Abstract: Methods and systems for executing a simulation of a multibody system are described herein. In one broad aspect, there is provided a computer-implemented method for executing a simulation of a multibody system, where a physics-based simulator is used to simulate the multibody system by: partitioning the multibody system into a plurality of subsystems, the multibody system comprising bilateral and unilateral constraints, and a set of interfaces that couple at least two of the subsystems is defined; at each of a plurality of time steps, employing a Schur complement method to compute an effective mass at each interface of the set of interfaces, and solving each of the plurality of subsystems to obtain a plurality of internal impulses.

Abstract: Methods and systems for executing a simulation of a multibody system are described herein. In one broad aspect, there is provided a computer-implemented method for executing a simulation of a multibody system, where a physics-based simulator is used to simulate the multibody system by: partitioning the multibody system into a plurality of subsystems, the multibody system comprising bilateral and unilateral constraints, and a set of interfaces that couple at least two of the subsystems is defined; at each of a plurality of time steps, employing a Schur complement method to compute an effective mass at each interface of the set of interfaces, and solving each of the plurality of subsystems to obtain a plurality of internal impulses.

Abstract: A device for supporting soft tissue includes a tubular body and is constituted of a sequence of compliant portions and anchoring portions. The anchoring portions each include anchor members adapted to penetrate into soft tissue. The compliant portions each include deformable members extending between ends of the compliant portion, at least one of a distance and orientation between said ends being adjustable by application of a force on the tubular body. The tubular body includes a ring-like shape reached at least by deformation of the compliant portions, the ring-like shape having the anchor members of the anchoring portions protruding circumferentially along a direction defined by a vector having a component being at least tangential to the curve of the ring-like shape, for the anchor members to penetrate the soft tissue. A method for anchoring the device to soft tissue is also provided.

Abstract: A device for supporting soft tissue comprises a tubular body and is constituted of a sequence of compliant portions and anchoring portions. The anchoring portions each comprise anchor members adapted to penetrate into soft tissue. The compliant portions each comprise deformable members extending between ends of the compliant portion, at least one of a distance and orientation between said ends being adjustable by application of a force on the tubular body. The tubular body comprises a ring-like shape reached at least by deformation of the compliant portions, the ring-like shape having the anchor members of the anchoring portions protruding circumferentially along a direction defined by a vector having a component being at least tangential to the curve of the ring-like shape, for the retaining members to penetrate the soft tissue. A method for anchoring the device to soft tissue is also provided.

Abstract: The main advantage of the process is that as starting substances by-products and wastes of the metallurgical industry can be used (pickling solution, lean ores etc.). The thus-obtained salt mixtures are more homogeneous than the mixtures known so far.