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Linear complementarity, linear and nonlinear programming
01 Jan 1988-
About: The article was published on 1988-01-01 and is currently open access. It has received 1012 citations till now. The article focuses on the topics: Mixed complementarity problem & Complementarity theory.
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01 Jan 2007
TL;DR: In this paper, a virtual human controller in a virtual prototyping framework is presented, which can drive virtual humans in a real-time immersed way, and interact with the product through motion capture.
Abstract: The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the interest as for digital humans in the context of concurrent engineering. This leads us to draw a control architecture enabling to drive virtual humans in a real-time immersed way, and to interact with the product, through motion capture. Unfortunately, we show this control scheme can lead to unfeasible movements because of the lack of balance control. Introducing such a controller is a problem that was never addressed in the context of real-time. We propose an implementation of a balance controller, that we insert into the previously described control scheme. Next section is dedicated to show the results we obtained. Finally, we propose a virtual reality platform into which the digital character controller is integrated.
5 citations
TL;DR: The multisplitting AOR (MAOR) method for the linear complementarity problem is discussed and some new convergence conditions of the MAOR method are obtained, which are different from those of the aforementioned papers.
Abstract: In this paper, based on the previous work by Bai [On the convergence of the multisplitting methods for the linear complementarity problem. SIAM J Matrix Anal Appl. 1999;21:67–78] and by Zhang et al. [Improved convergence theorems of multisplitting methods for the linear complementarity problem. Appl Math Comput. 2014;243:982–987], we further discuss the multisplitting AOR (MAOR) method for the linear complementarity problem. Some new convergence conditions of the MAOR method are obtained, which are different from those of the aforementioned papers.
5 citations
TL;DR: In this article, a multiscale model for real-time simulation of terrain dynamics is explored, which combines the description of soil as a continuous solid, as distinct particles and as rigid multibodies.
Abstract: 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 solid, as distinct particles and as rigid multibodies. The models are dynamically coupled to each other and to the earthmoving equipment. Agitated soil is represented by a hybrid of contacting particles and continuum solid, with the moving equipment and resting soil as geometric boundaries. Each zone of active soil is aggregated into distinct bodies, with the proper mass, momentum and frictional-cohesive properties, which constrain the equipment’s multibody dynamics. The particle model parameters are pre-calibrated to the bulk mechanical parameters for a wide range of different soils. The result is a computationally efficient model for earthmoving operations that resolve the motion of the soil, using a fast iterative solver, and provide realistic forces and dynamic for the equipment, using a direct solver for high numerical precision. Numerical simulations of excavation and bulldozing operations are performed to test the model and measure the computational performance. Reference data is produced using coupled discrete element and multibody dynamics simulations at relatively high resolution. The digging resistance and soil displacements with the real-time multiscale model agree with the reference model up to 10–25%, and run more than three orders of magnitude faster.
5 citations
TL;DR: A continuous optimization formulation for the weighted independence number of a graph is presented by characterizing it as the maximum weighted l 1 norm over the solution set of a linear complementarity problem (LCP).
5 citations
05 Jun 2006
TL;DR: The optimal trajectories of a structure-variant mechanical systems are determined by making use of a combined direct shooting and successive unconstrained minimization method (SUMT), which performs the integrations of the dynamical system based on the timestepping scheme.
Abstract: The planning of optimal trajectories for nonholonomic systems and of structure-variant mechanical systems are active research areas. In this report the optimal trajectories of a structure-variant mechanical systems are determined by making use of a combined direct shooting and successive unconstrained minimization method (SUMT), which performs the integrations of the dynamical system based on the timestepping scheme. A certificate of optimality is provided for the structure-variant trajectories obtained by the new optimization method.
5 citations
Cites background from "Linear complementarity, linear and ..."
...The mathematical complementarity problem that relates contact kinematics and contact differential measure forces can be reviewed in [16]....
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