any :language: AnyScriptDoc @@ -71,14 +76,15 @@ We create a new `AnyFolder` object, to contain all joints in the model: :end-before: //# END SNIPPET 1 ``` -The `AnyRevoluteJoint` class creates a revolute joint object connecting two nodes on different segments. +The `AnyRevoluteJoint` class creates a revolute joint object connecting two +nodes on different segments. (relative-folder-path)= ## Relative folder paths - Why use ‘.’ and ‘..’ in AnyScript? -The `AnyRevoluteJoint` object named "Shoulder", needs to know which nodes on each segment to connect. For this -purpose, we have the lines: +The `AnyRevoluteJoint` object named "Shoulder", needs to know which nodes on +each segment to connect. For this purpose, we have the lines: ```{literalinclude} Snippets/lesson3/snip.NewModel.main-5.any :language: AnyScriptDoc @@ -86,36 +92,40 @@ purpose, we have the lines: :end-before: //# END SNIPPET 1 ``` -They refer to two previously created nodes located on the `GlobalRef` and `UpperArm` segments, using their -**relative folder paths**. Notice the two dots in front of the names. They signify that -the `GlobalRef` and `Segs` folders are defined two levels outside the folder -we are writing into, in the model tree. - -If you neglected the two dots, then AnyBody would search for the two objects in the "Shoulder" folder and fail -to find them. This "dot" system is quite similar to the system you may -know from directory structures in Dos, Windows, Unix, or just about any -other computer operating system. - -:::{seealso} -:class: dropdown -**Absolute folder path** is another way to refer to objects in AnyScript and wil be used later in this tutorial. Absolute references are made by the complete name of an object. The complete name specifies all folders from the root, -i.e. from Main, and to the object like for instance: -`Main...` +They refer to two previously created nodes located on the `GlobalRef` and +`UpperArm` segments, using their **relative folder paths**. Notice the two dots +in front of the names. They signify that the `GlobalRef` and `Segs` folders are +defined two levels outside the folder we are writing into, in the model tree. + +If you neglected the two dots, then AnyBody would search for the two objects in +the "Shoulder" folder and fail to find them. This "dot" system is quite similar +to the system you may know from directory structures in Dos, Windows, Unix, or +just about any other computer operating system. + +:::{seealso} +:class: dropdown +**Absolute folder path** is another way to refer +to objects in AnyScript and wil be used later in this tutorial. Absolute +references are made by the complete name of an object. The complete name +specifies all folders from the root, i.e. from Main, and to the object like for +instance: `Main...` ::: (reference-objects)= ## Reference objects and the ‘&’ symbol -You can also see that the Shoulder point on GlobalRef has been given the local name of `GroundNode`. -This means that, within the current folder, we can simply refer to -the point as "GroundNode" instead of the longer external reference. +You can also see that the Shoulder point on GlobalRef has been given the local +name of `GroundNode`. This means that, within the current folder, we can simply +refer to the point as "GroundNode" instead of the longer external reference. **You will also realize that `GroundNode` is merely a reference (a pointer) to `GlobalRef.Shoulder` rather than a copy of it. We denote this by the** {literal}`&` **sign.** -If "Main.ArmModel.GlobalRef.Shoulder" moves around, "Main.ArmModel.Jnts.Shoulder.GroundNode" will keep up with those changes in position. Hit F7 to reload the model again to make -sure that the definition is correct. +If "Main.ArmModel.GlobalRef.Shoulder" moves around, +"Main.ArmModel.Jnts.Shoulder.GroundNode" will keep up with those changes in +position. Hit F7 to reload the model again to make sure that the definition is +correct. ## Customizing the revolute joint @@ -127,37 +137,37 @@ We then have: :end-before: //# END SNIPPET 1 ``` -:::{note} -Every node on a rigid body segment has its own reference frame which moves along with the segment. -By default, these coordinate systems are parallel to the segment frame. However, the relative orientations -between these two frames can be altered by the user. Check the {literal}`ARel` property and AnyRefNode -object in the AnyScript Reference Manual for more information. +:::{note} +Every node on a rigid body segment has its own reference frame which +moves along with the segment. By default, these coordinate systems are parallel +to the segment frame. However, the relative orientations between these two +frames can be altered by the user. Check the {literal}`ARel` property and +AnyRefNode object in the AnyScript Reference Manual for more information. ::: The AnyBody Modeling System is always three-dimensional, even when our model is -two dimensional. The property `Axis = z` simply specifies that both -segments connected by that joint will rotate about the z axis of two nodes forming the joint. - -In other words, the z-axes of the nodes on either connected segment will -always be parallel, and so the mechanism will rotate in the plane -perpendicular to these axes. The out-of-plane relative orientation of -the two segments can be adjusted by rotating the reference frames of the -nodes being connected. This is relevant if you want one of the segments -to rotate about some skewed axis. - -:::{caution} -The first of the two -nodes declared in the joint (in this case `GroundNode`) becomes the -default reference frame for the joint. When directly accessing the -post-simulation values of constraint reaction forces etc., you must -remember to interpret them in the joint’s default reference frame. +two dimensional. The property `Axis = z` simply specifies that both segments +connected by that joint will rotate about the z axis of two nodes forming the +joint. + +In other words, the z-axes of the nodes on either connected segment will always +be parallel, and so the mechanism will rotate in the plane perpendicular to +these axes. The out-of-plane relative orientation of the two segments can be +adjusted by rotating the reference frames of the nodes being connected. This is +relevant if you want one of the segments to rotate about some skewed axis. + +:::{caution} +The first of the two nodes declared in the joint (in this case +`GroundNode`) becomes the default reference frame for the joint. When directly +accessing the post-simulation values of constraint reaction forces etc., you +must remember to interpret them in the joint’s default reference frame. ::: ## Creating a revolute elbow joint -We will next add a revolute elbow joint. While the definition is similar to the shoulder, -you will learn to use a handy tool to define the references. Copy-paste the skeleton of the elbow -joint as follows: +We will next add a revolute elbow joint. While the definition is similar to the +shoulder, you will learn to use a handy tool to define the references. +Copy-paste the skeleton of the elbow joint as follows: ```{literalinclude} Snippets/lesson3/snip.NewModel.main-7.any :language: AnyScriptDoc @@ -165,17 +175,18 @@ joint as follows: :end-before: //# END SNIPPET 1 ``` -The node references within "Elbow" are not pointing at -anything yet. In this simple model it is easy to find the relative path -of the pertinent nodes on the upper arm and the forearm, but in a -complex model, this can be difficult. So we use "Absolute folder paths". +The node references within "Elbow" are not pointing at anything yet. In this +simple model it is easy to find the relative path of the pertinent nodes on the +upper arm and the forearm, but in a complex model, this can be difficult. So we +use "Absolute folder paths". (absolute-folder-path)= ## Absolute folder path (and some useful tips) -Place the cursor just before the semicolon in the line that reads {literal}`AnyRefNode &UpperArmNode = ;`. -Open the model tree where the UpperArm folder should expand as shown below. +Place the cursor just before the semicolon in the line that reads +{literal}`AnyRefNode &UpperArmNode = ;`. Open the model tree where the UpperArm +folder should expand as shown below. ```{image} _static/lesson3/image1.png :alt: Absolute folder path tree @@ -196,8 +207,8 @@ line below to obtain this: :end-before: //# END SNIPPET 1 ``` -It seems like everything is connected now, but we still get this -annoying error message when we reload the model: +It seems like everything is connected now, but we still get this annoying error +message when we reload the model: ```none Model Warning: Study 'Main.ArmStudy' contains too few kinematic diff --git a/A_Getting_started_anyscript/lesson6.md b/A_Getting_started_anyscript/lesson6.md index aa5c3dcd..048654e6 100644 --- a/A_Getting_started_anyscript/lesson6.md +++ b/A_Getting_started_anyscript/lesson6.md @@ -8,8 +8,8 @@ Here's an AnyScript file to start on if you have not completed the previous lesson: {download}`demo.lesson6.any `. ::: -So far the model graphically resembles a "stick figure representation". -However realistic bone geometries can improve both aesthetics and +So far, the model graphically resembles a "stick figure representation". +However, realistic bone geometries can improve both aesthetics and visual comprehension of a model's anatomy, as illustrated by the two pictures below. @@ -17,28 +17,28 @@ by the two pictures below. ## File formats for visualization objects -3-D Geometric models for model components such as bones can be specified using files +3-D geometric models for model components such as bones can be specified using files of the STL ASCII format. STL is a very simple graphical file format that represents object surfaces as triangles. Virtually all CAD systems can export an object in the STL format. So if your files are in the IGES, -STEP, DXF etc. formats, load them in your favorite CAD system and convert to STL. +STEP, DXF, etc. formats, load them in your favorite CAD system and convert to STL. STL files come in two varieties: ASCII and binary. AnyBody needs an ASCII file, so please make sure to choose that option during the export process. -## Importing a STL file +## Importing an STL file Since the bone models shown in the above tutorial may be a bit too elaborate for a -basic tutorial, we will demonstrate this by adding an STL file for the dumbbel in the arm model. +basic tutorial, we will demonstrate this by adding an STL file for the dumbbell in the arm model. -Download the following model {download}`here(dumbbell.stl) `. +Download the dumbbell model {download}`here `. The dumbbell STL should be added to the forearm, so add the following code - which imports the STL file into AnyBody - within the "ArmModel.Segs.ForeArm" object: :::{important} -The STL-file must be saved in the same folder as the AnyBody script. +The STL file must be saved in the same folder as the AnyBody script. ::: ```{literalinclude} Snippets/lesson6/snip.NewModel.main-1.any diff --git a/A_study_of_studies/lesson2.md b/A_study_of_studies/lesson2.md index 10d6142a..527cffcb 100644 --- a/A_study_of_studies/lesson2.md +++ b/A_study_of_studies/lesson2.md @@ -1,7 +1,7 @@ ::: {rst-class} break ::: -# Lesson2: Initial Conditions +# Lesson 2: Initial Conditions Before we look at the InitialConditions operation, let us just notice that when the model is loaded, the segments of the model are positioned diff --git a/A_study_of_studies/lesson3.md b/A_study_of_studies/lesson3.md index fdd89fc9..9ac44513 100644 --- a/A_study_of_studies/lesson3.md +++ b/A_study_of_studies/lesson3.md @@ -17,15 +17,10 @@ So, get ready, and let's dive deeper into... ::::{dropdown} The long explanation -- *tl;dr* :open: -:::{note} -:class: margin -The physics term "rigid body" is called a "segment" in -AnyBody to avoid confusion with the layman/physiological term for "body". -::: - An AnyBody model is essentially a collection of rigid segments, which you can visualize as potatoes floating in space. In the context of AnyBody, we refer to -these "rigid bodies" as "segments". +these "rigid bodies" as "segments". The physics term "rigid body" is called a +"segment" in AnyBody to avoid confusion with the layman/physiological term for "body". Each segment can move in six different directions, or degrees of freedom: three movements along the coordinate axes and three rotations about the same axes. 