Related papers: Lumped-Parameter Modeling and Control for Robotic …
High-resolution simulations of particle-based kinetic plasma models typically require a high number of particles and thus often become computationally intractable. This is exacerbated in multi-query simulations, where the problem depends on…
Liquid perception is critical for robotic pouring tasks. It usually requires the robust visual detection of flowing liquid. However, while recent works have shown promising results in liquid perception, they typically require labeled data…
A diffusion probabilistic model (DPM), which constructs a forward diffusion process by gradually adding noise to data points and learns the reverse denoising process to generate new samples, has been shown to handle complex data…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
A weighted residual collocation methodology for simulating two-dimensional shear-driven and natural convection flows has been presented. Using a dyadic mesh refinement, the methodology generates a basis and a multiresolution scheme to…
Multi-component fluid flow simulations in multi-scale porous structures often involve regions that are under-resolved at practical computational resolutions. Accurately capturing the contributions from these unresolved regions is critical.…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
Many-body dissipative particle dynamics (MDPD) is a mesoscale method capable of reproducing liquid-vapour coexistence in a single simulation. Despite having been introduced more than a decade ago, this method remains broadly unexplored and,…
Modeling flow in geosystems with natural fault is a challenging problem due to low permeability of fault compared to its surrounding porous media. One way to predict the behavior of the flow while taking the effects of fault into account is…
In this article we consider the numerical modeling and simulation via the phase field approach of two-phase flows of different densities and viscosities in superposed fluid and porous layers. The model consists of the…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
This paper presents a new resolution strategy for multi-scale streamer discharge simulations based on a second order time adaptive integration and space adaptive multiresolution. A classical fluid model is used to describe plasma…
Fused deposition modeling (FDM) using mobile robots instead of the gantry-based 3D printer enables additive manufacturing at a larger scale with higher speed. This introduces challenges including accurate localization, control of the…
Many additive manufacturing (AM) technologies rely on powder feedstock, which is fused to form the final part either by melting or by chemical binding with subsequent sintering. In both cases, process stability and resulting part quality…
Additive manufacturing, or 3D printing, is a promising manufacturing technique marred by product deformation due to material solidification in the printing process. Control of printed product deformation can be achieved by a compensation…
This work describes three diffuse-interface methods for the simulation of immiscible, compressible multiphase fluid flows and elastic-plastic deformation in solids. The first method is the localized-artificial-diffusivity approach of Cook…
In this paper, we introduce a hyperbolic model for entropy dissipative system of viscous conservation laws via a flux relaxation approach. We develop numerical schemes for the resulting hyperbolic relaxation system by employing the…
We present a multiscale simulation algorithm for amorphous materials, which we illustrate and validate in a canonical case of dense granular flow. Our algorithm is based on the recently proposed Spot Model, where particles in a dense random…
Multiphase systems are ubiquitous in engineering, biology, and materials science, where understanding their complex interactions and rheological behavior is crucial for advancing applications ranging from emulsion stability to cellular…
This paper presents a RePaint-enhanced framework that integrates a pre-trained performance-guided denoising diffusion probabilistic model (DDPM) for performance- and parameter-constraint engineering design generation. The proposed method…