Related papers: Development of a Hybrid Simulation and Experiment …
This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and…
With the maritime industry poised on the cusp of a hybrid revolution, the design and analysis of advanced vessel systems have become paramount for engineers. This paper presents AC and DC electrical hybrid power system models in ETAP, the…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
This article faces the problem of operative and procedural cooperative training in marine ports with particular attention to harbour pilots and port traffic controller. The design and development of an advanced system, equipped with…
This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…
Here, we present the concept of an open virtual prototyping framework for maritime systems and operations that enables its users to develop re-usable component or subsystem models, and combine them in full-system simulations for…
Critical evaluation and understanding of ship responses in the ocean is important for not only the design and engineering of future platforms but also the operation and safety of those that are currently deployed. Simulations or experiments…
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate…
The maritime industry aims towards a sustainable future, which requires significant improvements in operational efficiency. Current approaches focus on minimising fuel consumption and emissions through greater autonomy. Efficient and safe…
As compute power increases with time, more involved and larger simulations become possible. However, it gets increasingly difficult to efficiently use the provided computational resources. Especially in particle-based simulations with a…
Hybrid systems are characterized by the hybrid evolution of their state: A part of the state changes discretely, the other part changes continuously over time. Typically, modern control applications belong to this class of systems, where a…
There is a growing demand for simulators for the research and development of maritime autonomous surface ships (MASS) and the approval of autonomous navigation algorithms. Simulators are used for purposes such as evaluation and training and…
Optimizing high-performance power electronic equipment, such as power converters, requires multiscale simulations that incorporate the physics of power semiconductor devices and the dynamics of other circuit components, especially in…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…
A simulation environment of harbor maneuvers is critical for developing automatic berthing. Dynamic models are widely used to estimate harbor maneuvers. However, human decision-making and data analysis are necessary to derive, select, and…
A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS)…
Research on the co-optimization of soft robotic design and control requires rapid means for real-world validation. Existing creation pipelines do not allow for the swift prototyping of soft robots to quickly test various design…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…