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# Line 41 | Line 41 | Notre Dame, Indiana 46556}
41    applies an external pressure to the facets comprising the convex
42    hull surrounding the objects in the system. Additionally, a Langevin
43    thermostat is applied to facets of the hull to mimic contact with an
44 <  external heat bath. This new method, the ``Langevin Hull'',
45 <  performs better than traditional affine transform methods for
46 <  systems containing heterogeneous mixtures of materials with
47 <  different compressibilities. It does not suffer from the edge
48 <  effects of boundary potential methods, and allows realistic
49 <  treatment of both external pressure and thermal conductivity to an
50 <  implicit solvents.  We apply this method to several different
51 <  systems including bare nano-particles, nano-particles in explicit
52 <  solvent, as well as clusters of liquid water and ice. The predicted
53 <  mechanical and thermal properties of these systems are in good
54 <  agreement with experimental data.
44 >  external heat bath. This new method, the ``Langevin Hull'', performs
45 >  better than traditional affine transform methods for systems
46 >  containing heterogeneous mixtures of materials with different
47 >  compressibilities. It does not suffer from the edge effects of
48 >  boundary potential methods, and allows realistic treatment of both
49 >  external pressure and thermal conductivity to an implicit solvent.
50 >  We apply this method to several different systems including bare
51 >  nanoparticles, nanoparticles in an explicit solvent, as well as
52 >  clusters of liquid water and ice. The predicted mechanical and
53 >  thermal properties of these systems are in good agreement with
54 >  experimental data.
55   \end{abstract}
56  
57   \newpage
# Line 75 | Line 75 | Melchionna modification\cite{melchionna93} to the
75   system geometry. An affine transform scales both the box lengths as
76   well as the scaled particle positions (but not the sizes of the
77   particles). The most common constant pressure methods, including the
78 < Melchionna modification\cite{melchionna93} to the
79 < Nos\'e-Hoover-Andersen equations of motion, the Berendsen pressure
80 < bath, and the Langevin Piston, all utilize coordinate transformation
81 < to adjust the box volume.
78 > Melchionna modification\cite{Melchionna1993} to the
79 > Nos\'e-Hoover-Andersen equations of
80 > motion,\cite{Hoover85,ANDERSEN:1980vn,Sturgeon:2000kx} the Berendsen
81 > pressure bath,\cite{ISI:A1984TQ73500045} and the Langevin
82 > Piston,\cite{FELLER:1995fk,Jakobsen:2005uq} all utilize coordinate
83 > transformation to adjust the box volume.  As long as the material in
84 > the simulation box is essentially a bulk-like liquid which has a
85 > relatively uniform compressibility, the standard affine transform
86 > approach provides an excellent way of adjusting the volume of the
87 > system and applying pressure directly via the interactions between
88 > atomic sites.
89  
90 + The problem with this approach becomes apparent when the material
91 + being simulated is an inhomogeneous mixture in which portions of the
92 + simulation box are incompressible relative to other portions.
93 + Examples include simulations of metallic nanoparticles in liquid
94 + environments, proteins at interfaces, as well as other multi-phase or
95 + interfacial environments.  In these cases, the affine transform of
96 + atomic coordinates will either cause numerical instability when the
97 + sites in the incompressible medium collide with each other, or lead to
98 + inefficient sampling of system volumes if the barostat is set slow
99 + enough to avoid the instabilities in the incompressible region.
100 +
101   \begin{figure}
102   \includegraphics[width=\linewidth]{AffineScale2}
103   \caption{Affine Scaling constant pressure methods use box-length
# Line 92 | Line 110 | to adjust the box volume.
110   \label{affineScale}
111   \end{figure}
112  
113 + One may also wish to avoid affine transform periodic boundary methods
114 + to simulate {\it explicitly non-periodic systems} under constant
115 + pressure conditions. The use of periodic boxes to enforce a system
116 + volume either requires effective solute concentrations that are much
117 + higher than desirable, or unreasonable system sizes to avoid this
118 + effect.  For example, calculations using typical hydration shells
119 + solvating a protein under periodic boundary conditions are quite
120 + expensive. [CALCULATE EFFECTIVE PROTEIN CONCENTRATIONS IN TYPICAL
121 + SIMULATIONS]
122  
123 < Heterogeneous mixtures of materials with different compressibilities?
