Related papers: A Physics-Based Continuum Model for Versatile, Sca…
Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
DualSPHysics is a weakly compressible smoothed particle hydrodynamics (SPH) Navier-Stokes solver initially conceived to deal with coastal engineering problems, especially those related to wave impact with coastal structures. Since the first…
The field of astrophysics has long sought computational tools capable of harnessing the power of modern GPUs to simulate the complex dynamics of astrophysical phenomena. The Kratos Framework, a novel GPU-based simulation system designed to…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Data driven approaches have the potential to make modeling complex, nonlinear physical phenomena significantly more computationally tractable. For example, computational modeling of fracture is a core challenge where machine learning…
KHARMA (an acronym for "Kokkos-based High-Accuracy Relativistic Magnetohydrodynamics with Adaptive mesh refinement") is a new open-source code for conducting general-relativistic magnetohydrodynamic simulations in stationary spacetimes,…
This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…
High-quality datasets can speed up breakthroughs and reveal potential developing directions in SLAM research. To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset…
Accurate wave height prediction is critical for maritime safety and coastal resilience, yet conventional physics-based models and traditional machine learning methods face challenges in computational efficiency and nonlinear dynamics…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Numerical geodynamo simulations with parameters close to an Earth-like regime would be of great interest for understanding the dynamics of the Earth's liquid outer core and the associated geomagnetic field. Such simulations are far too…
Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment.…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
The objective of this study is to develop a fully compressible magnetohydrodynamic solver for fast simulations of the global dynamo of the Sun using unstructured grids and GPUs. Accurate modeling of the Sun's convective layers is vital to…
Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which…
We develop a continuum model for the dynamics of grain boundaries in three dimensions that incorporates the motion and reaction of the constituent dislocations. The continuum model is based on a simple representation of densities of curved…
We discuss the use of the Discrete Element Method (DEM) to simulate the dynamics of granular systems made up of elements with nontrivial geometries. The DEM simulator is GPU accelerated and can handle elements whose shape is defined as the…
Autonomous vehicles (AVs) rely on accurate trajectory prediction of surrounding vehicles to ensure the safety of both passengers and other road users. Trajectory prediction spans both short-term and long-term horizons, each requiring…
We present a multi-resolution approach for constructing model-based simulations of hydraulic fracturing, wherein flow through porous media is coupled with fluid-driven fracture. The approach consists of a hybrid scheme that couples a…