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In many industries, including aerospace and defense, waveform analysis is commonly conducted to compute the resonance of physical objects, with the Finite Element Method (FEM) being the standard approach. The Finite Difference Method (FDM)…
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…
Out-of-equilibrium systems, inherently complex and challenging to understand, are prevalent across various disciplines, including physics where they arise in contexts such as fluid dynamics. In particular, critical out-of-equilibrium…
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 compare a recently proposed multivariate spline based on mixed partial derivatives with two other standard splines for the scattered data smoothing problem. The splines are defined as the minimiser of a penalised least squares…
Understanding the contact between rough surfaces undergoing plastic deformation is crucial in many applications. We study the effect of plastic deformation on the surface separation between two solids with random roughness. Assuming a…
Frictional sliding along an interface between two identical isotropic elastic plates under impact shear loading is investigated experimentally and numerically. The plates are held together by a compressive stress and one plate is subject to…
This work presents an updated and extended guide on methods of a proper acceleration of the Monte Carlo integration of stochastic differential equations with the commonly available NVIDIA Graphics Processing Units using the CUDA programming…
In recent years, half precision floating-point arithmetic has gained wide support in hardware and software stack thanks to the advance of artificial intelligence and machine learning applications. Operating at half precision can…
Simulating open quantum systems on quantum computers presents a fundamental challenge: open quantum dynamics are intrinsically nonunitary, whereas quantum computers operate through unitary evolution. Conventional approaches overcome this…
Standard algorithms for the numerical integration of the Langevin equation require that interactions are slowly varying during to the integration timestep. This in not the case for hard-body systems, where there is no clearcut between the…
An open problem in optimization with noisy information is the computation of an exact minimizer that is independent of the amount of noise. A standard practice in stochastic approximation algorithms is to use a decreasing step-size. This…
We introduce an algorithm to compute Hamiltonian dynamics on digital quantum computers that requires only a finite circuit depth to reach an arbitrary precision, i.e. achieves zero discretization error with finite depth. This finite number…
The paper considers the dynamics of the spreading liquid droplets after impact on a solid surface. The dynamics of a drop falling on a solid surface is shown using numerical simulation based on the solution of 2D and 3D Navier-Stokes…
The problem of stability in the machining processes is an important task. It is strictly connected with the final quality of a product. In this paper we consider vibrations of a tool-workpiece system in a straight turning process induced by…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
Discrete fracture networks is a key ingredient in the simulation of physical processes which involve fluid flow in the underground, when the surrounding rock matrix is considered impervious. In this paper we present two different models to…
Stabilizer simulation of Clifford quantum circuits - error-correction circuits, Clifford subroutines, etc. - on classical computers has played a central role in our understanding of circuit performance. The stabilizer description, however,…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
We study the trade-offs between convergence rate and robustness to gradient errors in designing a first-order algorithm. We focus on gradient descent (GD) and accelerated gradient (AG) methods for minimizing strongly convex functions when…