相关论文: Numerical Implementation of the Improved Sugama Co…

This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…

In this study, an implicit scheme for the gas-kinetic scheme (GKS) on the unstructured hybrid mesh is proposed. The Spalart-Allmaras (SA) one equation turbulence model is incorporated into the implicit gas-kinetic scheme (IGKS) to predict…

In our previous paper (Hunana et al. 2022) we have employed the Landau collisional operator together with the moment method of Grad and considered various generalizations of the Braginskii model, such as a multi-fluid formulation of the 21-…

We present an approach to extend plasma transport theory into the Warm Dense Matter (WDM) regime characterized by moderate Coulomb coupling and electron degeneracy. It is based on a recently proposed closure of the BBGKY hierarchy that…

Evaluating distance to collision for robot manipulators is useful for assessing the feasibility of a robot configuration or for defining safe robot motion in unpredictable environments. However, distance estimation is a timeconsuming…

This paper discusses an innovative adaptive heterogeneous fusion algorithm based on estimation of the mean square error of all variables used in real time processing. The algorithm is designed for a fusion between derivative and absolute…

Collisional and stochastic wave-particle dynamics in plasmas far from equilibrium are complex, temporally evolving, stochastic processes which are challenging to model. In this work, we extend previous methods coupling differentiable…

Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…

We implement two recently developed fast Coulomb solvers, HSMA3D [J. Chem. Phys. 149 (8) (2018) 084111] and HSMA2D [J. Chem. Phys. 152 (13) (2020) 134109], into a new user package HSMA for molecular dynamics simulation engine LAMMPS. The…

One important problem in plasma physics is the lack of an accurate and complete description of Coulomb collisions in associated fluid models. To shed light on the problem, this Letter introduces an integral identity involving the…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

This paper considers downlink of reconfigurable intelligent surface (RIS) assisted cooperative non-orthogonal multiple access (CNOMA) systems. Our objective is to minimize the total transmit power by jointly optimizing the active…

We report an accessible and robust tool for evaluating the effects of Coulomb collisions on a test particle in a plasma that obeys Maxwell-J\"uttner statistics. The implementation is based on the Beliaev-Budker collision integral which…

In this work, we investigate reconfigurable intelligent surfaces (RIS)-assisted cooperative non-orthogonal multiple access (C-NOMA) consisting of two paired users, where the phases of RIS are configured to boost the cell-center device. The…

The nonlinear gyrokinetic equations describe plasma turbulence in laboratory and astrophysical plasmas. To solve these equations, massively parallel codes have been developed and run on present-day supercomputers. This paper describes…

Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

An integral scheme for the efficient evaluation of two-center integrals over contracted solid harmonic Gaussian functions is presented. Integral expressions are derived for local operators that depend on the position vector of one of the…

As datasets continue to increase in size and multi-core computer architectures are developed, asynchronous parallel optimization algorithms become more and more essential to the field of Machine Learning. Unfortunately, conducting the…

The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and…