195 research outputs found
6D Frictional Contact for Rigid Bodies
International audienceWe present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from the volume gradient. We compute a contact position from the first moment of the intersection volume, and approximate the extent of the contact patch from the second moment of the intersection volume. By incorporating knowledge of the contact patch into a point contact Coulomb friction formulation, we produce a 6D constraint that provides appropriate limits on torques to accommodate displacement of the center of pressure within the contact patch, while also providing a rotational torque due to dry friction to resist spinning. A collection of examples demonstrate the power and benefits of this simple formulation
Basic Understanding of Condensed Phases of Matter via Packing Models
Packing problems have been a source of fascination for millenia and their
study has produced a rich literature that spans numerous disciplines.
Investigations of hard-particle packing models have provided basic insights
into the structure and bulk properties of condensed phases of matter, including
low-temperature states (e.g., molecular and colloidal liquids, crystals and
glasses), multiphase heterogeneous media, granular media, and biological
systems. The densest packings are of great interest in pure mathematics,
including discrete geometry and number theory. This perspective reviews
pertinent theoretical and computational literature concerning the equilibrium,
metastable and nonequilibrium packings of hard-particle packings in various
Euclidean space dimensions. In the case of jammed packings, emphasis will be
placed on the "geometric-structure" approach, which provides a powerful and
unified means to quantitatively characterize individual packings via jamming
categories and "order" maps. It incorporates extremal jammed states, including
the densest packings, maximally random jammed states, and lowest-density jammed
structures. Packings of identical spheres, spheres with a size distribution,
and nonspherical particles are also surveyed. We close this review by
identifying challenges and open questions for future research.Comment: 33 pages, 20 figures, Invited "Perspective" submitted to the Journal
of Chemical Physics. arXiv admin note: text overlap with arXiv:1008.298
Solving variational inequalities and cone complementarity problems in nonsmooth dynamics using the alternating direction method of multipliers
This work presents a numerical method for the solution of variational inequalities arising in nonsmooth flexible multibody problems that involve set-valued forces. For the special case of hard frictional contacts, the method solves a second order cone complementarity problem. We ground our algorithm on the Alternating Direction Method of Multipliers (ADMM), an efficient and robust optimization method that draws on few computational primitives. In order to improve computational performance, we reformulated the original ADMM scheme in order to exploit the sparsity of constraint jacobians and we added optimizations such as warm starting and adaptive step scaling. The proposed method can be used in scenarios that pose major difficulties to other methods available in literature for complementarity in contact dynamics, namely when using very stiff finite elements and when simulating articulated mechanisms with odd mass ratios. The method can have applications in the fields of robotics, vehicle dynamics, virtual reality, and multiphysics simulation in general
HeMPPCAT: Mixtures of Probabilistic Principal Component Analysers for Data with Heteroscedastic Noise
Mixtures of probabilistic principal component analysis (MPPCA) is a
well-known mixture model extension of principal component analysis (PCA).
Similar to PCA, MPPCA assumes the data samples in each mixture contain
homoscedastic noise. However, datasets with heterogeneous noise across samples
are becoming increasingly common, as larger datasets are generated by
collecting samples from several sources with varying noise profiles. The
performance of MPPCA is suboptimal for data with heteroscedastic noise across
samples. This paper proposes a heteroscedastic mixtures of probabilistic PCA
technique (HeMPPCAT) that uses a generalized expectation-maximization (GEM)
algorithm to jointly estimate the unknown underlying factors, means, and noise
variances under a heteroscedastic noise setting. Simulation results illustrate
the improved factor estimates and clustering accuracies of HeMPPCAT compared to
MPPCA
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