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The emergence of computers as an essential tool in scientific research has shaken the very foundations of differential modeling. Indeed, the deeply-rooted abstraction of smoothness, or <i>differentiability</i>, seems to inherently clash with a computer's ability of storing only finite sets of numbers. While there has been a series of computational(More)
Visual quality, low computational cost, and numerical stability are foremost goals in computer animation. An important ingredient in achieving these goals is the conservation of fundamental motion invariants. For example, rigid and deformable body simulation benefits greatly from conservation of linear and angular momenta. In the case of fluids, however,(More)
This paper is concerned with modeling the dynamics of N articulated solid bodies submerged in an ideal fluid. The model is used to analyze the locomotion of aquatic animals due to the coupling between their shape changes and the fluid dynamics in their environment. The equations of motion are obtained by making use of a two-stage reduction process which(More)
We present a general-purpose numerical scheme for time integration of Lagrangian dynamical systems---an important computational tool at the core of most physics-based animation techniques. Several features make this particular time integrator highly desirable for computer animation: it numerically preserves important invariants, such as linear and angular(More)
The geometric nature of Euler fluids has been clearly identified and extensively studied over the years, culminating with Lagrangian and Hamiltonian descriptions of fluid dynamics where the configuration space is defined as the volume-preserving diffeomorphisms, and Kelvin’s circulation theorem is viewed as a consequence of Noether’s theorem associated with(More)
In this paper, we present a method of locomotion control for underwater vehicles that are propelled by a periodic deformation of the vehicle body, which is similar to the way a fish moves. We have developed control laws employing ldquoextremum seekingrdquo for two different ldquofishrdquo models. The first model consists of three rigid body links and relies(More)
The oscillations of a class of submerged mass–spring systems are examined. An inviscid fluid model is employed to show that the hydrodynamic effects couple the normal modes of these systems. This coupling of normal modes can excite the displacement mode – yielding passive locomotion of the system – even when starting with zero displacement velocity. This is(More)
The emergence of computers as an essential tool in scientific research has shaken the very foundations of differential modeling. Indeed, the deeply-rooted abstraction of smoothness, or differentiability, seems to inherently clash with a computer’s ability of storing only finite sets of numbers. While there has been a series of computational techniques that(More)
We use a 3D computational model to study the fluid transport and mixing due to the beating of an infinite array of cilia. In accord with recent experiments, we observe two distinct regions: a fluid transport region above the cilia and a fluid mixing region below the cilia tip. The metachronal wave due to phase differences between neighboring cilia is known(More)