Related papers: Development of a Hybrid Simulation and Experiment …
A novel approach for robust state estimation of marine vessels in rough water is proposed in this paper to enable tight collaboration between Unmanned Aerial Vehicles (UAVs) and a marine vessel, such as cooperative landing or object…
We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within…
Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…
This article presents the data-driven equation-free modeling of the dynamics of a hexafloat floating offshore wind turbine based on the application of dynamic mode decomposition (DMD). All the analyses are performed on experimental data…
A hybrid physics-machine learning modeling framework is proposed for the surface vehicles' maneuvering motions to address the modeling capability and stability in the presence of environmental disturbances. From a deep learning perspective,…
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…
Movements of maritime vessels are inherently complex and challenging to model due to the dynamic and often unpredictable nature of maritime operations. Even within structured maritime environments, such as shipping lanes and port…
Spatially developing round jet flows are fundamental to numerous engineering applications. This letter applies the wave-particle turbulence simulation (WPTS) method, a recently developed multiscale approach, to simulate a spatially…
We propose a hybrid approach to simulate quantum many body dynamics by combining Trotter based quantum algorithm with classical dynamic mode decomposition. The interest often lies in estimating observables rather than explicitly obtaining…
Simulating and predicting dynamics of quantum many-body systems is extremely challenging, even for state-of-the-art computational methods, due to the spread of entanglement across the system. However, in the long-wavelength limit, quantum…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
We propose a neural physics system for real-time, interactive fluid simulations. Traditional physics-based methods, while accurate, are computationally intensive and suffer from latency issues. Recent machine-learning methods reduce…
Marine vessel re-identification technology is an important component of intelligent shipping systems and an important part of the visual perception tasks required for marine surveillance. However, unlike the situation on land, the maritime…
This paper proposes a hydraulic model based on the Euler turbine equations suitable for the purpose of grid integration studies of variable speed hydropower (VSHP). The work was motivated by the need to assess how the dynamic performance…
Global deep-learning weather prediction models have recently been shown to produce forecasts that rival those from physics-based models run at operational centers. It is unclear whether these models have encoded atmospheric dynamics, or…
For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity…
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain…