Continuously Differentiable Stick-Slip Friction Model with Applications to Cable Simulation Using Nonlinear Finite Elements
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Bibliographic record
Abstract
This paper presents a continuously differentiable friction model based on the Quinn regularization of the Coulomb model in order to improve numerical performance for simulating dynamic systems using implicit ODE solvers. The implementation of the friction model for simulations of cable-pulley and cable-winch contact is demonstrated using the nonlinear Absolute Nodal Coordinate Formulation. Frictional contact between the cable and a dynamic surface is implemented using a Lagrange multiplier formulation. Examples of simple a capstan and a motorized pulley system are provided to demonstrate the stick-slip behavior of the model and the performance improvement over the original Quinn model, respectively. Using the ODE solver ode15s, the computation time was reduced by factors of 4.5 to 18.8 depending on the model parameters. The proposed model can be used to model and verify the behavior of dynamics systems in control applications.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it