Related papers: Using high-fidelity discrete element simulation to…
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…
The settling of cohesive sediment is ubiquitous in aquatic environments. In the settling process, the silt particles show behaviors that are different from non-cohesive particles due to the influence of inter-particle cohesive force. While…
In many industries, including aerospace and defense, waveform analysis is commonly conducted to compute the resonance of physical objects, with the Finite Element Method (FEM) being the standard approach. The Finite Difference Method (FDM)…
Surface electromyography (sEMG) sensors are widely used in human-computer interaction, yet the failure of a single sensor can compromise system usability. We propose a methodological framework for implementing a fail-safe mechanism in…
Offroad vehicle movement has to contend with uneven and uncertain terrain which present challenges to path planning and motion control for both manned and unmanned ground vehicles. Knowledge of terrain properties can allow a vehicle to…
Scenario-based testing using simulations is a cornerstone of Autonomous Vehicles (AVs) software validation. So far, developers needed to choose between low-fidelity 2D simulators to explore the scenario space efficiently, and high-fidelity…
We derive a general dimensionless form for granular locomotion, which is validated in experiments and Discrete Element Method (DEM) simulations. The form instructs how to scale size, mass, and driving parameters in order to relate dynamic…
A key challenge for computationally intensive state-of-the-art Earth System models is to distinguish global warming signals from interannual variability. Here we introduce DLESyM, a parsimonious deep learning model that accurately simulates…
This research addresses critical autonomous vehicle control challenges arising from road roughness variation, which induces course deviations and potential loss of road contact during steering operations. We present a novel real-time road…
With the growth of available computational resource, CFD-DEM (computational fluid dynamics-discrete element method) becomes an increasingly promising and feasible approach for the study of sediment transport. Several existing CFD-DEM…
Future automation and control units for advanced driver assistance systems (ADAS) will exchange sensor and kinematic data with nearby vehicles using wireless communication links to improve traffic safety. In this paper we present an…
Creating 3D models through the Structure from Motion technique is a recognized, efficient, cost-effective structural monitoring strategy. This technique is applied in several engineering fields, particularly for creating models of large…
Earth System Models (ESMs) are critical for understanding past climates and projecting future scenarios. However, the complexity of these models, which include large code bases, a wide community of developers, and diverse computational…
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is…
Accurate soil moisture (SM) estimation is critical for precision agriculture, water resources management and climate monitoring. Yet, existing satellite SM products are too coarse (>1km) for farm-level applications. We present a…
The study of vesicles in suspension is important to understand the complicated dynamics exhibited by cells in vivo and in vitro. We developed a computer simulation based on the boundary-integral method to model the three dimensional…
A key challenge in 3D finite element models of coupled railway vehicle-bridge dynamics is the rigorous definition of kinematic constraints and the development of an efficient, robust solution. This paper presents a novel approach that can…
Reliable displacement measurement is fundamental for structural health monitoring and digital engineering workflows, as it provides direct structural response information. Vision-based measurement has emerged as a promising approach for…
In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…
In this work, a neural network based terramechanics model and terrain estimator are presented with an outlook for optimal control applications such as model predictive control. Recognizing the limitations of the state-of-the-art…