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See detailProbabilistic Deep Learning for Real-Time Large Deformation Simulations
Deshpande, Saurabh UL; Lengiewicz, Jakub UL; Bordas, Stéphane UL

in Computer Methods in Applied Mechanics and Engineering (2022), 398(0045-7825), 115307

For many novel applications, such as patient-specific computer-aided surgery, conventional solution techniques of the underlying nonlinear problems are usually computationally too expensive and are ... [more ▼]

For many novel applications, such as patient-specific computer-aided surgery, conventional solution techniques of the underlying nonlinear problems are usually computationally too expensive and are lacking information about how certain can we be about their predictions. In the present work, we propose a highly efficient deep-learning surrogate framework that is able to accurately predict the response of bodies undergoing large deformations in real-time. The surrogate model has a convolutional neural network architecture, called U-Net, which is trained with force–displacement data obtained with the finite element method. We propose deterministic and probabilistic versions of the framework. The probabilistic framework utilizes the Variational Bayes Inference approach and is able to capture all the uncertainties present in the data as well as in the deep-learning model. Based on several benchmark examples, we show the predictive capabilities of the framework and discuss its possible limitations. [less ▲]

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See detailTowards real-time patient-specific breast simulations: from full-field information to surrogate model
Mazier, Arnaud UL; Lavigne, Thomas UL; Lengiewicz, Jakub UL et al

Scientific Conference (2022, July)

In breast cancer treatment, surgery is one of the most common practices [DeSantis et al., 2019]. The surgery involves a complex pipeline, principally due to the difference between the imaging and the ... [more ▼]

In breast cancer treatment, surgery is one of the most common practices [DeSantis et al., 2019]. The surgery involves a complex pipeline, principally due to the difference between the imaging and the surgical posture [Mazier et al., 2021]. Indeed, because of the stance difference, the surgeon has to rely on radioactive or invasive markers to predict the tumor position in the surgical setup. Biomechanical simulations could predict such complex tumor displacements but often require patient-specific data (material properties, organs geometries, or loading and boundary conditions). Full-field acquisitions coupled with landmark identifications allow obtaining relative deformation between the different configurations. Having this information and assuming a finite element model, an identification procedure of the model parameters can be carried out. Finally, finding a suitable computational model allowing for a compromise between accuracy and speed, one may consider surrogate models for real-time simulations (20 to 50 FPS). In this work, we obtained the patient-specific geometry through micro-computed tomography in 8 different configurations, including 15 bio-markers. Assessing the displacement of the bio-markers enabled us to infer the relative strains between the different configurations. A heterogeneous neo-Hookean model was assumed for simulating soft tissue behavior. Based on the displacements and the position of the biomarkers, model parameters identification was performed to calibrate the experimental data with the finite element method results. To overcome speed performance issues, Convolutional Neural Network (CNN) trained with a synthetic simulation-based dataset generated by applying different gravity directions is used. Preliminary results show that CNN can predict the displacement of anatomical landmarks to millimetric precision and is 100 times faster than the finite element method, satisfying our real-time objective. Plus, the use of Bayesian inferences involves a longer prediction time but allows a 95% confidence interval of the biomarkers' displacements. For a given precision, contrary to CNNs, optimization methods are computationally expensive and depend on an initialization point. Although CNNs require new training for each patient, optimization algorithms can be applied regardless of the patient's geometry. Through this study, we observed that material properties were playing an essential role but not as much as the anatomical structures e.g. infra-mammary or Copper’s ligaments. [less ▲]

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See detailFrictional interactions for non-localised beam-to-beam and beam-inside-beam contact
Magliulo, Marco; Lengiewicz, Jakub UL; Zilian, Andreas UL et al

in International Journal for Numerical Methods in Engineering (2021), 122(7), 1706-1731

This contribution presents the extensions of beam-to-beam and beam-inside-beam contact schemes of the same authors towards frictional interactions. Since the schemes are based on the beams’ true surfaces ... [more ▼]

This contribution presents the extensions of beam-to-beam and beam-inside-beam contact schemes of the same authors towards frictional interactions. Since the schemes are based on the beams’ true surfaces (instead of surfaces implicitly deduced from the beams’ centroid lines), the presented enhancements are not only able to account for frictional sliding in the beams’ axial directions, but also in the circumferential directions. Both the frictional beam-to-beam approach as well as the frictional beam-inside-beam approach are applicable to shear-deformable and shear-undeformable beams, as well as to beams with both circular and elliptical cross-sections (although the cross-sections must be rigid). A penalty formulation is used to treat unilateral and frictional contact constraints. FE implementation details are discussed, where automatic differentiation techniques are used to derive the implementations. Simulations involving large sliding displacements and large deformations are presented for both beam-to-beam and beam-inside-beam schemes. All simulation results are compared to those of the frictionless schemes. [less ▲]

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See detailSztuczne życie zmiennokształtnych
Lengiewicz, Jakub UL; Hołobut, Paweł

Diverse speeches and writings (2021)

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See detailDistributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Programmable Matter
Piranda, Benoit; Chodkiewicz, Paweł; Holobut, Paweł et al

in IEEE Transactions on Robotics (2021), 37(6), 2226-2233

We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own ... [more ▼]