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1849 6.951939e-002 9.974601e-001 1.550713e-002 -1.000000e-004 +1882 1883 1849 7.158516e-002 9.974008e-001 8.197890e-003 -1.000000e-004 +1883 1884 1850 6.189818e-002 9.980797e-001 2.363989e-003 -1.000000e-004 +1884 1885 1850 6.219150e-002 9.980641e-001 -5.633384e-004 -1.000000e-004 +1885 1886 1850 6.096931e-002 9.981375e-001 -2.080190e-003 -1.000000e-004 +1886 1887 1851 6.419809e-002 9.979313e-001 -3.423508e-003 -1.000000e-004 +1887 1888 1851 6.417729e-002 9.979328e-001 -3.386609e-003 -1.000000e-004 +1888 1889 1851 6.500035e-002 9.978816e-001 -2.677856e-003 -1.000000e-004 +1889 1890 1846 6.687587e-002 9.977591e-001 -2.106252e-003 -1.000000e-004 +1890 1891 1846 6.790418e-002 9.976908e-001 -1.426195e-003 -1.000000e-004 +1891 1892 1846 6.938991e-002 9.975893e-001 -7.444247e-004 -1.000000e-004 +1892 1893 1846 7.145008e-002 9.974442e-001 -1.081725e-004 -1.000000e-004 +1893 1894 1841 7.824109e-002 9.969300e-001 -2.990983e-003 -1.000000e-004 +1894 1895 1841 7.895343e-002 9.968780e-001 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3.203565e-001 9.470648e-001 2.097631e-002 -1.000000e-004 +1909 1910 1799 3.365986e-001 9.413814e-001 2.241571e-002 -1.000000e-004 +1910 1911 1799 3.514146e-001 9.359422e-001 2.280227e-002 -1.000000e-004 +1911 1912 1799 3.623358e-001 9.318548e-001 1.895835e-002 -1.000000e-004 +1912 1913 1799 3.690993e-001 9.293082e-001 1.232774e-002 -1.000000e-004 +1913 1914 1799 3.721185e-001 9.281718e-001 4.987927e-003 -1.000000e-004 +1914 1915 1790 4.131499e-001 9.102138e-001 2.860201e-002 -1.000000e-004 +1915 1916 1790 4.268553e-001 9.039592e-001 2.554052e-002 -1.000000e-004 +1916 1917 1790 4.321951e-001 9.014867e-001 2.300429e-002 -1.000000e-004 +1917 1918 1790 4.326629e-001 9.012709e-001 2.265999e-002 -1.000000e-004 +1918 1919 1790 4.300123e-001 9.024537e-001 2.582045e-002 -1.000000e-004 +1919 1920 1790 4.271367e-001 9.034072e-001 3.754591e-002 -1.000000e-004 +1920 1921 1790 4.330711e-001 8.999127e-001 5.105521e-002 -1.000000e-004 +1921 1922 1788 4.151520e-001 9.074812e-001 6.423941e-002 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3.961545e-001 9.178813e-001 -2.357104e-002 -1.000000e-004 +1784 1783 1931 4.140527e-001 9.082433e-001 -6.045241e-002 -1.000000e-004 +1785 1784 1792 3.389334e-001 9.390148e-001 -5.809703e-002 -1.000000e-004 +1783 1786 1927 3.275243e-001 9.438489e-001 -4.332509e-002 -1.000000e-004 +1786 1788 1925 3.262973e-001 9.447912e-001 2.999528e-002 -1.000000e-004 +1790 1789 1799 3.760726e-001 9.259963e-001 3.317047e-002 -1.000000e-004 +1788 1790 1921 4.327981e-001 9.000595e-001 5.078091e-002 -1.000000e-004 +1793 1792 1860 2.704344e-001 9.612200e-001 -5.404902e-002 -1.000000e-004 +1799 1798 1909 3.241237e-001 9.458298e-001 1.870058e-002 -1.000000e-004 +1801 1793 1862 2.368546e-001 9.695546e-001 -6.215923e-002 -1.000000e-004 +1798 1806 1907 2.703105e-001 9.625015e-001 2.287018e-002 -1.000000e-004 +1808 1801 1863 2.057320e-001 9.764814e-001 -6.448603e-002 -1.000000e-004 +1806 1813 1905 2.173029e-001 9.758385e-001 2.277376e-002 -1.000000e-004 +1815 1808 1865 1.800510e-001 9.817869e-001 -6.063065e-002 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-1.000000e-004 +1989 1990 1941 -3.573635e-001 -9.339654e-001 1.670541e-007 -1.000000e-004 +1990 1991 1937 -3.573643e-001 -9.339651e-001 -6.904163e-007 -1.000000e-004 +1991 1992 1937 -3.573643e-001 -9.339651e-001 3.326604e-008 -1.000000e-004 +1992 1993 1937 -3.573654e-001 -9.339647e-001 1.609679e-006 -1.000000e-004 +1993 1994 1938 -3.573647e-001 -9.339649e-001 -1.130245e-006 -1.000000e-004 +1994 1995 1938 -3.573651e-001 -9.339648e-001 -1.960615e-006 -1.000000e-004 +1995 485 1938 -3.573648e-001 -9.339649e-001 4.756049e-008 -1.000000e-004 + 485 1996 1938 -3.573657e-001 -9.339645e-001 1.912573e-006 -1.000000e-004 +1996 476 1938 -3.573631e-001 -9.339655e-001 -1.829345e-007 -1.000000e-004 + 476 1997 1938 -3.573617e-001 -9.339661e-001 -6.156375e-007 -1.000000e-004 +1997 467 1938 -3.573666e-001 -9.339642e-001 -5.295718e-007 -1.000000e-004 + 467 1998 1939 -3.573627e-001 -9.339657e-001 -6.546237e-007 -1.000000e-004 +1998 1999 1939 -3.573640e-001 -9.339652e-001 1.641072e-007 -1.000000e-004 +1999 2000 1939 -3.573638e-001 -9.339653e-001 1.112291e-007 -1.000000e-004 +2000 2001 1951 -3.573637e-001 -9.339653e-001 1.022147e-007 -1.000000e-004 +2001 2002 1951 -3.573637e-001 -9.339653e-001 8.366073e-008 -1.000000e-004 +2002 2003 1951 -3.573634e-001 -9.339654e-001 7.519755e-008 -1.000000e-004 +2003 2004 1951 -3.573655e-001 -9.339646e-001 -4.367626e-007 -1.000000e-004 +2004 404 1958 -3.573636e-001 -9.339653e-001 4.788919e-008 -1.000000e-004 + 404 2005 1958 -3.573639e-001 -9.339652e-001 -8.062925e-009 -1.000000e-004 +2005 2006 1958 -3.573634e-001 -9.339654e-001 2.566273e-007 -1.000000e-004 +2006 2007 1965 -3.573639e-001 -9.339652e-001 6.836919e-008 -1.000000e-004 +2007 2008 1965 -3.573629e-001 -9.339656e-001 3.027856e-007 -1.000000e-004 +2008 2009 1965 -3.573642e-001 -9.339651e-001 -8.116075e-007 -1.000000e-004 +2009 2010 1965 -3.573638e-001 -9.339653e-001 3.926355e-007 -1.000000e-004 +2010 2011 1971 -3.573639e-001 -9.339652e-001 9.641159e-008 -1.000000e-004 +2011 2012 1971 -3.573650e-001 -9.339648e-001 -6.706959e-007 -1.000000e-004 +2012 2013 1978 -3.573627e-001 -9.339657e-001 9.211406e-007 -1.000000e-004 +2013 323 1978 -3.573644e-001 -9.339650e-001 3.062581e-007 -1.000000e-004 + 323 2014 1978 -3.573649e-001 -9.339648e-001 -6.613863e-007 -1.000000e-004 +2014 2015 1978 -3.573654e-001 -9.339646e-001 1.553068e-006 -1.000000e-004 +2015 2016 1977 -3.573634e-001 -9.339654e-001 4.128860e-007 -1.000000e-004 +2016 2017 1977 -3.573643e-001 -9.339651e-001 -7.455679e-007 -1.000000e-004 +2017 2018 1977 -3.573642e-001 -9.339651e-001 2.843449e-007 -1.000000e-004 +2018 2019 1977 -3.573643e-001 -9.339651e-001 5.609907e-007 -1.000000e-004 +2019 2020 1979 -3.573633e-001 -9.339655e-001 -2.052247e-007 -1.000000e-004 +2020 2021 1980 -3.573642e-001 -9.339651e-001 -4.951903e-007 -1.000000e-004 +2021 2022 1980 -3.573642e-001 -9.339651e-001 -1.033781e-007 -1.000000e-004 +2022 2023 1980 -3.573652e-001 -9.339647e-001 9.610285e-007 -1.000000e-004 +2023 2024 1981 -3.573645e-001 -9.339650e-001 -1.304873e-006 -1.000000e-004 +2024 2025 1981 -3.573651e-001 -9.339648e-001 3.816142e-008 -1.000000e-004 +2025 2026 1975 -3.573636e-001 -9.339653e-001 -5.762193e-007 -1.000000e-004 +2026 2027 1976 -3.573633e-001 -9.339655e-001 2.747394e-006 -1.000000e-004 +2027 2028 1976 -3.573639e-001 -9.339652e-001 -2.262719e-006 -1.000000e-004 +2028 2029 1976 -3.573647e-001 -9.339649e-001 -1.248894e-007 -1.000000e-004 +2029 143 1976 -3.573656e-001 -9.339646e-001 5.928419e-007 -1.000000e-004 + 143 2030 1976 -3.573636e-001 -9.339653e-001 2.102205e-007 -1.000000e-004 +2030 2031 1970 -3.573635e-001 -9.339654e-001 3.816088e-007 -1.000000e-004 +2031 2032 1970 -3.573623e-001 -9.339659e-001 -2.371537e-007 -1.000000e-004 +2032 2033 1970 -3.573632e-001 -9.339655e-001 1.900416e-008 -1.000000e-004 +2033 2034 1963 -3.573652e-001 -9.339647e-001 4.419727e-007 -1.000000e-004 +2034 2035 1963 -3.573627e-001 -9.339657e-001 -2.061697e-007 -1.000000e-004 +2035 2036 1963 -3.573637e-001 -9.339653e-001 -2.884669e-007 -1.000000e-004 +2036 80 1956 -3.573639e-001 -9.339652e-001 -2.241968e-007 -1.000000e-004 + 80 71 1956 -3.573645e-001 -9.339650e-001 -2.271209e-007 -1.000000e-004 + 71 2037 1956 -3.573648e-001 -9.339649e-001 -3.284396e-007 -1.000000e-004 +2037 2038 1948 -3.573622e-001 -9.339659e-001 2.354334e-007 -1.000000e-004 +2038 2039 1948 -3.573658e-001 -9.339645e-001 -2.961076e-007 -1.000000e-004 +2039 2040 1948 -3.573639e-001 -9.339652e-001 5.942893e-007 -1.000000e-004 +2040 2041 1949 -3.573610e-001 -9.339663e-001 -3.484494e-007 -1.000000e-004 +2041 2042 1949 -3.573642e-001 -9.339651e-001 -7.569203e-007 -1.000000e-004 +2042 2043 1949 -3.573632e-001 -9.339655e-001 1.385750e-007 -1.000000e-004 +2043 2044 1949 -3.573634e-001 -9.339654e-001 -9.636682e-007 -1.000000e-004 +2044 17 1949 -3.573633e-001 -9.339655e-001 -1.624207e-006 -1.000000e-004 +1938 1937 1993 -3.573635e-001 -9.339654e-001 9.825093e-008 -1.000000e-004 +1939 1938 467 -3.573634e-001 -9.339654e-001 5.088130e-008 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H?,?-ױ?~n8j?GE?P&*.?#.4FP?)  ?A{;;?]Μo? k?o +J?2??4l+?P?9[#?]`?sqdu?'8e?BxV;?@菍D?+t6?YM?&?}I?̇k7?͟ ?#|?+?c*?gP?lؖ?8`R\x?f9|?C]ĩƯ?s}L?] ^=~?I0kQ?=? ??1? Ji?Քy?$i%?V_7?:=s?*!?`??v?ZL"ΰ?cIm/o?TPR?7J?\?eE?a?nh. ?~AM?G2? 2? A?b?91O>??Wٲ?\__w?BM$?Uo)X?Ce2g?Xx?%&?NRC?sHT?]5t?0?G?!<??:/^?.O9O?f?,Q?H' ?~**?5p?>_QQ?‹/?O?6x?CdZK??~j4?Ÿ?E/i??U.?H \?j`?AWd?fduͰ?J",Z?ԡj?Ro#,`?cp?v7?/|x?FƩ?M?l(?$?Ș?Ƭ^??gE&?/ "ϼ?`Lw? Q?Ά?*I?E?=I-?*?ӎP?eQ??> 8? RI?@b?̵?z"?-?O')?Ȫ#? 6?ҝ^U?8q?5ys1?Ӆ26?eB ?JN? d?-}?*^?^|Y?KoBR?J*޸?ub~?nfb?YT~Y?lF?͝c?W?ʬsD ?`:dI?q۞?AgB>? ?!E|?0z0?Nz1e?]Q?,QƸ?Br?L?D?z+cJJ?fS^?6w.?a?(}{? (G*W?҈? ?e2?)??F~͎e?Qxյ?-Ӆ4y?eM̮?n6?gxF~?U=N? Ӄ?忧+Ѿ?ud?Fh?$'H)?C72ʽ?_Pa(?丐g?7C-?Xط???9I? t{?0 /@o?sv?Z?ntyX?M-(?mqfu?tԸ?&glط?,'W?O嗶?O1*?:F%]?Z?A$?ַ?HȽ@??CmP6?ۼ?*?HєEK?9AU?x?@:?cU%? v?[?l;? iQ?^R?Ԙ?c"@A??H (?:?7-B?(׮?X.w?͆{?pc)?MYwр?ivh?f4?zѡ? w*+?:?Y}uQ?|f?=* ? @PH?gD\?H?Ym?=Ù4?@4}jt?s #?DO?FIh?sa ?O[?= ? _%?p~ck +?C!"? +-[~?3/a?i/?nfmij/?vFv???R/??L5_withoutpedicles.inp +** +** +** +** +** +** CREATED ON: +** ==> 10/09/2008 10:18 +** +** MODIFICATION HISTORY: +** ==> +** +**========================================================================= +** MODEL DATA ** +**========================================================================= +** Node / Element Definitions +** +*INCLUDE, INPUT=L5FEABackup_input +** +** +**========================================================================= +** Material Definitions +** +*SOLID SECTION, ELSET=e, MATERIAL=e +*MATERIAL, NAME=e +*ELASTIC +200.00, 0.30 +*SOLID SECTION, ELSET=Cortical, MATERIAL=Cortical +*MATERIAL, NAME=Cortical +*ELASTIC +12000.00, 0.30 +** +**========================================================================= +** HISTORY DATA ** +**========================================================================= +**------------------------------------------------------------STEP 1 +*STEP, INC=100, NLGEOM=YES, UNSYMM=YES +*STATIC +1.0, 1.0 +** +*BOUNDARY, OP=NEW +EndplateB, 1, 1, 0 +EndplateB, 2, 2, 0 +EndplateB, 3, 3, 0 +** +*CLOAD +EndplateT, 2, -2.2488 +** +**------- Output Requests ---> +*NODE FILE +U +*EL FILE +S,E +** +** +** +*END STEP +** +** +**========================================================================= +** END OF ABAQUS INPUT DECK ** +**========================================================================= diff --git a/Finite_element_analysis/Snippets/Lesson1/Input/FEA/L5FEABackup_input b/Finite_element_analysis/Snippets/Lesson1/Input/FEA/L5FEABackup_input new file mode 100644 index 00000000..3c7a8534 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Input/FEA/L5FEABackup_input @@ -0,0 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+60.297 -6.99198 -19.4837 38.8447 27.7646 -22.0108 38.9199 29.395 20.9877 +70.2256 23.5245 22.1516 69.3747 22.324 -21.2581 34.1615 1.19639 0.417191 +64.1068 -7.81252 -0.0370844 74.0456 23.4042 -1.47385 36.007 29.9842 -0.446377 +48.4738 -4.00334 -24.6277 54.4973 25.7165 -26.4877 54.9649 27.6247 -1.52271 +48.7389 -4.73268 -0.143473 53.8287 26.0827 24.754 49.3371 -2.85128 24.3374 +39.7847 23.6409 -22.5171 37.1281 24.2214 -0.277573 53.7467 20.9636 -0.893514 +53.4049 20.7155 -25.7371 39.6036 24.5213 21.5284 53.5487 21.0964 24.5388 +71.1416 18.706 -1.10057 66.8931 18.575 -20.8701 67.2429 19.0427 21.7474 +36.5165 5.95076 -22.2446 34.1609 6.88015 0.176369 50.3992 1.17254 -0.466043 +49.5966 0.830836 -24.9843 36.1315 6.38073 21.0874 50.1864 1.64854 24.6429 +65.898 -3.71948 -0.100168 61.6237 -3.09894 -19.5536 61.782 -2.42756 20.5554 + +CELLS 12 108 +8 0 8 15 12 27 28 29 30 +8 8 1 17 15 28 31 32 29 +8 12 15 9 3 30 29 33 34 +8 15 17 2 9 29 32 35 33 +8 18 19 20 21 4 11 14 13 +8 19 22 23 20 11 5 16 14 +8 21 20 24 25 13 14 10 7 +8 20 23 26 24 14 16 6 10 +8 27 28 29 30 18 19 20 21 +8 28 31 32 29 19 22 23 20 +8 30 29 33 34 21 20 24 25 +8 29 32 35 33 20 23 26 24 + +CELL_TYPES 12 +12 +12 +12 +12 +12 +12 +12 +12 +12 +12 +12 +12 + +CELL_DATA 12 +FIELD FieldData 1 +Mesh_Seed 3 12 int +11 7 15 11 7 16 11 7 15 +11 7 16 11 7 15 11 7 16 +11 7 15 11 7 16 11 11 15 +11 11 16 11 11 15 11 11 16 + diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/BodyModelConfiguration.any b/Finite_element_analysis/Snippets/Lesson1/Model/BodyModelConfiguration.any new file mode 100644 index 00000000..51ca8990 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/BodyModelConfiguration.any @@ -0,0 +1,12 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfiguration.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + + diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/BodyModelConfigurationFEA.any b/Finite_element_analysis/Snippets/Lesson1/Model/BodyModelConfigurationFEA.any new file mode 100644 index 00000000..26ca4aa2 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/BodyModelConfigurationFEA.any @@ -0,0 +1,22 @@ +#path __BM_PLUGIN_FILE__ "BodyModelConfigurationFEA.any" +#define BM_CONFIG_PLUGIN __BM_PLUGIN_FILE__ + +// ----------------------------------------------------------------------------------- +// The BodyModel configuration can be modified using BodyModel GUI plugin +// or by manually editing this file. +// +// Please see this this file for more information on the options: +// #path HTML_DOC "/bm_config/index.html" +// ----------------------------------------------------------------------------------- + + +//# BEGIN SNIPPET 1 +// switch the muscles off for simplicity +#define BM_LEG_MUSCLES_RIGHT OFF +#define BM_LEG_MUSCLES_LEFT OFF + +#define BM_ARM_MUSCLES_RIGHT OFF +#define BM_ARM_MUSCLES_LEFT OFF + +#define BM_TRUNK_MUSCLES OFF +//# END SNIPPET 1 \ No newline at end of file diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/DrawCoorSystem.any b/Finite_element_analysis/Snippets/Lesson1/Model/DrawCoorSystem.any new file mode 100644 index 00000000..0e6652aa --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/DrawCoorSystem.any @@ -0,0 +1,5 @@ +AnyDrawRefFrame DrwRef = { + ScaleXYZ={0.1,0.1,0.1}; + RGB ={0,0,1} ; +}; + \ No newline at end of file diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/DrawSettings.any b/Finite_element_analysis/Snippets/Lesson1/Model/DrawSettings.any new file mode 100644 index 00000000..95694c2f --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/DrawSettings.any @@ -0,0 +1,148 @@ + +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}; + }; + + Support={ + 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/Finite_element_analysis/Snippets/Lesson1/Model/Environment.any b/Finite_element_analysis/Snippets/Lesson1/Model/Environment.any new file mode 100644 index 00000000..d294d4ed --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/Environment.any @@ -0,0 +1,67 @@ + +AnyFolder EnvironmentModel = { + + /* ********************************************************** + This folder contains the definition of the Environment + - GlobalRefFrame + + ********************************************************** */ + + AnyFixedRefFrame GlobalRef = { + Origin ={0.0,0.1,0.0}; + #include "drawcoorsystem.any" + };//GlobalRef + + AnySeg Box = { + AnyVar Width = 0.4; + Mass = 10; + Jii = {1,1,1}*0.01; + r0={0.35,1.3,-0.1}; + AnyRefNode Right = { + sRel = {0, 0, .Width/2}; +// AnyDrawRefFrame drw = {}; + ARel = RotMat(pi,z); + }; + AnyRefNode Left = { + sRel = {0, 0, -.Width/2}; + ARel = RotMat(pi,z); +// AnyDrawRefFrame drw = {}; + }; + + AnyRefNode Right2 = { + sRel = {0, 0, .Width/2}; + }; + AnyRefNode Left2 = { + sRel = {0, 0, -.Width/2}; + }; + + AnyDrawSurf Aquarium = { + FileName = "..