Related papers: Rheological Lunar Regolith Simulants
Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing…
Driven by inherent uncertainty and the sim-to-real gap, robust reinforcement learning (RL) seeks to improve resilience against the complexity and variability in agent-environment sequential interactions. Despite the existence of a large…
The Discrete Element Method (DEM) is frequently used to model complex granular systems and to augment the knowledge that we obtain through theory, experimentation, and real-world observations. Numerical simulations are a particularly…
Lack of reliability is a well-known issue for reinforcement learning (RL) algorithms. This problem has gained increasing attention in recent years, and efforts to improve it have grown substantially. To aid RL researchers and production…
This paper focuses on computational prediction of aerodynamic and the flow field characteristics for NASA Common Research Model (CRM) in it's High-Lift (HL) configuration in close proximity to the ground. The URANS simulation with the…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Recent works demonstrated that the dynamics caused by the planetary oblateness coupled with the solar radiation pressure can be described through a model based on singly-averaged equations of motion. The coupled perturbations affect the…
A stand-alone App has been developed, focused on obtaining information about relevant engineering properties of magnetic levitation systems. Our modelling toolkit provides real time simulations of 2D magneto-mechanical quantities for…
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…
We build a conceptual coupled model of the climate and tidal evolution of the Earth-Moon system to find the influence of the former on the latter. An energy balance model is applied to calculate steady-state temperature field from the mean…
Precise measurements of the Earth-Moon distance by the lunar laser ranging (LLR), which begun in the early 1970's, contributed significantly to geodesy, geophysics, and lunar planetology, as well as enabled astrophysicists to perform…
Based on general relativity, clock comparisons enable the determination of the gravity potential relative to a stable reference. Lunar surface clocks, owing to the Moon's low-noise conditions, high orbital stability, and broad Earth…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
This paper studies the long-term migration of disturbed regolith materials on the surface of Solar System small bodies from the viewpoint of nonlinear dynamics. We propose an approximation model for secular mass movement, which combines the…
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…
The two on-going sample return space missions, Hayabusa2 and OSIRIS-REx are going to return to Earth asteroid regolith from the carbonaceous near-Earth asteroids Ryugu and Bennu. The two main processes that lead to regolith production are…
Aims. The main goal of the present paper is to provide the first systematic numerical study of the propagation of astrophysical relativistic jets, in the context of high-resolution shock-capturing resistive relativistic magnetohydrodynamics…
Global dynamo simulations solving the equations of magnetohydrodynamics (MHD) have been a tool of astrophysicists who try to understand the magnetism of the Sun for several decades now. During recent years many fundamental issues in dynamo…
The form of the solar meridional circulation is a very important ingredient for mean field flux transport dynamo models. Yet a shroud of mystery still surrounds this large-scale flow, given that its measurement using current helioseismic…