We consider the numerical approximation of a sharp-interface model for two-phase flow, which is given by the incompressible Navier-Stokes equations in the bulk domain together with the classical interface conditions on the interface. We propose structure-preserving finite element methods for the model, meaning in particular that volume preservation and energy decay are satisfied on the discrete level. For the evolving fluid interface, we employ parametric finite element approximations that introduce an implicit tangential velocity to improve the quality of the interface mesh. For the two-phase Navier-Stokes equations, we consider two different approaches: an unfitted and a fitted finite element method, respectively. In the unfitted approach, the constructed method is based on an Eulerian weak formulation, while in the fitted approach a novel arbitrary Lagrangian-Eulerian (ALE) weak formulation is introduced. Using suitable discretizations of these two formulations, we introduce two finite element methods and prove their structure-preserving properties. Numerical results are presented to show the accuracy and efficiency of the introduced methods.
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Recent works have shown that diffusion models can learn essentially any distribution provided one can perform score estimation. Yet it remains poorly understood under what settings score estimation is possible, let alone when practical gradient-based algorithms for this task can provably succeed. In this work, we give the first provably efficient results along these lines for one of the most fundamental distribution families, Gaussian mixture models. We prove that gradient descent on the denoising diffusion probabilistic model (DDPM) objective can efficiently recover the ground truth parameters of the mixture model in the following two settings: 1) We show gradient descent with random initialization learns mixtures of two spherical Gaussians in $d$ dimensions with $1/\text{poly}(d)$-separated centers. 2) We show gradient descent with a warm start learns mixtures of $K$ spherical Gaussians with $\Omega(\sqrt{\log(\min(K,d))})$-separated centers. A key ingredient in our proofs is a new connection between score-based methods and two other approaches to distribution learning, the EM algorithm and spectral methods.
It is challenging to perform identification on soft robots due to their underactuated, high dimensional dynamics. In this work, we present a data-driven modeling framework, based on geometric mechanics (also known as gauge theory), that can be applied to systems with low-bandwidth actuation of the shape space. By exploiting temporal asymmetries in actuator dynamics, our approach enables the design of robots that can be driven by a single control input. We present a method for constructing a series connected model comprising actuator and locomotor dynamics based on data points from stochastically perturbed, repeated behaviors around the observed limit cycle. We demonstrate our methods on a real-world example of a soft crawler made by stimuli-responsive hydrogels that locomotes on merely one cycling control signal by utilizing its geometric and temporal asymmetry. For systems with first-order, low-pass actuator dynamics, such as swelling-driven actuators used in hydrogel crawlers, we show that first order Taylor approximations can well capture the dynamics of the system shape as well as its movements. Finally, we propose an approach of numerically optimizing control signals by iteratively refining models and optimizing the input waveform.
We propose, analyze, and investigate numerically a novel feedback control strategy for high Reynolds number flows. For both the continuous and the discrete (finite element) settings, we prove that the new strategy yields accurate results for high Reynolds numbers that were not covered by current results. We also show that the new feedback control yields more accurate results than the current control approaches in marginally-resolved numerical simulations of a two-dimensional flow past a circular cylinder at Reynolds numbers $Re=1000$. We note, however, that for realistic control parameters, the stabilizing effect of the new feedback control strategy is not sufficient in the convection-dominated regime. Our second contribution is the development of an adaptive evolve-filter-relax (aEFR) regularization that stabilizes marginally-resolved simulations in the convection-dominated regime and increases the accuracy of the new feedback control in realistic parameter settings. For the finite element setting, we prove that the novel feedback control equipped with the new aEFR method yields accurate results for high Reynolds numbers. Furthermore, our numerical investigation shows that the new strategy yields accurate results for reduced order models that dramatically decrease the size of the feedback control problem.
While evolutionary computation is well suited for automatic discovery in engineering, it can also be used to gain insight into how humans and organizations could perform more effectively. Using a real-world problem of innovation search in organizations as the motivating example, this article first formalizes human creative problem solving as competitive multi-agent search (CMAS). CMAS is different from existing single-agent and team search problems in that the agents interact through knowledge of other agents' searches and through the dynamic changes in the search landscape that result from these searches. The main hypothesis is that evolutionary computation can be used to discover effective strategies for CMAS; this hypothesis is verified in a series of experiments on the NK model, i.e.\ partially correlated and tunably rugged fitness landscapes. Different specialized strategies are evolved for each different competitive environment, and also general strategies that perform well across environments. These strategies are more effective and more complex than hand-designed strategies and a strategy based on traditional tree search. Using a novel spherical visualization of such landscapes, insight is gained about how successful strategies work, e.g.\ by tracking positive changes in the landscape. The article thus provides a possible framework for studying various human creative activities as competitive multi-agent search in the future.
