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Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…
The UNet-enhanced Fourier Neural Operator (UFNO) extends the Fourier Neural Operator (FNO) by incorporating a parallel UNet pathway, enabling the retention of both high- and low-frequency components. While UFNO improves predictive accuracy…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
The computational efficiency of stochastic simulation algorithms is notoriously limited by the kinetic trapping of the simulated trajectories within low energy basins. Here we present a new method that overcomes kinetic trapping while still…
Using the finite volume CFD software FLUENT, one fan was studied at a given flow rate (1.5m3/min) for three different operational rotating speeds : 2,000, 2,350 and 2,700 rpm. The turbulent air flow analysis predicts the acoustic behavior…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
The computational complexity of simulating seismic waves demands continual exploration of more efficient numerical methods. While Finite Volume methods are widely acclaimed for tackling general nonlinear hyperbolic (wave) problems, their…
In this fluid dynamics video, results from high fidelity numerical simulations are presented, which have been carried out to study the flow and droplet dynamics of liquid sheets formed by two impinging jets. A three-dimensional…
In this work we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robotics ($\mu$Bots). Through this platform, we systematically explored the effects of…
Unbalanced optimal transport (UOT) provides a principled framework for modeling single-cell transitions and birth-death dynamics, but its high computational cost limits scalability to large-scale datasets. Although single-cell data often…
Mesh generation is essential for accurate and efficient computational fluid dynamics simulations. To resolve critical features in the flow, adaptive mesh refinement (AMR) is routinely employed in certain regions of the computational domain,…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
The execution of flight missions by unmanned aerial vehicles (UAV) primarily relies on navigation. In particular, the navigation pipeline has traditionally been divided into positioning and control, operating in a sequential loop. However,…
This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…
This work aims at finding optimal navigation policies for thin, deformable microswimmers that progress in a viscous fluid by propagating a sinusoidal undulation along their slender body. These active filaments are embedded in a prescribed,…
Projection-based reduced-order models (PROMs) have demonstrated accuracy, reliability, and robustness in approximating high-dimensional, differential equation-based computational models across many applications. For this reason, it has been…
Unbalanced optimal transport (UOT) has been widely used as a fundamental tool in many application domains, where it often dominates the application running time. While many researchers have proposed various optimizations for UOT, few have…
Improved designs for Autonomous Underwater Vehicles (AUV) are becoming increasingly important due to their utility in academic and industrial applications. However, a majority of such testing and design is carried out under conditions that…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…