Kishor Bhalerao

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This paper describes a novel method for the modeling of intermittent contact in multi-rigid-body problems. We use a complementarity based time-stepping scheme in Featherstone's Divide and Conquer framework to efficiently model the unilateral and bilateral constraints in the system. The time-stepping scheme relies on impulse-based equations and does not(More)
Efficient modeling approaches are necessary to accurately predict large-scale structural behavior of biomolecular systems like RNA (ribonucleic acid). Coarse-grained approximations of such complex systems can significantly reduce the computational costs of the simulation while maintaining sufficient fidelity to capture the biologically significant motions.(More)
This paper consists of two parts. The first part presents a complementarity based recursive scheme to model intermittent contact for flexible multibody systems. A recursive divide and conquer framework is used to explicitly impose the bilateral constraints in the entire system. The presented approach is an extension of the hybrid scheme for rigid multi-body(More)
This paper describes a novel method for the modeling of intermittent contact in multi-rigid-body problems. We use a complementarity based time-stepping scheme in Featherstone's Divide and Conquer framework to efficiently model the unilateral and bilateral constraints in the system. The time-stepping scheme relies on impulse-based equations and does not(More)
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