Related papers: ASVLite: a high-performance simulator for autonomo…
This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds,…
We introduce WaveSim, a multi-scale similarity metric for the evaluation of spatial fields in weather and climate applications. WaveSim exploits wavelet transforms to decompose input fields into scale-specific wavelet coefficients. The…
Unsustainable exploitation of the oceans exacerbated by global warming is threatening coastal communities worldwide. Accurate and timely monitoring of maritime activity is an essential step to effective governance and to inform future…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
We attempt to gain some insight into the modeling of the generation of internal waves produced by submarines traveling in the littoral regions of the ocean with the use of high fidelity numerical simulations. These numerical simulations are…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
Experimental testing of an unmanned surface vehicle (USV) has been performed to evaluate the performance of two low-level controllers when displacement and drag properties are time-varying and uncertain. The USV is a 4.3 meter long, 150…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
Solar chromosphere consists of a partially ionized plasma, which makes modeling the solar chromosphere a particularly challenging numerical task. Here we numerically model chromospheric waves using a two-fluid approach with a newly…
In this short note, we derive a system of two nonlocal equations for the water-wave problem following the work of [AFM06]. Specifically, we consider a fluid with a one-dimensional free surface for an irrotational fluid both with, and…
Marine pollution is a growing worldwide concern, affecting health of marine ecosystems, human health, climate change, and weather patterns. To reduce underwater pollution, it is critical to have access to accurate information about the…
Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
Fast surrogate models for expensive simulations are now essential across the sciences, yet they typically operate as black boxes. We present \texttt{GWAgent}, a large language model (LLM)-based workflow that constructs interpretable…
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based…
Filtering surface acoustic wave (SAW) signals of specified frequencies depending on the strength of an external magnetic field in a magnetostrictive material has garnered significant interest due to its potential scientific and industrial…
Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in…
The impact of boat traffic on the health of coastal ecosystems is a multi-scale process: from minutes (individual wakes) to days (tidal modulation of sediment transport), to seasons and years (traffic is seasonal). A considerable numerical…
Direct numerical simulations of turbulent flow in a channel with one rigid and one viscoelastic wall are performed. An Eulerian-Eulerian model is adopted with a level-set approach to identify the fluid-compliant material interface. Focus is…