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solution or even failure of the calculation of numerical integration due to negative values of Jacobian determinants at nodes. On the other hand, the DEM simulation does not have this limitation, but it is computationally expensive, and the processor power

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− M -1   K       0 ]     ,     b u = [ 0 − M − 1   f t ]     , and I is a unit matrix. Numerical integration of (32) can be performed with number of standard methods, e.g. Runge-Kutta method or trapezoid rule, using Matlab or Scilab software

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