\Input\CAD\Aquarium"; + Opacity = 0.3; + ScaleXYZ = .Width*{1,1,1}/1000; + }; + AnyDrawSurf Water = { + FileName = "..\Input\CAD\Water"; + Opacity = 0.4; + ScaleXYZ = .Width*{1,1,1}/1000; + RGB = {0,0,1}; + AnyStyleDrawMaterial1 style = + { + EnableCreasing = On; + CreasingAngle = 0.524; + SpecularRGB = 0.05*{1,1,1}; + }; + }; + AnyRefNode FishPoint = { + sRel = {0,0,0}; + ARel = RotMat(pi/2,z)*RotMat(pi/2,y); + + AnyDrawSurf Fish = { + FileName = "..\Input\CAD\Fish"; + Opacity = 1; + ScaleXYZ = 2*..Width*{1,1,1}/1000; + RGB = {222,110,0}/256; + }; + }; + }; +}; diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/JointsAndDrivers.any b/Finite_element_analysis/Snippets/Lesson1/Model/JointsAndDrivers.any new file mode 100644 index 00000000..3c245ce0 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/JointsAndDrivers.any @@ -0,0 +1,497 @@ +/** Drivers for a box lift model: This is like the standing model, except + +- There is a box present in the model (+ 6 dofs) +- The box cannot rotate about x, y and z (- 3 dofs) +- The box is driven in 3 spatial coords (-3 dofs) +- The hands are now connected to the box by spherical jnts (-6 dofs) +- GH rotation is no longer driven (+ 2 dofs) +- GH abduction is no longer driven (+ 2 dofs) +- GH Flextion/extension is no longer drven (+ 2 dofs) +- Elbow flexion/extension is no longer driven (+2 dofs) +- Elbow lateral position is driven (-2 dofs) + +John Rasmussen, March 10, 2005. +*/ +AnyFolder Joints = { + + + AnyKinEqSimpleDriver RHBoxDriver = { + AnyRevoluteJoint RHBox = { + AnyRefNode &Box = Main.Model.EnvironmentModel.Box.Right; + AnySeg &Hand = ....BodyModel.Right.ShoulderArm.Seg.Glove; + Axis = z; + Constraints.Reaction.Type={Off,Off,Off,Off,Off}; + }; + DriverPos = {-15}*pi/180; + DriverVel = {0}; + Reaction.Type = {Off}; + + }; + AnyKinEqSimpleDriver LHBoxDriver = { + AnyRevoluteJoint LHBox = { + AnyRefNode &Box = Main.Model.EnvironmentModel.Box.Left; + AnySeg &Hand = Main.Model.BodyModel.Left.ShoulderArm.Seg.Glove; + Axis = z; + Constraints.Reaction.Type={Off,Off,Off,Off,Off}; + }; + DriverPos = {-15}*pi/180; + DriverVel = {0}; + Reaction.Type = {Off}; + }; + + AnyReacForce RHBoxRot ={ + AnyKinRotational Rot = { + AnyRefNode &Box = Main.Model.EnvironmentModel.Box.Right; + AnySeg &Hand = Main.Model.BodyModel.Right.ShoulderArm.Seg.Glove; + Type=RotVector; }; + }; + + AnyReacForce LHBoxRot={ + AnyKinRotational Rot = { + AnyRefNode &Box = Main.Model.EnvironmentModel.Box.Left; + AnySeg &Hand = Main.Model.BodyModel.Left.ShoulderArm.Seg.Glove; + Type=RotVector; + + }; + }; + + + AnyVar FrictionStrength=200; + AnyVar Strength =4000; + + AnyFolder HandSupportLeft = { + AnyRefNode &StartNode = Main.Model.EnvironmentModel.Box.Left2; + AnySeg &EndNode = Main.Model.BodyModel.Left.ShoulderArm.Seg.Glove; //The terms push and pull are determined wrt. the coordinate system of the StartNode! + + AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles + AnyFolder &DrawRef=Main.DrawSettings; + AnyVar ScaleFactor =0.5; + #include "/Reactions/XPush.any" + #include "/Reactions/XPull.any" + #include "/Reactions/YPush.any" + #include "/Reactions/YPull.any" + //#include "/Reactions/ZPush.any" + #include "/Reactions/ZPull.any" + + }; + + AnyFolder HandSupportRight = { + AnyRefNode &StartNode = Main.Model.EnvironmentModel.Box.Right2; + + AnySeg &EndNode = Main.Model.BodyModel.Right.ShoulderArm.Seg.Glove; //The terms push and pull are determined wrt. the coordinate system of the StartNode! + + AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles + AnyFolder &DrawRef=Main.DrawSettings; + AnyVar ScaleFactor =0.5; + #include "/Reactions/XPush.any" + #include "/Reactions/XPull.any" + #include "/Reactions/YPush.any" + #include "/Reactions/YPull.any" + #include "/Reactions/ZPush.any" + //#include "/Reactions/ZPull.any" + + }; +}; + +AnyFolder Drivers = { + + // Aliases for convenient referencing + AnyFolder &JntPos=..Mannequin.Posture; + AnyFolder &JntVel=..Mannequin.PostureVel; + AnyFolder &Thorax = ..BodyModel.Trunk.Segments.ThoraxSeg; + AnyFolder &LegR = ..BodyModel.Right.Leg; + AnyFolder &LegL = ..BodyModel.Left.Leg; + AnyFolder &RefHM = Main.Model.BodyModel; + AnyFolder &ref=Main.Model.BodyModel.Trunk; + + + + AnyKinEqSimpleDriver BoxRot = { + AnyKinRotational Rot = { + Type = RotAxesAngles; + AnyFixedRefFrame &ground = Main.Model.EnvironmentModel.GlobalRef; + AnySeg &box = Main.Model.EnvironmentModel.Box; + }; + MeasureOrganizer = {0,1,2}; + DriverPos = {0,0,0}; + DriverVel = {0,0,0}; + Reaction.Type = {Off,Off,Off}; + }; + + AnyKinEqInterPolDriver Box = { + AnyKinLinear pos = { + AnyFixedRefFrame &ground = Main.Model.EnvironmentModel.GlobalRef; + AnySeg &box = Main.Model.EnvironmentModel.Box; + }; + Type = Bspline; + T = Main.Study.tEnd*{0,1,2,3}/2.99; + Data = { + { 0.35, 0.35, 0.35, 0.35}, + { 1.2, 1.25, 1.25, 1.25}, + {-0.1, -0.0, 0.0, 0.1} + }; + Reaction.Type = {Off,Off,Off}; + }; + + + + // Position the Ankles right above the z axis + AnyKinEqSimpleDriver RAnkleX = { + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ..LegR.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ..LegR.Seg.Talus.AnkleJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + AnyKinEqSimpleDriver LAnkleX ={ + AnyKinLinear AnklePos = { + AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef; + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyRefNode &Ankle = ..LegL.Seg.Foot.AnkleJoint; + #else + AnyRefNode &Ankle = ..LegL.Seg.Talus.AnkleJoint; + #endif + }; + MeasureOrganizer = {0}; // Only the x coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; + }; + + //Constrain the collective CoM to be right above the GlobalRef + AnyKinEqSimpleDriver CoMDriver = { + AnyKinCoM CoM = { + AnyFolder &Body = Main.Model.BodyModel; + AnyFolder &Environment = Main.Model.EnvironmentModel; + }; + MeasureOrganizer = {0,2}; // Only the x and z directions + DriverPos = {0.1, -0.05}; + DriverVel = {0.0, 0.1}; + Reaction.Type = {Off,Off}; + }; + + //Constrain the feet to be symmetrical about the xy plane + AnyKinEqSimpleDriver FeetXDriver = { + AnyKinCoM CoM = { + AnySeg &rf = Main.Model.BodyModel.Right.Leg.Seg.Foot; + AnySeg &ff = Main.Model.BodyModel.Left.Leg.Seg.Foot; + }; + MeasureOrganizer = {2}; // Only the z direction + DriverPos = {0}; + DriverVel = {0}; + Reaction.Type = {Off}; // Carried by friction muscles. + }; + + + // ************************************ + // Drivers for the spine + // ************************************ + + //Neck driver + AnyKinEqSimpleDriver NeckJntDriver = { + AnyKinMeasure& lb = ...BodyModel.Interface.Trunk.SkullThoraxLateralBending; + AnyKinMeasure& ar = ...BodyModel.Interface.Trunk.SkullThoraxRotation; + AnyKinMeasure& fe = ...BodyModel.Interface.Trunk.SkullThoraxFlexion; + DriverPos = pi/180*{.JntPos.NeckLateralBending, .JntPos.NeckRotation, -1*.JntPos.NeckExtension}; + DriverVel = pi/180*{.JntVel.NeckLateralBending, .JntVel.NeckRotation, -1*.JntVel.NeckExtension}; + Reaction.Type = {Off, Off, Off}; + }; + + //Thorax pelvis rotation driver + AnyKinEqSimpleDriver PostureDriver ={ + //AnyKinMeasure& Ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending; + AnyKinMeasure& Ref3 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation; + AnyKinMeasure& Ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension; + + DriverPos = pi/180*{ + // .JntPos.PelvisThoraxLateralBending, + .JntPos.PelvisThoraxRotation, + .JntPos.PelvisThoraxExtension + }; + DriverVel = pi/180*{ + //JntVel.PelvisThoraxLateralBending, + .JntVel.PelvisThoraxRotation, + .JntVel.PelvisThoraxExtension + }; + Reaction.Type = {Off,Off}; + }; + + + // ************************************ + // Drivers for the right arm + // ************************************ + + + //Sterno clavicular joint driver + AnyKinEqSimpleDriver SCDriverRight ={ + AnyKinMeasure& ref1 =...BodyModel.Interface.Right.SternoClavicularProtraction; + AnyKinMeasure& ref2 =...BodyModel.Interface.Right.SternoClavicularElevation; + DriverPos = pi/180*{ + .JntPos.Right.SternoClavicularProtraction, + .JntPos.Right.SternoClavicularElevation + }; + DriverVel = { + .JntVel.Right.SternoClavicularProtraction, + .JntVel.Right.SternoClavicularElevation + }; + Reaction.Type={Off,Off}; + }; + + + //Wrist driver + AnyKinEqSimpleDriver WristDriverRight ={ + // AnyKinMeasure& ref1 =...BodyModel.Interface.Right.WristFlexion; + AnyKinMeasure& ref2 =...BodyModel.Interface.Right.WristAbduction; + DriverPos = pi/180*{ .JntPos.Right.WristAbduction }; + DriverVel = pi/180*{ .JntVel.Right.WristAbduction }; + Reaction.Type={Off}; + }; + + // ************************************ + // Drivers for the left arm + // ************************************ + + //Sterno clavicular joint driver + AnyKinEqSimpleDriver SCDriverLeft ={ + AnyKinMeasure& ref1 =...BodyModel.Interface.Left.SternoClavicularProtraction; + AnyKinMeasure& ref2 =...BodyModel.Interface.Left.SternoClavicularElevation; + + DriverPos = pi/180*{ + .JntPos.Left.SternoClavicularProtraction, + .JntPos.Left.SternoClavicularElevation + }; + + DriverVel = pi/180*{ + .JntVel.Left.SternoClavicularProtraction, + .JntVel.Left.SternoClavicularElevation + }; + + Reaction.Type={Off,Off}; + }; + + + + + //Wrist driver + AnyKinEqSimpleDriver WristDriverLeft ={ + // AnyKinMeasure& ref1 =...BodyModel.Interface.Left.WristFlexion; + AnyKinMeasure& ref2 =...BodyModel.Interface.Left.WristAbduction; + DriverPos = pi/180*{ + // .JntPos.Left.WristFlexion, + .JntPos.Left.WristAbduction + }; + + DriverVel = pi/180*{ + //.JntVel.Left.WristFlexion, + .JntVel.Left.WristAbduction + }; + Reaction.Type={Off}; + }; + + + + // ************************************ + // Drivers for the right leg + // ************************************ + + //Hip driver + AnyKinEqSimpleDriver HipDriverRight={ + AnyKinMeasure& ref1 =...BodyModel.Interface.Right.HipFlexion; + AnyKinMeasure& ref2 =...BodyModel.Interface.Right.HipExternalRotation; + AnyKinMeasure& ref3 =...BodyModel.Interface.Right.HipAbduction; + DriverPos= pi/180*{ + .JntPos.Right.HipFlexion, + .JntPos.Right.HipExternalRotation, + .JntPos.Right.HipAbduction + }; + DriverVel = pi/180*{ + .JntVel.Right.HipFlexion, + .JntVel.Right.HipExternalRotation, + .JntVel.Right.HipAbduction + }; + Reaction.Type={Off,Off,Off}; + + }; + + //Knee driver + AnyKinEqSimpleDriver KneeDriverRight={ + AnyKinMeasureOrg &Knee = ...BodyModel.Interface.Right.KneeFlexion; + DriverPos=pi/180*{.JntPos.Right.KneeFlexion}; + DriverVel = pi/180*{.JntVel.Right.KneeFlexion}; + Reaction.Type={Off}; + }; + + //Ankle driver + AnyKinEqSimpleDriver AnkleDriverRight={ + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyKinMeasure& ref2=...BodyModel.Interface.Right.AnkleEversion; + #else + AnyKinMeasure& ref2=...BodyModel.Interface.Right.SubTalarEversion; + #endif + DriverPos = pi/180*{ .JntPos.Right.SubTalarEversion }; + DriverVel=pi/180*{ .JntVel.Right.SubTalarEversion }; + Reaction.Type={Off}; + }; + + + + + // ************************************ + // Drivers for the left leg + // ************************************ + + //Hip driver + AnyKinEqSimpleDriver HipDriverLeft={ + AnyKinMeasure& ref1 =...BodyModel.Interface.Left.HipFlexion; + AnyKinMeasure& ref2 =...BodyModel.Interface.Left.HipExternalRotation; + AnyKinMeasure& ref3 =...BodyModel.Interface.Left.HipAbduction; + DriverPos= pi/180*{ + .JntPos.Left.HipFlexion, + .JntPos.Left.HipExternalRotation, + .JntPos.Left.HipAbduction + }; + DriverVel = pi/180*{ + .JntVel.Left.HipFlexion, + .JntVel.Left.HipExternalRotation, + .JntVel.Left.HipAbduction + }; + Reaction.Type={Off,Off,Off}; + + }; + + //Knee driver + AnyKinEqSimpleDriver KneeDriverLeft={ + AnyKinMeasureOrg &Knee = ...BodyModel.Interface.Left.KneeFlexion; + DriverPos=pi/180*{.JntPos.Left.KneeFlexion}; + DriverVel = pi/180*{.JntVel.Left.KneeFlexion}; + Reaction.Type={Off}; + }; + + //Ankle driver + AnyKinEqSimpleDriver AnkleDriverLeft={ + #if BM_LEG_MODEL == _LEG_MODEL_LEG_ + AnyKinMeasure& ref2=...BodyModel.Interface.Left.AnkleEversion; + #else + AnyKinMeasure& ref2=...BodyModel.Interface.Left.SubTalarEversion; + #endif + + DriverPos = pi/180*{ .JntPos.Left.SubTalarEversion }; + DriverVel=pi/180*{ .JntVel.Left.SubTalarEversion }; + Reaction.Type={Off}; + }; + + + + // Place the right toe and heel on the ground + AnyKinEq RToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef; + AnyRefNode &Ball = Main.Model.BodyModel.Right.Leg.Seg.Foot.ToeJoint; + }; + MeasureOrganizer = {1}; // Only the y coordinate + Reaction.Type={Off}; + }; + + AnyKinEqSimpleDriver RHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef; + AnyRefNode &Ball = Main.Model.BodyModel.Right.Leg.Seg.Foot.HeelJoint; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; // Provide ground reaction forces + }; + + // Place the left toe and heel on the ground + AnyKinEq LToeGroundConstraint ={ + AnyKinLinear ToePos = { + AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef; + AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeJoint; + }; + MeasureOrganizer = {1}; // Only the y coordinate + Reaction.Type={Off}; + }; + + AnyKinEqSimpleDriver LHeelGroundConstraint ={ + AnyKinLinear HeelPos = { + AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef; + AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.HeelJoint; + }; + MeasureOrganizer = {1}; // Only the y coordinate + DriverPos = {0.0}; + DriverVel = {0.0}; + Reaction.Type = {Off}; // Do not Provide ground reaction + }; + + + + AnyFolder ConditionalContact={ + + /* + ConditionalContactFootPlaneClass ( + BaseObject = //Object which delivers the forces + Foot = //Reference to the foot segment where 3 forces are applied + DisplayTriggerVolume = //Draw the cylinder around the Base node where the contact is active + DisplayTargetNode = //Draw the Target node + ) = { + UserDefinedLimitLow = //low limit for the strength measure function, if the distance measured along Direction[0] is below this val. the strength will be zero (negative) + UserDefinedLimitHigh = //high limit for the strength measure function, if the distance measured along Direction[0] is above this val. the strength will be zero + UserDefinedRadiusLimit = //high limit for the strength measure function, if the radius measured along the plane with Direction[0] as normal is above this val. the strength will be zero + Strength = //strength of muscles + StaticFrictionCoefficient = //Friction coefficient + NormalDirection = //The axis (X, Y or Z) corresponding to the normal direction + FrictionDirection1 = //The axis (X, Y or Z) corresponding to the first friction direction + FrictionDirection2 = //The axis (X, Y or Z) corresponding to the second friction direction + }; + */ + + ConditionalContactFootPlaneClass LeftFootSupport ( + BaseObject = Main.Model.EnvironmentModel.GlobalRef, + Foot = ..LegL.Seg.Foot, + DisplayTriggerVolume = 1, + DisplayTargetNode =1 + ) = { + UserDefinedLimitLow = -0.05; + UserDefinedLimitHigh = 0.05; + UserDefinedRadiusLimit = 0.4; + Strength = 2000; + StaticFrictionCoefficient = 0.8; + NormalDirection = Y; + FrictionDirection1 = X; + FrictionDirection2 = Z; + }; + + + ConditionalContactFootPlaneClass RightFootSupport ( + BaseObject = Main.Model.EnvironmentModel.GlobalRef, + Foot = ..LegR.Seg.Foot, + DisplayTriggerVolume = 0, + DisplayTargetNode =1 + ) = { + UserDefinedLimitLow = -0.05; + UserDefinedLimitHigh = 0.05; + UserDefinedRadiusLimit = 0.4; + Strength = 2000; + StaticFrictionCoefficient = 0.8; + NormalDirection = Y; + FrictionDirection1 = X; + FrictionDirection2 = Z; + }; + + }; + + + + + +};//Drivers + diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/L5Modifications.any b/Finite_element_analysis/Snippets/Lesson1/Model/L5Modifications.any new file mode 100644 index 00000000..796aa072 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/L5Modifications.any @@ -0,0 +1,14 @@ +BodyModel.Trunk.Segments.L5Seg = { + + BoneDraw.Visible = Off; + + AnyDrawSurf DrwSTL2 = { + FileName = "../Input/CAD/L5_withoutpedicle.stl"; + RGB = ...ColorRef.Segments; + Opacity=1; + Face = 2; + AnyFunTransform3D &Scale =.Scale; + ScaleXYZ = {1,1,1}/1000; + }; + +}; diff --git a/Finite_element_analysis/Snippets/Lesson1/Model/Mannequin.any b/Finite_element_analysis/Snippets/Lesson1/Model/Mannequin.any new file mode 100644 index 00000000..c0e2f1a3 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Model/Mannequin.any @@ -0,0 +1,160 @@ + +Main.HumanModel.Mannequin = { + Posture = + { + PelvisPosX = -0.04538872; + PelvisPosY = 1.141685; + PelvisPosZ = -4.063435e-010; + PelvisRotX = 0; + PelvisRotY = 1.589094e-009; + PelvisRotZ = 2.392672; + PelvisThoraxExtension = 0; + PelvisThoraxLateralBending = -20.90063; + PelvisThoraxRotation = 1.690791e-013; + NeckExtension = 0; + NeckLateralBending = 0; + NeckRotation = 0; + Right = + { + SternoClavicularProtraction = -23; + SternoClavicularElevation = 10; + GlenohumeralFlexion = 0; + GlenohumeralAbduction = 38; + GlenohumeralExternalRotation = -34; + ElbowFlexion = 120; + ElbowPronation = -32; + WristFlexion = -74; + WristAbduction = 5; + HipFlexion = 5; + HipAbduction = 12; + HipExternalRotation = 0; + KneeFlexion = 10; + AnklePlantarFlexion = 0; + SubTalarEversion = -1.114592e-006; + }; + Left = + { + SternoClavicularProtraction = -23; + SternoClavicularElevation = 10; + GlenohumeralFlexion = 0; + GlenohumeralAbduction = 80; + GlenohumeralExternalRotation = -34; + ElbowFlexion = 150; + ElbowPronation = -70; + WristFlexion = -84; + WristAbduction = 10; + HipFlexion = 5; + HipAbduction = 12; + HipExternalRotation = 0; + KneeFlexion = 10; + AnklePlantarFlexion = 0; + SubTalarEversion = 1.200472e-007; + }; + }; + + + + + PostureVel={ + //This controls the position of the pelvi wrt. to the global reference frame + PelvisPosX=0; + PelvisPosY=0; + PelvisPosZ=0; + + //This controls the rotation of the pelvis wrt. to the global reference frame + PelvisRotX=0; + PelvisRotY=0; + PelvisRotZ=0; + + // These variables control the rotation of the thorax wrt the + // pelvis + PelvisThoraxExtension=0; + PelvisThoraxLateralBending=0; + PelvisThoraxRotation=0; + + NeckExtension=0; + NeckLateralBending = 0; + NeckRotation = 0; + + Right = { + //Arm + SternoClavicularProtraction=0; //This value is not used for initial position + SternoClavicularElevation=0; //This value is not used for initial position + + GlenohumeralFlexion =0; + GlenohumeralAbduction = 0; + GlenohumeralExternalRotation = 0; + + ElbowFlexion = 0.0; + ElbowPronation = 0.0; + + WristFlexion =0; + WristAbduction =0; + + HipFlexion = 0.0; + HipAbduction = 0.0; + HipExternalRotation = 0.0; + + KneeFlexion = 0.0; + + AnklePlantarFlexion =0.0; + SubTalarEversion =0.0; + + }; + + Left = { + //all values are set to be equal to the right side values + //feel free to change this! + + //Arm + SternoClavicularProtraction=.Right.SternoClavicularProtraction; + SternoClavicularElevation=.Right.SternoClavicularElevation; + + GlenohumeralFlexion = .Right.GlenohumeralFlexion ; + GlenohumeralAbduction =.Right.GlenohumeralAbduction ; + GlenohumeralExternalRotation =.Right.GlenohumeralExternalRotation ; + + ElbowFlexion = .Right.ElbowFlexion; + ElbowPronation = .Right.ElbowPronation; + WristFlexion =.Right.WristFlexion; + WristAbduction =.Right.WristAbduction; + + + + //Leg + HipFlexion =.Right.HipFlexion; + HipAbduction =.Right.HipAbduction; + HipExternalRotation = .Right.HipExternalRotation; + KneeFlexion = .Right.KneeFlexion; + AnklePlantarFlexion = .Right.AnklePlantarFlexion ; + SubTalarEversion =.Right.SubTalarEversion; + + + }; + }; + + AnyFolder Load = { + AnyVec3 TopVertebra = {0.000, 0.000, 0.000}; + + AnyFolder Right = { + AnyVec3 Shoulder = {0.000, 0.000, 0.000}; + AnyVec3 Elbow = {0.000, 0.000, 0.000}; + // AnyVec3 Hand = {0.000, 0.000, 95.09}; // 100% adduction + // AnyVec3 Hand = {0.000, 0.000, -55.550}; // 100% abduction + AnyVec3 Hand = {0.000, 0.000, 0.000}; + AnyVec3 Hip = {0.000, 0.000, 0.000}; + AnyVec3 Knee = {0.000, 0.000, 0.000}; + AnyVec3 Ankle = {0.000, 0.000, 0.000}; + }; + AnyFolder Left = { + AnyVec3 Shoulder = {0.000, 0.000, 0.000}; + AnyVec3 Elbow = {0.000, 0.000, 0.000}; + AnyVec3 Hand = {0.000, 0.000, 0.000}; + AnyVec3 Hip = {0.000, 0.000, 0.000}; + AnyVec3 Knee = {0.000, 0.000, 0.000}; + AnyVec3 Ankle = {0.000, 0.000, 0.000}; + }; + }; // Loads + + +}; diff --git a/Finite_element_analysis/Snippets/Lesson1/Output/.gitkeep b/Finite_element_analysis/Snippets/Lesson1/Output/.gitkeep new file mode 100644 index 00000000..e69de29b diff --git a/Finite_element_analysis/Snippets/Lesson1/Output/ForceL5.txt b/Finite_element_analysis/Snippets/Lesson1/Output/ForceL5.txt new file mode 100644 index 00000000..298a3c30 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/Output/ForceL5.txt @@ -0,0 +1,467 @@ +//# BEGIN SNIPPET 1 +Environment: +ReferenceFrame=Global Model Frame; +Gravity= 0.000000000000000e+00; -9.810000000000000e+00; 0.000000000000000e+00; + +Segments(1): +Segment[0] type="string" value="Main.HumanModel.BodyModel.Trunk.Segments.L5Seg": +AMesh= 1.000000000000000e+00, 0.000000000000000e+00, 0.000000000000000e+00; 0.000000000000000e+00, 1.000000000000000e+00, 0.000000000000000e+00; 0.000000000000000e+00, 0.000000000000000e+00, 1.000000000000000e+00; +rMesh= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +TimeSamples: +===================== Start of time-step ===================== +TimeSample[0]: +t= 5.000000000000000e-01; +Segment[0]: +Name=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +m= 8.647575371435805e-02; +Jmatrix= 3.117695761957781e-05, -4.208528827168931e-05, -3.334400020792064e-14; -4.208528827168931e-05, 1.994722295336756e-04, -1.000086230663426e-14; -3.334400020792064e-14, -1.000086230663426e-14, 2.041147280980830e-04; +rCoM= 4.630659278707620e-02; 1.098979341331007e+00; -2.829688056260412e-04; +r= 1.625397040768109e-03; 1.090864811079046e+00; -9.334043002481586e-05; +Axes= 9.965798817571829e-01, 8.262426983257545e-02, 1.330154680284060e-03; -8.263497611084375e-02, 9.964507636492066e-01, 1.604170645765142e-02; 6.359913417306254e-10, -1.609675922497869e-02, 9.998704387781716e-01; +rDot= 8.556741311315945e-04; -1.165877289154847e-06; 4.581814730063425e-05; +Omega= 7.875404885864421e-03; -6.530172907226420e-04; -9.226347600732171e-04; +rDDot= 7.111300235124309e-03; -5.212047158521299e-05; -2.191805043600826e-03; +OmegaDot= -3.767377450842683e-01; 3.123123803534829e-02; -7.671516835546827e-03; + +Forces(25): +Force[0]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L5Sacrum.Extension.Object.Muscle.PosMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= -3.045196940829644e-08; 6.444859431831559e-09; 4.854333671269095e+01; +... +//# END SNIPPET 1 + +Force[1]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L5Sacrum.Extension.Object.Muscle.NegMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 7.773370287836496e-24; -1.645157268647238e-24; -1.239149186758571e-14; + + +Force[2]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L5Sacrum.LateralBend.Object.Muscle.PosMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 1.588108610871670e-13; -1.316836909143835e-14; 1.013727548797178e-22; + + +Force[3]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L5Sacrum.LateralBend.Object.Muscle.NegMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= -7.555990387787463e+00; 6.265318983638836e-01; -4.823168618387262e-09; + + +Force[4]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L5Sacrum.AxialRotation.Object.Muscle.PosMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 1.961594604002642e-14; 2.365688005875699e-13; -1.910269338316354e-23; + + +Force[5]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L5Sacrum.AxialRotation.Object.Muscle.NegMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= -7.241922289425263e-01; -8.733776420784929e+00; 7.052436865257720e-10; + + +Force[6]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L4L5.Extension.Object.Muscle.PosMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= -5.706063972850524e-02; -6.881530745093551e-01; -4.289218970392208e+01; + + +Force[7]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L4L5.Extension.Object.Muscle.NegMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 2.110648989472367e-17; 2.545449189189315e-16; 1.586564000782045e-14; + + +Force[8]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L4L5.LateralBend.Object.Muscle.PosMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= -1.539508986799086e-13; 1.276538797093320e-14; -9.824745644671748e-23; + + +Force[9]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L4L5.LateralBend.Object.Muscle.NegMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 7.674328457182050e+00; -6.363443215488493e-01; 4.897556671120601e-09; + + +Force[10]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L4L5.AxialRotation.Object.Muscle.PosMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= -1.713886533273590e-14; -2.066951451854454e-13; 3.338972788617799e-15; + + +Force[11]: +Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.Lumbar.L4L5.AxialRotation.Object.Muscle.NegMuscle; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyMuscleGeneric; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(1): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 7.746099105844704e-01; 9.341814923099328e+00; -1.509085556728826e-01; + + +Force[12]: +Name=Main.HumanModel.BodyModel.Trunk.ElasticElements.DiscStiffness.L5SacrumDiscMoment; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(3): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[13]: +Name=Main.HumanModel.BodyModel.Trunk.ElasticElements.DiscStiffness.L4L5DiscMoment; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(3): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + +//# BEGIN SNIPPET 2 +Force[14]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.L5Sacrum.Constraints.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnySphericalJoint.AnyKinEq.