Related papers: Dual Quaternion Variational Integrator for Rigid B…

This paper proposes a robust model predictive control-based solution for the recently introduced series active variable geometry suspension (SAVGS) to improve the ride comfort and road holding of a quarter car. In order to close the gap…

We present two quaternion-based sliding variables for controlling the orientation of a manipulator's end-effector. Both sliding variables are free of singularities and represent global exponentially convergent error dynamics that do not…

We consider partitioned time integration for heterogeneous coupled heat equations. First and second order multirate, as well as time-adaptive Dirichlet-Neumann Waveform relaxation (DNWR) methods are derived. In 1D and for implicit Euler…

We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive…

We consider waveform iterations for dynamical coupled problems, or more specifically, PDEs that interact through a lower dimensional interface. We want to allow for the reuse of existing codes for the subproblems, called a partitioned…

This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…

In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…

We propose a general-purpose, self-adaptive approach to construct variational wavefunction ans\"atze for highly accurate quantum dynamics simulations based on McLachlan's variational principle. The key idea is to dynamically expand the…

We consider an SO(4) Euler rigid body with two 'inertia momenta' coinciding. We study it from the point of view of bihamiltonian geometry. We show how to algebraically integrate it by means of the method of separation of variables.

Efficient ground state search is fundamental to advancing combinatorial optimization problems and quantum chemistry. While the Variational Imaginary Time Evolution (VITE) method offers a useful alternative to Variational Quantum Eigensolver…

Adaptive structures are characterized by their ability to adjust their geometrical and other properties to changing loads or requirements during service. This contribution deals with a method for the design of quasi-static motions of…

Asynchronous Variational Integrators (AVIs) have demonstrated long-time good energy behavior. It was previously conjectured that this remarkable property is due to their geometric nature: they preserve a discrete multisymplectic form.…

Since they were introduced in the 1990s, Lie group integrators have become a method of choice in many application areas. These include multibody dynamics, shape analysis, data science, image registration and biophysical simulations. Two…

We propose a simple and practical approach for incorporating the effects of muscle inertia, which has been ignored by previous musculoskeletal simulators in both graphics and biomechanics. We approximate the inertia of the muscle by…

We present a novel, fast differentiable simulator for soft-body learning and control applications. Existing differentiable soft-body simulators can be classified into two categories based on their time integration methods: Simulators using…

We consider the generic quadratic first integral (QFI) of the form $I=K_{ab}(t,q)\dot{q}^{a}\dot{q}^{b}+K_{a}(t,q)\dot{q}^{a}+K(t,q)$ and require the condition $dI/dt=0$. The latter results in a system of partial differential equations…

We propose DoubleFusion, a new real-time system that combines volumetric dynamic reconstruction with data-driven template fitting to simultaneously reconstruct detailed geometry, non-rigid motion and the inner human body shape from a single…

Moving mesh methods (also called r-adaptive methods) are space-adaptive strategies used for the numerical simulation of time-dependent partial differential equations. These methods keep the total number of mesh points fixed during the…

The phase field approach is widely used to model fracture behaviors due to the absence of the need to track the crack topology and the ability to predict crack nucleation and branching. In this work, the asynchronous variational integrators…

In this note, first the Recurrent Variational Approach (RVA) is introduced by using as example a non-trivial spin-model, the spin-1/2 antiferromagnetic two-leg-ladder. Then, a first application of this scheme to the electronic structure of…