Real-Time Non-smooth Contact for Flexible Multibody Dynamics from Surgery to Offshore applications

Objective

RT_NSContactFMD (Real-Time Non-smooth Contact for Flexible Multibody Dynamics from Surgery to Offshore applications) addresses a core bottleneck in digital twin simulation: reconciling continuum-level fidelity with real-time performance under non-smooth, frictional contact. Existing approaches trade physical accuracy for speed or break down under contact-rich scenarios, limiting their applicability in fields like surgical robotics and offshore engineering. This project introduces a structure-preserving computational framework that unifies high-fidelity ANCF beam models, penalty-free non-smooth contact laws, and Anderson-accelerated, Jacobian-free solvers into an open-source Chrono module. It targets four objectives: (O1) develop constraint-aware, tapered 3D beam elements; (O2) enforce stable, frictional contact without penalty tuning; (O3) achieve sub-10 ms steps via solver acceleration and selective model reduction; and (O4) validate cross-domain demonstrators: guidewire–artery navigation and mooring line–seabed contact. Outcomes will deliver the first real-time framework that combines geometric fidelity, non-smooth contact robustness, and computational efficiency within a unified, reproducible architecture. Results will be openly disseminated via CI-tested benchmarks, a BSD-licensed Chrono release, and a SOFA interface for surgical validation. The work advances Horizon Europe priorities in Digital Health and Offshore Renewables, and lays the groundwork for next-generation control-integrated digital twins. The fellow will gain interdisciplinary expertise across computational mechanics, simulation, and biomedical engineering, with targeted training via secondments at Chrono (UNIPR) and SOFA (Inria), supporting long-term development as an independent researcher. By promoting open tools and ecosystem interoperability, the project fosters long-term impact across academic, clinical, and industrial communities.