Multibody Simulation with Affine Body Dynamics

报告题目：Multibody Simulation with Affine Body Dynamics

报告摘要：

Robust and accurate multibody simulation is critical to both computer graphics and robotics. In this talk, I will present a simulation framework for multibody dynamics based on optimization time integration. Our method naturally supports mixed rigid-deformables and mixed codimensional geometries, while providing guaranteed numerical convergence and accurate resolution of contact, friction, and a wide range of articulation constraints. We unify (1) the treatment of simulation degrees-of-freedom for rigid and soft bodies by formulating them both in terms of Lagrangian nodal displacements, (2) the handling of general linear equality joint constraints through an efficient change-of-variable strategy, (3) the enforcement of nonlinear articulation constraints based on novel distance potential energies, (4) the resolution of frictional contact between mixed dimensions and bodies with a variational Incremental Potential Contact formulation, and (5) the modeling of generalized restitution through semi-implicit Rayleigh damping. Extensive unit tests and benchmark studies will be presented to demonstrate the efficacy of our method.

讲者简介：

李旻辰，加州大学洛杉矶分校，数学系助理兼职教授。2020年获宾夕法尼亚大学计算机与信息科学博士，师从蒋陈凡夫教授，主要研究最优化问题和数值方法在几何处理与物理仿真中的应用。他2015年本科毕业于浙江大学竺可桢学院混合班，主修计算机科学与技术，并于2018年获得英属哥伦比亚大学计算机科学硕士，曾多次在Adobe研究院参与科研实习，并获得2020年Adobe fellowship，以及2021年ACM SIGGRAPH Outstanding Doctoral Disseratation Award。

时间：2022年6月10日(周五)上午10:00-11:00

腾讯会议：882 630 199