123 > There have been a number of other approaches to explicit
124 > non-periodicity that focus on constant or nearly-constant {\it volume}
125 > conditions while maintaining bulk-like behavior.  Berkowitz and
126 > McCammon introduced a stochastic (Langevin) boundary layer inside a
127 > region of fixed molecules which effectively enforces constant
128 > temperature and volume (NVT) conditions.\cite{Berkowitz1982} In this
129 > approach, the stochastic and fixed regions were defined relative to a
130 > central atom.  Brooks and Karplus extended this method to include
131 > deformable stochastic boundaries.\cite{iii:6312} The stochastic
132 > boundary approach has been used widely for protein
133 > simulations. [CITATIONS NEEDED]
134  
135 < Explicitly non-periodic systems
135 > The electrostatic and dispersive behavior near the boundary has long
136 > been a cause for concern.  King and Warshel introduced a surface
137 > constrained all-atom solvent (SCAAS) which included polarization
138 > effects of a fixed spherical boundary to mimic bulk-like behavior
139 > without periodic boundaries.\cite{king:3647} In the SCAAS model, a
140 > layer of fixed solvent molecules surrounds the solute and any explicit
141 > solvent, and this in turn is surrounded by a continuum dielectric.
142 > MORE HERE.  WHAT DID THEY FIND?
143  
144 < Elastic Bag
144 > Beglov and Roux developed a boundary model in which the hard sphere
145 > boundary has a radius that varies with the instantaneous configuration
146 > of the solute (and solvent) molecules.\cite{beglov:9050} This model
147 > contains a clear pressure and surface tension contribution to the free
148 > energy which XXX.
149  
150 < Spherical Boundary approaches
150 > Restraining {\it potentials} introduce repulsive potentials at the
151 > surface of a sphere or other geometry.  The solute and any explicit
152 > solvent are therefore restrained inside this potential.  Often the
153 > potentials include a weak short-range attraction to maintain the
154 > correct density at the boundary.  Beglov and Roux have also introduced
155 > a restraining boundary potential which relaxes dynamically depending
156 > on the solute geometry and the force the explicit system exerts on the
157 > shell.\cite{Beglov:1995fk}
158  
159 < \section{Methodology}
159 > Recently, Krilov {\it et al.} introduced a flexible boundary model
160 > that uses a Lennard-Jones potential between the solvent molecules and
161 > a boundary which is determined dynamically from the position of the
162 > nearest solute atom.\cite{LiY._jp046852t,Zhu:xw} This approach allows
163 > the confining potential to prevent solvent molecules from migrating
164 > too far from the solute surface, while providing a weak attractive
165 > force pulling the solvent molecules towards a fictitious bulk solvent.
166 > Although this approach is appealing and has physical motivation,
167 > nanoparticles do not deform far from their original geometries even at
168 > temperatures which vaporize the nearby solvent. For the systems like
169 > the one described, the flexible boundary model will be nearly
170 > identical to a fixed-volume restraining potential.
171  
172 < A new method which uses a constant pressure and temperature bath that
173 < interacts with the objects that are currently at the edge of the
174 < system.
172 > The approach of Kohanoff, Caro, and Finnis is the most promising of
173 > the methods for introducing both constant pressure and temperature
174 > into non-periodic simulations.\cite{Kohanoff:2005qm,Baltazar:2006ru}
175 > This method is based on standard Langevin dynamics, but the Brownian
176 > or random forces are allowed to act only on peripheral atoms and exert
177 > force in a direction that is inward-facing relative to the facets of a
178 > closed bounding surface.  The statistical distribution of the random
179 > forces are uniquely tied to the pressure in the external reservoir, so
180 > the method can be shown to sample the isobaric-isothermal ensemble.
181 > Kohanoff {\it et al.} used a Delaunay tessellation to generate a
182 > bounding surface surrounding the outermost atoms in the simulated
183 > system.  This is not the only possible triangulated outer surface, but
184 > guarantees that all of the random forces point inward towards the
185 > cluster.
186  
187 < Novel features: No a priori geometry is defined, No affine transforms,
188 < No fictitious particles, No bounding potentials.
187 > In the following sections, we extend and generalize the approach of
188 > Kohanoff, Caro, and Finnis. The new method, which we are calling the
189 > ``Langevin Hull'' applies the external pressure, Langevin drag, and
190 > random forces on the facets of the {\it hull itself} instead of the
191 > atomic sites comprising the vertices of the hull.  This allows us to
192 > decouple the external pressure contribution from the drag and random
193 > force.  Section \ref{sec:meth}
194  
195 < Simulation starts as a collection of atomic locations in 3D (a point
196 < cloud).
195 > \section{Methodology}
196 > \label{sec:meth}
197  
198 < Delaunay triangulation finds all facets between coplanar neighbors.
198 > We have developed a new method which uses a constant pressure and
199 > temperature bath.  This bath interacts only with the objects that are
200 > currently at the edge of the system.  Since the edge is determined
201 > dynamically as the simulation progresses, no {\it a priori} geometry
202 > is defined.  The pressure and temperature bath interacts {\it
203 >  directly} with the atoms on the edge and not with atoms interior to
204 > the simulation.  This means that there are no affine transforms
205 > required.  There are also no fictitious particles or bounding
206 > potentials used in this approach.
207  
208 < The Convex Hull is the set of facets that have no concave corners at a
209 < vertex.
208 > The basics of the method are as follows. The simulation starts as a
209 > collection of atomic locations in three dimensions (a point cloud).
210 > Delaunay triangulation is used to find all facets between coplanar
211 > neighbors.  In highly symmetric point clouds, facets can contain many
212 > atoms, but in all but the most symmetric of cases one might experience
213 > in a molecular dynamics simulation, the facets are simple triangles in
214 > 3-space that contain exactly three atoms.  
215  
216 < Molecules on the convex hull are dynamic. As they re-enter the
217 < cluster, all interactions with the external bath are removed.The
218 < external bath applies pressure to the facets of the convex hull in
219 < direct proportion to the area of the facet. Thermal coupling depends on
220 < the solvent temperature, friction and the size and shape of each
221 < facet.
127 <
128 < \begin{equation}
129 < m_i \dot{\mathbf v}_i(t)=-{\mathbf \nabla}_i U
130 < \end{equation}
216 > The convex hull is the set of facets that have {\it no concave
217 >  corners} at an atomic site.  This eliminates all facets on the
218 > interior of the point cloud, leaving only those exposed to the
219 > bath. Sites on the convex hull are dynamic. As molecules re-enter the
220 > cluster, all interactions between atoms on that molecule and the
221 > external bath are removed.
222  
223 + For atomic sites in the interior of the point cloud, the equations of
224 + motion are simple Newtonian dynamics,
225   \begin{equation}
226 < m_i \dot{\mathbf v}_i(t)=-{\mathbf \nabla}_i U + {\mathbf F}_i^{\mathrm ext}
226 > m_i \dot{\mathbf v}_i(t)=-{\mathbf \nabla}_i U,
227 > \label{eq:Newton}
228   \end{equation}
229 + where $m_i$ is the mass of site $i$, ${\mathbf v}_i(t)$ is the
230 + instantaneous velocity of site $i$ at time $t$, and $U$ is the total
231 + potential energy.  For atoms on the exterior of the cluster
232 + (i.e. those that occupy one of the vertices of the convex hull), the
233 + equation of motion is modified with an external force, ${\mathbf
234 +  F}_i^{\mathrm ext}$,
235 + \begin{equation}
236 + m_i \dot{\mathbf v}_i(t)=-{\mathbf \nabla}_i U + {\mathbf F}_i^{\mathrm ext}.
237 + \end{equation}
238  
239 + The external bath interacts directly with the facets of the convex
240 + hull.  Since each vertex (or atom) provides one corner of a triangular
241 + facet, the force on the facets are divided equally to each vertex.
