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Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances. The proposed controller preserves the pH structure and, by…
In this work, we introduce a novel approach to formulating an artificial viscosity for shock capturing in nonlinear hyperbolic systems by utilizing the property that the solutions of hyperbolic conservation laws are not reversible in time…
Kinetic relations are required in order to characterize nonclassical undercompressive shock waves and formulate a well-posed initial value problem for nonlinear hyperbolic systems of conservation laws. Such nonclassical waves arise in weak…
Compositional simulation is challenging, because of highly nonlinear couplings between multi-component flow in porous media with thermodynamic phase behavior. The coupled nonlinear system is commonly solved by the fully-implicit scheme.…
We study the system of nonisentropic thermoelasticity describing the motion of thermoelastic nonconductors of heat in two and three spatial dimensions, where the frame-indifferent constitutive relation generalizes that for compressible…
We analyze the wave equation in mixed form, with periodic and/or Dirichlet homogeneous boundary conditions, and nonconstant coefficients that depend on the spatial variable. For the discretization, the weak form of the second equation is…
We investigate a solvable model for energy conserving non-equilibrium steady states. The time-reversal asymmetry of the dynamics leads to the violation of detailed balance and to ergodicity breaking, as manifested by the presence of…
We develop a moment equation closure minimization method for the inexpensive approximation of the steady state statistical structure of nonlinear systems whose potential functions have bimodal shapes and which are subjected to correlated…
We propose an upwind finite volume method for a system of two kinetic equations in one dimension that are coupled through nonlocal interaction terms. These cross-interaction systems were recently obtained as the mean-field limit of a…
In this article, we propose a novel conservative diffuse-interface method for the simulation of immiscible compressible two-phase flows. The proposed method discretely conserves the mass of each phase, momentum and total energy of the…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…
This paper presents a method of computing approximate conservation laws and eigenstates of integrability-broken models using the concept of adiabatic continuation. Given some Hamiltonian, eigenstates and conserved operators may be computed…
Analyzing magnetohydrodynamic (MHD) flows requires accurate predictions of the Lorentz force and energy conversion. Total energy, cross-helicity, and magnetic helicity can be used to investigate energy conservation properties in inviscid…
The interplay of interactions and disorder is studied using the Anderson-Hubbard model within the typical medium dynamical cluster approximation. Treating the interacting, non-local cluster self-energy ($\Sigma_c[{\cal \tilde{G}}](i,j\neq…
When numerically integrating canonical Hamiltonian systems, the long-term conservation of some of its invariants, among which the Hamiltonian function itself, assumes a central role. The classical approach to this problem has led to the…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
Stability is an important aspect of numerical methods for hyperbolic conservation laws and has received much interest. However, continuity in time is often assumed and only semidiscrete stability is studied. Thus, it is interesting to…
Inexact Newton Methods are widely used to solve systems of nonlinear equations. The convergence of these methods is controlled by the relative linear tolerance, $\eta_\nu$, that is also called the forcing term. A very small $\eta_\nu$ may…