Related papers: A Physics-Based Continuum Model for Versatile, Sca…
In this paper a problem of numerical simulation of hydraulic fractures is considered. An efficient algorithm of solution is proposed for the plain strain model of hydraulic fracturing. The algorithm utilizes a FEM based subroutine to…
As inverter-based resources (IBRs) penetrate power systems, the dynamics become more complex, exhibiting multiple timescales, including electromagnetic transient (EMT) dynamics of power electronic controllers and electromechanical dynamics…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…
We present a versatile latent representation that enables physically simulated character to efficiently utilize motion priors. To build a powerful motion embedding that is shared across multiple tasks, the physics controller should employ…
In solar physics, a severe numerical challenge for modern simulations is properly representing a transition region between the million-degree hot corona and a much cooler plasma of about 10000 K (e.g., the upper chromosphere or a…
This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…
Fast, accurate, and generalizable simulations are a key enabler of modern advances in robot design and control. However, existing simulation frameworks in robotics either model rigid environments and mechanisms only, or if they include…
Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous double-pendulum payload sway. This sway motion is further exacerbated in offshore environments by external perturbations from wind…
In this paper we further explore and develop the quantum continuum mechanics (CM) of [Tao \emph{et al}, PRL{\bf 103},086401] with the aim of making it simpler to use in practice. Our simplifications relate to the non-interacting part of the…
This paper introduces a novel surrogate modeling framework for aerodynamic applications based on Neural Fields. The proposed approach, MARIO (Modulated Aerodynamic Resolution Invariant Operator), addresses non parametric geometric…
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload transfer performance. Unlike traditional crane systems,…
Smoothed particle hydrodynamics (SPH) has been extensively studied in computer graphics to animate fluids with versatile effects. However, SPH still suffers from two numerical difficulties: the particle deficiency problem, which will…
Detailed detector simulation and reconstruction of physics objects at the LHC are very CPU intensive and hence time consuming due to the high energy and multiplicity of the Monte-Carlo events and the complexity of the detectors. We present…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
Recently, continuous representation methods emerge as novel paradigms that characterize the intrinsic structures of real-world data through function representations that map positional coordinates to their corresponding values in the…
One of the most suitable methods for modeling fully dynamic earthquake cycle simulations is the spectral boundary integral element method (sBIEM), which takes advantage of the fast Fourier transform (FFT) to make a complex numerical dynamic…
Predicting human mobility is inherently challenging due to complex long-range dependencies and multi-scale periodic behaviors. To address this, we introduce RHYTHM (Reasoning with Hierarchical Temporal Tokenization for Human Mobility), a…
Compared to quasi-steady-state corona models that are constrained by a time-invariant magnetogram over a CR period, time-evolving corona models driven by time-varying photospheric magnetograms are more realistic and can maintain more useful…
We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, and system parameters. Dojo models hard contact and friction…