Boris push with spatial stepping

Efficiency of a Boris-like integration scheme with spatial stepping

A modified Boris-like integration, in which the spatial coordinate is the independent variable, is derived. This spatial-Boris integration method is useful for beam simulations, in which the independent variable is often the distance along the beam. The new integration method is second order accurate, requires only one force calculation per particle per step, and preserves conserved quantities ...

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular ...

Implicit-Explicit Time Stepping with Spatial Discontinuous Finite Elements

In this paper a combination of discontinuous, piecewise linear, finite elements with implicitexplicit time stepping is considered for convection-reaction equations. Combined with low order quadrature rules, this leads to convenient schemes. We shall consider the effect of such low order quadrature rules on accuracy and stability for one-dimensional problems. 2000 Mathematics Subject Classificat...

Boris Dubin

\RESTAURANT Revisited or "Lunch with BORIS"