相关论文: Data-Driven Approaches for Thrust Prediction in Un…

Hull form designing is an iterative process wherein the performance of the hull form needs to be checked via computational fluid dynamics calculations or model experiments. The stern shape has to undergo a process wherein the hull form…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

This paper focuses on the identification of dynamical systems with tailor-made model structures, where neural networks are used to approximate uncertain components and domain knowledge is retained, if available. These model structures are…

Accurate prediction of flow fields around underwater vehicles undergoing vertical-plane oblique motions is critical for hydrodynamic analysis, but it often requires computationally expensive CFD simulations. This study proposes a…

The real-time motion prediction of a floating offshore platform refers to forecasting its motions in the following one- or two-wave cycles, which helps improve the performance of a motion compensation system and provides useful early…

Unmanned aerial vehicles (UAVs) operating in dynamic wind fields must generate safe and energy-efficient trajectories under physical and environmental constraints. Traditional planners, such as A* and kinodynamic RRT*, often yield…

Accurately quantifying air-sea fluxes is important for understanding air-sea interactions and improving coupled weather and climate systems. This study introduces a probabilistic framework to represent the highly variable nature of air-sea…

Morphological development into evolutionary patterns under structural instability is ubiquitous in living systems and often of vital importance for engineering structures. Here we propose a data-driven approach to understand and predict…

Recovering a drone on a disturbed water surface remains a significant challenge in maritime robotics. In this paper, we propose a unified framework for robot-assisted drone recovery on a wavy surface that addresses two major tasks: Firstly,…

In this article, we propose a data-enabled economic predictive control method for a class of nonlinear systems, which aims to optimize the economic operational performance while handling hard constraints on the system outputs. Two lifting…

Accurate dynamic modeling is critical for autonomous racing vehicles, especially during high-speed and agile maneuvers where precise motion prediction is essential for safety. Traditional parameter estimation methods face limitations such…

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…

Typical lunar landing missions involve multiple phases of braking to achieve soft-landing. The propulsion system configuration for these missions consists of throttleable engines. This configuration involves complex interconnected…

We show how phasing between tandem bioinspired fins flapping at high-stroke amplitudes modulates rear fin thrust production and wake characteristics. Load cell thrust measurements show that the rear fin generates 25% more thrust than the…

Nonlinear dynamical systems exposed to changing forcing can exhibit catastrophic transitions between alternative and often markedly different states. The phenomenon of critical slowing down (CSD) can be used to anticipate such transitions…

Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…

Acoustic propagation models are widely used in numerous oceanic and other underwater applications. Most conventional models are approximate solutions of the acoustic wave equation, and require accurate environmental knowledge to be…

The aerodynamic optimization of cars requires close collaboration between aerodynamicists and stylists, while slow, expensive simulations remain a bottleneck. Surrogate models have been shown to accurately predict aerodynamics within the…

Flapping-based propulsive systems rely on fluid-structure interactions to produce thrust. At intermediate and high Reynolds numbers, vortex formation and organization in the wake of such systems are crucial for the generation of a…

Convolutional neural networks (CNN) have achieved impressive performance on the wide variety of tasks (classification, detection, etc.) across multiple domains at the cost of high computational and memory requirements. Thus, leveraging CNNs…