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Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…

Robotics · Computer Science 2026-04-29 Jiaxin Liu , Min Li , Wanting Xu , Liang Li , Jiaqi Yang , Laurent Kneip

In this work, the problem of optimizing damper positions in vibrational systems is investigated. The objective is to determine the positions of external dampers in such a way that the influence of the input on the output is minimized. The…

Numerical Analysis · Mathematics 2025-06-26 Jennifer Przybilla , Matea Ugrica Vukojević , Ninolsav Truhar , Peter Benner

We investigate the integration of Nesterov-type acceleration into primal-dual methods for structured convex optimization. While proximal splitting algorithms efficiently handle composite problems of the form $\min_x f(x)+g(x)+h(Kx)$,…

Optimization and Control · Mathematics 2026-04-13 Laurent Condat , Abdurakhmon Sadiev , Peter Richtárik

In this work, we derive particle schemes, based on micro-macro decomposition, for linear kinetic equations in the diffusion limit. Due to the particle approximation of the micro part, a splitting between the transport and the collision part…

Numerical Analysis · Mathematics 2017-01-19 Anaïs Crestetto , Nicolas Crouseilles , Mohammed Lemou

The computation time required by standard finite difference methods with fixed timesteps for solving fractional diffusion equations is usually very large because the number of operations required to find the solution scales as the square of…

Numerical Analysis · Mathematics 2024-06-28 Santos B. Yuste , Joaquin Quintana-Murillo

The athermal quasistatic deformation method provides an elegant solution to overcome the limitation of short time spans in molecular simulations. It provides overdamped conditions, allowing for the extraction of purely structural responses…

Computational Physics · Physics 2026-04-30 Maximilian Reihn , Franz Bamer , Benjamin Stamm

In a Keplerian system, a large number of bodies orbit a central mass. Accretion disks, protoplanetary disks, asteroid belts, and planetary rings are examples. Simulations of these systems require algorithms that are computationally…

Earth and Planetary Astrophysics · Physics 2023-01-18 P. M. Visser

Numerical simulations of relativistic plasmas have become more feasible, popular, and crucial for various astrophysical sources with the availability of computational resources. The necessity for high-accuracy particle dynamics is…

High Energy Astrophysical Phenomena · Physics 2024-07-24 L. Du Plessis , C. Venter , A. K. Harding , Z. Wadiasingh , C. Kalapotharakos , P. Els

As a highly expressive generative model, diffusion models have demonstrated exceptional success across various domains, including image generation, natural language processing, and combinatorial optimization. However, as data distributions…

Machine Learning · Computer Science 2025-10-27 Myunsoo Kim , Donghyeon Ki , Seong-Woong Shim , Byung-Jun Lee

We present a novel, fast differentiable simulator for soft-body learning and control applications. Existing differentiable soft-body simulators can be classified into two categories based on their time integration methods: Simulators using…

Machine Learning · Computer Science 2021-10-12 Tao Du , Kui Wu , Pingchuan Ma , Sebastien Wah , Andrew Spielberg , Daniela Rus , Wojciech Matusik

Due to particle conservation, Canonical Molecular Dynamics (MD) simulations fail in the description of surface phase transitions involving coverage or lateral density changes. However, a step on the surface can act effectively as a source…

Materials Science · Physics 2016-08-31 D. Passerone , U. Tartaglino , F. Ercolessi , E. Tosatti

Symplectic integration algorithms have become popular in recent years in long-term orbital integrations because these algorithms enforce certain conservation laws that are intrinsic to Hamiltonian systems. For problems with large variations…

Astrophysics · Physics 2007-05-23 Man Hoi Lee , Martin J. Duncan , Harold F. Levison

We present a procedure that is helpful to reduce the computational complexity of large-scale shell-model calculations, by preserving as much as possible the role of the rejected degrees of freedom in an effective approach. Our truncation is…

Nuclear Theory · Physics 2016-07-07 L. Coraggio , A. Gargano , N. Itaco

Devising optimal interventions for constraining stochastic systems is a challenging endeavour that has to confront the interplay between randomness and nonlinearity. Existing methods for identifying the necessary dynamical adjustments…

Statistical Mechanics · Physics 2022-10-18 Dimitra Maoutsa , Manfred Opper

Simulation of many-particle system evolution by molecular dynamics takes to decrease integration step to provide numerical scheme stability on the sufficiently large time interval. It leads to a significant increase of the volume of…

Numerical Analysis · Mathematics 2016-05-19 Eduard G. Nikonov

A fixed time-step variational integrator cannot preserve momentum, energy, and symplectic form simultaneously for nonintegrable systems. This barrier can be overcome by treating time as a discrete dynamic variable and deriving adaptive…

Numerical Analysis · Mathematics 2022-08-17 Harsh Sharma , Jeff Borggaard , Mayuresh Patil , Craig Woolsey

Computer simulators are nowadays widely used to understand complex physical systems in many areas such as aerospace, renewable energy, climate modeling, and manufacturing. One fundamental issue in the study of computer simulators is known…

Methodology · Statistics 2019-02-05 Feng Yang , C. Devon Lin , Pritam Ranjan

Quantum computers can efficiently simulate many-body systems. As a widely used Hamiltonian simulation tool, the Trotter-Suzuki scheme splits the evolution into the number of Trotter steps $N$ and approximates the evolution of each step by a…

Quantum Physics · Physics 2019-01-23 Suguru Endo , Qi Zhao , Ying Li , Simon Benjamin , Xiao Yuan

Molecular dynamics simulations have become essential in many areas of atomistic modelling from drug discovery to materials science. They provide critical atomic-level insights into key dynamical events experiments cannot easily capture.…

Biological Physics · Physics 2024-06-14 Tiejun Wei , Balint Dudas , Edina Rosta

Digital co-addition of astronomical images is a common technique for increasing signal-to-noise and image depth. A modification of this simple technique has been applied to the detection of minor bodies in the Solar System: first stationary…

Earth and Planetary Astrophysics · Physics 2015-05-18 Alex H. Parker , JJ. Kavelaars