Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

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In nature, aquatic animals leverage the interaction between their soft bodies and surrounding fluid to achieve efficient locomotion; for animals with multiple limbs, this requires careful coordination among the limbs. The octopus, with its tentacles and fl ...

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

This study presents the development and experimental validation of an artificial urinary sphincter (AUS) based on dielectric elastomer actuators (DEAs) for the treatment of urinary incontinence. Traditional AUS devices are often mechanically complex, prone ...

Computer simulations are often used as support material for science education, as they can engage students through inquiry-based learning, promote their active interaction in the experimentation phase, and help them visualize abstract concepts. For instanc ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

In light of the challenges posed by climate change and the goals of the Paris Agreement, electricity generation is shifting to a more renewable and decentralized pattern, while the operation of systems like buildings is increasingly electrified. This calls ...

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

We present a numerical model for the approximation of multiphase flows with free surfaces and strong interfacial effects. The model relies on the multiphase incompressible Navier-Stokes equations, and includes surface tension effects on the interfaces betw ...

The thesis is dedicated to the study of two main partial differential equations (PDEs) in fluid dynamics: the Navier-Stokes equations, which describe the motion of incompressible fluids, and the transport equation with divergence-free velocity fields, whic ...

The goal of this work is to use anisotropic adaptive finite elements for the numerical simulation of aluminium electrolysis. The anisotropic adaptive criteria are based on a posteriori error estimates derived for simplified problems. First, we consider an ...

The collimation system of the Future Circular Collider, operating with leptons (FCC-ee), must protect not only the experiments against backgrounds, but also the machine itself from beam losses. With a 17.8 MJ stored energy of the electron and positron beam ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

In this paper, we consider experimental data available for graphene-based nanolubricants to evaluate their convective heat transfer performance by means of computational fluid dynamics (CFD) simulations. Single-phase models with temperature-dependent prope ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

We consider on the torus the scaling limit of stochastic 2D (inviscid) fluid dynamics equations with transport noise to deterministic viscous equations. Quantitative estimates on the convergence rates are provided by combining analytic and probabilistic ar ...

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Chattez avec Graph Search

Octopus-Inspired Swimming Robot with Web-Coupled Multi-Arm Coordination

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Development and validation of a dielectric-elastomer-based artificial urinary sphincter

Teacher-Mediated and Student-Led Interaction with a Physics Simulation: Effects on the Learning Experience

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Frequency response of fiber reinforced DEAs

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Quantifying the Unknown: Data-Driven Approaches and Applications in Energy Systems

Robot Learning using Tensor Networks

Filiform Variable Stiffness Technologies for Medical Robotics

A cut-cell method for the numerical simulation of 3D multiphase flows with strong interfacial effects

Anomalous dissipation and other non-smooth phenomena in fluids

Adaptive Finite Elements with Large Aspect Ratio. Application to Aluminium Electrolysis

Collimation simulations for the FCC-ee

Educational Soft Underwater Robot with an Electromagnetic Actuation

Computational fluid dynamics simulations of the heat transfer properties of graphene-based nanolubricants and application to hydrodynamic lubrication

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Quantitative convergence rates for scaling limit of SPDEs with transport noise