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In this paper, we present a 2D numerical model developed to simulate the dynamics of soft, deformable particles. To accommodate significant particle deformations, the particle surface is represented as a narrow shell composed of mass points…
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs)…
We present a general simulation approach for incompressible fluid--structure interactions in a fully Eulerian framework using the reference map technique (RMT). The approach is suitable for modeling one or more rigid or finitely-deformable…
This paper introduces a sharp-interface approach to simulating fluid-structure interaction involving flexible bodies described by general nonlinear material models and across a broad range of mass density ratios. This new flexible-body…
It was observed that hyperlogarithms provide a tool to carry out Feynman integrals. So far, this method has been applied successfully to finite single-scale processes. However, it can be employed in more general situations. We give examples…
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning the material parameters of our soft robotic fish. On the…
The contact of solids with rough surfaces plays a fundamental role in physical phenomena such as friction, wear, sealing, and thermal transfer. However, its simulation is a challenging problem due to surface asperities covering a wide range…
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier-Stokes and finite elasticity is computationally expensive.…
In this paper we propose a novel and general approach to design semi-implicit methods for the simulation of fluid-structure interaction problems in a fully Eulerian framework. In order to properly present the new method, we focus on the…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
World models for deformable objects should recover not only geometry and appearance, but also underlying physical dynamics, interaction grounding, and material behavior. Learning such a model from real videos is challenging because…
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…
Many computer vision and image processing applications rely on local features. It is well-known that motion blur decreases the performance of traditional feature detectors and descriptors. We propose an inertial-based deblurring method for…
We studied numerically the dynamics of colliding rigid bodies in a Newtonian fluid. The finite element method is used to solve the fluid-body interaction and the fluid motion is described in the Arbitrary-Lagrangian-Eulerian framework. To…
We introduce a new algorithm for the simulation of Euclidean dynamical triangulations that mimics the Metropolis-Hastings algorithm, but where all proposed moves are accepted. This rejection-free algorithm allows for the factorization of…
The Feynman integral is one of the most accurate methods for calculating density operator dynamics in open quantum systems. However, the number of time steps that can realistically be used is always limited, therefore one often obtains an…
This paper introduces the Efficient Facial Landmark Detection (EFLD) model, specifically designed for edge devices confronted with the challenges related to power consumption and time latency. EFLD features a lightweight backbone and a…
With the development of deep learning, Deep Metric Learning (DML) has achieved great improvements in face recognition. Specifically, the widely used softmax loss in the training process often bring large intra-class variations, and feature…
UNet-based methods have shown outstanding performance in salient object detection (SOD), but are problematic in two aspects. 1) Indiscriminately integrating the encoder feature, which contains spatial information for multiple objects, and…
Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…