Related papers: A priori error for unilateral contact problems wit…
The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rigid body are to be estimated simultaneously with the help of…
This paper represents a sequel to the previous one, where numerical solution of a quasistatic contact problem is considered for an elastic body in frictional contact with a moving foundation. The model takes into account wear of the contact…
Numerical simulation of fracture contact poromechanics is essential for various applications, including CO2 sequestration, geothermal energy production and underground gas storage. Modeling this problem accurately presents significant…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
In this work, an efficient and robust isogeometric three-dimensional solid-beam finite element is developed for large deformations and finite rotations with merely displacements as degrees of freedom. The finite strain theory and…
The large-deformation mechanics and multiphysics of continuous or fracturing partially saturated porous media under static and dynamic loads are significant in engineering and science. This article is devoted to a computational coupled…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
We improve the residual based stabilization technique for Signorini contact problems with Tresca friction in linear elasticity solved with $hp$-mixed BEM which has been recently analyzed by Banz et al.~in Numer.~Math.~135 (2017)…
We investigate degenerate saddle point problems, which can be viewed as limit cases of standard mixed formulations of symmetric problems with large jumps in coefficients. We prove that they are well-posed in a standard norm despite the…
This paper revisits the fundamental equations for the solution of the frictionless unilateral normal contact problem between a rough rigid surface and a linear elastic half-plane using the boundary element method (BEM). After recasting the…
A special class of mixed-symmetry type tensor gauge fields of degrees two and three in four dimensions is investigated from the perspective of the Lagrangian deformation procedure based on cohomological BRST techniques. It is shown that the…
For elliptic interface problems in two- and three-dimensions, this paper establishes a priori error estimates for Crouzeix-Raviart nonconforming, Raviart-Thomas mixed, and discontinuous Galerkin finite element approximations. These…
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in automatic differentiation to develop a general-purpose…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
This paper derives a posteriori error estimates for the mixed numerical approximation of the Laplace eigenvalue problem with homogeneous Dirichlet boundary conditions. In particular, the resulting error estimator constitutes an upper bound…
For Kichhoff-Love shell problems a new mixed formulation solely based on standard $H^1$ spaces is presented. This allows for flexibility in the construction of discretization spaces, e.g., standard $C^0$-coupling of multi-patch isogeometric…
In this article, we discuss the numerical solution of diffusion equations on random surfaces within the isogeometric framework. We describe in detail, how diffusion problems on random surfaces can be modelled and how quantities of interest…
We present functional-type a posteriori error estimates in isogeometric analysis. These estimates, derived on functional grounds, provide guaranteed and sharp upper bounds of the exact error in the energy norm. {Moreover, since these…
Shells are ubiquitous thin structures that can undergo large nonlinear elastic deformations while exhibiting combined modes of bending and stretching, and have profound modern applications. In this paper, we have proposed a new Isogeometric…
We present an indirect higher order boundary element method utilising NURBS mappings for exact geometry representation and an interpolation-based fast multipole method for compression and reduction of computational complexity, to counteract…