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This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
Soft lubricated contacts exhibit complex interfacial behaviours governed by the coupled effects of multiscale surface roughness and non-linear fluid-solid interactions. Accurately capturing this interplay across thin-film flows is…
The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…
Soft elastic sheets resting on rigid surfaces develop wrinkles, rucks, and folds due to the combined influence of elasticity, gravity, and contact interactions. Despite their ubiquity, the principles governing their morphology and…
A huge number of technological and biological systems involves the lubricated contact between rough surfaces of soft solids in relative accelerated motion. Examples include dynamical rubber seals and the human joints. In this study we…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
This work proposes a novel model and numerical formulation for lubricated contact problems describing the mutual interaction between two deformable 3D solid bodies and an interposed fluid film. The solid bodies are consistently described…
We analyse a mechanical system in two-dimensional relative motion with friction. Although the system is simple, the peculiar interplay between two kinetic friction forces and gravity leads to the wide range of admissible solutions exceeding…
This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have particularly useful applications in robotic locomotion and…
Brownian motion near soft surfaces is a situation widely encountered in nanoscale and biological physics. However, a complete theoretical description is lacking to date. Here, we theoretically investigate the dynamics of a two-dimensional…
The complicated dynamics of the contact line of a moving droplet on a solid substrate often hamper the efficient modeling of microfluidic systems. In particular, the selection of the effective boundary conditions, specifying the contact…
The laws of friction are reasonably well understood for the case of blocks in contact with rough plane surfaces. However, as far as bodies with circular sections are concerned, the physics of friction becomes more involving and it is not…
We present a barrier method for treating frictional contact on interfaces embedded in finite elements. The barrier treatment has several attractive features, including: (i) it does not introduce any additional degrees of freedom or…
We study the mechanical contact between a deformable body with a wavy surface and a rigid flat taking into account pressurized fluid trapped in the interface. A finite element model is formulated for a general problem of trapped fluid for…
The ultra-low kinetic friction F_k of 2D structurally superlubric interfaces, connected with the fast motion of the incommensurate moir\'e pattern, is often invoked for its linear increase with velocity v_0 and area A, but never seriously…
The understanding of sliding friction for wet, patterned surfaces from first principles is challenging. While emerging applications have sought design principles from biology, a general framework is lacking because soft interfaces…
We present a model for the motion of hard spherical particles on a two dimensional surface. The model includes both the interaction between the particles via collisions, as well as the interaction of the particles with the substrate. We…
Using molecular dynamics (MD) we study the dependency of the contact mechanics on the sliding speed when an elastically soft slab (block) is sliding on a rigid substrate with a ${\rm sin} (q_0 x)$ surface height profile. The atoms on the…
Using an adiabatic approximation method, which searches for Tomlinson model-like instabilities for a simple but still realistic model for two crystalline surfaces in the extremely light contact limit, with mobile molecules present at the…
A mechanical model is introduced for predicting the initiation and evolution of complex fracture patterns without the need for a damage variable or law. The model, a continuum variant of Newton's second law, uses integral rather than…