242 + However, each vertex can participate in multiple facets, so the resultant
243 + force is a sum over all facets $f$ containing vertex $i$:
244   \begin{equation}
245   {\mathbf F}_{i}^{\mathrm ext} = \sum_{\begin{array}{c}\mathrm{facets\
246      } f \\ \mathrm{containing\ } i\end{array}} \frac{1}{3}\  {\mathbf
247    F}_f^{\mathrm ext}
248   \end{equation}
249  
250 + The external pressure bath applies a force to the facets of the convex
251 + hull in direct proportion to the area of the facet, while the thermal
252 + coupling depends on the solvent temperature, friction and the size and
253 + shape of each facet. The thermal interactions are expressed as a
254 + typical Langevin description of the forces,
255   \begin{equation}
256   \begin{array}{rclclcl}
257   {\mathbf F}_f^{\text{ext}} & = &  \text{external pressure} & + & \text{drag force} & + & \text{random force} \\
258   & = &  -\hat{n}_f P A_f  & - & \Xi_f(t) {\mathbf v}_f(t)  & + & {\mathbf R}_f(t)
259   \end{array}
260   \end{equation}
261 <
261 > Here, $P$ is the external pressure, $A_f$ and $\hat{n}_f$ are the area
262 > and normal vectors for facet $f$, respectively.  ${\mathbf v}_f(t)$ is
263 > the velocity of the facet,
264 > \begin{equation}
265 > {\mathbf v}_f(t) =  \frac{1}{3} \sum_{i=1}^{3} {\mathbf v}_i,
266 > \end{equation}
267 > and $\Xi_f(t)$ is an approximate ($3 \times 3$) hydrodynamic tensor
268 > that depends on the geometry and surface area of facet $f$ and the
269 > viscosity of the fluid (See Appendix A).  The hydrodynamic tensor is
270 > related to the fluctuations of the random force, $\mathbf{R}(t)$, by
271 > the fluctuation-dissipation theorem,
272   \begin{eqnarray}
150 A_f & = & \text{area of facet}\ f \\
151 \hat{n}_f & = & \text{facet normal} \\
152 P & = & \text{external pressure}
153 \end{eqnarray}
154
155 \begin{eqnarray}
156 {\mathbf v}_f(t) & = & \text{velocity of facet} \\
157 & = & \frac{1}{3} \sum_{i=1}^{3} {\mathbf v}_i \\
158 \Xi_f(t) & = & \text{is a hydrodynamic tensor that depends} \\
159 & & \text{on the geometry and surface area of} \\
160 & & \text{facet} \ f\ \text{and the viscosity of the fluid.}
161 \end{eqnarray}
162
163 \begin{eqnarray}
273   \left< {\mathbf R}_f(t) \right> & = & 0 \\
274   \left<{\mathbf R}_f(t) {\mathbf R}_f^T(t^\prime)\right> & = & 2 k_B T\
275 < \Xi_f(t)\delta(t-t^\prime)
275 > \Xi_f(t)\delta(t-t^\prime).
276 > \label{eq:randomForce}
277   \end{eqnarray}
278  
279 < Implemented in OpenMD.\cite{Meineke:2005gd,openmd}
279 > Once the hydrodynamic tensor is known for a given facet (see Appendix
280 > A) obtaining a stochastic vector that has the properties in
281 > Eq. (\ref{eq:randomForce}) can be done efficiently by carrying out a
282 > one-time Cholesky decomposition to obtain the square root matrix of
283 > the resistance tensor,
284 > \begin{equation}
285 > \Xi_f = {\bf S} {\bf S}^{T},
286 > \label{eq:Cholesky}
287 > \end{equation}
288 > where ${\bf S}$ is a lower triangular matrix.\cite{Schlick2002} A
289 > vector with the statistics required for the random force can then be
290 > obtained by multiplying ${\bf S}$ onto a random 3-vector ${\bf Z}$ which
291 > has elements chosen from a Gaussian distribution, such that:
292 > \begin{equation}
293 > \langle {\bf Z}_i \rangle = 0, \hspace{1in} \langle {\bf Z}_i \cdot
294 > {\bf Z}_j \rangle = \frac{2 k_B T}{\delta t} \delta_{ij},
295 > \end{equation}
296 > where $\delta t$ is the timestep in use during the simulation. The
297 > random force, ${\bf R}_{f} = {\bf S} {\bf Z}$, can be shown to
298 > have the correct properties required by Eq. (\ref{eq:randomForce}).
299  
300 + Our treatment of the hydrodynamic tensor must be approximate.  $\Xi$
301 + for a triangular plate would normally be treated as a $6 \times 6$
302 + tensor that includes translational and rotational drag as well as
303 + translational-rotational coupling. The computation of hydrodynamic
304 + tensors for rigid bodies has been detailed
305 + elsewhere,\cite{JoseGarciadelaTorre02012000,Garcia-de-la-Torre:2001wd,GarciadelaTorreJ2002,Sun2008}
306 + but the standard approach involving bead approximations would be
307 + prohibitively expensive if it were recomputed at each step in a
308 + molecular dynamics simulation.
