The purpose of this study is to enhance the stability properties of our recently-developed numerical method [D. Kamensky, M.-C. Hsu, D. Schillinger, J.A. Evans, A. Aggarwal, Y. Bazilevs, M.S. Sacks, T.J.R. Hughes, “An immersogeometric variational framework for fluid-structure interaction: Application to bioprosthetic heart valves”, Comput. Methods Appl. Mech. Engrg., 284 (2015) 1005–1053] for immersing spline-based representations of shell structures into unsteady viscous incompressible flows. In the cited work, we formulated the fluid-structure interaction (FSI) problem using an augmented Lagrangian to enforce kinematic constraints. We discretized this Lagrangian as a set of collocated constraints, at quadrature points of the surface integration rule for the immersed interface. Because the density of quadrature points is not controlled relative to the fluid discretization, the resulting semi-discrete problem may be over-constrained. Semi-implicit time integration circumvents this difficulty in the fully-discrete scheme. If this time-stepping algorithm is applied to fluid-structure systems that approach steady solutions, though, we find that spatially-oscillating modes of the Lagrange multiplier field can grow over time. In the present work, we stabilize the semi-implicit integration scheme to prevent potential divergence of the multiplier field as time goes to infinity. This stabilized time integration may also be applied in pseudo-time within each time step, giving rise to a fully implicit solution method. We discuss the theoretical implications of this stabilization scheme for several simplified model problems, then demonstrate its practical efficacy through numerical examples.

We discuss a numerical formulation for the cell problem related to a homogenization approach for the study of wetting on micro rough surfaces. Regularity properties of the solution are described in details and it is shown that the problem is a convex one. Stability of the solution with respect to small changes of the cell bottom surface allows for an estimate of the numerical error, at least in two dimensions. Several benchmark experiments are presented and the reliability of the numerical solution is assessed, whenever possible, by comparison with analytical one. Realistic three dimensional simulations confirm several interesting features of the solution, improving the classical models of study of wetting on roughness.

Atmospheric flow equations govern the time evolution of chemical concentrations in theatmosphere. When considering gas and particle phases, the underlying partial differentialequations involve advection and diffusion operators, coagulation effects, and evaporationand condensation phenomena between the aerosol particles and the gas phase. Operatorsplitting techniques are generally used in global air quality models. When consideringorganic aerosol particles, the modeling of the thermodynamic equilibrium of each particleleads to the determination of the convex envelope of the energy function. Two strategiesare proposed to address the computation of convex envelopes. The first one is based on aprimal-dual interior-point method, while the second one relies on a variationalformulation, an appropriate augmented Lagrangian, an Uzawa iterative algorithm, and finiteelement techniques. Numerical experiments are presented for chemical systems ofatmospheric interest, in order to compute convex envelopes in various spacedimensions.

We investigate unilateral contact problems with cohesive forces, leading tothe constrained minimization of a possibly nonconvex functional. Weanalyze the mathematical structure of the minimization problem. The problem is reformulated in terms of a three-field augmentedLagrangian, and sufficient conditions for the existence of a localsaddle-point are derived. Then, we derive and analyze mixed finiteelement approximations to the stationarity conditions of the three-fieldaugmented Lagrangian. The finite element spaces for the bulk displacement andthe Lagrange multiplier must satisfy a discrete inf-sup condition, whilediscontinuous finite element spaces spanned by nodal basis functions areconsidered for the unilateral contact variable so as to use collocationmethods. Two iterative algorithms are presented and analyzed, namely anUzawa-type method within a decomposition-coordination approach and anonsmooth Newton's method. Finally, numerical results illustrating thetheoretical analysis are presented.

Dans cet article, nous présentons une analyse théorique et numérique des problèmesélastoplastiques incrémentaux basés sur la méthode des éléments-finis (MEF) et l’analysenumérique. L’étude est faite sur un matériau élastoplastique parfait obéissant au critèrede von Mises. Le contact avec frottement sec de Coulomb à l’interface outil-pièce est prisen compte et formulé par la méthode du matériau standard implicite (MSI), proposée par DeSaxcé et al., ce qui conduit à un seul principe variationnel de minimum en déplacementpour lequel le contact et le frottement sont couplés dans la fonction bipotentiel nondifférentiable en certains points. En vue de contourner cette difficulté nous proposonsd’utiliser soit la méthode de régularisation soit le lagrangien augmenté avec l’algorithmede projection d’Uzawa. Par contre le problème de couplage est résolu par l’utilisationd’une procédure itérative basée sur la méthode du point fixe.

In this paper we consider thc problem of optimal control design for off-line programming in educational assembly robotics. After introducing some key features for mechanical, electrical design systems and computer-control and programming of a prototype robot, we discuss the control system and the off-line programming for a case study of educational robotics. We propose a new Dynamic Optimal Time-Energy Trajectography (DOTET) controller based on the complete dynamic model of the robot and which takes into account intrinsic and extrinsic constraints, robot singularities and requirements of the task and the environment. Numerical results are given to demonstrate the efficiency of our design.