相关论文: Towards a generalizable simulation framework to st…

Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…

Numerical simulations are at the center of predicting the space debris environment of the upcoming decades. In light of debris generating events, such as continued anti-satellite weapon tests and planned mega-constellations, accurate…

The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…

Orbital debris is a pressing problem which presents a danger to global space operations and a barrier to continued development of the space economy and space infrastructure. As research continues regarding orbital debris, there is a need…

The space environment around the Earth is populated by more than 130 million objects of 1 mm in size and larger, and future predictions shows that this amount is destined to increase, even if mitigation measures are implemented at a far…

Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…

Universal quantum computers are potentially an ideal setting for simulating many-body quantum dynamics that is out of reach for classical digital computers. We use state-of-the-art IBM quantum computers to study paradigmatic examples of…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…

This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…

A chaser satellite equipped with robotic arms can capture space debris and manipulate it for use in more advanced missions such as refueling and deorbiting. To facilitate capturing, a caging-based strategy has been proposed to simplify the…

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…

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…

We use Lagrangian formalism and jet spaces to derive a computational model to simulate multibody dynamics with holonomic constraints. Our approach avoids the traditional problems of drift-off and spurious oscillations. Hence even long…

In many systems motion occurs on deformed and deformable surfaces, setting up the possibility for dynamical interactions solely mediated by the coupling of the entities with their environment. Here we study the "two-body" dynamics of robot…

Flexible spacecraft structures present significant challenges for physical and control system design due to nonlinear dynamics, mission constraints, environmental variables, and changing operational conditions. This paper presents a…

In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This…

An in-depth analysis is performed on the problem that one parameter of the Cube model can affects the final simulation results of space debris long-term evolution model, which weakens the representativeness of the space debris evolution…

Cyber-physical space systems are engineered systems operating within physical space with design requirements that depend on space, e.g., regarding location or movement behavior. They are built from and depend upon the seamless integration…

The increasing threat raised by space debris led to the development of different mathematical models and approaches to investigate the dynamics of small particles orbiting around the Earth. Such models and methods strongly depend on the…