309 +
310 + We are utilizing an approximate hydrodynamic tensor obtained by first
311 + constructing the Oseen tensor for the interaction of the centroid of
312 + the facet ($f$) with each of the subfacets $j$,
313 + \begin{equation}
314 + T_{jf}=\frac{A_j}{8\pi\eta R_{jf}}\left(I +
315 +  \frac{\mathbf{R}_{jf}\mathbf{R}_{jf}^T}{R_{jf}^2}\right)
316 + \end{equation}
317 + Here, $A_j$ is the area of subfacet $j$ which is a triangle containing
318 + two of the vertices of the facet along with the centroid.
319 + $\mathbf{R}_{jf}$ is the vector between the centroid of facet $f$ and
320 + the centroid of sub-facet $j$, and $I$ is the ($3 \times 3$) identity
321 + matrix.  $\eta$ is the viscosity of the external bath.
322 +
323 + \begin{figure}
324 + \includegraphics[width=\linewidth]{hydro}
325 + \caption{The hydrodynamic tensor $\Xi$ for a facet comprising sites $i$,
326 +  $j$, and $k$ is constructed using Oseen tensor contributions
327 +  between the centoid of the facet $f$ and each of the sub-facets
328 +  ($i,f,j$), ($j,f,k$), and ($k,f,i$). The centroids of the sub-facets
329 +  are located at $1$, $2$, and $3$, and the area of each sub-facet is
330 +  easily computed using half the cross product of two of the edges.}
331 + \label{hydro}
332 + \end{figure}
333 +
334 + The Oseen tensors for each of the sub-facets are summed, and the
335 + resulting matrix is inverted to give a $3 \times 3$ hydrodynamic
336 + tensor for translations of the triangular plate,
337 + \begin{equation}
338 + \Xi_f(t) =\left[\sum_{i=1}^3 T_{if}\right]^{-1}.
339 + \end{equation}
340 + We have implemented this method by extending the Langevin dynamics
341 + integrator in our group code, OpenMD.\cite{Meineke2005,openmd} There
342 + is a moderate penalty for computing the convex hull at each step in
343 + the molecular dynamics simulation (HOW MUCH?), but the convex hull is
344 + remarkably easy to parallelize on distributed memory machines (see
345 + Appendix B).
346 +
347   \section{Tests \& Applications}
348 + \label{sec:tests}
349  
350   \subsection{Bulk modulus of gold nanoparticles}
351  
# Line 207 | Line 384 | We initially used the classic compressibility formula
384   \label{compWater}
385   \end{figure}
386  
387 < We initially used the classic compressibility formula
387 > The volume of a three-dimensional point cloud is not an obvious property to calculate. In order to calculate the isothermal compressibility we adapted the classic compressibility formula so that the compressibility could be calculated using information about the local density instead of the total volume of the convex hull.
388  
389   \begin{equation}
390   \kappa_{T} = -\frac{1}{V} \left ( \frac{\partial V}{\partial P} \right )_{T}
391   \end{equation}
392  
216 to calculate the the isothermal compressibility at each target pressure. These calculations yielded compressibility values that were dramatically higher than both previous simulations and experiment. The particular compressibility expression used requires the calculation of both a volume and pressure differential, thereby stipulating that the data from at least two simulations at different pressures must be used to calculate the isothermal compressibility at one pressure.
393  
394 < Per the fluctuation dissipation theorem \cite{Debendedetti1986}, the hull volume fluctuation in any given simulation can be used to calculated the isothermal compressibility at that particular pressure
394 > Assuming a uniform density, we can use the relationship $\rho = \frac{N}{V}$ to rewrite the isothermal compressibility formula as
395  
396   \begin{equation}
397 < \kappa_{T} = \frac{\left \langle V^{2} \right \rangle - \left \langle V \right \rangle ^{2}}{V \, k_{B} \, T}
397 > \kappa_{T} = \frac{1}{N} \left ( \frac{\partial N}{\partial P} \right )_{T}
398   \end{equation}
399  
400 < Thus, the compressibility of each simulation run can be calculated entirely independently from all other trajectories. However, the resulting compressibilities were still as much as an order of magnitude larger than the reference values. The effect was particularly pronounced at the low end of the pressure range. At ambient temperature and low pressures, there exists an equilibrium between vapor and liquid phases. Vapor molecules are naturally more diffuse around the exterior of the cluster, causing artificially large cluster volumes. Any compressibility calculation that relies on the hull volume will suffer these effects.
