相关论文: Large-Dimensional Multibody Dynamics Simulation Us…
Learning from Demonstration (LfD) is a promising approach to enable Multi-Robot Systems (MRS) to acquire complex skills and behaviors. However, the intricate interactions and coordination challenges in MRS pose significant hurdles for…
In order to solve the fluid-structure interaction problem of Newtonian fluid, a fluid-structure interaction approach is proposed based on Non-ordinary State-based Peridynamics (NOSB-PD) and Updated Lagrangian particle Hydrodynamics (ULPH),…
Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…
We propose an efficient numerical method for the simulation of multi-phase flows with moving contact lines in three dimensions. The mathematical model consists of the incompressible Navier-Stokes equations for the two immiscible fluids with…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
The large-deformation mechanics and multiphysics of continuous or fracturing partially saturated porous media under static and dynamic loads are significant in engineering and science. This article is devoted to a computational coupled…
Existing video frame interpolation (VFI) methods often adopt a frame-centric approach, processing videos as independent short segments (e.g., triplets), which leads to temporal inconsistencies and motion artifacts. To overcome this, we…
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…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
The conventional no-slip boundary condition leads to a non-integrable stress singularity at a moving contact line. This makes numerical simulations challenging, especially when capillary effects are essential for the dynamics of the flow.…
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physics of contact, and together with Coulomb friction, lead to…
Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…
In this paper we show and discuss the use of a versatile interaction potential approach coupled with an immersed boundary method to simulate a variety of flows involving deformable bodies. In particular, we focus on two kinds of problems,…
We present novel coupling schemes for partitioned multi-physics simulation that combine four important aspects for strongly coupled problems: implicit coupling per time step, fast and robust acceleration of the corresponding iterative…
Three-phase multiphase flows are found in an extraordinarily large number of applications. Often those involve a liquid phase and a gas phase in addition to a third phase that consists of either liquid drops or solid particles, suspended in…
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…