Related papers: Dual Quaternion Variational Integrator for Rigid B…
The quantum quartic oscillator is investigated in order to test the many-body technique of the continuous unitary transformations. The quartic oscillator is sufficiently simple to allow a detailed study and comparison of various…
The quaternion biconjugate gradient (QBiCG) method, as a novel variant of quaternion Lanczos-type methods for solving the non-Hermitian quaternion linear systems, does not yield a minimization property. This means that the method possesses…
This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the…
The motion of a rigid body in a quadratic potential is an important example of an integrable Hamiltonian system on a dual to a semidirect product Lie algebra so(n) x Symm(n). We give a Lagrangian derivation of the corresponding equations of…
We present a quantum algorithm for simulating rovibrational Hamiltonians on fault-tolerant quantum computers. The method integrates exact curvilinear kinetic energy operators and general-form potential energy surfaces expressed in a hybrid…
Over the last decades quaternions have become a crucial and very successful tool for attitude representation in robotics and aerospace. However, there is a major problem that is continuously causing trouble in practice when it comes to…
Variational methods are highly valuable computational tools for solving high-dimensional quantum systems. In this paper, we explore the effectiveness of three variational methods: the density matrix renormalization group (DMRG), Boltzmann…
Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…
This paper presents an analytical model and a geometric numerical integrator for a tethered spacecraft model that is composed of two rigid bodies connected by an elastic tether. This model includes important dynamic characteristics of…
The quantum Fourier transform for discrete variable (dvQFT) is an efficient algorithm for several applications. It is usually considered for the processing of quantum bits (qubits) and its efficient implementation is obtained with two…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
The possibility to simulate the properties of many-body open quantum systems with a large number of degrees of freedom is the premise to the solution of several outstanding problems in quantum science and quantum information. The challenge…
{Many-body quantum states at thermal equilibrium are ubiquitous in nature. Investigating their dynamical properties is a formidable task due to the complexity of the Hilbert space they live in. Quantum computers may have the potential to…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
A microscopic quantum ideal rotor-model Hamiltonian (distinct from that of Bohr's rotational model) is derived for a rotation about a single axis by applying a dynamic rotation operator to the deformed nuclear ground-state wavefunction. It…
We present results from co-designed quantum simulations of the neutrinoless double-beta decay of a simple nucleus in 1+1D quantum chromodynamics using IonQ's Forte-generation trapped-ion quantum computers. Electrons, neutrinos, and up and…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
In this paper we are concerned with the analysis of a class of geometric integrators, at first devised in [14, 18], which can be regarded as an energy-conserving variant of Gauss collocation methods. With these latter they share the…
We present a fully-integrated lattice Boltzmann (LB) method for fluid--structure interaction (FSI) simulations that efficiently models deformable solids in complex suspensions and active systems. Our Eulerian method (LBRMT) couples…
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier-Stokes and finite elasticity is computationally expensive.…