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A smoothed particle hydrodynamics (SPH) framework for three-dimensional dynamic soil-multibody interaction modeling is presented, where both soils and rigid bodies are discretized using SPH particles. In the framework, soils are modeled using the Drucker-Prager model, while rigid bodies are considered with a multibody dynamics solver. A hybrid contact method suitable for three-dimensional simulations is developed to model the soil-body and body-body frictionless and frictional contacts, where contact forces are calculated based on ideal plastic collision and the unit normal/tangential vectors of the actual surface. Owing to its simplicity in contact detection and accuracy in contact force calculation, the hybrid contact method can be easily incorporated into SPH. Furthermore, graphics processing unit (GPU) parallelization is utilized to improve efficiency. The presented numerical framework and the hybrid contact method are validated using several examples. Numerical results are compared with analytical solutions and results from the literature. Furthermore, two three-dimensional simulations involving dynamic soil-multibody interaction are included to demonstrate the application.

A surface mesh represented discrete element method (SMR-DEM) for granular systems with arbitrarily shaped particles is presented. The particle surfaces are approximated using contact nodes obtained from surface mesh. A hybrid contact method which combines the benefits of the sphere-to-sphere and shpere-to-surface approaches is proposed for contact detection and force computation. The simple formulation and implementation render SMR-DEM suitable for threedimensional simulations. Furthermore, GPU parallelization is employed to achieve higher efficiency. Several numerical examples are presented to show the performance of SMR-DEM. It is found that on the particle level the method is accurate and convergent, while on the system level SMR-DEM can effectively model particle assemblies of various regular and complex irregular shapes.