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Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Accurate real-time buoyancy modeling is essential for high-fidelity Autonomous Underwater Vehicle (AUV) simulations, yet NVIDIA Isaac Sim lacks a native buoyancy system, requiring external solutions for precise underwater physics. This…
For the dynamic analysis of floating offshore wind turbines (FOWTs) in realistic operating environment, this paper develops a coupled aero-hydro-mooring-servo model applicable to turbulent wind and irregular sea states with high…
In-memory computing (IMC) can eliminate the data movement between processor and memory which is a barrier to the energy-efficiency and performance in Von-Neumann computing. Resistive RAM (RRAM) is one of the promising devices for IMC…
Nature has always inspired scientists and engineers to understand the underlying mechanism leading to optimal design in bio-inspired dynamics. This study presents a computational framework for optimizing undulatory swimming profiles using a…
In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
Ray-finned fish are able to adapt the curvature of their fins through musculature at the base of the fin. In this work we numerically investigate the effects of such leading-edge curvature actuation on the hydrodynamic performance of a…
Course estimation is a key component for the development of autonomous navigation systems for robots. While state-of-the-art methods widely use visual-based algorithms, it is worth noting that they all fail to deal with the complexity of…
Bio-inspired oscillatory foil propulsion has the ability to traverse various propulsive modes by dynamically changing the foil's heave and pitch kinematics. This research characterizes the propulsion properties and wake dynamics of a…
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is proportional to the state (curvature, slope, or displacement) of…
Finite element modeling (FEM) is a critical tool in the design and analysis of piezoelectric devices, offering detailed numerical simulations that guide various applications. While traditionally applied to eigenfrequency analysis and…
One of the motivations for exploring flapping-wing aerial robotic systems is to seek energy reduction, by maintaining manoeuvrability, compared to conventional unmanned aerial systems. A Flapping Wing Flying Robot (FWFR) can glide in…
We address the fluid-structure interaction of flexible fin models oscillated in a water flow. Here, we investigate in particular the dependence of hydrodynamic force distributions on fin geometry and flapping frequency. For this purpose, we…
To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of…
In this article, the hydrodynamic characteristics of Autonomous Underwater Vehicles (AUVs) are investigated and analyzed under the influence of rotating flow fields, that were generated in a recirculating water tank via a rotating…
Many species of fish, as well as biorobotic underwater vehicles, employ body caudal fin propulsion, in which a wave-like body motion culminates in high-amplitude caudal fin oscillations to generate thrust. This study uses high fidelity…
Aircraft design optimization traditionally relies on computationally expensive simulation techniques such as Finite Element Method (FEM) and Finite Volume Method (FVM), which, while accurate, can significantly slow down the design iteration…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
We present Overall FLOP Utilization (OFU), a hardware-level, precision-agnostic GPU efficiency metric for AI workloads on HPC systems, derived from two on-chip performance counters: Tensor Pipe Activity and SM clock frequency. OFU requires…