Virtual Capacitor Concept for Effective Real-Time MMC Simulations

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Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Wei Wang, Jonathan Patrick Arreguit O'Neill

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

Analytic modelling of passive microfluidic mixers

Jean-Michel Sallese

This paper deals with a new analytical model for microfluidic passive mixers. Two common approaches already exist for such a purpose. On the one hand, the resolution of the advection-diffusion-reaction equation (ADRE) is the first one and the closest to ph ...

AMER INST MATHEMATICAL SCIENCES-AIMS2022

Control-oriented modeling and analysis of tubular dielectric elastomer actuators dedicated to cardiac assist devices

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Armando Matthieu Walter, Ning Liu

This paper deals with the control-oriented modeling of a multilayered dielectric elastomer actuator based tube. The actuator is clamped at both sides and performs a radial displacement. The hyperelastic deformation and the viscoelastic performance, togethe ...

2022

Virtual Capacitor Concept for Computationally Efficient and Flexible Real-Time MMC Model

Drazen Dujic, Stefan Milovanovic, Min Luo

This paper demonstrates the splitting of the modular multilevel converter real-time simulation model into several independent parts through the use of the virtual capacitor concept. As a result, the number of state-space matrices the real-time solver needs ...

2021

Mass-Zero constrained dynamics and statistics for the shell model in magnetic field

Sara Bonella, Alessandro Coretti, David Daniel Girardier

In several domains of physics, including first principle simulations and classical models for polarizable systems, the minimization of an energy function with respect to a set of auxiliary variables must be performed to define the dynamics of physical degr ...

EDP Sciences, Springer2021

Stick-slip phenomena and Schallamach waves captured using reversible cohesive elements

Jean-François Molinari, Thibault Didier Roch

Reversibility is of paramount importance in the correct representation of surface peeling in various physical settings, ranging from motility in nature, to gripping devices in robotic applications, and even to sliding of tectonic plates. Modeling the detac ...

PERGAMON-ELSEVIER SCIENCE LTD2021

Miss-Optimized Memory Systems: Turning Thousands of Outstanding Misses into Reuse Opportunities

Mikhail Asiatici

Even if Dennard scaling came to an end fifteen years ago, Moore' s law kept fueling an exponential growth in compute performance through increased parallelization. However, the performance of memory and, in particular, Dynamic Random Access Memory (DRAM), ...

EPFL2021

High-Level Synthesis of Dynamically Scheduled Circuits

Lana Josipovic

High-Level Synthesis (HLS) tools generate hardware designs from high-level programming languages. These tools almost universally build datapaths that are controlled using a centralized controller which relies on a static, compile-time schedule to determine ...

EPFL2021

Kinetic Euclidean Distance Matrices

Martin Vetterli, Ivan Dokmanic

Euclidean distance matrices (EDMs) are a major tool for localization from distances, with applications ranging from protein structure determination to global positioning and manifold learning. They are, however, static objects which serve to localize point ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Momentum space CFT correlators for Hamiltonian truncation

Matthew Thomas Walters

We consider Lorentzian CFT Wightman functions in momentum space. In particular, we derive a set of reference formulas for computing two- and three-point functions, restricting our attention to three-point functions where the middle operator (corresponding ...

Springer Nature2020

mu RAI: Securing Embedded Systems with Return Address Integrity

Mathias Josef Payer

Embedded systems are deployed in security critical environments and have become a prominent target for remote attacks. Microcontroller-based systems (MCUS) are particularly vulnerable due to a combination of limited resources and low level programming whic ...

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