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(3): +F[0]= -3.976388673919678e+01; 3.297164523303544e+00; -2.538223591233220e-08; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 3.959699254370243e+01; 4.775407219118766e+02; -3.856093434975321e-08; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= -4.017792322478466e-17; 8.503261775118913e-18; 6.404743251140932e-08; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +//# END SNIPPET 2 + + +Force[15]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.L4L5.Constraints.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnySphericalJoint.AnyKinEq.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(3): +F[0]= 3.853197747601410e+01; -3.195016372014019e+00; 2.459010512162370e-08; +M[0]= -3.346716641575696e-14; -4.036148519469104e-13; 1.730759960898065e-12; +F[1]= -3.834406949546672e+01; -4.624304385091484e+02; 7.470144736226576e+00; +M[1]= -5.177267262477923e-12; 4.274601548592632e-13; -1.133724823554760e-13; +F[2]= -9.948314470991542e-03; -1.199769792622701e-01; -7.478096872981210e+00; +M[2]= 3.324979490599931e-13; -2.573687433198450e-14; -2.941413088657843e-17; + + +Force[16]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.SpineRhythmDrvFlexion.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinMotion.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(6): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[17]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.SpineRhythmDrvFlexion.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinMotion.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(6): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[18]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.SpineRhythmDrvRotation.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinMotion.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(6): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[19]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.SpineRhythmDrvRotation.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinMotion.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(6): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[20]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.SpineRhythmDrvLatBending.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinMotion.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 4.535990497088651e-02; 1.081420529974129e+00; 3.881010741458354e-10; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L5SacrumJntNode; +Components(6): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[21]: +Name=Main.HumanModel.BodyModel.Trunk.Joints.Lumbar.SpineRhythmDrvLatBending.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinMotion.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 5.497994093256738e-02; 1.112728510081716e+00; -5.150959109316213e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.L4L5JntNode; +Components(6): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[22]: +Name=Main.HumanModel.BodyModel.Trunk.Abdominal.Layer_L5.Joints.Vertebrate_Layer.Constraints.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnySphericalJoint.AnyKinEq.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 3.546655297648028e-02; 1.107323419195337e+00; -4.024186066281931e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.TransversusMid; +Components(3): +F[0]= 1.162629142824002e+00; -9.640007680134308e-02; 7.630387691209482e-04; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= -1.172712556237683e+00; -1.414096450950450e+01; 3.141770588370673e-01; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= -3.622395038421217e-04; -6.803235024789643e-03; -3.075625833648196e-01; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[23]: +Name=Main.HumanModel.BodyModel.Trunk.Abdominal.LayerReactions; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 3.546655297648028e-02; 1.107323419195337e+00; -4.024186066281931e-04; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg.TransversusMid; +Components(26): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[2]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[3]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[4]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[5]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[6]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[6]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[7]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[7]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[8]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[8]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[9]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[9]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[10]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[10]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[11]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[11]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[12]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[12]= 1.255279930789530e-01; -1.040849746226207e-02; 4.119271345903108e-05; +F[13]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[13]= 1.013831506966361e-02; 1.222607598109065e-01; -2.345649336108405e-03; +F[14]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[14]= -1.445006531165778e-03; -2.198730738115277e-02; -1.152275777136333e+00; +F[15]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[15]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[16]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[16]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[17]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[17]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[18]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[18]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[19]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[19]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[20]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[20]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[21]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[21]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[22]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[22]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[23]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[23]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[24]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[24]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[25]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[25]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + +Force[24]: +Name=Main.Model.ModelEnvironmentConnection.Drivers.CoMDriver.Reaction; +Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyKinEqSimpleDriver.AnyReacForce; +SegmentName=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +SegmentID=0; +Pos= 1.625397040768109e-03; 1.090864811079046e+00; -9.334043002481586e-05; +RefFrame=Main.HumanModel.BodyModel.Trunk.Segments.L5Seg; +Components(2): +F[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[0]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +F[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; +M[1]= 0.000000000000000e+00; 0.000000000000000e+00; 0.000000000000000e+00; + + + + +====================== End of time-step ====================== + + diff --git a/Finite_element_analysis/Snippets/Lesson1/StandingLift.main.any b/Finite_element_analysis/Snippets/Lesson1/StandingLift.main.any new file mode 100644 index 00000000..e59c506a --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/StandingLift.main.any @@ -0,0 +1,99 @@ +#include "../../../libdef-ammr4.any" + +//class template for conditional contact +#include "\FrictionContactMuscles\ConditionalContactClass.any" +#include "\FrictionContactMuscles\ConditionalContactFootPlaneClass.any" + +/** +This application can be a good starting point for new applications involving +the entire body, doing lifts from a standing posture. The model uses artificial +muscles between the feet and the floor for creating non-sticking boundary conditions. +Similarly there are non-sticking boundary conditions between the hands and the box. +The drivers for the model are listed in the file "JointsAndDrivers.any". + +Please note that this model can also output computed forces to be used by FEA. It is also +used by FEA tutorial. +*/ +Main = { + // ---------------------------------------------------------- + // Path to draw settings + // ---------------------------------------------------------- + #include "Model/DrawSettings.any" + + // ---------------------------------------------------------- + // Body Model Configuration + // ---------------------------------------------------------- + #ifdef FEA_OUTPUT + #include "Model/BodyModelConfigurationFEA.any" + #else + #include "Model/BodyModelConfiguration.any" + #endif + + + // The Mannequin file specifies load-time positions for all the segments + // in the HumanModel. This is important for the model's ablity to resolve + // all the kinematic constraints when the model is analyzed. + // The mannequin file also drives those degrees of freedom of the human + // model that are not governed by problem-specific drivers at run time. + #include "Model/Mannequin.any" + + // Model of the human body to be used for the analysis + #include "/HumanModel.any" + + /// The actual model where all components are assembled + AnyFolder Model ={ + /// Body model without default drivers + AnyFolder &BodyModel=.HumanModel.BodyModel; + /// Reference to the mannequin folder (used by drivers) + AnyFolder &Mannequin =.HumanModel.Mannequin; + + #include "Model/Environment.any" + AnyFolder ModelEnvironmentConnection = { + #include "Model/JointsAndDrivers.any" + }; + +//# BEGIN SNIPPET 2 +// #ifdef FEA_OUTPUT + // this block replaces an intact L5 geometry with a simplified one + // #include "Model/L5Modifications.any" +// #endif +//# END SNIPPET 2 + }; + AnyBodyStudy Study = { + AnyFolder &Model = .Model; + + Gravity = {0.0, -9.81, 0.0}; + +//# BEGIN SNIPPET 1 +#ifndef FEA_OUTPUT +// default values for the StandingLift example + tEnd = 1.0; + nStep = 30; +#else +// single step for the StandingLiftFEA example + tStart = 0.5; + tEnd = 0.5; + nStep = 1; + AnyMechOutputFileForceExport ForceOutput = + { + FileName = ANYBODY_PATH_OUTPUT+"/ForceL5.txt"; + /*NumberFormat = + { + Digits = 15; + Width = 22; + Style = ScientificNumber; + FormatStr = ""; + };*/ + AllSegmentsInStudyOnOff = Off; + Segments = {&Main.HumanModel.BodyModel.Trunk.Segments.L5Seg}; + }; +#endif +//# END SNIPPET 1 + + }; // End of study + + // Include an operation sequence to run all required steps of your application (see Operations tab) + #include "\Operations\RunAppSequence.any" + +}; //Main + diff --git a/Finite_element_analysis/Snippets/Lesson1/StandingLiftFEA.main.any b/Finite_element_analysis/Snippets/Lesson1/StandingLiftFEA.main.any new file mode 100644 index 00000000..fd48e213 --- /dev/null +++ b/Finite_element_analysis/Snippets/Lesson1/StandingLiftFEA.main.any @@ -0,0 +1,7 @@ +#include "../../../libdef-ammr4.any" + +// switch on application-specific values and outputs +#define FEA_OUTPUT + +// include the generic model +#include "StandingLift.main.any" diff --git a/Finite_element_analysis/_static/lesson1/image1.jpeg b/Finite_element_analysis/_static/lesson1/image1.jpeg index 4da62cb2..af681e65 100644 Binary files a/Finite_element_analysis/_static/lesson1/image1.jpeg and b/Finite_element_analysis/_static/lesson1/image1.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image10.jpeg b/Finite_element_analysis/_static/lesson1/image10.jpeg new file mode 100644 index 00000000..dbb5766b Binary files /dev/null and b/Finite_element_analysis/_static/lesson1/image10.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image2.jpeg b/Finite_element_analysis/_static/lesson1/image2.jpeg index 534d5b2d..267df4c9 100644 Binary files a/Finite_element_analysis/_static/lesson1/image2.jpeg and b/Finite_element_analysis/_static/lesson1/image2.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image4.jpeg b/Finite_element_analysis/_static/lesson1/image4.jpeg index 2be08852..49941d28 100644 Binary files a/Finite_element_analysis/_static/lesson1/image4.jpeg and b/Finite_element_analysis/_static/lesson1/image4.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image5.jpeg b/Finite_element_analysis/_static/lesson1/image5.jpeg index 26c32504..2e4bb6bd 100644 Binary files a/Finite_element_analysis/_static/lesson1/image5.jpeg and b/Finite_element_analysis/_static/lesson1/image5.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image6.jpeg b/Finite_element_analysis/_static/lesson1/image6.jpeg new file mode 100644 index 00000000..bfefa840 Binary files /dev/null and b/Finite_element_analysis/_static/lesson1/image6.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image7.jpeg b/Finite_element_analysis/_static/lesson1/image7.jpeg new file mode 100644 index 00000000..81c9ae9d Binary files /dev/null and b/Finite_element_analysis/_static/lesson1/image7.