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The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
NVIDIA researchers have pioneered an explicit method, position-based dynamics (PBD), for simulating systems with contact forces, gaining widespread use in computer graphics and animation. While the method yields visually compelling…
Learning physical simulations has been an essential and central aspect of many recent research efforts in machine learning, particularly for Navier-Stokes-based fluid mechanics. Classic numerical solvers have traditionally been…
In many sliding systems consisting of solid object on a solid substrate under dry condition, the friction force does not depend on the apparent contact area and is proportional to the loading force. This behaviour is called Amontons' law…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…
We prove that stochastic gradient descent efficiently converges to the global optimizer of the maximum likelihood objective of an unknown linear time-invariant dynamical system from a sequence of noisy observations generated by the system.…
We study multivariate trigonometric polynomials, satisfying a set of constraints close to the known Strung-Fix conditions. Based on the polyphase representation of these polynomials relative to a general dilation matrix, we develop a simple…
Polyconvexity is one of the known conditions which guarantee existence of solutions of boundary value problems in finite elasticity. In this work we propose a framework for development of polyconvex strain energy functions for hyperelastic…
We propose a novel study of the stochastic proximal gradient method for minimizing the sum of two convex functions, one of which is smooth. Under suitable assumptions and without requiring any boundedness or control of the variance of the…
The collision-free velocity model is a microscopic pedestrian model, which despite its simplicity, reproduces fairly well several self-organization phenomena in pedestrian dynamics. The model consists of two components: a direction…
A model for harmonic oscillator damping due to the internal friction of solids has been developed, based on considerations of a long period pendulum. The assumption of a complex elastic modulus to describe stress-strain hysteresis in the…
An application design is offered, which students of physics can use when authoring a solver for mechanical systems with constraints. A 'chainlist' concept is introduced to capture a constrained mechanical system configuration and to pass…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
We compute displacement and stress due to a normal fault by means of two-dimensional plane-strain finite-element analysis. To do so, we apply a system of forces to the fault nodes and develop an iterative algorithm serving to determine the…
We introduce a fully-corrective generalized conditional gradient method for convex minimization problems involving total variation regularization on multidimensional domains. It relies on alternatively updating an active set of subsets of…
Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dynamics and reward both exhibit the same symmetry; however,…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
This is a complete study of the dynamics of polynomial planar vector fields whose linear part is a multiple of the identity and whose nonlinear part is a contracting homogeneous polynomial. The contracting nonlinearity provides the…
We investigate the effect of hydrodynamic interactions on the non-equilibrium drift dynamics of an ideal flexible polymer pulled by a constant force applied at one end of the polymer using the perturbation theory and the renormalization…
A basis expansion with regularization methods is much appealing to the flexible or robust nonlinear regression models for data with complex structures. When the underlying function has inhomogeneous smoothness, it is well known that…