Related papers: Condensation Jacobian with Adaptivity
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
We study the Fleming--Viot particle system in a discrete state space, in the regime of a fast selection mechanism, namely with killing rates which grow to infinity. This asymptotics creates a time scale separation which results in the…
Stiff forces, which bind objects together or otherwise confine motion, are found widely in soft-matter systems - colloids with short range attractions, ligand-receptor contacts, particles in optical traps, fibres that resist stretching,…
We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Methods of dynamical systems have been used to study homogeneous and isotropic cosmological models with a varying speed of light (VSL). We propose two methods of reduction of dynamics to the form of planar Hamiltonian dynamical systems for…
Detailed chemistry-based computational fluid dynamics (CFD) simulations are computationally expensive due to the solution of the underlying chemical kinetics system of ordinary differential equations (ODEs). Here, we introduce a novel…
We investigate the collective dynamics of self-propelled droplets, confined in a one dimensional micro-fluidic channel. On one hand, neighboring droplets align and form large trains of droplets moving in the same direction. On the other…
Efficient analysis and simulation of multiscale stochastic systems of chemical kinetics is an ongoing area for research, and is the source of many theoretical and computational challenges. In this paper, we present a significant improvement…
Fluctuating hydrodynamics based techniques have been developed in recent years for the simulation of Brownian motion of particles. These mesoscale simulation tools are viable approaches for problems where molecular dynamics simulations may…
We introduce a closed-form method for identification of discrete-time linear time-variant systems from data, formulating the learning problem as a regularized least squares problem where the regularizer favors smooth solutions within a…
In a system of ac-driven condensed bosons we study a new type of Josephson effect occurring between states sharing the same region of space and the same internal atom structure. We first develop a technique to calculate the long time…
We propose an experiment that would demonstrate the ``dc'' and ``ac'' Josephson effects in two weakly linked Bose-Einstein condensates. We consider a time-dependent barrier, moving adiabatically across the trapping potential. The phase…
Metastability is a common obstacle to performing long molecular dynamics simulations. Many numerical methods have been proposed to overcome it. One method is parallel replica dynamics, which relies on the rapid convergence of the underlying…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
Generating human motion with precise spatial control is a challenging problem. Existing approaches often require task-specific training or slow optimization, and enforcing hard constraints frequently disrupts motion naturalness. Building on…
A three-dimensional deformable capsule convected through a square duct with a corner is studied via numerical simulations. We develop an accelerated boundary integral implementation adapted to general geometries and boundary conditions. A…
In this work we propose a nonlinear stabilization technique for convection-diffusion-reaction and pure transport problems discretized with space-time isogeometric analysis. The stabilization is based on a graph-theoretic artificial…
Diffusion models excel at generating diverse and multimodal trajectories for robotic planning, yet their iterative denoising process introduces latency that is incompatible with high-frequency closed-loop control. To address this problem,…
Modern techniques for physical simulations rely on numerical schemes and mesh-refinement methods to address trade-offs between precision and complexity, but these handcrafted solutions are tedious and require high computational power.…