Related papers: The contact dynamics method for granular media
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Contact-based vibrations play a critical role in the dynamics of granular materials. Significant insights into vibrational granular dynamics have been obtained with reduced-dimensional systems containing macroscale particles. We study…
Granular media surround us, comprising everything from the ground we walk on to the foods we eat. Owing to their ubiquity our ability to understand and predict the mechanical evolution of grains is not only of key scientific importance, but…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
We present a numerical method to deal efficiently with large numbers of particles in incompressible fluids. The interactions between particles and fluid are taken into account by a physically motivated ansatz based on locally defined drag…
Here we theoretically and computationally study the frequency dependence of phase speed and attenuation for marine sediments from the perspective of granular mechanics. We leverage recent theoretical insights from the granular physics…
Flexible slender structures such as rods, ribbons, plates, and shells exhibit extreme nonlinear responses bending, twisting, buckling, wrinkling, and self contact, that defy conventional simulation frameworks. Discrete Differential Geometry…
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…
A granular system composed of frictional glass beads is simulated using the Discrete Element Method. The inter-grain forces are based on the Hertz contact law in the normal direction with frictional tangential force. The damping due to…
For a wide range of applications, we need DEM simulations of granular matter in contact with flexible elastic boundaries. We present a novel method to describe the interaction between granular particles and a flexible elastic membrane.…
We present a Discrete Element Method algorithm for the simulation of elastic fibers in frictional contacts. The fibers are modeled as chains of cylindrical segments connected to each other by springs taking into account elongation, bending…
This paper is devoted to a study of time-dependent hemivariational inequality. We prove existence and uniqueness of its solution, provide fully discrete scheme and reformulate this scheme as a series of nonsmooth optimization problems. This…
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenetration contact, and friction in real-time simulations…
We present a new approach for the mechanically consistent modelling and simulation of fluid-structure interactions with contact. The fundamental idea consists of combining a relaxed contact formulation with the modelling of seepage through…
When two solids are squeezed together they will in general not make atomic contact everywhere within the nominal (or apparent) contact area. This fact has huge practical implications and must be considered in many technological…
The accurate and efficient modeling of granular flows and their interactions with external bodies is an open research problem. Continuum methods can be used to capture complexities neglected by terramechanics models without the…
In this work we developed a new problem solution methodology of contact interaction of acoustic medium with resilient finite bodies of cylindrical form, based on application of boundary integral equations method in conjunction with series…
We present a simple and efficient method to simulate three-dimensional, complex-shaped, interacting bodies. The particle shape is represented by Minkowski operators. A time-continuous interaction between these bodies is derived using simple…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
Many functional materials, such as paints and inks used in applications like coating and 3D printing, are concentrated granular suspensions. In such systems, the contact line dynamics and the internal structure of the suspension interact…