Related papers: A Physics-Based Continuum Model for Versatile, Sca…
In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on…
Deep Reinforcement Learning (DRL) underlies in a simulated environment and optimizes objective goals. By extending the conventional interaction scheme, this paper proffers gym-ds3, a scalable and reproducible open environment tailored for a…
Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and…
Characterizing and controlling nonlinear, multi-scale phenomena play important roles in science and engineering. Cluster-based reduced-order modeling (CROM) was introduced to exploit the underlying low-dimensional dynamics of complex…
In practical structural design and solid mechanics simulations, material properties inherently exhibit random variations within bounded intervals. However, evaluating mechanical responses under continuous material uncertainty remains a…
Marine exploration is essential to understanding ocean processes and organisms. While the use of current unmanned underwater vehicles has enabled many discoveries, there are still plenty of limitations toward exploring complex environments.…
In this study we present a series of LES simulations employing the Super-Droplet Method (SDM) for representing aerosol, cloud and rain microphysics. SDM is a particle-based and probabilistic approach in which a Monte-Carlo type algorithm is…
Cable-driven continuum robots (CDCRs) are widely used in surgical and inspection tasks that require dexterous manipulation in confined spaces. Existing model-based estimation methods either assume constant curvature or rely on…
Stable traversal over geometrically complex terrain increasingly requires exteroceptive perception, yet prior perceptive humanoid locomotion methods often remain tied to explicit geometric abstractions, either by mediating control through…
Earth's magnetic field is generated by processes in the electrically conducting, liquid outer core, subsumed under the term `geodynamo'. In the last decades, great effort has been put into the numerical simulation of core dynamics following…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…
Point tracking in videos is a fundamental task with applications in robotics, video editing, and more. While many vision tasks benefit from pre-trained feature backbones to improve generalizability, point tracking has primarily relied on…
We describe, test, and apply a technique to incorporate full-sun, surface flux evolution into an MHD model of the global solar corona. Requiring only maps of the evolving surface flux, our method is similar to that of Lionello et al.…
Driven by advances in hardware and software technologies, nonlinear model predictive control (NMPC) has gained increasing adoption in both industry and academia over the past decades. However, its practical deployment is often limited by…
Traditional dynamic security assessment faces challenges as power systems are experiencing a transformation to inverter-based-resource (IBR) dominated systems, for which electromagnetic transient (EMT) dynamics have to be considered.…
Current challenges in developing foundational models for volumetric imaging data, such as magnetic resonance imaging (MRI), stem from the computational complexity of training state-of-the-art architectures in high dimensions and curating…
Fracture is a very challenging and complicated problem with various applications in engineering and physics. Although it has been extensively studied within the context of mesh-based numerical techniques, such as the finite element method…
In this paper, the surface of revolution discrete element method (SR-DEM) is introduced to simulate systems of particles with closed surfaces of revolution. Due to the cylindrical symmetry of a surface of revolution, the geometry of any…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…