We propose an accurate and energy-stable parametric finite element method for solving the sharp-interface continuum model of solid-state dewetting in three-dimensional space. The model describes the motion of the film\slash vapor interface with contact line migration and is governed by the surface diffusion equation with proper boundary conditions at the contact line. We present a new weak formulation for the problem, in which the interface and its contact line are evolved simultaneously. By using piecewise linear elements in space and backward Euler in time, we then discretize the weak formulation to obtain a fully discretized parametric finite element approximation. The resulting numerical method is shown to be well-posed and unconditionally energy-stable. Furthermore, the numerical method is extended for solving the sharp interface model of solid-state dewetting with anisotropic surface energies in the Riemmanian metric form. Numerical results are reported to show the convergence and efficiency of the proposed numerical method as well as the anisotropic effects on the morphological evolution of thin films in solid-state dewetting.
We propose and analyze unfitted finite element approximations for the two-phase incompressible Navier--Stokes flow in an axisymmetric setting. The discretized schemes are based on an Eulerian weak formulation for the Navier--Stokes equation in the 2d-meridian halfplane, together with a parametric formulation for the generating curve of the evolving interface. We use the lowest order Taylor--Hood and piecewise linear elements for discretizing the Navier--Stokes formulation in the bulk and the moving interface, respectively. We discuss a variety of schemes, amongst which is a linear scheme that enjoys an equidistribution property on the discrete interface and good volume conservation. An alternative scheme can be shown to be unconditionally stable and to conserve the volume of the two phases exactly. Numerical results are presented to show the robustness and accuracy of the introduced methods for simulating both rising bubble and oscillating droplet experiments.
With the advent of novel quantum computing technologies, and the knowledge that such technology might be used to fundamentally change computing applications, a prime opportunity has presented itself to investigate the practical application quantum computing. The goal of this research is to consider one of the most basic forms of mechanical structure, namely a 2D system of truss elements, and find a method by which such a structure can be optimized using quantum annealing. The optimization will entail a discrete truss sizing problem - to select the best size for each truss member so as to minimize a stress-based objective function. To make this problem compatible with quantum annealing devices, it will be written in a QUBO format. This work is focused on exploring the feasibility of making this translation, and investigating the practicality of using a quantum annealer for structural optimization problems. Using the methods described, it is found that it is possible to translate this traditional engineering problem to a QUBO form and have it solved by a quantum annealer. However, scaling the method to larger truss systems faces some challenges that would require further research to address.
We study the online variant of the Min-Sum Set Cover (MSSC) problem, a generalization of the well-known list update problem. In the MSSC problem, an algorithm has to maintain the time-varying permutation of the list of $n$ elements, and serve a sequence of requests $R_1, R_2, \dots, R_t, \dots$. Each $R_t$ is a subset of elements of cardinality at most $r$. For a requested set $R_t$, an online algorithm has to pay the cost equal to the position of the first element from $R_t$ on its list. Then, it may arbitrarily permute its list, paying the number of swapped adjacent element pairs. We present the first constructive deterministic algorithm for this problem, whose competitive ratio does not depend on $n$. Our algorithm is $O(r^2)$-competitive, which beats both the existential upper bound of $O(r^4)$ by Bienkowski and Mucha [AAAI '23] and the previous constructive bound of $O(r^{3/2} \cdot \sqrt{n})$ by Fotakis et al. [ICALP '20]. Furthermore, we show that our algorithm attains an asymptotically optimal competitive ratio of $O(r)$ when compared to the best fixed permutation of elements.
Modeling and parametric optimization of 3D tendon-sheath actuator system for upper limb soft exosuit
This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilitation, therapy, and industrial automation. The double tendon sheath system, which uses two sets of cables (agonist and antagonist side) guided through a sheath, is considered to produce smooth and natural-looking movements of the arm. The exoskeleton is equipped with a single motor capable of controlling both the flexion and extension motions. One of the key challenges in the implementation of a double tendon sheath system is the possibility of slack in the tendon, which can impact the overall performance of the system. To address this issue, a robust mathematical model is developed and a comprehensive parametric study is carried out to determine the most effective strategies for overcoming the problem of slack and improving the transmission. The study suggests that incorporating a series spring into the system's tendon leads to a universally applicable design, eliminating the need for individual customization. The results also show that the slack in the tendon can be effectively controlled by changing the pretension, spring constant, and size and geometry of spool mounted on the axle of motor.
We develop a numerical method based on canonical conformal variables to study two eigenvalue problems for operators fundamental to finding a Stokes wave and its stability in a 2D ideal fluid with a free surface in infinite depth. We determine the spectrum of the linearization operator of the quasiperiodic Babenko equation, and provide new results for eigenvalues and eigenvectors near the limiting Stokes wave identifying new bifurcation points via the Fourier-Floquet-Hill (FFH) method. We conjecture that infinitely many secondary bifurcation points exist as the limiting Stokes wave is approached. The eigenvalue problem for stability of Stokes waves is also considered. The new technique is extended to allow finding of quasiperiodic eigenfunctions by introduction of FFH approach to the canonical conformal variables based method. Our findings agree and extend existing results for the Benjamin-Feir, high-frequency and localized instabilities. For both problems the numerical methods are based on Krylov subspaces and do not require forming of operator matrices. Application of each operator is pseudospectral employing the fast Fourier transform (FFT), thus enjoying the benefits of spectral accuracy and $O(N \log N)$ numerical complexity. Extension to nonuniform grid spacing is possible via introducing auxiliary conformal maps.
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