Related papers: Exponential Decay of Contact-patch Friction Steeri…
In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure distribution can be equivalently modeled as the contact…
The most direct measurement of adhesion is the pull-off force, i.e. the tensile force necessary to separate two solids in contact. For a given interface, it depends on various experimental parameters, including separation speed, contact age…
The contact process is a non-equilibrium Hamiltonian model that, even in one dimension, lacks an exact solution and has been extensively studied via Monte Carlo simulations, both in steady-state and time-dependent scenarios. Although the…
Friction and fault surface evolution are critical aspects in earthquake studies. We present the preliminary result from a novel experimental approach that combines rotary shear testing with X-ray micro-computed tomography (${\mu}$CT)…
We investigate the velocity dependence of kinetic friction with a model which makes minimal assumptions on the actual mechanism of friction so that it can be applied at many scales provided the system involves multi-contact friction. Using…
This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…
In this paper, numerical estimation of frictional torques is carried out of a rotary elastic disc on a hard and rough surface under different rotating conditions. A one dimensional spring- mass rotary system is numerically solved under the…
Numerical and analytical methods are developed for the investigation of contact sets in electrostatic-elastic deflections modeling micro-electro mechanical systems. The model for the membrane deflection is a fourth-order semi-linear partial…
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate…
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…
Contact mechanics-based models for the friction of nominally flat rough surfaces have not been able to adequately capture certain key experimentally observed phenomenona, such as the transition from a static friction peak to a lower level…
The force transmitted from the front tires and tie rods to the steering rack of a vehicle, called the rack force, significantly influences the torque experienced by a driver at the steering wheel. As a result, estimates of rack force are…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Modeling contact between deformable solids is a fundamental problem in computer animation, mechanical design, and robotics. Existing methods based on $C^0$-discretizations -- piece-wise linear or polynomial surfaces -- suffer from…
It is common to utilise dynamic models to measure the tyre-road friction in real-time. Alternatively, predictive approaches estimate the tyre-road friction by identifying the environmental factors affecting it. This work aims to formulate…
The rolling resistance between a pair of contacting particles can be modeled with two mechanisms. The first mechanism, already widely addressed in the DEM literature, involves a contact moment between the particles. The second mechanism…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
This paper provides a general framework for efficiently obtaining the appropriate intervention time for collision avoidance systems to just avoid a rear-end crash. The proposed framework incorporates a driver comfort model and a vehicle…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
We consider a liquid drop placed on a smooth homogeneous solid substrate as it spreads from rest to its eventual equilibrium state. The problem is studied numerically in the framework of a model where the contact angle formed by the drop's…