In this technical note, we consider a dynamic linear, cantilevered rectangular plate. The evolutionary PDE model is given by the fourth order plate dynamics (via the spatial biharmonic operator) with clamped-free-free-free boundary conditions. We additionally consider damping/dissipation terms, as well as non-conservative lower order terms arising in various applications. Dynamical numerical simulations are achieved by way of a finite difference spatial approximation with a MATLAB time integrator. The rectangular geometry allows the use of standard 2D spatial finite differences, while the high spatial order of the problem and mixed clamped-free type boundary conditions present challenges. Dynamic energies are also computed. The relevant code is presented, with discussion of the model and context.
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Recently, Kim & Wilkening (Convergence of a mass-lumped finite element method for the Landau-Lifshitz equation, Quart. Appl. Math., 76, 383-405, 2018) proposed two novel predictor-corrector methods for the Landau-Lifshitz-Gilbert equation (LLG) in micromagnetics, which models the dynamics of the magnetization in ferromagnetic materials. Both integrators are based on the so-called Landau-Lifshitz form of LLG, use mass-lumped variational formulations discretized by first-order finite elements, and only require the solution of linear systems, despite the nonlinearity of LLG. The first(-order in time) method combines a linear update with an explicit projection of an intermediate approximation onto the unit sphere in order to fulfill the LLG-inherent unit-length constraint at the discrete level. In the second(-order in time) integrator, the projection step is replaced by a linear constraint-preserving variational formulation. In this paper, we extend the analysis of the integrators by proving unconditional well-posedness and by establishing a close connection of the methods with other approaches available in the literature. Moreover, the new analysis also provides a well-posed integrator for the Schr\"odinger map equation (which is the limit case of LLG for vanishing damping). Finally, we design an implicit-explicit strategy for the treatment of the lower-order field contributions, which significantly reduces the computational cost of the schemes, while preserving their theoretical properties.
We introduce a new class of estimators for the linear response of steady states of stochastic dynamics. We generalize the likelihood ratio approach and formulate the linear response as a product of two martingales, hence the name "martingale product estimators". We present a systematic derivation of the martingale product estimator, and show how to construct such estimator so its bias is consistent with the weak order of the numerical scheme that approximates the underlying stochastic differential equation. Motivated by the estimation of transport properties in molecular systems, we present a rigorous numerical analysis of the bias and variance for these new estimators in the case of Langevin dynamics. We prove that the variance is uniformly bounded in time and derive a specific form of the estimator for second-order splitting schemes for Langevin dynamics. For comparison, we also study the bias and variance of a Green-Kubo estimator, motivated, in part, by its variance growing linearly in time. Presented analysis shows that the new martingale product estimators, having uniformly bounded variance in time, offer a competitive alternative to the traditional Green-Kubo estimator. We compare on illustrative numerical tests the new estimators with results obtained by the Green-Kubo method.
Gradient flows are a powerful tool for optimizing functionals in general metric spaces, including the space of probabilities endowed with the Wasserstein metric. A typical approach to solving this optimization problem relies on its connection to the dynamic formulation of optimal transport and the celebrated Jordan-Kinderlehrer-Otto (JKO) scheme. However, this formulation involves optimization over convex functions, which is challenging, especially in high dimensions. In this work, we propose an approach that relies on the recently introduced input-convex neural networks (ICNN) to parametrize the space of convex functions in order to approximate the JKO scheme, as well as in designing functionals over measures that enjoy convergence guarantees. We derive a computationally efficient implementation of this JKO-ICNN framework and experimentally demonstrate its feasibility and validity in approximating solutions of low-dimensional partial differential equations with known solutions. We also demonstrate its viability in high-dimensional applications through an experiment in controlled generation for molecular discovery.
We consider a generic and explicit tamed Euler--Maruyama scheme for multidimensional time-inhomogeneous stochastic differential equations with multiplicative Brownian noise. The diffusion coefficient is uniformly elliptic, H\"older continuous and weakly differentiable in the spatial variables while the drift satisfies the Ladyzhenskaya--Prodi--Serrin condition, as considered by Krylov and R\"ockner (2005). In the discrete scheme, the drift is tamed by replacing it by an approximation. A strong rate of convergence of the scheme is provided in terms of the approximation error of the drift in a suitable and possibly very weak topology. A few examples of approximating drifts are discussed in detail. The parameters of the approximating drifts can vary and be fine-tuned to achieve the standard $1/2$-strong convergence rate with a logarithmic factor.
