Related papers: Three-dimensional multi-mesh material point method…
Inclusion of contact in mechanical designs opens a large range of design possibilities, this includes classical designs with contact, such as gears, couplings, switches, clamps etc. However, incorporation of contact in topology optimization…
This work presents an elegant formalism to model the evolution of the full two rigid body problem. The equations of motion, given in a Cartesian coordinate system, are expressed in terms of spherical harmonics and Wigner D-matrices. The…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
The conventional formulation of the Method of Dimensionality Reduction (MDR) in contact mechanics is only applicable two "point contacts", that is to contacts of two unbounded three-dimensional bodies over final contact area. We analyze…
The third medium contact method has recently come into popularity as an alternative to traditional contact methods in contexts where search for contact boundaries is problematic, i.e. topology optimization. To enforce the contact…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
Contactless fingerprint has gained lots of attention in recent fingerprint studies. However, most existing contactless fingerprint algorithms treat contactless fingerprints as 2D plain fingerprints, and still utilize traditional…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
In this work we consider the hybrid Data-Driven Computational Mechanics (DDCM) approach, in which a smooth constitutive manifold is reconstructed to obtain a well-behaved nonlinear optimization problem (NLP) rather than the much harder…
Many-body interactions arise naturally in the perturbative treatment of classical and quantum many-body systems and play a crucial role in the description of condensed matter systems. In the case of three-body interactions, the…
Triangulated meshes have become ubiquitous discrete-surface representations. In this paper we address the problem of how to maintain the manifold properties of a surface while it undergoes strong deformations that may cause topological…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
Functionals that penalize bending or stretching of a surface play a key role in geometric and scientific computing, but to date have ignored a very basic requirement: in many situations, surfaces must not pass through themselves or each…
Recently proposed formulation of the Boundary Element Method for adhesive contacts has been generalized for contacts of functionally graded materials with and without adhesion. First, proceeding from the fundamental solution for single…
We present a novel algorithm for reciprocal collision avoidance between heterogeneous agents of different shapes and sizes. We present a novel CTMAT representation based on medial axis transform to compute a tight fitting bounding shape for…
3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…
The task of detecting the interest points in 3D meshes has typically been handled by geometric methods. These methods, while greatly describing human preference, can be ill-equipped for handling the variety and subjectivity in human…
Intersection algorithms are very important in computation of geometrical problems. Algorithms for a line intersection with linear or quadratic surfaces are quite efficient. However, algorithms for a line intersection with other surfaces are…
We propose a numerical methodology for the simultaneous numerical simulation of four states of matter; gas, liquid, elastoplastic solids and plasma. The distinct, interacting physical processes are described by a combination of…