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Multibody dynamics simulators are an important tool in many fields, including learning and control for robotics. However, many existing dynamics simulators suffer from inaccuracies when dealing with constrained mechanical systems due to…
This paper presents (Lagrangian) variational formulations for single and multicomponent semi-compressible fluids with both reversible (entropy-conserving) and irreversible (entropy-generating) processes. Semi-compressible fluids are useful…
Given a fluid equation with reduced Lagrangian $l$ which is a functional of velocity $\MM{u}$ and advected density $D$ given in Eulerian coordinates, we give a general method for semidiscretising the equations to give a canonical…
Newcomb's Lagrangian for ideal magnetohydrodynamics (MHD) in Lagrangian labeling is discretized using discrete exterior calculus. Variational integrators for ideal MHD are derived thereafter. Besides being symplectic and…
We analyze the relation of the notion of a pluri-Lagrangian system, which recently emerged in the theory of integrable systems, to the classical notion of variational symmetry, due to E. Noether. We treat classical mechanical systems and…
We propose a novel structure preserving discretization for viscous and resistive magnetohydrodynamics. We follow the recent line of work on discrete least action principle for fluid and plasma equation, incorporating the recent advances to…
It is well known that the Lagrangian and the Hamiltonian formalisms can be combined and lead to "covariant symplectic" methods. For that purpose a "pre-symplectic form" has been constructed from the Lagrangian using the so-called Noether…
Computational modeling and simulation of fluid-structure interactions constitute a fundamental cornerstone for advancing aerospace engineering endeavors. This paper addresses the notion and implementation of the immersed boundary method for…
We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic submanifolds. We also…
An energetically balanced, implicit integrator for non-hydrostatic vertical atmospheric dynamics on the sphere is presented. The integrator allows for the exact balance of energy exchanges in space and time for vertical atmospheric motions…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
A pluri-Lagrangian structure is an attribute of integrability for lattice equations and for hierarchies of differential equations. It combines the notion of multi-dimensional consistency (in the discrete case) or commutativity of the flows…
This paper develops a structure-preserving numerical integration scheme for a class of higher-order mechanical systems. The dynamics of these systems are governed by invariant variational principles defined on higher-order tangent bundles…
We propose to use the properties of the Lie algebra of the angular momentum to build symplectic integrators dedicated to the Hamiltonian of the free rigid body. By introducing a dependence of the coefficients of integrators on the moments…
We introduce a novel approach to simulate the interaction between fluids and thin elastic solids without any penetration. Our approach is centered around an optimization system augmented with barriers, which aims to find a configuration…
Recently, an extended version of magnetohydrodynamics that incorporates electron inertia, dubbed inertial magnetohydrodynamics, has been proposed. This model features a noncanonical Hamiltonian formulation with a number of conserved…
This paper presents a general and robust method for the fluid-structure interaction of membranes and shells undergoing large displacement and large added-mass effects by coupling an immersed-boundary method with a shell finite-element…
We introduce a family of stochastic models motivated by the study of nonequilibrium steady states of fluid equations. These models decompose the deterministic dynamics of interest into fundamental building blocks, i.e., minimal vector…
This paper is a summary of the theory of discrete embeddings introduced in [5]. A discrete embedding is an algebraic procedure associating a numerical scheme to a given ordinary differential equation. Lagrangian systems possess a…
This paper presents a geometric-variational approach to continuous and discrete {\it second-order} field theories following the methodology of \cite{MPS}. Staying entirely in the Lagrangian framework and letting $Y$ denote the configuration…