Related papers: An Efficient Contact Algorithm for Rigid/Deformabl…
Nonlinear systems and interaction forces are pervasive in many scientific fields, such as nanoscale metrology and materials science, but their accurate identification is challenging due to their complex behaviour and inaccessibility of…
Accurate frictional contact is critical in simulating the assembly of rod-like structures in the practical world, such as knots, hairs, flagella, and more. Due to their high geometric nonlinearity and elasticity, rod-on-rod contact remains…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
This article introduces a new primal-dual weak Galerkin (PDWG) finite element method for second order elliptic interface problems with ultra-low regularity assumptions on the exact solution and the interface and boundary data. It is proved…
Numerical simulations are crucial for comprehending how engineering structures behave under extreme conditions, particularly when dealing with thermo-mechanically coupled issues compounded by damage-induced material softening. However, such…
This article proposes a boundary element method for the dynamic contact between a linearly elastic body and a rigid obstacle. The Signorini contact problem is formulated as a variational inequality for the Poincar\'{e}-Steklov operator for…
The contact formalism, a useful tool for analyzing short-range correlations, is generalized here for systems with coupled channels, such as in nuclear physics. The relevant asymptotic form is presented and contact matrices are defined.…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
We propose in this paper a Proper Generalized Decomposition (PGD) solver for reduced-order modeling of linear elastodynamic problems. It primarily focuses on enhancing the computational efficiency of a previously introduced PGD solver based…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
We are concerned with the numerical solution of a unified first order hyperbolic formulation of continuum mechanics that originates from the work of Godunov, Peshkov and Romenski (GPR model) and which is an extension of nonlinear…
This work outlines a new multi-physics-compatible immersed rigid body method for Eulerian finite-volume simulations. To achieve this, rigid bodies are represented as a diffuse scalar field and an interface seeding method is employed to…
This work represents the first endeavor in using ultraweak formulations to implement high-order polygonal finite element methods via the discontinuous Petrov-Galerkin (DPG) methodology. Ultraweak variational formulations are nonstandard in…
This work presents a high-order finite-difference adaptive mesh refinement (AMR) framework for robust simulation of shock-turbulence interaction problems. A staggered-grid arrangement, in which solution points are stored at cell centers…
Inhomogeneity and anisotropy play a crucial role in attributing articular cartilage its properties. The frictionless contact model constructed here consists in two thin biphasic transversely isotropic transversely homogeneous (TITH)…
In this paper, we propose a descent method for composite optimization problems with linear operators. Specifically, we first design a structure-exploiting preconditioner tailored to the linear operator so that the resulting preconditioned…
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
In this work, we design and analyze a Discrete de Rham (DDR) scheme for a contact mechanics problem involving fractures along which a model of Tresca friction is considered. Our approach is based on a mixed formulation involving a…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…