Data in non-Euclidean spaces are commonly encountered in many fields of Science and Engineering. For instance, in Robotics, attitude sensors capture orientation which is an element of a Lie group. In the recent past, several researchers have reported methods that take into account the geometry of Lie Groups in designing parameter estimation algorithms in nonlinear spaces. Maximum likelihood estimators (MLE) are quite commonly used for such tasks and it is well known in the field of statistics that Stein's shrinkage estimators dominate the MLE in a mean-squared sense assuming the observations are from a normal population. In this paper, we present a novel shrinkage estimator for data residing in Lie groups, specifically, abelian or compact Lie groups. The key theoretical results presented in this paper are: (i) Stein's Lemma and its proof for Lie groups and, (ii) proof of dominance of the proposed shrinkage estimator over MLE for abelian and compact Lie groups. We present examples of simulation studies of the dominance of the proposed shrinkage estimator and an application of shrinkage estimation to multiple-robot localization.
We study the non-parametric estimation of the value ${\theta}(f )$ of a linear functional evaluated at an unknown density function f with support on $R_+$ based on an i.i.d. sample with multiplicative measurement errors. The proposed estimation procedure combines the estimation of the Mellin transform of the density $f$ and a regularisation of the inverse of the Mellin transform by a spectral cut-off. In order to bound the mean squared error we distinguish several scenarios characterised through different decays of the upcoming Mellin transforms and the smoothnes of the linear functional. In fact, we identify scenarios, where a non-trivial choice of the upcoming tuning parameter is necessary and propose a data-driven choice based on a Goldenshluger-Lepski method. Additionally, we show minimax-optimality over Mellin-Sobolev spaces of the estimator.
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D underactuated bipedal robots for global position control. The step-to-step (S2S) dynamics of the H-LIP walking approximates the actual S2S dynamics of the walking of the robot, where the step size is considered as the input. Thus the feedback controller based on the H-LIP approximately controls the robot to behave like the H-LIP, the differences between which stay in an error invariant set. Model Predictive Control (MPC) is applied to the H-LIP for global position control in 3D. The H-LIP stepping then generates desired step sizes for the robot to track. Moreover, turning behavior is integrated with the step planning. The proposed framework is verified on the 3D underactuated bipedal robot Cassie in simulation together with a proof-of-concept experiment.
We propose and analyse an augmented mixed finite element method for the Navier--Stokes equations written in terms of velocity, vorticity, and pressure with non-constant viscosity and no-slip boundary conditions. The weak formulation includes least-squares terms arising from the constitutive equation and from the incompressibility condition, and we use a fixed point strategies to show the existence and uniqueness of continuous and discrete solutions under the assumption of sufficiently small data. The method is constructed using any compatible finite element pair (conforming or non-conforming) for velocity and pressure as dictated by Stokes inf-sup stability, while for vorticity any generic discrete space (of arbitrary order) can be used. We establish optimal a priori error estimates. Finally, we provide a set of numerical tests in 2D and 3D illustrating the behaviour of the scheme as well as verifying the theoretical convergence rates.
We present an hp-adaptive virtual element method (VEM) based on the hypercircle method of Prager and Synge for the approximation of solutions to diffusion problems. We introduce a reliable and efficient a posteriori error estimator, which is computed by solving an auxiliary global mixed problem. We show that the mixed VEM satisfies a discrete inf-sup condition, with inf-sup constant independent of the discretization parameters. Furthermore, we construct a stabilization for the mixed VEM, with explicit bounds in terms of the local degree of accuracy of the method. The theoretical results are supported by several numerical experiments, including a comparison with the residual a posteriori error estimator. The numerics exhibit the p-robustness of the proposed error estimator. In addition, we provide a first step towards the localized flux reconstruction in the virtual element framework, which leads to an additional reliable a posteriori error estimator that is computed by solving local (cheap-to-solve and parallelizable) mixed problems. We provide theoretical and numerical evidence that the proposed local error estimator suffers from a lack of efficiency.
We propose and analyze volume-preserving parametric finite element methods for surface diffusion, conserved mean curvature flow and an intermediate evolution law in an axisymmetric setting. The weak formulations are presented in terms of the generating curves of the axisymmetric surfaces. The proposed numerical methods are based on piecewise linear parametric finite elements. The constructed fully practical schemes satisfy the conservation of the enclosed volume. In addition, we prove the unconditional stability and consider the distribution of vertices for the discretized schemes. The introduced methods are implicit and the resulting nonlinear systems of equations can be solved very efficiently and accurately via the Newton's iterative method. Numerical results are presented to show the accuracy and efficiency of the introduced schemes for computing the considered axisymmetric geometric flows.
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