Related papers: An Efficient Contact Algorithm for Rigid/Deformabl…
The objective of this work is the development of a novel finite element formulation describing the contact interaction of slender beams in complex 3D configurations involving arbitrary beam-to-beam orientations. It is shown in a…
The third medium contact method has recently come into popularity as an alternative to traditional contact methods in contexts where search for contact boundaries is problematic, i.e. topology optimization. To enforce the contact…
A novel probabilistic approach for the design of mechanical structures with friction interfaces is proposed. The objective function is defined as the probability that a specified performance measure of the forced vibration response is…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
This thesis deals with shape optimization for contact mechanics. More specifically, the linear elasticity model is considered under the small deformations hypothesis, and the elastic body is assumed to be in contact (sliding or with Tresca…
In this paper, we continue the development of the Direct Meshless Local Petrov-Galerkin (DMLPG) method for elasto-static problems. This method is based on the generalized moving least squares approximation. The computational efficiency is…
A novel implementation of the traditional node-to-node Coulomb contact-friction problem is presented that utilizes run-time parameter updates on conventional elasto-plastic elements. The two-noded elements are defined by an independent…
We introduce a varying-order (VO) NURBS discretization method to enhance the performance of the IGA technique for three-dimensional large deformation frictional contact problems. Based on the promising results obtained with the previous…
In this paper, we study, from both variational and numerical points of view, a dynamic contact problem between a viscoelastic-viscoplastic piezoelectric body and a deformable obstacle. The contact is modelled using the classical normal…
For one-dimensional systems with delta-contact interactions, the convergence of the exact-diagonalization method is tested with a basis of harmonic oscillator eigenfunctions with frequency $\Omega$ optimized through the minimization of the…
We present a parallel-scalable method for simulating non-dilute suspensions of deformable particles immersed in Stokesian fluid in three dimensions. A critical component in these simulations is robust and accurate collision handling. This…
We utilize an effective field theory approach to calculate Casimir interactions between objects bound to thermally fluctuating fluid surfaces or interfaces. This approach circumvents the complicated constraints imposed by such objects on…
We show quasi-optimality and a posteriori error estimates for the frictionless contact problem between two elastic bodies with a zero-gap function. The analysis is based on interpreting Nitsche's method as a stabilised finite element method…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
We consider the problem of matching two shapes assuming these shapes are related by an elastic deformation. Using linearized elasticity theory and the finite element method we seek an elastic deformation that is caused by simple external…
The discontinuous Petrov-Galerkin method is a minimal residual method with broken test spaces and is introduced for a nonlinear model problem in this paper. Its lowest-order version applies to a nonlinear uniformly convex model example and…
This paper is concerned with the partitioned iterative formulation to simulate the fluid-structure interaction of a nonlinear multibody system in an incompressible turbulent flow. The proposed formulation relies on a three-dimensional (3D)…
This article studies a boundary element method for dynamic frictional contact between linearly elastic bodies. We formulate these problems as a variational inequality on the boundary, involving the elastodynamic Poincar\'{e}-Steklov…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…