相关论文: A General and Robust 3D Finite Element Dynamics Fr…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

It was recently argued that one-dimensional systems of several strongly interacting fermions of different mass undergo critical transitions between different spatial orderings when the external confinement adiabatically changes its shape.…

This paper investigates finite-element modeling of a vertically damped free-standing rocking column. The paper first derives the nonlinear equation of motion for the coupled system and then compares the analytical solution with…

In many cases, beam to column connections in structural frames are semi rigid, but they are considered to be ideally rigid or pinned due to their computational complexity and shortage of designing methods. In this paper, connections are…

This work provides an efficient virtual element scheme for the modeling of nonlinear elastodynamics undergoing large deformations. The virtual element method (VEM) has been applied to various engineering problems such as elasto-plasticity,…

In this article, we present an extension of the formulation recently developed by the authors (A Framework for Data-Driven Computational Mechanics Based on Nonlinear Optimization, arXiv:1910.12736 [math.NA]) to the structural dynamics…

This paper investigates the stability and stabilization of semilinear single-track vehicle models with distributed tire friction dynamics, modeled as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…

As inelastic structures are ubiquitous in many engineering fields, a central task in computational mechanics is to develop accurate, robust and efficient tools for their analysis. Motivated by the poor performances exhibited by standard…

This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…

In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…

This paper presents a numerically exact cable finite element model for static nonlinear analysis of cable structures. The model derives the exact expression of the tension field using the geometrically exact beam theory coupled with the…

Mechanical contact between solids is almost exclusively modeled in Lagrangian frameworks. While these frameworks have been developed extensively and applied successfully to numerous contact problems, they generally require complex…

Thin beams made of magnetorheological elastomers embedded with hard magnetic particles (hard-MREs) are capable of large deflections under an applied magnetic field. We propose a comprehensive framework, comprising a beam model and 3D finite…

The paper presents a constraint-based collision model for Cosserat rods, able to handle dynamic or static contact between a large number of highly flexible structures. The model provides the required collision impulses prior to updating the…

We evaluate a number of different finite element approaches for fluid-structure (contact) interaction problems against data from physical experiments. For this we take the data from experiments by Hagemeier [Mendeley Data, doi:…

In the analysis of composite materials with heterogeneous microstructures, full resolution of the heterogeneities using classical numerical approaches can be computationally prohibitive. This paper presents a micromechanics-enhanced finite…

We present a formalism for constructing schematic diagrams to depict chaotic three-body interactions in Newtonian gravity. This is done by decomposing each interaction in to a series of discrete transformations in energy- and angular…

In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…

This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…