The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational efficiency and simplicity, yet despite their prevalence, little if any empirical comparison of these models has been made and it is unclear how well they approxim...

In this study, Copper oxide as a good and inexpensive adsorbent has been introduced and used for the removal of erythrosine and red carmoisine dyes from several water solutions successfully. The effect of various parameters such as pH, dye concentration, amount of adsorbent, contact time and temperature on removal processing was investigated. Adsorption isothermal data could be interpreted by t...

The testing and development of contact material or topology can be addressed with a dedicated experimental set up for monitoring test structures. However, it is difficult to perform the tests under realistic conditions. Moreover several works have already been published about the different theories describing rough mechanical contact. But they often ignore interaction between asperities, bulk d...

Molecular dynamics studies of Go models of proteins with the 10-12 contact potential and the bond and dihedral angle terms indicate statistical similarities to other Go models, e.g. with the Lennard-Jones contact potentials. The folding times depend on the protein size as power laws with the exponents depending on the native structural classes. There is no dependence of the folding times on the...

This paper investigates the problem of " formclosure" for three-fingered grasps of polygonal objects under various combinations of contact models at the contact points. We show that equilibrium can be maintained even when some of the contacts between the fingers and the grasped object are frictionless and tangential contact forces do not exist. Feasible regions to place the fingers on and to sa...