Related papers: Lie Group Formulation of Recursive Dynamics Algori…
We provide a unifying framework for $\mathcal{L}_2$-optimal reduced-order modeling for linear time-invariant dynamical systems and stationary parametric problems. Using parameter-separable forms of the reduced-model quantities, we derive…
We present a framework of elastic locomotion, which allows users to enliven an elastic body to produce interesting locomotion by prescribing its high-level kinematics. We formulate this problem as an inverse simulation problem and seek the…
Motivated by the design of deterministic lateral displacement (DLD) microfluidic devices, we develop a high-order numerical framework for fluid-rigid-body interaction on fitted moving meshes. Rigid-body motion is enforced by a distributed…
Discovering the governing equations of a physical system and designing an effective feedback controller remains one of the most challenging and intensive areas of ongoing research. This task demands a deep understanding of the system…
A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has spread over diverse…
This letter introduces an advanced novel theory for calculating non-linear Newtonian hydrostatic perturbations in the density, shape, and gravitational field of fluid stars and planets subjected to external tidal and rotational forces. The…
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The…
In a realistic scenario, the evolution of the rotational dynamics of a celestial or artificial body is subject to dissipative effects. Time-varying non-conservative forces can be due to, for example, a variation of the moments of inertia or…
After reviewing the Lagrangian-Hamiltonian unified formalism (i.e, the Skinner-Rusk formalism) for higher-order (non-autonomous) dynamical systems, we state a unified geometrical version of the Variational Principles which allows us to…
Computation of the spherical harmonic rotation coefficients or elements of Wigner's d-matrix is important in a number of quantum mechanics and mathematical physics applications. Particularly, this is important for the Fast Multipole Methods…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
We discuss the Poisson structures on Lie groups and propose an explicit construction of the integrable models on their appropriate Poisson submanifolds. The integrals of motion for the SL(N)-series are computed in cluster variables via the…
We have proposed new algorithms for the numerical integration of the equations of motion for classical spin systems. In close analogy to symplectic integrators for Hamiltonian equations of motion used in Molecular Dynamics these algorithms…
The higher-order gas-kinetic scheme for solving the Navier-Stokes equations has been studied in recent years. In addition to the use of higher-order reconstruction techniques, many terms are used in the Taylor expansion of the gas…
We present the Mathematica application LieART (Lie Algebras and Representation Theory) for computations frequently encountered in Lie Algebras and representation theory, such as tensor product decomposition and subalgebra branching of…
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with…
We study the problem of learning a latent tree graphical model where samples are available only from a subset of variables. We propose two consistent and computationally efficient algorithms for learning minimal latent trees, that is, trees…
In this paper, we present an intrinsic derivation of the equations ruling the dynamics motion of a snake robot dynamics. Based on a Cosserat beam model, we first show that the extended configuration space is a Lie group. Endowing it with an…
The focus of this paper is the analysis of real-time systems with recursion, through the development of good theoretical techniques which are implementable. Time is modeled using clock variables, and recursion using stacks. Our technique…
A one-step analysis of Anderson acceleration with general algorithmic depths is presented. The resulting residual bounds within both contractive and noncontractive settings reveal the balance between the contributions from the higher and…