Related papers: On enhanced descend algorithms for solving frictio…
We derive optimal a priori and a posteriori error estimates for Nitsche's method applied to unilateral contact problems. Our analysis is based on the interpretation of Nitsche's method as a stabilised finite element method for the mixed…
A posteriori error estimators are studied for discontinuous Galerkin methods for solving a frictional contact problem, which is a representative elliptic variational inequality of the second kind. The estimators are derived by relating the…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
A new interior-exterior penalty method for solving quasi-variational inequality and pseudo-monotone operators arising in two-dimensional point contact problem has been analyzed and developed in discontinuous Galerkin finite volume method…
A mixed finite element method (MFEM), using dual-parametric piecewise bi-quadratic and affine (DP-Q2-P1) finite element approximations for the deformation and the pressure like Lagrange multiplier respectively, is developed and analyzed for…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
This work performs the convergence analysis of the polytopal nodal discretisation of contact-mechanics (with Tresca friction) recently introduced in [18] in the framework of poro-elastic models in fractured porous media. The scheme is based…
This paper is devoted to the theoretical and numerical investigation of an augmented Lagrangian method for the solution of optimization problems with geometric constraints. Specifically, we study situations where parts of the constraints…
Modeling contact between deformable solids is a fundamental problem in computer animation, mechanical design, and robotics. Existing methods based on $C^0$-discretizations -- piece-wise linear or polynomial surfaces -- suffer from…
We consider the deformation of a geological structure with non-intersecting faults that can be represented by a layered system of viscoelastic bodies satisfying rate- and state-depending friction conditions along the common interfaces. We…
In this work we introduce and analyze a new multiscale method for strongly nonlinear monotone equations in the spirit of the Localized Orthogonal Decomposition. A problem-adapted multiscale space is constructed by solving linear local…
The objective of this research is to explore a convex feasibility problem, which consists of a monotone variational inequality problem and a fixed point problem. We introduce four inertial extragradient algorithms that are motivated by the…
We investigate the dynamics of finite degree-of-freedom, planar mechanical systems with multiple sliding, unilateral frictional point contacts. A complete classification of systems with 2 sliding contacts is given. The contact-mode based…
The multiplicative Newton-like method developed by the author et al. is extended to the situation where the dynamics is restricted to the orthogonal group. A general framework is constructed without specifying the cost function. Though the…
This paper develops an enhanced finite element method for approximating a class of variational problems which exhibit the \textit{Lavrentiev gap phenomenon} in the sense that the minimum values of the energy functional have a nontrivial gap…
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…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Fitted finite element methods are constructed for a singularly perturbed convection-diffusion problem in two space dimensions. Exponential splines as basis functions are combined with Shishkin meshes to obtain a stable parameter-uniform…
In this paper, the theory of smooth action-dependent Lagrangian mechanics (also known as contact Lagrangians) is extended to a non-smooth context appropriate for collision problems. In particular, we develop a Herglotz variational principle…
In this work we present an adaptive Newton-type method to solve nonlinear constrained optimization problems in which the constraint is a system of partial differential equations discretized by the finite element method. The adaptive…