There are two types of structures in human body, solid organs and hollow membrane like organs. Brain, liver and other soft tissues such as tendons, muscles, cartilage etc., are examples of solid organs. Colon and blood vessels are examples of hollow organs. They greatly differ in structure and mechanical behavior. Deformation of these types of structures is an important phenomena during the process of medical simulation. The primary focus of this project is on deformation of soft tissues. These kind of soft tissues usually undergo large deformation. Deformation of an organ can be considered as mechanical response of that organ during medical simulation. This can be modeled using continuum mechanics and FEM. The primary goal of any system, irrespective of methods and models chosen, it must provide real-time response to obtain sufficient realism and accurate information. One such example is medical training system using haptic feedback. In the past two decades many models were developed and very few considered the non-linear nature in material and geometry of the solid organs. TLED is one among them. A finite element formulation proposed by Miller in 2007, known as total Lagrangian explicit dynamics (TLED) algorithm, will be discussed with respect to implementation point of view and deploying GPU acceleration (because of its parallel nature to some extent) for both pre-processing and actual computation.

In this dissertation, I provide a robust, efficient inverse mapping algorithm for use in immersed simulation methods, specifically in the Flex Representation Method. I also explore a structural theory that unifies the theories of solids, shells, beams, and rigid bodies. As part of this, I preform a preliminary exploration of applying the Flex Representation Method to shells. Finally, I explore why higher order elements suffer from small critical time steps in explicit dynamics. I then propose a simple method of remedying this issue by exploiting the properties of U-splines.

Robot controller cabinets are specified with interfaces which make it possible to connect different modules for completing numerous tasks that are chosen for the robot manipulators. Different interfaces will be utilized depend on the kind of tasks and settings that are chosen. Thus not every interface will be put into use in a controller cabinet, some are left behind. In order to fulfill the encapsulation standards of electrical enclosures, the unoccupied interfaces are covered and sealed with on-screwed cover plates and gaskets during the assembly of the cabinet. However, a new method for encapsulation hope to be investigated and introduced to improve the current solution with respect to the encapsulation requirements from ABB.  The introduced new solution is a knockout concept. The detailed design is investigated with the help of finite element analysis with the explicit dynamics method used for simulating the punching processes of the knockout designs. Where three different design variables are put into consideration for finding the most optimum knockout design.  The results show that, for the particular steel plate provided by ABB, a V-grooved knockout design with a grooving angle of 90 degrees and an unaffected thickness of 0.1 mm has the best performance in terms of smoothness at edges and the amount of plastic strain occurred in the material.  Traditional manufacturing methods to manufacture the obtained knockout design appear to be extremely time consuming and thus not profitable for mass production. However, a type of fairly recent developed grooving machines, the so called V-grooving machine, is believed to be able to solve the manufacturing problem. / Robot styrskåp är specificerad med mängder gränssnitt vilket gör det möjligt för anslutning av olika moduler till att kunna fullborda de uppgifterna valda för robot manipulatorerna. Olika gränssnitt utnyttjas beroende på den typ av arbetsuppgift och inställningar valda just för den. Därför kommer inte alla gränssnitt att kunna tas i bruk i ett styrskåp, vissa lämnas kvar. För att kunna uppfylla inkapslingsstandarden för elektriska kapslingar är dessa obesatta gränssnitt täckt och förseglat med påskruvad täckplåtar och packningar under montering av styrskåp. En ny inkapslingsmetod hoppas att kunna utredas och introduceras till att förbättra den nuvarande lösningen med avseende på de inkapslingskraven från ABB.  Den introducerade lösningen är ett knockout koncept. En detaljerad konstruktion undersöks med hjälp av finita element analys med explicit dynamik som grunden till att simulera knockout processer. Där tre olika design parametrar tas i beaktande för att hitta den mest optimala knockout konstruktionen.  Resultaten visar sig att, för den här särskilda stålplåten som tillhandahålls av ABB, en V-spårad knockout konstruktion med en spårvinkel på 90 grader och en tjocklek på 0.1 mm har den mest tillfredställande prestandan med avseende på jämnhet, d.v.s. reduceringen av vassa kanter, och mängder av plastiska töjningar som inträffas i materialet efter knockout processen.  Traditionella tillverkningsmetoder till att tillverka en sådan knockout konstruktion visar sig vara väldigt tidsödande och anses därför inte vara lönsamt för massproduktion. Emellertid upptäcks det en typ av relativt nyutvecklad spårmaskin, så kallad V-grooving machine, som tros att kunna lösa tillverkningsproblemet.

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