O. Variants, .. Time-stepping-schemes, and .. Schatzman-scheme, 317 H a l I N R I A s a m p l e XVI Contents 11 Time-Stepping Scheme for the, p.319

H. Time-discretization-of-the, 321 11.2.1 Principle of the Discretization, 321 11.2.2 Properties of the Discrete-Time Extended Sweeping Process, p.322

T. Constrained and Q. , 331 12.2.1 Definition and Basic Properties, p.344

L. Lcp and Q. The, 352 12.4.3 Variants of the, The Linear Complementarity Problem, p.379

Q. Variational and V. , 389 12.6.2 Links with the Complementarity Problems 392 H a l I N R I A s a m p l e Contents XVII 12, 390 12.6.3 Links with the Constrained Minimization Problem . . . . . . . 391 12.6.4 Merit and Gap Functions, p.396

.. Methods-for-the-frictional-contact-problem, 403 13.1 Introduction 403 13.2 Summary of the Time-Discretized Equations The Index Set of Forecast Active Constraints, 403 13.2.2 Summary of the OSNSPs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405

R. Formulations, L. In, and .. Forms, 407 13.3.1 The Frictionless Case with Newton's Impact Law 407 13.3.2 The Frictionless Case with Newton's Impact and Linear Perfect Bilateral Constraints, p.408

R. Formulation, N. Standard, and .. Form, 419 13.4.1 The Frictionless Case A Clever Formulation of the 3D Frictional Contact as an, p.420

R. Formulation, Q. In, N. Forms, and .. , 422 13.5.1 The Frictionless Case, 422 13.5.2 Minimization Principles and Coulomb's Friction . . . . . . . . . 423

R. Formulations and .. As-nonsmooth-equations, 424 13.6.1 Alart and Curnier's Formulation and Generalized Newton's Method, p.424

S. Software and .. , 448 14.3.1 General Principles of Modeling and Simulation Simulation-Related Components, 456 14.3.4 SICONOS Software Design, p.457

A. Convex and S. Nonsmooth, 475 A.1 Set-Valued Analysis, Some Useful Equivalences, p.476

C. Some-facts-in-real-analysis and .. , 481 C.1 Functions of Bounded Variations in Time 481 C.2 Multifunctions of Bounded Variation in Time, 487 C.6 Some Useful Results, p.487