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Dual-arm cooperative manipulation holds great promise for tackling complex real-world tasks that demand seamless coordination and adaptive dynamics. Despite substantial progress in learning-based motion planning, most approaches struggle to…

Robotics · Computer Science 2025-11-24 Jiaming Chen , Yiyu Jiang , Aoshen Huang , Yang Li , Wei Pan

Fluid flow in rough fractures and the coupling with the mechanical behaviour of the fractures pose great difficulties for numerical modeling approaches, due to complex fracture surface topographies, the non-linearity of hydromechanical…

Computational Physics · Physics 2020-03-17 Cyrill von Planta , Daniel Vogler , Xiaoqing Chen , Maria G. C. Nestola , Martin O. Saar , Rolf Krause

The discrete fracture model (DFM) has been widely used in the simulation of fluid flow in fractured porous media. Traditional DFM uses the so-called hybrid-dimensional approach to treat fractures explicitly as low-dimensional entries (e.g.…

Numerical Analysis · Mathematics 2021-02-01 Ziyao Xu , Yang Yang

We propose an energy-stable parametric finite element method (ES-PFEM) for simulating solid-state dewetting of thin films in two dimensions via a sharp-interface model, which is governed by surface diffusion and contact line (point)…

Numerical Analysis · Mathematics 2020-06-08 Quan Zhao , Wei Jiang , Weizhu Bao

An advanced Volume of Fluid (VOF) method is presented that enables performant three-dimensional Direct Numerical Simulations (DNS) of the interaction of two immiscible fluids in a gaseous environment with large topology changes, e.g.,…

Fluid Dynamics · Physics 2023-11-08 Johanna Potyka , Kathrin Schulte

This paper presents a novel volume of fluid ghost-cell immersed boundary (IB) method for two-phase free surface flow interacting with structures. To circumvent the disturbance occurring around the intersection area of the IB and free…

Fluid Dynamics · Physics 2024-09-16 Fan Chen , Jinghua Wang , Huan-Feng Duan

We present a loosely coupled approach for the solution of fluid-structure interaction problems between a compressible flow and a deformable structure. The method is based on staggered Dirichlet-Neumann partitioning. The interface motion in…

In our recent work [H. Zhang, F.X. Trias, A. Oliva, D. Yang, Y. Tan, Y. Sheng. PIBM: Particulate immersed boundary method for fluid-particle interaction problems. Powder Technology. 272(2015), 1-13.], a particulate immersed boundary method…

Computational Physics · Physics 2015-02-05 Hao Zhang , Haizhuan Yuan , F. Xavier Trias , Aibing Yu , Yuanqiang Tan , Assensi Oliva

This paper proposes two contributions to the calculation of free surface flows using the particle finite element method (PFEM). The PFEM is based on a Lagrangian approach: a set of particles defines the fluid. Then, unlike a pure Lagrangian…

Computational Engineering, Finance, and Science · Computer Science 2025-01-08 Thomas Leyssens , Michel Henry , Jonathan Lambrechts , Jean-Francois Remacle

In this paper we show and discuss the use of a versatile interaction potential approach coupled with an immersed boundary method to simulate a variety of flows involving deformable bodies. In particular, we focus on two kinds of problems,…

This article presents a multi-physics methodology for the numerical simulation of physical systems that involve the non-linear interaction of multi-phase reactive fluids and elastoplastic solids, inducing high strain-rates and high…

Computational Physics · Physics 2021-06-04 Tim Wallis , Philip T. Barton , Nikolaos Nikiforakis

The solution of partial differential equations (PDEs) on complex domains often presents a significant computational challenge by requiring the generation of fitted meshes. The Diffuse Domain Method (DDM) is an alternative which reformulates…

Numerical Analysis · Mathematics 2026-05-13 Luke Benfield , Andreas Dedner

We present a boundary-conforming space-time finite element method to compute the flow inside co-rotating, self-wiping twin-screw extruders. The mesh update is carried out using the newly developed Snapping Reference Mesh Update Method…

Computational Engineering, Finance, and Science · Computer Science 2019-01-04 Jan Helmig , Marek Behr , Stefanie Elgeti

We present a novel image-based adaptive domain decomposition FEM framework to accelerate the solution of continuum damage mechanics problems. The key idea is to use image-processing techniques in order to identify the moving interface…

Computational Engineering, Finance, and Science · Computer Science 2024-11-08 Panos Pantidis , Cornelius Otchere , Mostafa E. Mobasher

In this paper, a diffuse-interface lattice Boltzmann method (DI-LBM) is developed for fluid-particle interaction problems. In this method, the sharp interface between the fluid and solid is replaced by a thin but nonzero thickness…

Computational Physics · Physics 2021-06-17 Jiao Liu , Changsheng Huang , Zhenhua Chai , Baochang Shi

We present a novel distributed Lagrange multiplier/fictitious domain (DLM/FD) method for simulating fluid-particle interaction in Oldroyd-B fluids under creeping conditions. The results concerning two ball interaction in a three dimensional…

Fluid Dynamics · Physics 2017-07-10 Shang-Huan Chiu , Tsorng-Whay Pan , Roland Glowinski

Over the last decade, finite volume discretizations for flow in porous media have been extended to handle situations where fractures dominate the flow. These discretizations have successfully been combined with the discrete fracture-matrix…

Numerical Analysis · Mathematics 2017-12-25 Ivar Stefansson , Inga Berre , Eirik Keilegavlen

We present the implementation of a solution scheme for fluid-structure interaction problems via the finite element software library deal.II. The solution scheme is an immersed finite element method in which two independent discretizations…

Numerical Analysis · Mathematics 2012-09-14 Luca Heltai , Saswati Roy , Francesco Costanzo

We present FoundationSLAM, a learning-based monocular dense SLAM system that addresses the absence of geometric consistency in previous flow-based approaches for accurate and robust tracking and mapping. Our core idea is to bridge flow…

Computer Vision and Pattern Recognition · Computer Science 2026-01-05 Yuchen Wu , Jiahe Li , Fabio Tosi , Matteo Poggi , Jin Zheng , Xiao Bai

We propose a domain-decomposition pore-network method (DD-PNM) for modeling single-phase Stokes flow in porous media. The method combines the accuracy of finite-element discretizations on body-fitted meshes within pore subdomains with a…

Numerical Analysis · Mathematics 2026-01-06 Shuyu Sun , Zhangchengrui Wang , Lei Zhang , Jijing Zhao