This paper introduces a hybrid scheme for simulating rigid bodies in contact. W e use (cm adaptive strategy for handling two different contact situations, 'bouncing' and 'steady'. To handle contact f o r rigid bodies, we use two impulse-based methods to explicitiy or implicitly compute impulses due to collision impact. These two methods are used so that different impulse methods are applied ada...

The contact dynamics method (CD) is an efficient simulation technique of dense granular media where unilateral and frictional contact problems for a large number of rigid bodies have to be solved. In this paper we present a modified version of the contact dynamics to generate homogeneous random packings of rigid grains. CD is coupled to an external pressure bath, which allows the variation of t...

purpose: to determine the effect of using rigid gas permeable (rgp) contact lenses in improvement of involuntary eye movements and visual functions in hyperopic astigmatism patients with congenital nystagmus. methods: this prospective interventional case series study was conducted on patients with congenital nystagmus and hyperopia equal or more than +0.5 d and astigmatism more than -1 d, who w...

Rigid body simulations require collision detection for determining contact points between simulated bodies. Collision detection performance can become dramatically slow, if geometric models of rigid bodies have intricate inaccessible regions close to their boundaries, particularly when bodies are in close proximity. As a result, frame rates of rigid body simulations reduce significantly in the ...

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6DOF impedance behaviour. Furthermore, the propose...

Abstract. In this paper we investigate finite time blow up of strong solutions to the system describing the motion of a rigid ball inside a bounded cavity filled with a viscous incompressible fluid. The equations of motion for the fluid are of Navier–Stokes type and the equations for the motion of the rigid ball are obtained by applying Newton’s laws. The whole system evolves under the action o...

The paper deals with the problem of numerical simulation of contact between compliant gripping element and rigid object of handling. Compliant gripping element is represented with a rubber suction cap and the handling object is comprised by rigid plate. Contact is researched under various load conditions taking account to chosen material of suction cap that is characterized with nonlinear depen...

in this work, we study a unilateral contact problem with non local friction of coulombbetween a locking material and a rigid foundation. in the first step , we present the mathematicalmodel for a static process, we establish the variational formulation in the form of a variationalinequality and we prove the existence and uniqueness of the solution. in the second step, usingthe penalty method we...

All impact analyses performed so far for the composite plates, have treated central impacts. Furthermore, investigations on influences of the in-plane biaxial compression, tension, or tension-compression preloads on various responses of the low-velocity impact, especially the indentation, have not been performed so far. In the present research, a finite element formulation is presented for resp...

A local model of interaction proposed for haptic rendering of rigid body motion is extended to the rigid body manipulation of articulated structures. In the proposed local model, the motion constraints imposed on the user by the articulated structure are rendered through the local dynamics, while those imposed by other virtual objects are rendered through impulsive, penalty, and friction contac...