Abstract: We present an adjoint sensitivity method for hybrid discrete—continuous systems, extending previously published forward sensitivity methods (FSA). We treat ordinary differential equations (ODEs) and differential-algebraic ...

Abstract: Sophisticated modeling and simulation, based on rigid and flexible multibody dynamics, are nowadays a standard procedure in the design and analysis of vehicle systems and are widely adopted for on-road driving. Off-road ...

Abstract: This technical brief revisits the method outlined in Tasora and Anitescu 2011 [“A Matrix-Free Cone Complementarity Approach for Solving Large-Scale, Nonsmooth, Rigid Body Dynamics,” Comput. Methods Appl. Mech. Eng., 200(5–8), ...

Abstract: Considering that granular material is second only to water in how often it is handled in practical applications, characterizing its dynamics represents a ubiquitous problem. However, studying the motion of granular material ...

Abstract: This paper addresses three questions related to the use of parallel computing in multibody dynamics (MBD) simulation. The “why parallel computing?â€‌ question is answered based on the argument that in the upcoming decade ...

Abstract: Two approaches are commonly used for handling frictional contact within the framework of the discrete element method (DEM). One relies on the complementarity method (CM) to enforce a nonpenetration condition and the Coulomb ...

Abstract: We describe a simulation environment that enables the design and testing of control policies for off-road mobility of autonomous agents. The environment is demonstrated in conjunction with the training and assessment of a ...

Abstract: In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of ...