Related papers: Asynchronous Variational Contact Mechanics
Mutual forces can be induced between coupled structures when illuminated by external acoustic waves. In this Letter, we propose a concept of asymmetric interaction between two coupled plate-like structures, which is generated by oppositely…
Identifying motor synergies -- coordinated hand joint patterns activated at task-dependent time shifts -- from kinematic data is central to motor control and robotics. Existing two-stage methods first extract candidate waveforms (via SVD)…
The article provides a pedagogical review aimed at graduate students in materials science, physics, and applied mathematics, focusing on recent developments in the subject. Following a brief summary of concepts from complex analysis, the…
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…
This paper focuses on the solvability of multistage pseudomonotone stochastic variational inequalities (SVIs). On one hand, some known solvability results of pseudomonotone deterministic variational inequalities cannot be directly extended…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
The objective of the present work is to develop a robust, yet simple-to-implement algorithm for dynamic vehicle-track-structure-interaction (VTSI) analysis, applicable to trains passing over bridges. The algorithm can be readily implemented…
Motivated by recent developments in Hamiltonian variational principles, Hamiltonian variational integrators, and their applications such as to optimization and control, we present a new Type II variational approach for Hamiltonian systems,…
This article studies a boundary element method for dynamic frictional contact between linearly elastic bodies. We formulate these problems as a variational inequality on the boundary, involving the elastodynamic Poincar\'{e}-Steklov…
We present a novel theory of the adhesive contact of linear viscoelastic materials against rigid substrates moving at constant velocity. Despite the non-conservative behavior of the system, the closure equation of the contact problem can be…
Cellular Automaton (CA) and an Integral Value Transformation (IVT) are two well established mathematical models which evolve in discrete time steps. Theoretically, studies on CA suggest that CA is capable of producing a great variety of…
Finite-dimensional non-canonical Hamiltonian systems arise naturally from Hamilton's principle in phase space. We present a method for deriving variational integrators that can be applied to perturbed non-canonical Hamiltonian systems on…
A new form of variational autoencoder (VAE) is developed, in which the joint distribution of data and codes is considered in two (symmetric) forms: ($i$) from observed data fed through the encoder to yield codes, and ($ii$) from latent…
This paper presents the first asynchronous version of the Global/Local non-invasive coupling, capable of dealing efficiently with multiple, possibly adjacent, patches. We give a new interpretation of the coupling in terms of primal domain…
In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necessary conditions for the reduced extremals. The problem…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
Scientific testing techniques are essential for ensuring the safe operation of autonomous vehicles (AVs), with high-risk, highly interactive scenarios being a primary focus. To address the limitations of existing testing methods, such as…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…
Safety-critical scenarios are essential for the development of autonomous vehicles (AVs) but are rare in real-world driving data. While simulation offers a way to generate such scenarios, manually designed test cases lack scalability, and…
We introduce a symplectic dual quaternion variational integrator(DQVI) for simulating single rigid body motion in all six degrees of freedom. Dual quaternion is used to represent rigid body kinematics and one-step Lie group variational…