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This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have particularly useful applications in robotic locomotion and…

Robotics · Computer Science 2015-04-06 Evan Drumwright

In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…

Robotics · Computer Science 2024-10-21 Zeshun Zong , Chenfanfu Jiang , Xuchen Han

A fractured poroelastic body is considered where the opening of the fractures is governed by a nonpenetration law while slip is described by a Coulomb-type friction law. This physical model results in a nonlinear variational inequality…

Numerical Analysis · Mathematics 2019-08-26 Runar L. Berge , Inga Berre , Eirik Keilegavlen , Jan M. Nordbotten , Barbara Wohlmuth

A finite element method for elliptic problems with discontinuous coefficients is presented. The discontinuity is assumed to take place along a closed smooth curve. The proposed method allows to deal with meshes that are not adapted to the…

Numerical Analysis · Mathematics 2007-07-12 Gunther H. Peichl , Rachid Touzani

We formulate the quasi-static elastic contact problem with Coulomb friction in a very general setting, with possible jumps in time for both the load and the solution. Exploiting ideas originating in our recent paper [4], we exhibit an…

Analysis of PDEs · Mathematics 2025-08-08 Patrick Ballard , Flaviana Iurlano

The quasistatic normal-compliance contact problem of isotropic homogeneous linear visco-elastic bodies with Coulomb friction at small strains in Kelvin-Voigt rheology is considered. The discretization is made by a semi-implicit formula in…

Numerical Analysis · Mathematics 2016-12-14 Roman Vodička , Vladislav Mantič , Tomáš Roubíček

An introductory exposition of the virtual element method (VEM) is provided. The intent is to make this method more accessible to those unfamiliar with VEM. Familiarity with the finite element method for solving 2D linear elasticity problems…

Numerical Analysis · Mathematics 2023-09-25 L. L. Yaw

This work presents a concise theoretical and computational framework for the finite element formulation of frictional contact problems with arbitrarily large deformation and sliding. The aim of this work is to extend the contact theory…

Computational Engineering, Finance, and Science · Computer Science 2019-04-03 Thang X. Duong , Roger A. Sauer

In this paper, we discuss the second-order finite element method (FEM) and finite difference method (FDM) for numerically solving elliptic cross-interface problems characterized by vertical and horizontal straight lines, piecewise constant…

Numerical Analysis · Mathematics 2024-11-04 Qiwei Feng

Finite element methods are used to study non-adhesive, frictionless contact between elastic solids with self-affine surfaces. We find that the total contact area rises linearly with load at small loads. The mean pressure in the contact…

Materials Science · Physics 2009-11-10 S. Hyun , L. Pei , J. -F. Molinari , M. O. Robbins

This work proposes a novel model and numerical formulation for lubricated contact problems describing the mutual interaction between two deformable 3D solid bodies and an interposed fluid film. The solid bodies are consistently described…

Computational Engineering, Finance, and Science · Computer Science 2022-01-05 Mostafa Faraji , Alexander Seitz , Christoph Meier , Wolfgang A. Wall

In this paper we present a finite element method (FEM) for two-phase incompressible flows with moving contact lines. We use a sharp interface Navier-Stokes model for the bulk phase fluid dynamics. Surface tension forces, including Marangoni…

Fluid Dynamics · Physics 2015-10-13 A. Reusken , X. Xu , L. Zhang

We describe in this work the numerical treatment of the Filament Based Lamellipodium Model (FBLM). The model itself is a two-phase two-dimensional continuum model, describing the dynamics of two interacting families of locally parallel…

Cell Behavior · Quantitative Biology 2015-05-19 A. Manhart , D. Oelz , C. Schmeiser , N. Sfakianakis

This paper studies a model of two-phase flow with an immersed material viscous interface and a finite element method for numerical solution of the resulting system of PDEs. The interaction between the bulk and surface media is characterized…

Numerical Analysis · Mathematics 2021-06-08 Maxim Olshanskii , Annalisa Quaini , Qi Sun

We consider two methods for treating elastic contact problems with the finite element method; the penalty method and Nitsche's method. For the penalty method we discuss how the penalty parameter should be chosen. Both the theoretical…

Numerical Analysis · Mathematics 2025-05-29 Tom Gustafsson , Rolf Stenberg

We present an efficient and robust numerical algorithm for solving the two-dimensional linear elasticity problem that combines the Quantized Tensor Train format and a domain partitioning strategy. This approach makes it possible to solve…

Numerical Analysis · Mathematics 2025-01-15 Elena Benvenuti , Gianmarco Manzini , Marco Nale , Simone Pizzolato

An extension to the interface finite element with eMbedded Profile for Joint Roughness (MPJR interface finite element) is herein proposed for solving the frictional contact problem between a rigid indenter of any complex shape and an…

Soft Condensed Matter · Physics 2025-04-03 Jacopo Bonari , Marco Paggi , José Reinoso

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…

Computational Engineering, Finance, and Science · Computer Science 2022-06-24 Alejandro Castro , Frank Permenter , Xuchen Han

In this paper we propose a new method to stabilise non-symmetric indefinite problems. The idea is to solve a forward and an adjoint problem simultaneously using a suitable stabilised finite element method. Both stabilisation of the element…

Numerical Analysis · Mathematics 2013-08-05 Erik Burman

An equilibrium of a linear elastic body subject to loading and satisfying the friction and contact conditions can be described by a variational inequality of the second kind and the respective discrete model attains the form of a…

Optimization and Control · Mathematics 2021-03-04 Helmut Gfrerer , Jiri V. Outrata , Jan Valdman