Related papers: Midplane based 3D single pass unbiased segment-to-…
The paper presents two-scale numerical algorithms for stress-strain analysis of porous media featured by self-contact at pore level. The porosity is constituted as a periodic lattice generated by a representative cell consisting of elastic…
3D printing of surfaces has become an established method for prototyping and visualisation. However, surfaces often contain certain degenerations, such as self-intersecting faces or non-manifold parts, which pose problems in obtaining a 3D…
Robot grasping with deformable gripper jaws results in nonplanar surface contacts if the jaws deform to the nonplanar local geometry of an object. The frictional force and torque that can be transmitted through a nonplanar surface contact…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
A three-dimensional unilateral contact problem for articular cartilage layers attached to subchondral bones shaped as elliptic paraboloids is considered in the framework of the biphasic cartilage model. The main novelty of the study is in…
The design of contact interfaces that meet quantitatively a specified friction law (friction force vs normal force) is challenging due to the multi-scale and multi-physics nature of contact interactions. Recently, a concept was proposed to…
The U-shape structure has shown its advantage in salient object detection for efficiently combining multi-scale features. However, most existing U-shape based methods focused on improving the bottom-up and top-down pathways while ignoring…
The geometric motion of small droplets placed on an impermeable textured substrate is mainly driven by the capillary effect, the competition among surface tensions of three phases at the moving contact lines, and the impermeable substrate…
A phase-field approach is proposed for interface failure between two possibly dissimilar materials. The discrete adhesive interface is regularised over a finite width. Due to the use of a regularised crack model for the bulk material, an…
We introduce an approximate model for predicting the net contact wrench between nominally rigid objects for use in simulation, control, and state estimation. The model combines and generalizes two ideas: a bed of springs (an "elastic…
Continuous collision detection (CCD) and response methods are widely adopted in dynamics simulation of deformable models. They are history-based, as their success is strictly based on an assumption of a collision-free state at the start of…
We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects in a 3D point cloud directly. Current methods for 3D instance segmentation are generally…
We propose a sharp and conservative 3D numerical method for simulating moving contact lines on complex geometries, developed within a coupled geometric Volume-of-Fluid (VOF) and embedded boundary framework. The first major contribution is a…
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
This work presents a comprehensive three-dimensional third-medium contact framework for modeling complex contact interactions in hyperelastic solids and pneumatically actuated systems. The proposed third-medium formulation embeds a…
This work presents a concise theoretical and computational framework for the finite element formulation of frictional contact problems with arbitrarily large deformation and sliding. The aim of this work is to extend the contact theory…
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine…