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Smoothed Particle Hydrodynamics-Based Viscous Deformable Object Modelling

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Robot Dynamic Manipulation

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 144))

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Abstract

Materials like fluids are long since important research objects of continuum mechanics as well as of computer graphics. Smoothed particle hydrodynamics(SPH) is one of the representation methods employed for continuous materials. Its simplicity in implementation and its realistic representation are drastically improved during the last decades. More recently, highly viscous fluids like honey, jam, and bread dough based on the SPH formulation have gained attention with impressive results. In this chapter, a novel implicit viscosity method is proposed. The internal viscosity forces are recursively calculated from the difference of the nearby velocities of the particles until they are small enough to be neglected. The proposed approach has longer time-steps compared with existing explicit viscosity methods, resulting in shorter computation time. Besides, the proposed method uses a physical viscosity coefficient, not an artificial one like in existing implicit viscosity methods, which helps predict the viscous behavior of continuous materials more accurately. The obtained results show that the computational time for the proposed approach is predictable, while the accuracy in modelling the viscosity behaviour is similar or higher than existing methods.

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Notes

  1. 1.

    https://eigen.tuxfamily.org/.

  2. 2.

    https://opencv.org.

  3. 3.

    http://www.openscenegraph.org.

  4. 4.

    https://www.sidefx.com.

  5. 5.

    https://www.blender.org.

  6. 6.

    https://www.openmp.org.

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Authors and Affiliations

  1. MIKNMEK Inc., CheongAm-ro 87, Nam-gu, Pohang-si, Gyeongsangbuk-do, 37673, Republic of Korea

    Jung-Tae Kim

  2. Department of Electrical Engineering and Information Technology, PRISMA Lab, CREATE Consortium & University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Fabio Ruggiero, Vincenzo Lippiello & Bruno Siciliano

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  1. Jung-Tae Kim
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  2. Fabio Ruggiero
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  3. Vincenzo Lippiello
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  4. Bruno Siciliano
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Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

  2. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Fabio Ruggiero

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Kim, JT., Ruggiero, F., Lippiello, V., Siciliano, B. (2022). Smoothed Particle Hydrodynamics-Based Viscous Deformable Object Modelling. In: Siciliano, B., Ruggiero, F. (eds) Robot Dynamic Manipulation. Springer Tracts in Advanced Robotics, vol 144. Springer, Cham. https://doi.org/10.1007/978-3-030-93290-9_3

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