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image8.jpeg b/Finite_element_analysis/_static/lesson1/image8.jpeg new file mode 100644 index 00000000..bee2ad72 Binary files /dev/null and b/Finite_element_analysis/_static/lesson1/image8.jpeg differ diff --git a/Finite_element_analysis/_static/lesson1/image9.jpeg b/Finite_element_analysis/_static/lesson1/image9.jpeg new file mode 100644 index 00000000..1a1ac8a3 Binary files /dev/null and b/Finite_element_analysis/_static/lesson1/image9.jpeg differ diff --git a/Finite_element_analysis/lesson1.md b/Finite_element_analysis/lesson1.md index a0298cf3..df3c62a4 100644 --- a/Finite_element_analysis/lesson1.md +++ b/Finite_element_analysis/lesson1.md @@ -1,4 +1,3 @@ - % Disable inline anyscript highlighting. ```{highlight} none @@ -7,459 +6,370 @@ ::: {rst-class} break ::: -# Lesson 1: Export of data for FEA +# Lesson 1: Export of Data for FEA -![FEA tutorial Fish tank](_static/lesson1/image1.jpeg) +```{image} _static/lesson1/image1.jpeg +:alt: FEA tutorial Fish tank +:class: bg-primary +:align: center +:width: 35% +``` -In this example we want to shed some light on an important issue for all -aquarium owners: What’s the magnitude of stress in the lumbar vertebra -L5 during lifting of a 10 kg aquarium? +In this example, we aim to address an important issue for aquarium owners: What +is the magnitude of stress in the lumbar vertebra L5 during the lifting of a 10 +kg aquarium? -First we need a model to work on. +First, we need a model to work on. -With the AnyBody Modeling System you already have a repository of models -available, for details please see the AnyBody Assistant available from -the menu. This tutorial has been written using the AnyBody Managed Model -Repository Ver. 1.6 (AMMRV1.6) if you see differences between the -tutorial text and your own results please [report or help fix it here] ](https://github.com/anybody/tutorials/) +With the AnyBody Modeling System, you already have a repository of models +available. For details, please see the AnyBody Assistant available from the +menu. This tutorial was written using the AnyBody Managed Model Repository Version +4 (AMMRV4) and will not work on earlier versions. If you notice differences +between the tutorial text and your results, please [report or help fix it +here.](https://github.com/anybody/tutorials/) The starting point for this tutorial is the model: {file}`Applications/Examples/StandingLift/StandingLiftFEA.main.any` -However, this model internally reuses the code of {file}`StandingLift.main.any`. Please -find the model and load it by pushing F7 and open a Model View. You -should see something similar to the picture to the right. The vertebral -body we want to analyze is marked with a circle on the zoomed-in -picture. - -![L5 L4 joint](_static/lesson1/image2.jpeg) - -As mentioned before this model is based on the “StandingLift” model of -the AMMR Repository. It is a full body model lifting a box of 10 kg and -therefore also imposing forces on the spine. In this tutorial we will be -using a more basic representation of the L5 vertebra than the one -included in the repository model. Our tutorial model lacks the pedicles -and facets joints, consisting just of the vertebral body. This is done -in order to simplify the FEA related processes which will be discussed -later. - -Another simplification will be that we only use the model with joint -generating muscles; this will keep the force output files small. - -```AnyScriptDoc -#ifdef FEA_OUTPUT -// switch the muscles off for simplicity -#define BM_LEG_MUSCLES_BOTH _MUSCLES_NONE_ -#define BM_ARM_MUSCLES_BOTH _MUSCLES_NONE_ -#define BM_TRUNK_MUSCLES _MUSCLES_NONE_ -#endif +However, this model internally reuses the code of {file}`StandingLift.main.any`. +Please find the model and load it by pressing F7, and open a Model View. You +should see something similar to the picture above. The vertebral body we want to +analyze is marked with a square in the zoomed-in picture. + +```{image} _static/lesson1/image2.jpeg +:alt: L5 L4 joint +:class: bg-primary +:align: center +:width: 35% ``` -In order to export the forces acting on the vertebra we had to include -the output function. This modification can be found inside of the -Study folder of the main file: - -```AnyScriptDoc -#ifndef FEA_OUTPUT -// default values for the StandingLift example -tEnd = 1.0; -nStep = 30; -#else -// single step for the StandingLiftFEA example -tStart = 0.5; -tEnd = 0.5; -nStep = 1; -AnyMechOutputFileForceExport ForceOutput = -{ - FileName = "Output/ForceL5.txt"; - /*NumberFormat = - { - Digits = 15; - Width = 22; - Style = ScientificNumber; - FormatStr = ""; - };*/ - AllSegmentsInStudyOnOff = Off; - AnySeg &L5Seg = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg; -}; -#endif +As mentioned before, this model is based on the “StandingLift” model of the AMMR +4 Repository. It is a full-body model lifting a box of 10 kg and therefore also +imposing forces on the spine. In this tutorial, we simplify by only using the +model with joint generating muscles; this will keep the force output files +small. Go to `StandingLift.main.any -> Model/BodyModelConfigurationFEA.any` to +see the code applying this simplification. + +```{literalinclude} Snippets/Lesson1/Model/BodyModelConfigurationFEA.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` -The AllSegmentsInStudyOnOff switch decides if only the forces of the -listed segments will be exported or data from all segments in the -study. Usually you will only use a selected amount of data to keep the -file manageable. The following segment points to the L5 segment which -is the one we like to analyze. You can fill in the path by browsing -the Model tab to the L5 segment, right-click it and choose “Insert -Object Name” in the drop down menu. - -That’s all you have to do for the force export. Please reload the -model by pressing F7. Open the Study tree in the Operation tab in the -left side of the main window and choose “InverseDynamicsAnalysis”. -Press the “Run” button. The model will analyze one timestep and write -the FEAoutput.txt file which we have specified before. Let’s have a -closer look on the Output file. It is located inside your Application -folder in the Output subfolder. You can open it either directly in -AnyBody or in any text editor of your choice. - -```none -Environment: -ReferenceFrame=Global Model Frame; -Gravity=0.000000000000000e+000;-9.810000000000001e+000;0.000000000000000e+000; -Segments(1): -Segment[0]=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg; -TimeSamples: -===================== Start of time-step ===================== -TimeSample[0]: -t=5.000000000000000e-001; -Segment[0]: -Name=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg; -m=2.085000000000000e+000; -Jmatrix=1.168885000000000e-003,-9.570149999999998e-004,0.000000000000000e+000; -9.570149999999998e-004,6.423084999999999e-003,0.000000000000000e+000;0.000000000000000e+000,0.000000000000000e+000,6.591969999999999e-003; -rCoM=9.304468810912125e-003;1.152365939883446e+000;-2.512564662125113e-004; -r=-4.169135847448037e-002;1.143342897337054e+000;-1.497543262871901e-004; -Axes=9.999998595357809e-001,-4.628389924807490e-004,-2.582798583545108e-004;4.660838626013818e-004,9.999191410444162e-001,1.270803442038980e-002;2.523772002673721e-004,-1.270815301543968e-002,9.999192163133404e-001; -rDot=5.402776176443577e-003;2.261042200066284e-004;1.171200924865143e-004; -Omega=9.939274896600235e-003;2.020125288690530e-004;-5.443536252847692e-003; -rDDot=4.170565551642487e-003;1.189711201114273e-004;-3.295768681950899e-003; -OmegaDot=-2.796914968367631e-001;-5.738778418435273e-003;-4.224839525429824e-003; - -Forces(17): -Force[0]: -Name=Main.HumanModel.BodyModel.Trunk.JointMuscles.L5SacrumJnt.Extension.dof0.Muscle.PosMuscle; -Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnyGeneralMuscle; -SegmentName=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg; -SegmentID=0; -Pos=1.310949680520611e-003;1.138363343237923e+000;-7.536134159849472e-005; -RefFrame=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg.L5SacrumJntNode; -Components(1): -F[0]=0.000000000000000e+000;0.000000000000000e+000;0.000000000000000e+000; -M[0]=-7.751477527937135e-003;2.185362573696517e-001;7.232168716222537e+001; -... +By default, this model uses a simplified version of the vertebra L5, which we +don't want to use for our finite element analysis. Therefore, we will comment +out the following lines of code in {file}`StandingLift.main.any`: + +```{literalinclude} Snippets/Lesson1/StandingLift.main.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 2 +:end-before: //# END SNIPPET 2 ``` -It starts with information on the included segment. All the -geometrical entries are listed. One nice feature here is that all -coordinates stated in this file are given in the same (global) -coordinate system. In the following all forces acting on the segment -are listed. In this case one of the artificial joint moment generating -muscles is shown. The position of the force is given as well as all of -its components from AnyBody. Depending on the nature of the underlying -AnyForce class, which you can see in the “Class” entry, there are a -different number of forces and moments listed. An AnyForce may have -any number of components, which may be a physical force or a torque, -but it may also be a more generalized load, not measured in Newton or -Newton-meter. Basically these force components are related to the -underlying kinematic measure, so that force times kinematic -displacement becomes work/energy; in other words the kinematic measure -decides the unit of the force component. Anyway, these occasionally -somewhat artificial force measures present in the AnyBody model are -converted to real point forces and point torques, when outputted to -the AnyFE output file. Therefore, we find `F[i]` and `M[i]` in the AnyFE, -which are the point force and the point torque associated the *i*'th -component of the given AnyForce object. The total force acting in the -global direction at a point can be found by simply adding all the -components forces, i.e. summing `F[i]` for all *i* at that location. - -In many cases, the components are indeed simple such that component `i=0` -for instance is `Fx` as could be expected, but since this `Fx` may refer to -a local coordinate system of a particular segment, a joint attachment -node, or the like, `F[i]` and `M[i]` may still have three non-zero values -when exported to the AnyFE file. This is because the data is tansformed -while being exported so that the AnyFE is referring to a single -coordinate system for all of the exported data; this system is often (by -default) the global coordinate system or it can be a local coordinate -system. - -Let us have a look at the following entry which basically gives the -joint constraints in the L5-Sacrum joint: - -```none -Force[12]: -Name=Main.HumanModel.BodyModel.Trunk.JointsLumbar.L5SacrumJnt.Constraints.Reaction; -Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnySphericalJoint.AnyKinEq.AnyReacForce; -SegmentName=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg; -SegmentID=0; -Pos=1.310949680520611e-003;1.138363343237923e+000;-7.536134159849472e-005; -RefFrame=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg.L5SacrumJntNode; -Components(3): -F[0]=1.438514108411654e+001;4.422244295289277e-001;2.055265396354515e-004; -M[0]=-4.993754918704412e-017;-4.993754918704412e-017;-4.993754918704412e-017; -F[1]=-1.447931608403369e+001;4.709990755658955e+002;-1.424781629621639e+000; -M[1]=1.926516762214523e-017;1.926516762214523e-017;1.926516762214523e-017; -F[2]=-1.526868368696591e-004;4.304677367488389e-003;1.424576103082109e+000; -M[2]=4.217476399426685e-020;4.217476399426685e-020;4.217476399426685e-020; +## Exporting the Forces + +To export the forces acting on the vertebra, we had to include the output +function. This modification can be found inside the Study folder of the main +file: + +```{literalinclude} Snippets/Lesson1/StandingLift.main.any +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` -You can see the three moments have practically zero values. This is -due to the fact that this joint is discretized as a spherical joint -which therefore cannot take up moments. In the same manner all other -joints are handled. - -Next we need an object where we can apply our exported forces. This is -also quite simple. A facility is built in the system (from Version -3.1) which allows the export of all .anysurf and .stl geometries from -your application in the .stl format. The function will export the -geometry in its actual position, so please make sure that your model -has not been reloaded since the force export otherwise run the -InverseDynamicAnalysis again to bring it to right position. Of course -it also involves all scaling which has been applied to the bones. -Browse through the model tree to the L5Seg -`Main/HumanModel/BodyModel/Trunk.SegmentsLumbar/L5Seg` in order -to export the L5 segment. Inside this folder you find the DrawSTL -folder. Right-click the folder and choose “Export Surface”. Choose a -convenient place to store the file and give it the name “L5.stl”. A -dialog box will appear which allows you to specify a scale value for -the output file. The scaling can be useful to switch from one units -system to another. In our case we have m as units in the AMS, but want -to have mm for the FE geometry. So choose as scale factor 1000. From -the AnyBody point of view, that’s all we have to do. Please note that -not all bones which are right now in the Repository may be suitable -for a FEA. As the main intention is to have graphical representation -of the body it may appear that some bone are simply to coarse for a -detailed analysis. But of course you are free to import your own .stl -file into the AnyBody Modeling System to substitute existing bones. -You will have to tweak your CAD file a bit in order to make it fit. -[Donation of better quality CAD files of bones to the models is most -welcome.](mailto:support@anybodytech.com) - -Based on the exported forces and `.stl` file we can now build and analyze -a FE model. Below we shall build an FE model applying the loads and -other boundary conditions manually using non-commercially available -software. However please notice that in the following lessons, we -consider more smooth integration with selected commercial software by -means of small converter software tools provided by AnyBody Technology. -These tools automatically convert the AnyFE output file from AnyBody to -input files for the particular FE software. - -The following section will show some results that were achieved using -previous versions of the AMMR. - -After building a FE model based on this data the internal stress in -the bone tissue can be evaluated. Below are some von-Mises stress -plots showing approximately the middle cross section of the vertebral -body. - -![FEA tutorial von Mises](_static/lesson1/image3.jpeg) - -With a stress level of approx. 