Related papers: A dynamic implicit 3D material point-to-rigid body…
Visuotactile sensing technology has received much attention in recent years. This article proposes a feature detection method applicable to visuotactile sensors based on continuous marker patterns (CMP) to measure 3-d deformation. First, we…
Shape is an important physical property of natural and manmade 3D objects that characterizes their external appearances. Understanding differences between shapes and modeling the variability within and across shape classes, hereinafter…
Numerical methods are extremely useful in gaining insights into the behaviour of reinforced soil retaining walls. However, traditional numerical approaches such as limit equilibrium or finite element methods are unable to simulate large…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
A three-dimensional simulation model is proposed here to study the erosive wear of structure caused by solid particles, which accounts for the accumulation of surface deformation and degradation during the erosion process. Although there…
We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the…
Contemporary material characterisation techniques that leverage deformation fields and the weak form of the equilibrium equations face challenges in the numerical solution procedure of the inverse characterisation problem. As material…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
Experimental investigations of surface forces generally involve two solid bodies of simple and well-defined geometry interacting across a medium. Direct measurement of their surface interaction can be interpreted to reveal fundamental…
We present non-convex maximal dissipation principle (NMDP), a time integration scheme for articulated bodies with simultaneous contacts. Our scheme resolves contact forces via the maximal dissipation principle (MDP). Prior MDP solvers…
In this paper, we study an interaction problem between a $3D$ compressible viscous fluid and a $3D$ nonlinear viscoelastic solid fully immersed in the fluid, coupled together on the interface surface. The solid is allowed to have…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
In this paper, we describe a soil-fluid-structure interaction model that combines soil mechanics (saturated sediments), fluid mechanics (seawater or air), and solid mechanics (structures). The formulation combines the Material Point Method,…
We address the challenge of learning to manipulate deformable objects with unknown dynamics. In non-rigid objects, the dynamics parameters define how they react to interactions -- how they stretch, bend, compress, and move -- and they are…
Understanding contact between rough surfaces undergoing plastic deformation is crucial in many applications. We test Persson's multiscale contact mechanics theory for elastoplastic solids, assuming a constant penetration hardness. Using a…
Deep learning and the collocation method are merged and used to solve partial differential equations describing structures' deformation. We have considered different types of materials: linear elasticity, hyperelasticity (neo-Hookean) with…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
We present an unsupervised data-driven approach for non-rigid shape matching. Shape matching identifies correspondences between two shapes and is a fundamental step in many computer vision and graphics applications. Our approach is designed…