Related papers: Simulation Based Control Architecture Using Webots…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
SimuLTE is a tool that enables system-level simulations of LTE/LTE-Advanced networks within OMNeT++. It is designed such that it can be plugged within network elements as an additional Network Interface Card (NIC) to those already provided…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for…
Software-in-the-loop (SIL) simulation is a widely used method for the rapid development and testing of autonomous vehicles because of its flexibility and efficiency. This paper presents a case study on the validation of an in-house…
Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability. To handle this issue, we concentrate on behavior simulation in…
Embedded systems in safety-critical environments are continuously required to deliver more performance and functionality, while expected to provide verified safety guarantees. Nonetheless, platform-wide software verification (required for…
Vortex-Induced Vibrations (VIVs) of cylindrical structures present significant challenges in various engineering applications, including marine risers, tall buildings, and renewable energy systems. Hence, it is vital to control…
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…
Automotive engineering makes extensive use of numerical simulation throughout the design process. The development of numerical models, their validation against experimental tests, and their updating during vehicle and engine projects…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
The design and analysis of pallet setups are essential for ensuring safety of packages transportation. With rising demands in the logistics sector, the development of automated systems utilizing advanced technologies has become increasingly…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
In vehicle dynamics control, engineering a suitable regulator is a long and costly process. The starting point is usually the design of a nominal controller based on a simple control-oriented model and its testing on a full-fledged…
Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…
Real-time simulation enables the understanding of system operating conditions by evaluating simulation models of physical components running synchronized at the real-time wall clock. Leveraging the real-time measurements of comprehensive…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…