A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is requi...

We present an interface between a deformable body mechanics model and a rigid body mechanics model. What is novel with our approach is that the physical representation in both the models is the same, which ensures behavioral correctness and allows great flexibility. We use a massspring representation extended with the concept of volume, and thus contact and collision. All physical interaction o...

Using a micropolarographic system, we measured the responses of six human corneas to nine oxygen exposure conditions: to air (continuous open-eye) with no contact lens in place, and to eight interblink intervals (1, 2, 3, 4, 5, 6, 7, and 300 s durations) with an oxygen impermeable lens in place. The corneal oxygen uptake rates immediately following each of those conditions were direct indices o...

We summarize and numerically compare two approaches for modeling and simulating the dynamics of dry granular matter. The first one, the discrete-element method via penalty (DEM-P), is commonly used in the soft matter physics and geomechanics communities; it can be traced back to the work of Cundall and Strack [P. Cundall, Proc. Symp. ISRM, Nancy, France 1, 129 (1971); P. Cundall and O. Strack, ...

This paper gives a method to construct rigid spaces, which is similar to the method used to construct toric schemes.

Rigid-body dynamics with unilateral contact is a good approximation for a wide range of everyday phenomena, from the operation of car brakes to walking to rock slides. It is also of vital importance for simulating robots, virtual reality, and realistic animation. However, correctly modeling rigid-body dynamics with friction is difficult due to a number of discontinuities in the behavior of rigi...

this study compared tear function tests and cytologic changes on the conjunctival surface in asymptomatic patients wearing contact lens of different materials. included in this study were 40 eyes wearing daily wear 4 week replacement hydrogel (h) lenses, 32 eyes wearing silicone hydrogel (sih) lenses, 18 eyes wearing rigid gas-permeable (rgp) lenses, and 21 healthy eyes (no lenses) as the contr...

This article introduces an iterative constraint solver for rigid body dynamics with contact. Our algorithm requires linear time and space and is easily expressed in vector form for fast execution on vector processors. The use of an iterative algorithm opens up the possibility for exploiting temporal coherence. A method for caching contact forces is presented that allows contact points to move f...

The objective of the authors is to achieve a vertical jump in experimentation using the humanoid robot HRP-2. After satisfactory results considering rigid foot ground contact, this paper studies the vertical jump considering a compliant contact and discusses the differences between both models.

We consider dynamical and quasi-static thermoelastic contact problems in R modeling the evolution of temperature and displacement in an elastic body that may come into contact with a rigid foundation. The existence of solutions to these dynamical and quasi-static nonlinear problems and the exponential stability are investigated using a penalty method. Interior smoothing effects in the quasi-sta...