Related papers: A fully explicit isogeometric collocation formulat…
We extend the softFEM idea to isogeometric analysis (IGA) to reduce the stiffness (consequently, the condition numbers) of the IGA discretized problem. We refer to the resulting approximation technique as softIGA. We obtain the resulting…
We consider efficient methods for computing solutions to and estimating uncertainties in dynamic inverse problems, where the parameters of interest may change during the measurement procedure. Compared to static inverse problems,…
A new method is proposed for integrating the equations of motion of an elastic filament. In the standard finite-difference and finite-element formulations the continuum equations of motion are discretized in space and time, but it is then…
In this paper, we propose and analyze an efficient implicit--explicit (IMEX) second order in time backward differentiation formulation (BDF2) scheme with variable time steps for gradient flow problems using the scalar auxiliary variable…
We consider the geometric numerical integration of Hamiltonian systems subject to both equality and "hard" inequality constraints. As in the standard geometric integration setting, we target long-term structure preservation. We…
In this work, we compare the nodal and isogeometric spatial discretization schemes for the nonlinear formulation of shear- and torsion-free rods introduced in [1]. We investigate the resulting discrete solution space, the accuracy, and the…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…
In this contribution, we present a variational space-time formulation which generates an optimal feed-forward controller for geometrically exact strings. More concretely, the optimization problem is solved with an indirect approach, and the…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and accuracy. However, existing analytical approaches are difficult…
Manifold-valued datasets are widely encountered in many computer vision tasks. A non-linear analog of the PCA, called the Principal Geodesic Analysis (PGA) suited for data lying on Riemannian manifolds was reported in literature a decade…
The direct-forcing immersed boundary method (DF-IBM) algorithm previously developed by the authors is extended by coupling the Navier-Stokes equations with the Newton-Euler equations for rigid body dynamics within the DF-IBM framework. This…
This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…
This paper is concerned with the boundary integral equation method for solving the exterior Neumann boundary value problem of dynamic poroelasticity in two dimensions. The main contribution of this work consists of two aspescts: the…
We propose an improved version of the PAMPA algorithm where the solution is sought as globally continuous. The scheme is locally conservative, and there is no mass matrix to invert. This method had been developed in a series of papers, see…
We develop a unified Lyapunov-integral quadratic constraint (IQC) framework for establishing uniform stability of first-order accelerated optimization algorithms in the $\beta$-smooth and $\gamma$-strongly convex regime. Classical analyses…
We propose a novel early-terminating mesh refinement strategy using an integrated residual method to solve dynamic feasibility problems. As a generalization of direct collocation, the integrated residual method is used to approximate an…
Consider the scattering of a time-harmonic plane wave by a rigid obstacle embedded in a homogeneous and isotropic elastic medium in two dimensions. In this paper, a novel boundary integral formulation is proposed and its highly accurate…
In this work, we develop a localized numerical scheme with low regularity requirements for solving time-fractional integro-differential equations. First, a fully discrete numerical scheme is constructed. Specifically, for temporal…