Related papers: A collision model for very flexible Cosserat rods …
Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod Theory has emerged as a prominent framework for modeling…
The design of structures and vehicles subject to fluid-structure interaction (FSI) often requires high-fidelity coupled analysis. While the design variables pertain to the structure, the computational cost is dominated by the fluid solver,…
We present a new composite mesh finite element method for fluid--structure interaction problems. The method is based on surrounding the structure by a boundary-fitted fluid mesh which is embedded into a fixed background fluid mesh. The…
A key challenge in 3D finite element models of coupled railway vehicle-bridge dynamics is the rigorous definition of kinematic constraints and the development of an efficient, robust solution. This paper presents a novel approach that can…
We report (semi-)analytical solutions of a problem involving a visco-hyperelastic solid material layer sandwiched between two fluid layers, in turn confined by two long planar walls that undergo oscillatory motion. The resulting system…
An immersed boundary method for the fluid--structure--thermal interaction in rarefied gas flow is presented. In this method, the slip model is incorporated with the penalty immersed boundary method to address the velocity and temperature…
In this paper, we model the configurations of a system of hard rods by viewing each rod in a cell formed by its neighbors. By minimizing the free energy in the model and performing molecular dynamics, where, in both cases, the shape of the…
The phase behavior of rodlike molecules with polydisperse length and solvent-mediated attraction and repulsion is described by an extension of the Onsager theory for rigid rods. A phenomenological square-well potential is used to model…
We consider a rigid body freely moving in a compressible inviscid fluid within a bounded domain $\Omega\subset\mathbb{R}^3$. The fluid is thereby governed by the non necessarily isentropic compressible Euler equations, while the rigid body…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
We address the existence and of solutions for the Euler-plate free-boundary system modeling an interaction of a three-dimensional inviscid fluid and an evolving plate. We prove the local existence and uniqueness of solutions for initial…
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…
This paper sums up some recent validations of an immersed boundary method for compressible flow simulations. It has been already shown that this method is able to provide accurate results without meshing effort around more or less complex…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
Based on a Lie symmetry analysis, we construct a closed form solution to the kinematic part of the (partial differential) Cosserat equations describing the mechanical behavior of elastic rods. The solution depends on two arbitrary…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…
We consider a recently introduced geometrically nonlinear elastic Cosserat shell model incorporating effects up to order $O(h^5)$ in the shell thickness $h$. We develop the corresponding geometrically nonlinear constrained Cosserat shell…
We examine the performance of various commonly used integration schemes in dissipative particle dynamics simulations. We consider this issue using three different model systems, which characterize a variety of different conditions often…
Mechanical instabilities can be exploited to design innovative structures, able to change their shape in the presence of external stimuli. In this work, we derive a mathematical model of an elastic beam subjected to an axial force and…