Related papers: Asynchronous Variational Contact Mechanics
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
In this paper, we derive a variational integrator for certain highly oscillatory problems in mechanics. To do this, we take a new approach to the splitting of fast and slow potential forces: rather than splitting these forces at the level…
This paper studies variational collision avoidance problems for multi-agents systems on complete Riemannian manifolds. That is, we minimize an energy functional, among a set of admissible curves, which depends on an artificial potential…
A time-dependent vibrational electronic coupled-cluster (VECC) approach is proposed to simulate photoelectron/ UV-VIS absorption spectra, as well as time-dependent properties for non-adiabatic vibronic models, going beyond the…
Amortized variational inference (AVI) replaces instance-specific local inference with a global inference network. While AVI has enabled efficient training of deep generative models such as variational autoencoders (VAE), recent empirical…
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous manipulation tasks as a trajectory optimization problem, a…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
In recent years, much effort in designing numerical methods for the simulation and optimization of mechanical systems has been put into schemes which are structure preserving. One particular class are variational integrators which are…
Phase separation has emerged as an essential concept for the spatial organization inside biological cells. However, despite the clear relevance to virtually all physiological functions, we understand surprisingly little about what phases…
Parallel implementation of numerical adaptive mesh refinement (AMR)strategies for solving 3D elastostatic contact mechanics problems is an essential step toward complex simulations that exceed current performance levels. This paper…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
This paper proposes an adaptive primal-dual dynamics for distributed optimization in multi-agent systems. The proposed dynamics incorporates an adaptive synchronization law that reinforces the interconnection strength between the primal…
This paper formulates variational integrators for finite element discretizations of deformable bodies with heat conduction in the form of finite speed thermal waves. The cornerstone of the construction consists in taking advantage of the…
In this paper we show and discuss the use of a versatile interaction potential approach coupled with an immersed boundary method to simulate a variety of flows involving deformable bodies. In particular, we focus on two kinds of problems,…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
Adaptive precision molecular dynamics simulations have developed along energy- and force-coupling approaches, which allow for a continuous transition between different particle descriptions or interaction potentials. Most approaches…
Synchronization of identical harmonic oscillators interconnected via position, velocity, and acceleration couplings is studied. How to construct a complex Laplacian matrix representing the overall coupling is presented. It is shown that the…
In this paper, the acoustic interaction forces and torques exerted by an arbitrary time-harmonic wave on a set of N spheres suspended in an inviscid fluid are theoretically analyzed. In so doing, we utilize the partial-wave expansion method…
A variational approach is employed to find stationary solutions to a free boundary problem modeling an idealized electrostatically actuated MEMS device made of an elastic plate coated with a thin dielectric film and suspended above a rigid…