The mathematical foundation to describe the dynamics of a humanoid mechanism is
reviewed. The discussion begins with the kinematics of an anthropomorphic mechanism …

We present a fluid simulation method based on Smoothed Particle Hydrodynamics (SPH) in
which incompressibility and boundary conditions are enforced using holonomic kinematic …

This paper presents a novel time-stepping scheme for the modelling of discrete ice-structure
interaction. The scheme extends the non-smooth discrete element modelling (NDEM) …

A multiscale model for real-time simulation of terrain dynamics is explored. To represent the
dynamics on different scales the model combines the description of soil as a continuous …

A new design for a tracked forestry machine bogie (long track bogie; LTB) on soft and rough
terrain is investigated using nonsmooth multibody dynamics simulation. The new bogie has …

The smooth and nonsmooth approaches to the discrete element method (DEM) are
examined from a computational perspective. The main difference can be understood as …

The nonsmooth discrete element method (NDEM) has the potential of high computational
efficiency for rapid exploration of large design space of systems for processing and …

This paper addresses the challenges of creating realistic models of soil for simulations of
heavy vehicles on weak terrain. We modelled dense soils using the discrete element …

A method for simulation-based development of robotic rock loading systems is described
and tested. The idea is to first formulate a generic loading strategy as a function of the shape …

Non-smooth contact dynamics provides an increasingly popular simulation framework for
granular material. In contrast to classical discrete element methods, this approach is stable …