This paper describes a fast numerical solver for the elastohydrodynamically lubricated circular contact problem. As a result of the application of multigrid techniques the algorithm is of very low complexity, ie. O(n In n), where n is the number of nodes on the grid. Consequently, it enables the solution of the problem using large numbers of nodes (O(10’)) on a small-capacity computer, as is de...

In [EE1] and [EE2] we presented the solution to the index problem for a natural class of hypoelliptic differential operators on compact contact manifolds. The methods developed to deal with that problem have wider applicability to the index theory of hypoelliptic Fredholm operators. As an example of the power of the proof techniques we present here a new proof of a little known index theorem of...

We present a method for smoothing discontinuous dynamics involving contact and friction, thereby facilitating the use of local optimization techniques for control. The method replaces the standard Linear Complementarity Problem with a Stochastic Linear Complementarity Problem. The resulting dynamics are continuously differentiable, and the resulting controllers are robust to disturbances. We de...