400 > Isothermal compressibility values calculated using this modified expression are in good agreement with the reference values throughout the 1 - 1000 atm pressure regime. Regardless of the difficulty in obtaining accurate hull volumes at low temperature and pressures, the Langevin Hull NPT method provides reasonable isothermal compressibility values for water through a large range of pressures.
401  
402 < In order to calculate the isothermal compressibility without being hindered by hull volume issues, we adapted the classic compressibility formula so that the compressibility could be calculated using information about the local density instead of the volume of the convex hull. We calculated the $g_{OO}(r)$ for a 1 nanosecond simulation of a cluster of 1372 SPC/E water molecules and spherically integrated the function over the bounds 0 to $r'$. In all cases, the value of $r'$ was 17.26216 $\AA$. The value of the total integral between these bounds is essentially the number (N) of molecules within volume $\frac{4}{3}\pi r'^{3}$ at a given pressure. To yield an actual molecule count, N must be scaled by an ideal density. However, even in the absence of an ideal density, we can use the relationship $\rho = \frac{N}{V}$ to rewrite the isothermal compressibility formula as
402 > We initially used the classic compressibility formula to calculate the the isothermal compressibility at each target pressure. These calculations yielded compressibility values that were dramatically higher than both previous simulations and experiment. The particular compressibility expression used requires the calculation of both a volume and pressure differential, thereby stipulating that the data from at least two simulations at different pressures must be used to calculate the isothermal compressibility at one pressure.
403  
404 + Per the fluctuation dissipation theorem \cite{Debenedetti1986}, the hull volume fluctuation in any given simulation can be used to calculated the isothermal compressibility at that particular pressure
405 +
406   \begin{equation}
407 < \kappa_{T} = \frac{1}{N} \left ( \frac{\partial N}{\partial P} \right )_{T}
407 > \kappa_{T} = \frac{\left \langle V^{2} \right \rangle - \left \langle V \right \rangle ^{2}}{V \, k_{B} \, T}
408   \end{equation}
409  
410 < Isothermal compressibility values calculated using this modified expression are in good agreement with the reference values throughout the 1 - 1000 atm pressure regime. Regardless of the difficulty in obtaining accurate hull volumes at low temperature and pressures, the Langevin Hull NPT method provides reasonable isothermal compressibility values for water through a large range of pressures.
410 > Thus, the compressibility of each simulation run can be calculated entirely independently from all other trajectories. However, the resulting compressibilities were still as much as an order of magnitude larger than the reference values. The effect was particularly pronounced at the low end of the pressure range. At ambient temperature and low pressures, there exists an equilibrium between vapor and liquid phases. Vapor molecules are naturally more diffuse around the exterior of the cluster, causing artificially large cluster volumes. Any compressibility calculation that relies on the hull volume will suffer these effects.
411  
412 +
413   \subsection{Molecular orientation distribution at cluster boundary}
414  
415   In order for non-periodic boundary conditions to be widely applicable, they must be constructed in such a way that they allow a finite, usually small, simulated system to replicate the properties of an infinite bulk system. Naturally, this requirement has spawned many methods for inserting boundaries into simulated systems [REF... ?]. Of particular interest to our characterization of the Langevin Hull is the orientation of water molecules included in the geometric hull. Ideally, all molecules in the cluster will have the same orientational distribution as bulk water.
# Line 275 | Line 454 | The orientational preference exhibited by hull molecul
454  
455   \section{Appendix A: Hydrodynamic tensor for triangular facets}
456  
278 \begin{figure}
279 \includegraphics[width=\linewidth]{hydro}
280 \caption{Hydro}
281 \label{hydro}
282 \end{figure}
283
284 \begin{equation}
285 \Xi_f(t) =\left[\sum_{i=1}^3 T_{if}\right]^{-1}
286 \end{equation}
287
288 \begin{equation}
289 T_{if}=\frac{A_i}{8\pi\eta R_{if}}\left(I +
290  \frac{\mathbf{R}_{if}\mathbf{R}_{if}^T}{R_{if}^2}\right)
291 \end{equation}
292
457   \section{Appendix B: Computing Convex Hulls on Parallel Computers}
458  
459   \section{Acknowledgments}

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