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This paper addresses a class of nonsmooth and nonconvex optimization problems defined on complete Riemannian manifolds. The objective function has a composite structure, combining convex, differentiable, and lower semicontinuous terms,…
In this work, we analyse a simplified frictional contact problem and its variational formulation that has a form of the elliptic variational inequality of the second kind. For this problem, we consider a numerical approximation based on…
The purpose of this paper is to review and highlight some connections between the problem of nonlinear smoothing and optimal control of the Liouville equation. The latter has been an active area of recent research interest owing to work in…
We consider a nonlinear, nonhomogeneous Robin problem with an indefinite potential and a nonsmooth primitive in the reaction term. In fact, the right-hand side of the problem (reaction term) is the Clarke subdifferential of a locally…
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration,…
A new approach to the contact to coated elastic materials is presented. A relatively simple numerical algorithm based on an exact integral formulation of the elastic contact of an axisymmetric indenter to a coated substrate is detailed. It…
A simple, yet efficient procedure to solve quasistatic problems of special linear visco-elastic solids at small strains with equal rheological response in all tensorial components, utilizing boundary element method (BEM), is introduced.…
A homogeneous elastic solid, bounded by a flat surface in its unstressed configuration, undergoes a finite strain when in frictionless contact against a rigid and rectilinear constraint, ending with a rounded or sharp corner, in a…
We study the mechanical contact between a deformable body with a wavy surface and a rigid flat taking into account pressurized fluid trapped in the interface. A finite element model is formulated for a general problem of trapped fluid for…
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…
Stochastic composition optimization draws much attention recently and has been successful in many emerging applications of machine learning, statistical analysis, and reinforcement learning. In this paper, we focus on the composition…
In this paper, we discuss the problem of minimizing the sum of two convex functions: a smooth function plus a non-smooth function. Further, the smooth part can be expressed by the average of a large number of smooth component functions, and…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
In \cite{WWY}, the authors provided an implicit variational principle for the contact Hamilton's equations \begin{align*} \left\{ \begin{array}{l} \dot{x}=\frac{\partial H}{\partial p}(x,u,p),\\ \dot{p}=-\frac{\partial H}{\partial…
In this article, we derive a model for a shell that is frictionally coupled to an elastic foundation. We use Kikuchi and Oden's model for Coulomb's law of static friction to derive a displacement-based static-friction law for a shell on an…
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…
We propose several new nonsmooth Newton methods for solving convex composite optimization problems with polyhedral regularizers, while avoiding the computation of complicated second-order information on these functions. Under the…
Modeling of frictional contacts is crucial for investigating mechanical performances of composite materials under varying service environments. The paper considers a linear elasticity system with strongly heterogeneous coefficients and…
Contact problems with Coulomb friction in linear elasticity are notoriously difficult and their mathematical analysis is still largely incomplete. In this paper, a model problem with heterogeneous friction coefficient is considered in…
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).…