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This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…

Robotics · Computer Science 2024-11-27 Zhihang Yin , Fa Wu , Ruofan Bian , Ziqian Wang , Jianmin Yang , Jiyong Tan , Dexing Kong

A comprehensive gyrokinetic simulation model has been implemented in the global toroidal gyrokinetic code (GTC) and verified for studying low-frequency waves and turbulence in magnetic fusion plasmas by treating all kinetic-MHD processes on…

We present a new approach to calculate the particle distribution function about relativistic shocks including synchrotron losses using the method of lines with an explicit finite difference scheme. A steady, continuous, one dimensional…

High Energy Astrophysical Phenomena · Physics 2015-06-03 Sean Delaney , Paul Dempsey , Peter Duffy , Turlough P. Downes

Computational gas dynamics has become a prominent research field both in astrophysics and cosmology. In the first part of this review we intend to briefly describe several of the numerical methods used in this field, discuss their range of…

Astrophysics · Physics 2007-12-24 A. Hujeirat , B. W. Keil , F. Heitsch

Kinetic theories constitute one of the most promising tools to decipher the characteristic spatio-temporal dynamics in systems of actively propelled particles. In this context, the Boltzmann equation plays a pivotal role, since it provides…

Soft Condensed Matter · Physics 2014-11-18 Florian Thüroff , Christoph A. Weber , Erwin Frey

We propose, analyze, and test a penalty projection-based efficient and accurate algorithm for the Uncertainty Quantification (UQ) of the time-dependent Magnetohydrodynamic (MHD) flow problems in convection-dominated regimes. The algorithm…

Numerical Analysis · Mathematics 2023-10-30 Muhammad Mohebujjaman , Julian Miranda , Md. Abdullah Al Mahbub , Mengying Xiao

The high-order hybridizable discontinuous Galerkin (HDG) method combining with an implicit iterative scheme is used to find the steady-state solution of the Boltzmann equation with full collision integral on two-dimensional triangular…

Fluid Dynamics · Physics 2020-02-19 Wei Su , Peng Wang , Yonghao Zhang , Lei Wu

We present the design of a multiscale parareal method for kinetic equations in the fluid dynamic regime. The goal is to reduce the cost of a fully kinetic simulation using a parallel in time procedure. Using the multiscale property of…

Numerical Analysis · Mathematics 2025-02-06 Tino Laidin , Thomas Rey

In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a…

Robotics · Computer Science 2017-02-27 Brian Ichter , Edward Schmerling , Ali-akbar Agha-mohammadi , Marco Pavone

We address in this thesis the current need to design new parallel algorithms and tools that ease the development of geodynamic modelling applications that are suited for today's and tomorrow's hardware. We present (1) the MATLAB HPC…

Geophysics · Physics 2022-07-19 Samuel Omlin , Ludovic Räss , Benjamin Malvoisin , Yury Y. Podladchikov

A high-performance implementation of a multiphase lattice Boltzmann method based on the conservative Allen-Cahn model supporting high-density ratios and high Reynolds numbers is presented. Metaprogramming techniques are used to generate…

Fluid Dynamics · Physics 2020-12-14 Markus Holzer , Martin Bauer , Ulrich Rüde

The high cost of sequential time integration is one major constraint that limits the speedup of a time-parallel algorithm like the Parareal algorithm due to the difficulty of coarsening time steps in a stiff numerical problem. To address…

Computational Physics · Physics 2025-03-06 Weifan Liu

Parallel algorithms on CPU and GPU are implemented for the Unified Gas-Kinetic Scheme and their performances are investigated and compared by a two dimensional channel flow case. The parallel CPU algorithm has a one dimensional block…

Computational Physics · Physics 2018-11-02 Jizhou Liu , Fang Q. Hu , Xiaodong Li

We develop a theoretical and computational approach to deal with systems that involve a disparate range of spatio-temporal scales, such as those comprised of colloidal particles or polymers moving in a fluidic molecular environment. Our…

Soft Condensed Matter · Physics 2017-10-27 Adwait V. Datar , Maria Fyta , Umberto Marini Bettolo Marconi , Simone Melchionna

Simulating fluid-granular flows is crucial for understanding natural disasters, industrial processes, and visually realistic phenomena in computer graphics. These systems are challenging to simulate because of the strong nonlinear coupling…

Graphics · Computer Science 2026-03-17 Xingqiao Li , Kui Wu , Haozhe Su , Tianhong Gao , Mengyu Chu , Chenfanfu Jiang , Wei Li , Baoquan Chen

Accurate and efficient plasma models are essential to understand and control experimental devices. Existing magnetohydrodynamic or kinetic models are nonlinear, computationally intensive, and can be difficult to interpret, while often only…

Plasma Physics · Physics 2020-03-04 Alan A. Kaptanoglu , Kyle D. Morgan , Chris J. Hansen , Steven L. Brunton

Numerical solution of partial differential equations on parallel computers using domain decomposition usually requires synchronization and communication among the processors. These operations often have a significant overhead in terms of…

Distributed, Parallel, and Cluster Computing · Computer Science 2023-01-11 Soumyadip Ghosh , Jiacai Lu , Vijay Gupta , Gretar Tryggvason

In this paper, we propose a hybrid lattice Boltzmann method (HLBM) for solving fluid-structure interaction problems. The proposed numerical approach is applied to model the flow induced by a vibrating thin lamina submerged in a viscous…

Computational Physics · Physics 2020-06-25 Giovanni Di Ilio , Daniele Chiappini , Stefano Ubertini , Gino Bella , Sauro Succi

We present two generalized hybrid kinetic-Hall magnetohydrodynamics (MHD) models describing the interaction of a two-fluid bulk plasma, which consists of thermal ions and electrons, with energetic, suprathermal ion populations described by…

Plasma Physics · Physics 2021-11-11 D. A. Kaltsas , G. N. Throumoulopoulos , P. J. Morrison

This paper extends the second-order accurate BGK finite volume schemes for the ultra-relativistic flow simulations [5] to the 1D and 2D special relativistic hydrodynamics with the Synge equation of state. It is shown that such 2D schemes…

Numerical Analysis · Mathematics 2021-06-30 Yaping Chen , Yangyu Kuang , Huazhong Tang