Publications associées à Improved mobile robot programming performance through real-time program assessment

Publications associées (28)

GRADE: Generating Realistic and Dynamic Environments for robotics research with Isaac Sim

Photorealistic synthetic data and novel rendering techniques significantly advanced computer vision research. However, datasets focused on computer vision applications cannot be easily applied to robotics because they typically lack physics-related informa ...

SAGE Publications2025

Granular Avalanche Impact on a Structure using DEM and FEM

Malika Romane Jenni

Mountain regions face a variety of natural hazards that menace infrastructure and the people living in these areas. Human activity in these areas is intensifying, making hazard analysis and risk mitigation critical. Switzerland, with its densely populated ...

2025

One Code to Predict Them All: Universal Encoding for Inquiry Modeling

Valentine Marie Delevaux, Tanja Christina Käser Jacober, Jade Maï L Cock

Interactive simulations enhance science education and foster inquiry skills, but their open-ended nature can be cognitively overloading. While adaptive systems offer timely support, research on predicting conceptual understanding in these environments is l ...

Springer Science and Business Media Deutschland GmbH2025

Predictive power-sharing scaling law in double-null L-mode plasmas

Paolo Ricci, Christian Gabriel Theiler, Olivier Claude Martin Février, Garance Hélène Salomé Durr-Legoupil-Nicoud, Louis Nicolas Stenger, Brenno Jason Sanzio Peter De Lucca, Kyungtak Lim

The physical mechanisms regulating the power sharing at the outer targets of L-mode double-null (DN) configurations are investigated using nonlinear, flux-driven, three-dimensional two-fluid simulations. Scans of parameters that regulate the turbulent leve ...

IOP Publishing Ltd2024

Simulation and Fabrication of Monolithic III-V Photodetectors on Si: The Role of Growth Facets and Localization of Heterojunctions

Kirsten Emilie Moselund, Simone Iadanza

In this work, we provide important parameters to take into account when fabricating in-plane III-V photodetectors (PDs) integrated on silicon (Si) using template-assisted selective epitaxy (TASE). Their performance has previously been demonstrated, and her ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Molecular reconstruction and simulation of the Neuron-Glia-Vasculature system

Polina Shichkova

The outstanding information processing capacity of the brain relies on numerous molecular mechanisms. It is an extremely energy-expensive function, which involves specialization and collaboration of different cell types. A common framework to study the com ...

EPFL2023

OASIS: Optimisation-based Activity Scheduling with Integrated Simultaneous choice dimensions

Michel Bierlaire, Timothy Michael Hillel, Janody Pougala

Activity-based models offer the potential of a far deeper understanding of daily mobility behaviour than trip-based models. However, activity-based models used both in research and practice have often relied on applying sequential choice models between sub ...

2023

A comprehensive and biophysically detailed computational model of the whole human heart electromechanics

Alfio Quarteroni

While ventricular electromechanics is extensively studied in both physiological and pathological conditions, four-chamber heart models have only been addressed recently; most of these works however neglect atrial contraction. Indeed, as atria are character ...

ELSEVIER SCIENCE SA2023

Validation of GBS plasma turbulence simulation of the TJ-K stellarator

Paolo Ricci, Joaquim Loizu Cisquella

We present a validation of a three-dimensional, two-fluid simulation of plasma turbulence in the TJ-K stellarator, a low temperature plasma experiment ideally suited for turbulence measurements. The simulation is carried out by the GBS code, recently adapt ...

IOP Publishing Ltd2023

Generalisable Methods for Early Prediction in Interactive Simulations for Education

Tanja Christina Käser Jacober, Christian Giang, Jade Maï L Cock

Interactive simulations allow students to discover the underlying principles of a scientific phenomenon through their own exploration. Unfortunately, students often struggle to learn effectively in these environments. Classifying students’ interaction data ...

2022

Near-optimal Deep Reinforcement Learning Policies from Data for Zone Temperature Control

Colin Neil Jones

Replacing poorly performing existing controllers with smarter solutions will decrease the energy intensity of the building sector. Recently, controllers based on Deep Reinforcement Learning (DRL) have been shown to be more effective than conventional basel ...

IEEE2022

Effects of Degrees of Freedom on Calculating Diffusion Properties in Nanoporous Materials br

Henglu Xu, Raffaela Cabriolu, Berend Smit

If one carries out a molecular simulation ofNparticlesusing periodic boundary conditions, linear momentum is conserved,and hence, the number of degrees of freedom is set to 3N-3. Inmost programs, this number of degrees of freedom is the defaultsetting. How ...

AMER CHEMICAL SOC2022

Gyrokinetic simulations of turbulence and zonal flows driven by steep profile gradients using a delta-f approach with an evolving background Maxwellian

Laurent Villard, Stephan Brunner, Alberto Bottino, Ben McMillan, Moahan Murugappan

Long global gyrokinetic turbulence simulations are particularly challenging in situations where the system deviates strongly from its initial state and when fluctuation levels are high, for example, in strong gradient regions. For particle-in-cell simulati ...

2022

Ontology-based system to support industrial system design for aircraft assembly

Dimitrios Kyritsis, Jinzhi Lu

The development of an aircraft industrial system is a complex process which faces the challenge of digital discontinuity in multidisciplinary engineering due to various interfaces between different digital tools, leading to extra development time and costs ...

ELSEVIER2022

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping

Kunpeng Yao

From surgery to watchmaking, fine-manipulation skills highly rely on the dexterity afforded by both hands. Coordination is key to human dexterity. Specifically, humans need not only to govern the abundant intrinsic degrees of freedom (DOFs) to allocate con ...

EPFL2022

Explicit Stabilized Multirate Method For Stiff Stochastic Differential Equations

Assyr Abdulle, Giacomo Rosilho De Souza

Stabilized explicit methods are particularly efficient, for large systems of stiff stochastic differential equations (SDEs) due to their extended stability domain. However, they lose their efficiency when a severe stiffness is induced by very few "fast" de ...

SIAM PUBLICATIONS2022

Interfacial Water Many-Body Effects Drive Structural Dynamics and Allosteric Interactions in SARS-CoV-2 Main Protease Dimerization Interface

Frédéric Célerse

Following our previous work (Chem. Sci. 2021, 12, 4889-4907), we study the structural dynamics of the SARS-CoV-2 Main Protease dimerization interface (apo dimer) by means of microsecond adaptive sampling molecular dynamics simulations (50 mu s) using the A ...

AMER CHEMICAL SOC2021

Nuclear Quantum Effects in Liquid Water at Near Classical Computational Cost Using the Adaptive Quantum Thermal Bath

Sara Bonella

We demonstrate the accuracy and efficiency of a recently introduced approach to account for nuclear quantum effects (NQEs) in molecular simulations: the adaptive quantum thermal bath (adQTB). In this method, zero-point energy is introduced through a genera ...

2021

Edge turbulence in ISTTOK: a multi-code fluid validation

Paolo Ricci, Fabio Riva, Davide Galassi, Rogério Manuel Cabete De Jesus Jorge

Fluid models used to study the edge plasma region need to be benchmarked against similar conditions given that models can strongly differ in complexity and therefore the results they produce. Via this validation study undertaken through the framework of EU ...

2021

Global Free-Energy Landscapes as a Smoothly Joined Collection of Local Maps

Michele Ceriotti, Federico Giberti

Enhanced sampling techniques have become an essential tool in computational chemistry and physics, where they are applied to sample activated processes that occur on a time scale that is inaccessible to conventional simulations. Despite their popularity, i ...

2021