Past Projects

A Primal-Dual Interior Point (PD-IP) method is investigated for solving the Cone Complementarity Problem (CCP) associated with friction and contact of many body dynamics formulated by the framework of differential variational inequality (DVI). As a …

This simulation is modeled after Spontaneous chaotic granular mixing by Shinbrot, Alexander, and Muzzio. A mixing barrel is filled with sand-sized particles with different colored particles upstream and downstream. The fractal pattern that emerges in …

The simulation consists of a six-legged robot which walks over granular terrain. This project begins to model the experiment presented in A Terradynamics of Legged Locomotion on Granular Media by Li, Zhang, and Goldman. Currently, …

This project demonstrates a modeling, simulation, and visualization framework aimed at enabling physics-based analysis of ground vehicle mobility. This framework, called Chrono, has been built to leverage parallel computing both on distributed and shared memory …

As simulations grow in complexity the data extracted from the model grows in size. For engineers and scientists, it is difficult and tedious to gain meaningful insights for large data sets; hence visualization becomes critical …

By extending semi-analytical Terramechanics methods for general three-dimensional tire and terrain geometries and combining it with a deformable compaction-based terrain model, general purpose tire/terrain mobility scenarios can be simulated. A vertical application was then created …

In an effort to support general 3-D vehicle mobility on non-flat terrain, CHRONO::Terrain is a deformable terrain database system that allows for the terrain surface to be described on both macro- and micro-scale resolutions. Inspired …