Abstract
To Perform reliably and consistently over sustained periods of time, large-scale automation critically relies on computer simulation. Simulation allows us and supervisory AI to effectively design, validate, and continuously improve complex processes, and helps practitioners to gain insight into the operation and justify future investments. While numerous successful applications of simulation in industry exist, such as circuit simulation, finite element methods, and computeraided design (CAD), state-of-the-art simulators fall short of accurately modeling physical phenomena, such as friction, impact, and deformation.