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Ship oil spill accident has become one of the main causes of Marine environmental pollution and ecological damage. It is of great significance to study the process of oil spill into water by using simulation prediction method for oil spill…
Autonomous vehicles have created a sensation in both outdoor and indoor applications. The famous indoor use-case is process automation inside a warehouse using Autonomous Indoor Vehicles (AIV). These vehicles need to locate themselves not…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
In this paper we present a method for the estimation of leaks in non-invasive ventilation. Accurate estimation of leaks is a key component of a ventilator, since it determines the ventilator performance in terms of patient-ventilator…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Active visual SLAM finds a wide array of applications in GNSS-Denied sub-terrain environments and outdoor environments for ground robots. To achieve robust localization and mapping accuracy, it is imperative to incorporate the perception…
Enhancing 3D and Z-axis positioning accuracy is crucial for effective rescue in indoor emergencies, ensuring safety for emergency responders and at-risk individuals. Additionally, reducing the dependence of a positioning system on fixed…
Compressible flow problems are characterized by highly nonlinear, implicit, and often transcendental governing equations. In undergraduate gas dynamics education, solving these equations traditionally relies on iterative numerical methods…
In the field of structural health monitoring (SHM), the acquisition of acoustic emissions to localise damage sources has emerged as a popular approach. Despite recent advances, the task of locating damage within composite materials and…
Building performance has been shown to degrade significantly after commissioning, resulting in increased energy consumption and associated greenhouse gas emissions. Continuous Commissioning using existing sensor networks and IoT devices has…
Accurately estimating aircraft fuel flow is essential for evaluating new procedures, designing next-generation aircraft, and monitoring the environmental impact of current aviation practices. This paper investigates the generalization…
The transport of CO2 across the air-water interface is central to physical oceanography and carbon sequestration. A comprehensive understanding of this process requires high-resolution diagnostics of diffusion, absorption, and reaction…
This paper presents a novel machine-learning framework for reconstructing low-order gust-encounter flow field and lift coefficients from sparse, noisy surface pressure measurements. Our study thoroughly investigates the time-varying…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
CO2 injection into a saline aquifer crossed by a tectonic fault is studied with coupled fluid mechanics - geomechanics modeling. The simulation approach is based on coupling of the MUFITS reservoir simulator and the FLAC3D mechanical…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and nonlinearity. Robotic high-viscosity fluid deposition is an…
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable…
Using molecular dynamics simulations, we show that a simple model of a glassy material exhibits the shear localization phenomenon observed in many complex fluids. At low shear rates, the system separates into a fluidized shear-band and an…
We formulate theoretical modeling approaches and develop practical computational simulation methods for investigating the non-equilibrium statistical mechanics of fluid interfaces with passive and active immersed particles. Our approaches…