Related papers: A Physics-Based Continuum Model for Versatile, Sca…
As interest grows in world models that predict future states from current observations and actions, accurately modeling part-level dynamics has become increasingly relevant for various applications. Existing approaches, such as…
Surrogate models provide fast alternatives to costly aerodynamic simulations and are extremely useful in design and optimization applications. This study proposes the use of a recent kernel-based neural surrogate, KHRONOS. In this work, we…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
This paper presents a physics-informed neural network approach for dynamic modeling of saturable synchronous machines, including cases with spatial harmonics. We introduce an architecture that incorporates gradient networks directly into…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
Computational physics simulation can be a powerful tool to accelerate industry deployment of new scientific technologies. However, it must address the challenge of computationally tractable, moderately accurate prediction at large industry…
The harsh ocean environment and complex operating condition require high dynamic positioning (DP) capability of offshore vessel. The design, development and performance evaluation of DP system are generally carried out by numerical…
Modeling car-following behavior is essential for traffic simulation, analyzing driving patterns, and understanding complex traffic flows with varying levels of autonomous vehicles. Traditional models like the Safe Distance Model and…
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build…
Thermochemistry, ray-tracing radiation, and radiation-matter interactions are important processes which are computationally difficult to model in astrophysical simulations, addressed by introducing novel algorithms optimized for…
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…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
Three-dimensional restoration of complex structural models has become a recognized validation method. Bringing a sedimentary structural model back in time to various deposition stages may also help understand the geological history of a…
Can a scientific simulation system be physically consistent, interpretable by design, and scalable across regimes--all at once? Despite decades of progress, this trifecta remains elusive. Classical methods like Kinetic Monte Carlo ensure…
Design Research Methodology (DRM) supports systematic design research through representations such as Reference Models and Impact Models. However, the practical construction and maintenance of these models often remains manual, requiring…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
The Community Coordinated Modeling Center (CCMC) at NASA Goddard Space Flight Center is a multi-agency partnership to enable, support and perform research and development for next-generation space science and space weather models. CCMC…
Simulation of vehicle motion in planetary environments is challenging. This is due to the modeling of complex terrain, optical conditions, and terrain-aware vehicle dynamics. One of the critical issues of typical simulators is that they…