Hi Heming,
Here are a couple of references to begin with:

  *   For Chrono overview, please use: A. Tasora, R. Serban, H. Mazhar, A. 
Pazouki, D. Melanz, J. Fleischmann, M. Taylor, H. Sugiyama, and D. Negrut,
“Chrono: An open source multi-physics dynamics engine,” In T. Kozubek, editor, 
High Performance Computing in Science and Engineering – Lecture Notes in 
Computer Science, pages 19–49. Springer, 2016.
  *   For Chrono::Vehicle, please use: R. Serban, M. Taylor, D. Negrut, and A. 
Tasora, “Chrono::Vehicle – Template-based Ground Vehicle Modeling and 
Simulation,” International Journal on Vehicle Performance, 5(1), pp. 18-39, 
doi: 10.1504/IJVP.2019.097096, 2019.
You’ll need to be more precise as to which module you use for granular dynamics 
and what method (smooth or non-smooth), so that we can provide an appropriate 
reference.
--Radu


From: [email protected] <[email protected]> On Behalf 
Of Heming Chang
Sent: Sunday, September 24, 2023 11:06 AM
To: ProjectChrono <[email protected]>
Subject: [chrono] About the algorithmic theory

Dear professors,
         I would like to use Chrono for my research paper. Could you please 
guide me on where I can find the algorithmic theory related to Chrono's vehicle 
dynamics and discrete element capabilities?
          Thanks professors!
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