Projects
The daVinci Project
In the daVinci project, we are studying a new class of problems: differential algebraic inequalities, which are useful for modeling dynamic systems with unilateral constraints.
daVinci Code
The daVinciCode is a new physical simulation library I have been developing based on state-of-the-art time-stepping methods.
Hierarchical Planning
An often overlooked question in rigid body dynamic simulation is that of determining which model, physical or geometric, is sufficient for the specific requirements of the problem. To illustrate, see this simple "Peg-In-Hole" application in rigid body dynamics with unilateral contact. Various dynamics settings and models can have vastly different outcomes on the simulation. My goal is to try and understand the relationships between these various models.
Part Seating
In my first year, I wrote an applet for part seating, that is the sensorless acquisition of multiple contact points between planar parts. The user can draw a part and place the desired contact points. The applet will then calculate an insertion plan and highlight the region(s) on the the part a user could push to seat the part.