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We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and generalizes two ideas: a bed of springs (an "elastic…

Computational Engineering, Finance, and Science · Computer Science 2019-08-07 Ryan Elandt , Evan Drumwright , Michael Sherman , Andy Ruina

We report on normal contact and friction measurements of model multicontact interfaces formed between smooth surfaces and substrates textured with a statistical distribution of spherical micro-asperities. Contacts are either formed between…

Soft Condensed Matter · Physics 2017-01-06 S. Yashima , V. Romero , E. Wandersman , C. Frétigny , M. K. Chaudhury , A. Chateauminois , A. M. Prevost

Contacts between particles in dense, sheared suspensions are believed to underpin much of their rheology. Roughness and adhesion are known to constrain the relative motion of particles, and thus globally affect the shear response, but an…

The contact angle of a liquid drop on a rigid surface is determined by the classical theory of Young-Laplace. For chemically homogeneous surfaces, this angle is a constant. We study the minimal-energy configurations of liquid drops on rough…

Mathematical Physics · Physics 2017-08-03 Gershon Wolansky

We present a field theoretic model for friction, where the friction coefficient between two surfaces may be calculated based on elastic properties of the surfaces. We assume that the geometry of contact surface is not unusual. We verify…

Soft Condensed Matter · Physics 2013-08-15 I. Mahyaeh , S. Rouhani

We present a new approach for the mechanically consistent modelling and simulation of fluid-structure interactions with contact. The fundamental idea consists of combining a relaxed contact formulation with the modelling of seepage through…

Numerical Analysis · Mathematics 2022-03-02 Erik Burman , Miguel A. Fernández , Stefan Frei , Fannie M. Gerosa

At the molecular scale there are strong attractive interactions between surfaces, yet few macroscopic surfaces are sticky. Extensive simulations of contact by adhesive surfaces with roughness on nanometer to micrometer scales are used to…

Materials Science · Physics 2014-03-05 Lars Pastewka , Mark O. Robbins

In this paper, we propose an efficient numerical treatment for solving contact problems with friction between deformable bodies. The discretized normal and tangential constraints at the candidate contact interface are expressed by using…

Numerical Analysis · Mathematics 2007-05-23 Laurent Baillet , Taoufik Sassi

We study experimentally and theoretically the equilibrium adhesive contact between a smooth glass lens and a rough rubber surface textured with spherical microasperities with controlled height and spatial distributions. Measurements of the…

Soft Condensed Matter · Physics 2019-03-26 Vito Acito , Michele Ciavarella , Alexis M Prevost , Antoine Chateauminois

We study the flow close to an advancing contact line in the limit of small capillary number. To take into account wetting effects, both long and short-ranged contributions to the disjoining pressure are taken into account. In front of the…

Fluid Dynamics · Physics 2009-11-11 Jens Eggers

We present a picture of Lagrangean mechanics, free of some unnatural features (such as complete divergences). As a byproduct, a completely natural U(1)-bundle over the phase space appears. The correspondence between classical and quantum…

Mathematical Physics · Physics 2008-11-06 Pavol Severa

We revisit the classic problem of an elastic solid with a two-dimensional wavy surface squeezed against an elastic flat half-space from infinitesimal to full contact. Through extensive numerical calculations and analytic derivations, we…

Classical Physics · Physics 2014-09-23 Vladislav A. Yastrebov , Guillaume Anciaux Jean-Francois Molinari

This article's main scope is the presentation of a computational method for the simulation of contact problems within the finite element method involving complex and rough surfaces. The approach relies on the MPJR (eMbedded Profile for…

Soft Condensed Matter · Physics 2025-04-03 Jacopo Bonari , Marco Paggi , Daniele Dini

The understanding of the spreading of liquids on solid surfaces is an important challenge for contemporary physics. Today, the motion of the contact line formed at the intersection of two immiscible fluids and a solid is still subject to…

Classical Physics · Physics 2009-11-13 Henri Gouin

The significance of wettability between solid and liquid substances in different fields encourages scientists to develop accurate models to estimate the resultant apparent contact angles. Surface free energy (SFE), which is principally…

Chemical Physics · Physics 2026-02-02 Majid Shaker , Erfan Salahinejad

We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…

Robotics · Computer Science 2025-09-18 Wei-Chen Li , Glen Chou

Disorder and long-range interactions are two of the key components that make material failure an interesting playfield for the application of statistical mechanics. The cornerstone in this respect has been lattice models of the fracture in…

Statistical Mechanics · Physics 2009-11-11 Mikko J. Alava , Phani K. V. V. Nukala , Stefano Zapperi

Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…

Soft Condensed Matter · Physics 2025-11-12 Qian Wang , Suhaib Ardah , Tom Reddyhoff , Daniele Dini

Humanoid robots locomote by making and breaking contacts with their environment. A crucial problem is therefore to find precise criteria for a given contact to remain stable or to break. For rigid surface contacts, the most general…

Robotics · Computer Science 2015-01-21 Stéphane Caron , Quang-Cuong Pham , Yoshihiko Nakamura

The complicated dynamics of the contact line of a moving droplet on a solid substrate often hamper the efficient modeling of microfluidic systems. In particular, the selection of the effective boundary conditions, specifying the contact…

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