0.5 MPa in the cancellous bone we are -pretty far away from the yield strength, so we can conclude that it -appears to be ok for aquarium owners to lift their pets in an -aquarium of this size. But of course we did some generous shortcuts to achieve this goal and -neglected a lot of detail which is provided by the AnyBody Modeling -System. - -##  Building the FE-model - -In this section a short description of how to build a Finite Element -model using AnyBody data is given. If you are an experienced FE user -you may want to skip this section. - -As this should be by no means a Finite Element tutorial we will use -some shortcuts to achieve our goal: We already restricted the analyses -to one time step. Further, we will only take the joint reaction forces -into account. How one can handle muscle forces will be discussed -below. And finally the used geometry was simplified. Basically only -the vertebral body is used. The main reason for this is to avoid -getting lost in the jungle of meshing. - -In the following, we will make use of two freely available tools. -Preprocessing (meshing and applying boundary conditions) is done using -[IA-FEMesh](https://ctpr.github.io/IA-FEMesh/) provided by the -University of Iowa. [Calculix](http://www.calculix.de) is used as -solver and post-processor. This fine piece of software is written and -maintained by Guido Dhondt and Klaus Wittig. Calculix v1.8 and -IA-FEMesh v1.0 are used in this tutorial. So things may slightly -change with updates on the programs. Please note that neither of these -programs is in related to AnyBody Technology. - -Please follow the links shown above, download and install the two -programs if you want to do some hands-on FEA. - -### Building the model - preprocessing - -A file with the finished model is provided below, in case you do not -want to go through the entire model building process. - -Open IA-FEMesh and press the “Surface” tab to load your (earlier - -: exported) `.stl` file. After successful loading we have to define a - building block. The building block is a prerequisite to the mesh - generation and its surfaces will be meshed and further projected on - the bone. For reasons of simplicity it has been prepared. Please press - the “Block” tab and chose “Load”. Browse to the folder “FEA” which is - inside the “StandingLiftFE” application folder. Choose the file - `L5_block.vtk`. Some boxes around the vertebral body will appear. - -![FEA tutorial Mesh](_static/lesson1/image4.jpeg) - -In the next step, we will have a look at the local mesh density and -mesh the structure. - -Press the “Mesh” tab and choose “Assign/Edit Mesh Seeds”. By -activating the “Color Code Mesh Seeds” you can review the settings for -the mesh density which was set in the predefined block. Just click on -the different wireframes and see the number of divisions per line. The -density is slightly increased in the regions of the vertebral -endplates. - -Next is to generate the actual mesh. Open again the “Mesh” tab and -press “Create”. Fill in “n” for node label and “e” for element label, -make sure that the volumetric mesh is chosen and the “perform -smoothing" option is checked. “Apply” will generate a nicely meshed -vertebral body (right) - -After this we have to assign material properties to the elements. Go -to the “Materials” tab and select “User-Defined”. You can simply give -in the Young’s modulus for the whole set of elements and the Poisson’s -ratio. Reasonable values may be an average 1000 (MPa) for the modulus -and 0.3 for the ratio. But of course you may also want to model the -bone in more detail, separating the cortical shell and the cancellous -bone or even base the material properties on density data. But this is -surely not within the scope of this tutorial. - -In this example we will apply only the joint forces on the endplates. -Therefore we will not make explicit use of all the information given -by the AnyBody force export file. - -We have to select two node sets to apply the boundary condition. This -is done by pressing the “Load/BC” tab and the “STEP-Load/BC -Assignments” choose “Node Set Definition” and use the appearing tools -to define the node sets on both endplates. You should use the option -“Visible surface nodes” and the + and – tool to select the set. You -have to hold the Ctrl button to select nodes and confirm your -selection by right clicking on the selected nodes. (In this case it is -a rather good approximation to select just a set of nodes on the -endplates as force application points. This may not be so easy for -other cases; in these the given information on the coordinates of the -forces is essential to apply the force in the right way.) - -After the definition of a node set on both endplates we have to -provide the boundary conditions. For this we need our force export -file. Please open the file (it should be located in your -StandingLiftFEA application folder) in an editor and scroll down to -Force\[12\]. This force is the joint reaction on the L5-Sacrum joint. - -```none -Force[12]: -Name=Main.HumanModel.BodyModel.Trunk.JointsLumbar.L5SacrumJnt.Constraints.Reaction; -Class=AnyMainFolder.AnyFolder.AnyFolder.AnyFolder.AnyFolder.AnySphericalJoint.AnyKinEq.AnyReacForce; -SegmentName=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg; -SegmentID=0; -Pos=1.310949680520611e-003;1.138363343237923e+000;-7.536134159849472e-005; -RefFrame=Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.L5Seg.L5SacrumJntNode; -Components(3): -F[0]=1.438514108411654e+001;4.422244295289277e-001;2.055265396354515e-004; -M[0]=-4.993754918704412e-017;-4.993754918704412e-017;-4.993754918704412e-017; -F[1]=-1.447931608403369e+001;4.709990755658955e+002;-1.424781629621639e+000; -M[1]=1.926516762214523e-017;1.926516762214523e-017;1.926516762214523e-017; -F[2]=-1.526868368696591e-004;4.304677367488389e-003;1.424576103082109e+000; -M[2]=4.217476399426685e-020;4.217476399426685e-020;4.217476399426685e-020; +The `AllSegmentsInStudyOnOff` switch decides if only the forces of the listed +segments will be exported or data from all segments in the study. Usually, you +will only use a selected amount of data to keep the file manageable. The +following segment points to the L5 segment, which is the one we want to analyze. +If the path is not already inserted, you can fill in the path by browsing the +Model tab to the L5 segment, right-clicking it, and choosing “Insert Object +Name” in the drop-down menu. + +That’s all we have to do for the force export. Please reload the model by +pressing F7 and run an "InverseDynamicsAnalysis". The model will analyze one +timestep and write the "ForceL5.txt" file which we have specified earlier. Let’s +take a closer look at the output file. It is located inside your Application +folder in the Output subfolder. You can open it either directly in AnyBody or in +any text editor of your choice. + +```{literalinclude} Snippets/Lesson1/Output/ForceL5.txt +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 1 +:end-before: //# END SNIPPET 1 ``` -By summing up the rows for the forces `F[0]`, `F[1]`, and `F[2]` we get the -resulting components for the joint reaction load. This can be directly -used in the force definition as they are given in the same coordinate -system. In this case only the Y-force component is of interest as all -other forces are pretty small. Choose “Force” and your defined node -set for the lower endplate. Specify the Y-force to 471 (N). Make sure -to confirm with “Apply”. Select the node-set on the opposite endplate -and set the displacement to be 0 in all direction, confirm again with -“Apply”. (Next also the moment generating muscles could be taken into -account in a similar manner, but this will be skipped here.) - -The model is now finished. Now we have to export the model. This -export can be found under “Load/BC”. Choose “Export ABAQUS File”. This -will write an ABAQUS style input file for a FE-Solver. This is the -format Calculix can read. Press “Apply” and name the file “L5FEA” and -save. - -There is one more thing that has to be defined preliminary to the FEA -\- the desired output. Please open a text editor and load the L5FEA.inp -file. In this file the whole analysis is defined, using a reference to -the node and elements file. - -```none -**========================================================================= -**                          HISTORY DATA                                 ** -**========================================================================= -**------------------------------------------------------------STEP 1 -*STEP, INC=100, NLGEOM=YES, UNSYMM=YES -*STATIC -1.0, 1.0 -** -*BOUNDARY, OP=NEW -unten, 1, 1, 0 -unten, 2, 2, 0 -unten, 3, 3, 0 -** -*CLOAD -EndplateB, 2, 2.2488 -** -**------- Output Requests  ---> -** - -*NODE FILE -U -*EL FILE -S, - -** -** -** -*END STEP +The text file starts with information on the included segments, listing all +geometrical entries in the global coordinate system. Following this, all forces +acting on the segment are listed, including the position and components of each +force from AnyBody. The underlying "Class" entry indicates the type of AnyForce, +which can have various components. An AnyForce may have any number of +components, which may be a physical force or a torque, but it may also be a more +generalized load, not measured in Newtons or Newton-meters. + +These force components are related to the underlying kinematic measure, meaning +force times kinematic displacement equals work/energy; in other words, the +kinematic measure determines the unit of the force component. These force +measures present in the Anybody model are converted to real point forces and +torques in the AnyFE output file, represented as `F[i]` and `M[i]`. These are +the point forces and the point torques associated with the *i*'th component of +the given AnyForce object. The total force acting in the global direction at any +given point is the sum of all `F[i]` components. + +In many cases, the components are indeed simple such that component `i=0` for +instance is `Fx` as could be expected. However, since this `Fx` may refer to a +local coordinate system of a particular segment, a joint attachment node, or the +like, `F[i]` and `M[i]` may still have three non-zero values when exported to +the AnyFE file. This is because the data is transformed while being exported so +that the AnyFE refers to a single coordinate system for all of the exported +data; this system is often (by default) the global coordinate system, but it can +also be a local coordinate system. + +Let us have a look at the following entry which essentially provides the joint +constraints in the L5-Sacrum joint: + +```{literalinclude} Snippets/Lesson1/Output/ForceL5.txt +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 2 +:end-before: //# END SNIPPET 2 ``` -Please include the Output Requests (see red lines above). This will -make sure we get some results to look at. Save the file and close the -editor. +You can see the three moments have zero values. This is because this joint is +discretized as a spherical joint which therefore cannot take up moments. +Similarly, all other joints are handled. + +## Exporting the Geometry + +Next, we need an object where we can apply our exported forces. This is also +quite simple. A facility is built in the system (from Version 3.1) which allows +the export of all `.anysurf` and `.stl` geometries from your application in the `.stl` +file format. The function will export the geometry in its actual position, so +please make sure that your model has not been reloaded since the force export. +Otherwise, run the InverseDynamicAnalysis again to bring it to the right +position. Of course, it also involves all scaling that has been applied to the +bones. + +Browse through the model tree to the L5Seg under +`Main/HumanModel/BodyModel/Trunk/Segments/L5Seg` in order to export the L5 +segment. Inside this folder, you find the BoneDraw folder. Right-click the +folder and choose “Export Surface”. Choose a convenient place to store the file +and give it the name “L5.stl”. A dialog box will appear that allows you to +specify a scaling factor for the output file. The scaling can be useful to +switch from one unit system to another. In our case, we have meters as units in +the AMS, but want to have millimeters for the FE geometry. So choose a scaling +factor of 1000. After clicking OK, a new dialog box will appear that allows you +to select a reference frame. Choose "Global" and click OK. From the AnyBody +point of view, that’s all we have to do. + +:::{note} Please note that not all bones currently in the Repository may be +suitable for FEA. As the main intention is