Related papers: Lumped-Parameter Modeling and Control for Robotic …
When simulating three-dimensional flows interacting with deformable and elastic obstacles, current methods often encounter complexities in the governing equations and challenges in numerical implementation. In this work, we introduce a…
High-precision micromanipulation techniques, including optical tweezers and hydrodynamic trapping, have garnered wide-spread interest. Recent advances in optofluidic multiplexed assembly and microrobotics demonstrate significant progress,…
Liquid simulations for computer animation often avoid simulating the air phase to reduce computational costs and ensure good conditioning of the linear systems required to enforce incompressibility. However, this free surface assumption…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
We propose a multi-layer approach to simulate hyperpycnal and hypopycnal plumes in flows with free surface. The model allows to compute the vertical profile of the horizontal and the vertical components of the velocity of the fluid flow.…
Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and…
A noteworthy aspect in blood flow modeling is the definition of the mechanical interaction between the fluid flow and the biological structure that contains it, namely the vessel wall. It has been demonstrated that the addition of a viscous…
This paper studies a model of two-phase flow with an immersed material viscous interface and a finite element method for numerical solution of the resulting system of PDEs. The interaction between the bulk and surface media is characterized…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…
Dense suspensions of particles dispersed in liquids are central to industrial and geophysical processes and serve as model systems for out-of-equilibrium soft matter. At high particle concentrations, they exhibit stress-dependent rheology,…
In this paper, we propose a local model reduction approach for subsurface flow problems in stochastic and highly heterogeneous media. To guarantee the mass conservation, we consider the mixed formulation of the flow problem and aim to solve…
Diffusion and flow-matching have emerged as powerful methodologies for generative modeling, with remarkable success in capturing complex data distributions and enabling flexible guidance at inference time. Many downstream applications,…
We present a modification of a recently developed volume of fluid method for multiphase problems, so that it can be used in conjunction with a fractional step-method and fast Poisson solver, and validate it with standard benchmark problems.…
Similar to the notion of h-adaptivity, where the discretization resolution is adaptively changed, I propose the notion of model adaptivity, where the underlying model (the governing equations) is adaptively changed in space and time.…
Accurately determining fluid viscosity is crucial for various industrial and scientific applications. Traditional methods of viscosity measurement, though reliable, often require manual intervention and cannot easily adapt to real-time…
High-fidelity 3D video reconstruction is essential for enabling real-time rendering of dynamic scenes with realistic motion in virtual and augmented reality (VR/AR). The deformation field paradigm of 3D Gaussian splatting has achieved…
Vesicle suspensions appear in many biological and industrial applications. These suspensions are characterized by rich and complex dynamics of vesicles due to their interaction with the bulk fluid, and their large deformations and nonlinear…
We develop a novel Hybrid High-Order method for the simulation of Darcy flows in fractured porous media. The discretization hinges on a mixed formulation in the bulk region and on a primal formulation inside the fracture. Salient features…
A model hierarchy that is based on the one-dimensional isothermal Euler equations of fluid dynamics is used for the simulation and optimisation of gas flow through a pipeline network. Adaptive refinement strategies have the aim of bringing…