Interactive simulation is made possible in many applications by simplifying or culling the finer details that would make real-time performance impossible. This paper examines detail simplification in the specific problem of collision handling for rigid body animation. We present an automated method for calculating consistent collision response at different levels of detail. The mechanism works ...

In the work presented here, a three-step identification procedure for rigid body dynamics, friction, and flexibilities, introduced in (Wernholt and Gunnarsson, 2005), will be utilized and extended. Using the procedure, the parameters can be identified only using motor measurements. In the first step, rigid body dynamics and friction will be identified using a separable least squares method, whe...

Neural motor prostheses (NMPs) require the accurate decoding of motor cortical population activity for the control of an artificial motor system. Previous work on cortical decoding for NMPs has focused on the recovery of hand kinematics. Human NMPs however may require the control of computer cursors or robotic devices with very different physical and dynamical properties. Here we show that the ...

Realistic modeling of the interaction between surgical instruments and organs has been recognized as a key requirement in the development of high-fidelity surgical simulators. For a nonlinear model, the well-known Poynting effect developed during shearing of the tissue results in normal forces not seen in a linear elastic model. It is demonstrated that the difference in force magnitude for myoc...

In this paper we use the theory of monotone operators to generalize the linear shell model presented in (Blouza and Le Dret, 1999) to a class of physically nonlinear models. We present a family of nonlinear constitutive equations, for which we prove the existence and uniqueness of the solution of the presented nonlinear model, as well as the convergence of the Galerkin method. We also present t...

We explore a nonlocal connection between certain linear and nonlinear ordinary differential equations (ODEs), representing physically important oscillator systems, and identify a class of integrable nonlinear ODEs of any order. We also devise a method to derive explicit general solutions of the nonlinear ODEs. Interestingly, many well known integrable models can be accommodated into our scheme ...

We study a physically simple two degree of freedom attitude control system that has a single control input. The physical assumptions are described. Equations of motion are derived and expressed in a nonlinear control form. We demonstrate that the system is inherently nonlinear. Conditions for small time local controllability of the state and of the configuration are presented.

Solitons are of the important significant in many fields of nonlinear science such as nonlinear optics, Bose-Einstein condensates, plamas physics, biology, fluid mechanics, and etc. The stable solitons have been captured not only theoretically and experimentally in both linear and nonlinear Schrödinger (NLS) equations in the presence of non-Hermitian potentials since the concept of the parity-t...