to have a graphical representation of +the body, it may appear that some bones are simply too coarse for a detailed +analysis. But of course, you are free to import your own `.stl` file into the +AnyBody Modeling System to substitute existing bones. You will have to tweak +your CAD file a bit in order to make it fit. [Donation of better quality CAD +files of bones to the models is most welcome.](mailto:support@anybodytech.com) +::: + +Based on the exported forces and `.stl` file we can now build and analyze a +finite element model. Below, we shall build an FE model by manually applying the +loads and other boundary conditions using non-commercially available software. +However, please note that in the following lessons, we consider more smooth +integration with selected commercial software by means of small converter +software tools provided by AnyBody Technology. These tools automatically convert +the AnyFE output file from AnyBody to input files for the particular FE +software. + +After building an FE model based on this data, the stress in the bone tissue can +be evaluated. + +## Building the Finite Element Model + +In this section, a short description of how to build a finite element model +using AnyBody data is given. If you are an experienced FE user, you may want to +skip this section. -### Solve and postprocessing +As this is by no means a Finite Element tutorial, we will use some shortcuts to +achieve our goal: We have already restricted the analysis to one time step. +Further, we will only take the joint reaction forces into account. -If you have somehow screwed up your model or simply didn’t want to go -through the model building process, you can find a working model here: -`StandingLift\Input\FEA\L5FEABackup.inp`. (In this model also -different materials for the cortical shell (E = 12000 MPa) and the -cancellous bone structure (E = 200 MPa) have been assigned. +In the following, we will make use of a freely available software, +[FEBio](https://febio.org/downloads/). This software can handle the +preprocessing (meshing and applying boundary conditions), solve the FE analysis, +and handle the post-processing of the FE model. Please note that this program is +in no relation to AnyBody Technology. -If you want to use this model instead of your own build, please change -the following comments involving”L5FEA” to “L5FEABackup”.) +Please follow the link shown above to download and install the program if you +want to do some hands-on FEA. -Open up the Calculix command shell and browse to the directory where -you placed the L5FEA.inp file. Now type +### Building the Model - Preprocessing -```none -ccx L5FEA +A file with the finished model is provided below, in case you do not want to go +through the entire model building process. + +**👉 Now** Open FEBio and start a New Model. Select 'Structural Mechanics', give +your model an appropriate name, e.g. "StandingLiftFE", and select 'mm-kg-s' as +the unit system. + +```{image} _static/lesson1/image4.jpeg +:alt: Open new Model +:class: bg-primary +:align: center +``` + +To open the earlier exported `.stl` file of the geometry, select 'Import +Geometry' under File and browse to the location of your STL-file. + +After successfully loading the geometry, we have to generate a mesh with solid +elements. The geometry already has an initial mesh based on the STL-file, but we +want to refine and specify it. This is done by first right-clicking on the name +"L5-stl" in the Model Tree, choosing "Select" and clicking on the geometry in +the model view. This opens the Build panel to the right where you can choose +Mesh and convert Type to 'Editable surface', which allows us to change the mesh +using solid elements. + +Under Mesh Parameters set the Element Size to 6, the Quality to 2 and click +Apply to generate an initial mesh using 4-node linear tetrahedral elements. To +further specify the mesh, click on MMG Remesh under Edit Mesh. This is a tool to +re-create the mesh or apply a local mesh refinement or coarsening of a mesh. +Under parameters set Element size to 6, Min element size to 2, Global Hausdorff +value to 0.05 and Gradation to 1.3. Click Apply to generate this new mesh. + +One could go much further in the meshing process to optimize it, but for this +example, this is sufficient. + +:::{note} It may graphically appear that some parts of the geometry do not have +a mesh or that the mesh suddenly disappears. This is due to the Global Hausdorff +value, which allows for a distance between the surface of the generated mesh and +the locally interpolated quadratic surface of the geometry. +::: + +```{image} _static/lesson1/image5.jpeg +:alt: Open new Model +:class: bg-primary +:align: center ``` -and press return. This will push the model forward to the solver and -start the analysis. Within a few seconds a nice JOB FINISHED should -appear. Now, let’s have look at the results: Therefore, type +After this, we have to assign material properties to the model. Right-click on +Materials in the Model Tree, select 'Add Material' and choose 'Isotropic +elastic' as the type. This adds a new material which we now can specify. Click +on the newly added material to open the info tab. Reasonable values for bone +material could be to set the Density to 1.3e-09 kg/mm^3, the Young's modulus to +1e+06 kPa, and the Poisson's ratio to 0.3. Under Geometry -> Objects -> L5.stl +-> Parts click on Part1, and under Properties apply "Material 1" as the +material. + +```{image} _static/lesson1/image7.jpeg +:alt: Open new Model +:class: bg-primary +:align: center +:width: 75% +``` + +The material selection used is an approximation of the real bone, but of course, +you may also want to model the bone in more detail, separating the cortical +shell and the cancellous bone or even basing the material properties on density +data. But this is surely not within the scope of this tutorial. + +In this example, we will apply only the joint reaction forces on the endplates. +Therefore, we will not make explicit use of all the information given by the +AnyBody force export file. We now have to select two sets of nodes to apply the +boundary conditions. + +Start by right-clicking on Boundary Conditions in the Model Tree and selecting +'Add Nodal BC'. Choose 'Zero Displacement' and under Property check out x-, y-, +and z-displacement. Next, select an area of element faces on the bottom +endplate, similar to the selection on the image below, to apply this boundary +condition. To do this, click on the part in the model view, choose 'Select +faces' and 'Select connected', both in the Graphics control bar (highlighted +with a red square in the image below), and select an element face. It might be +necessary to adjust the value for the 'Select Connected' option. If this does +not automatically select all the wanted element faces, simply hold the shift +button down while manually selecting multiple faces, or hold the control button +down to deselect faces. Finally, add the selected faces by clicking the plus +sign under Selection. + +```{image} _static/lesson1/image8.jpeg +:alt: BC selection +:class: bg-primary +:align: center +:width: 100% +``` -```none -cgx L5FEA.frd +Now the force must be applied. For this, we need our force export file. Please +open the file (it should be located in your StandingLiftFEA application folder) +in an editor and scroll down to Force[14]. This force is the joint reaction on +the L5-Sacrum joint. + +```{literalinclude} Snippets/Lesson1/Output/ForceL5.txt +:language: AnyScriptDoc +:start-after: //# BEGIN SNIPPET 2 +:end-before: //# END SNIPPET 2 ``` -This will call the Calculix (pre- and) postprocessor. A graphical -window showing the vertebrae will appear. Clicking on the left side -will give you a panel to visualize the results. First you have to -choose the dataset you want to access. For example click on -Datasets>Stress to activate the stress dataset. After this you can -choose the desired Entry, e.g. Mises Stress. You can assess the -results in more detail using different Viewing settings (Please have a -look at the Calculix help file for more information on this). Here are -two examples for the von-Mises stresses in the middle of the cross -section of the vertebral body: +By summing up the rows for the forces `F[0]`, `F[1]`, and `F[2]` we get the +resulting components for the joint reaction load. This can be directly used in +the force definition since they are given in the same coordinate system. In this +case, only the Y-force component is of interest as all other forces are small in +comparison when summing them up. Now right-click on Loads in the Model Tree and +select 'Add Surface Load' and choose 'Force' in the pop-up window. Set the Force +to {0, 517000, 0} mN and apply it to an area of element faces, similar to what +you did for the boundary condition selection, but on the opposite endplate. + +Finally, we need to create an analysis step and change the load controller to +define what type of analysis we want to do and how the loads are applied. Add an +analysis step by selecting Physics -> 'Add Analysis Step' from the top menu and +then click OK. Since we want to perform a static analysis, we keep all settings +under Properties as they are. Now, expand Load Controllers, select the Load +Controller LC1 in the model tree and under Properties make sure the 'Type' is +set to 'Linear'. (You should only have one Load Controller in the model. If you +have more, delete the ones with an exclamation mark) + +### Solving and Post-Processing + +Congratulations! The model is now finished. Now we have to run and solve the FE +model. + +First, save the model if you have not already done so. Then, click on FEBio in +the top menu and select 'Run FEBio'. In the pop-up window define the Job name +(could be "StandingLiftFE_RUN"), make sure the Launch Configuration is set to +'Default'. Finally, click Run to start the analysis. + +The analysis should only take a few seconds, and a pop-up window will appear +when the analysis is finished. Here the Status should say 'Normal Termination' +and Completion 100%. Click on 'Open results' to see the simulation outputs. + +You now have many options to visualize the results. To learn more about the +FEBio post-processing go to [the FEBio +Knowledgebase](https://febio.org/knowledgebase/). One option is to plot the von +Mises stress in the model. To do this, click on Color Map in the Post menu. +Under Properties change Data Field to Stress -> Effective stress, Show Legend to +'Yes', and both Max range type and Min range type to 'Static'. Now click the +Play button ![Play](_static/lesson1/image10.jpeg) in the top menu to show the +von Mises stress plot in the model. + +```{image} _static/lesson1/image9.jpeg +:alt: Stress Plot +:class: bg-primary +:align: center +``` -> ![FEA tutorial von-Mises 2](_static/lesson1/image3.jpeg) +The above image shows the von Mises (effective) stress plot of the lumbar +vertebra L5. With a maximum stress of approximately 1.87 MPa in the bone, we are +far away from the yield strength. So, we can conclude that it appears to be ok +for aquarium owners to lift their pets in an aquarium of this size. But of +course, we did some generous shortcuts to achieve this goal and neglected a lot +of detail which is provided by the AnyBody Modeling System. -This completes Lesson 1. +This completes Lesson 1. The final FEBio model and AnyBody script can be +downloaded {download}`here `. It is important that +you place it in a folder containing the AMMR 4 'libdef.any' file, for the +AnyBody script to work. -In the following lessons, we show somewhat more automatic interfaces to -selected commercial FE packages using small interface tools +In the following lessons, we show somewhat more automatic interfaces to selected +commercial FE packages using small interface tools. -Click here to continue to +Click here to continue: -- {doc}`Lesson 2: ANSYS interface `. - {doc}`Lesson 3: ABAQUS interface ` +- {doc}`Lesson 2: ANSYS interface `. +- {doc}`Lesson 3: ABAQUS interface `. diff --git a/Parameter_studies_and_optimization/lesson3/lesson3.ipynb b/Parameter_studies_and_optimization/lesson3/lesson3.ipynb index bb86edde..f6596e67 100644 --- a/Parameter_studies_and_optimization/lesson3/lesson3.ipynb +++ b/Parameter_studies_and_optimization/lesson3/lesson3.ipynb @@ -400,7 +400,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.11.9" + "version": "3.11.10" } }, "nbformat": 4, diff --git a/conf.py b/conf.py index 2a3e701a..ccb9dd79 100644 --- a/conf.py +++ b/conf.py @@ -183,12 +183,14 @@ def tagged_commit(): # Jupyter Notebook Configurations nb_execution_timeout = 150 nb_execution_mode = "auto" -nb_execution_excludepatterns = [ - # Exclude the parameter opt from automatic execution. - # It will not run on linux machines since it needs the AnyBody - # conda package - 'Parameter_studies_and_optimization/lesson3/lesson3.ipynb' -] + +if not sys.platform.startswith("win"): + nb_execution_excludepatterns = [ + # Exclude the parameter opt from automatic execution. + # It will not run on non-Windows machines since it needs the AnyBody + # conda package + 'Parameter_studies_and_optimization/lesson3/lesson3.ipynb' + ] diff --git a/libdef-ammr4.any b/libdef-ammr4.any new file mode 100644 index 00000000..271cbd89 --- /dev/null +++ b/libdef-ammr4.any @@ -0,0 +1,7 @@ +#ifpathexists "../libdef.any" +#include "../libdef-ammr4.any" +#else +#ifpathexists "/AMMR/libdef.any" +#include "/AMMR/libdef.any" +#endif +#endif \ No newline at end of file