We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by the modular robot itself and based on a distributed iterative solution of mechanical equilibrium equations derived from a simplified model of the robot. The model treats intermodular connections as beams and assumes no-sliding contact between the modules and the ground. We also provide a procedure for simplified instability detection. The algorithm is verified in the Programmable Matter simulator VisibleSim, and in real-life experiments on the modular robotic system Blinky Blocks. © 2004-2012 IEEE. [less ▲]

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See detailArtificial life of shape-shifters
Lengiewicz, Jakub UL; Hołobut, Paweł

Diverse speeches and writings (2021)

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See detailBeam-inside-beam contact: Mechanical simulations of slender medical instruments inside the human body
Magliulo, Marco UL; Lengiewicz, Jakub UL; Zilian, Andreas UL et al

in Computer Methods and Programs in Biomedicine (2020), 196

Background and Objective This contribution presents a rapid computational framework to mechanically simulate the insertion of a slender medical instrument in a tubular structure such as an artery, the ... [more ▼]

Background and Objective This contribution presents a rapid computational framework to mechanically simulate the insertion of a slender medical instrument in a tubular structure such as an artery, the cochlea or another slender instrument. Methods Beams are employed to rapidly simulate the mechanical behaviour of the medical instrument and the tubular structure. However, the framework’s novelty is its capability to handle the mechanical contact between an inner beam (representing the medical instrument) embedded in a hollow outer beam (representing the tubular structure). This “beam-inside-beam” contact framework, which forces two beams to remain embedded, is the first of its kind since existing contact frameworks for beams are “beam-to-beam” approaches, i.e. they repel beams from each other. Furthermore, we propose contact kinematics such that not only instruments and tubes with circular cross-sections can be considered, but also those with elliptical cross-sections. This provides flexibility for the optimization of patient-specific instruments. Results The results demonstrate that the framework’s robustness is substantial, because only a few increments per simulation and a few iterations per increment are required, even though large deformations, large rotations and large curvature changes of both the instrument and tubular structure occur. The stability of the framework remains high even if the modulus of the inner tube is thousand times larger than that of the outer tube. A mesh convergence study furthermore exposes that a relatively small number of elements is required to accurately approach the reference solution. Conclusions The framework’s high simulation speed originates from the exploitation of the rigidity of the beams’ cross-sections to quantify the exclusion between the inner and the hollow outer beam. This rigidity limits the accuracy of the framework at the same time, but this is unavoidable since simulation accuracy and simulation speed are two competing interests. Hence, the framework is particularly attractive if simulation speed is preferred over accuracy. [less ▲]

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See detailFinite deformations govern the anisotropic shear-induced area reduction of soft elastic contacts
Lengiewicz, Jakub UL; de Souza, Mariana; Lahmar, Mohamed A. et al

in Journal of the Mechanics and Physics of Solids (2020), 143

Solid contacts involving soft materials are important in mechanical engineering or biomechanics. Experimentally, such contacts have been shown to shrink significantly under shear, an effect which is ... [more ▼]

Solid contacts involving soft materials are important in mechanical engineering or biomechanics. Experimentally, such contacts have been shown to shrink significantly under shear, an effect which is usually explained using adhesion models. Here we show that quantitative agreement with recent high-load experiments can be obtained, with no adjustable parameter, using a non-adhesive model, provided that finite deformations are taken into account. Analysis of the model uncovers the basic mechanisms underlying anisotropic shear-induced area reduction, local contact lifting being the dominant one. We confirm experimentally the relevance of all those mechanisms, by tracking the shear-induced evolution of tracers inserted close to the surface of a smooth elastomer sphere in contact with a smooth glass plate. Our results suggest that finite deformations are an alternative to adhesion, when interpreting a variety of sheared contact experiments involving soft materials. [less ▲]

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See detailNon-localised contact between beams with circular and elliptical cross-sections
Magliulo, Marco UL; Lengiewicz, Jakub UL; Zilian, Andreas UL et al

in Computational Mechanics (2020), 65

The key novelty of this contribution is a dedicated technique to e fficiently determine the distance (gap) function between parallel or almost parallel beams with circular and elliptical cross-sections ... [more ▼]

The key novelty of this contribution is a dedicated technique to e fficiently determine the distance (gap) function between parallel or almost parallel beams with circular and elliptical cross-sections. The technique consists of parametrizing the surfaces of the two beams in contact, fixing a point on the centroid line of one of the beams and searching for a constrained minimum distance between the surfaces (two variants are investigated). The resulting unilateral (frictionless) contact condition is then enforced with the Penalty method, which introduces compliance to the, otherwise rigid, beams' cross-sections. Two contact integration schemes are considered: the conventional slave-master approach (which is biased as the contact virtual work is only integrated over the slave surface) and the so-called two-half-pass approach (which is unbiased as the contact virtual work is integrated over the two contacting surfaces). Details of the finite element formulation which is suitably implemented using Automatic Di fferentiation techniques are presented. A set of numerical experiments shows the overall performance of the framework and allows a quantitative comparison of the investigated variants. [less ▲]

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See detailAutonomous model-based assessment of mechanical failures of reconfigurable modular robots with a Conjugate Gradient solver
Hołobut, Paweł; Lengiewicz, Jakub UL; Bordas, Stéphane UL

in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2020)

Detailed reference viewed: 54 (6 UL)