{"id":"https://openalex.org/W2113830208","doi":"https://doi.org/10.1109/acc.2009.5160488","title":"Dangers of two-point holonomic constraints for variational integrators","display_name":"Dangers of two-point holonomic constraints for variational integrators","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2113830208","doi":"https://doi.org/10.1109/acc.2009.5160488","mag":"2113830208"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2009.5160488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160488","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111802656","display_name":"Elliot R. Johnson","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot R. Johnson","raw_affiliation_strings":["Mechanical Engineering, Northwestern University, Evanston, IL, USA","Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Mechanical Engineering, Northwestern University, Evanston, IL, USA","Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4723","last_page":"4728"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11416","display_name":"Numerical methods for differential equations","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13286","display_name":"Modeling and Simulation Systems","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.879407525062561},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.8758267164230347},{"id":"https://openalex.org/keywords/variational-integrator","display_name":"Variational integrator","score":0.8662183284759521},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7985676527023315},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6321663856506348},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.6268690824508667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5487608909606934},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5407720804214478},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5268886089324951},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4410251975059509},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32614439725875854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32489123940467834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.280112087726593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11174854636192322},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09666761755943298},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08940184116363525}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.879407525062561},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.8758267164230347},{"id":"https://openalex.org/C52154503","wikidata":"https://www.wikidata.org/wiki/Q7915797","display_name":"Variational integrator","level":4,"score":0.8662183284759521},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7985676527023315},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6321663856506348},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.6268690824508667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5487608909606934},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5407720804214478},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5268886089324951},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4410251975059509},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32614439725875854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32489123940467834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.280112087726593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11174854636192322},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09666761755943298},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08940184116363525},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2009.5160488","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2009.5160488","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1694438469","https://openalex.org/W1937250225","https://openalex.org/W2062388571","https://openalex.org/W2095782953","https://openalex.org/W2098500157","https://openalex.org/W2116910902","https://openalex.org/W2144214034","https://openalex.org/W2170039048","https://openalex.org/W4248240275","https://openalex.org/W6637738337","https://openalex.org/W6640361524","https://openalex.org/W6666150991","https://openalex.org/W6958751633"],"related_works":["https://openalex.org/W2113830208","https://openalex.org/W3155105888","https://openalex.org/W2416484876","https://openalex.org/W2799588385","https://openalex.org/W2011159118","https://openalex.org/W2961659155","https://openalex.org/W2359251603","https://openalex.org/W1983677587","https://openalex.org/W108743504","https://openalex.org/W2359302101"],"abstract_inverted_index":{"Variational":[0],"integrators":[1],"are":[2,19,53,63,81,103],"powerful":[3],"tools":[4],"for":[5],"simulating":[6],"constrained":[7],"mechanical":[8],"systems":[9],"as":[10,12],"well":[11],"computing":[13],"optimal":[14],"control":[15],"strategies.":[16],"While":[17],"there":[18,29],"well-established":[20],"methods":[21,62],"to":[22,83,88],"incorporate":[23],"holonomic":[24,48],"constraints":[25,49,102],"in":[26,39],"variational":[27],"integrators,":[28],"have":[30,36],"also":[31],"been":[32],"alternative":[33],"suggestions":[34],"that":[35,100],"appealing":[37],"benefits":[38],"terms":[40],"of":[41],"computational":[42],"efficiency.":[43],"We":[44],"compare":[45],"the":[46,77],"standard":[47],"method":[50],"with":[51,76],"what":[52],"called":[54],"two-point":[55,78,101],"constraint":[56,94],"methods.":[57],"In":[58],"this":[59],"paper":[60],"both":[61],"tested":[64],"on":[65],"two":[66],"different,":[67],"relatively":[68],"simple":[69],"systems.":[70],"The":[71,97],"results":[72],"reveal":[73],"multiple":[74],"problems":[75],"constraints.":[79],"They":[80],"found":[82],"be":[84,108],"numerically":[85],"unstable":[86],"and":[87,105],"under":[89],"some":[90],"circumstances":[91],"provide":[92],"unreliable":[93],"force":[95],"values.":[96],"conclusion":[98],"is":[99],"invalid":[104],"should":[106],"not":[107],"used.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}