6 citations · 17 across the 30 of their papers we have counts for
6 papers · 1 filter
Chrono DEM-Engine: A Discrete Element Method dual-GPU simulator with customizable contact forces and element shape
Ruochun Zhang, Bonaventura Tagliafierro, Colin Vanden Heuvel +6
This paper introduces DEM-Engine, a new submodule of Project Chrono, that is designed to carry out Discrete Element Method (DEM) simulations. Based on spherical primitive shapes, D…
Zero-Shot Policy Transferability for the Control of a Scale Autonomous Vehicle
Harry Zhang, Stefan Caldararu, Sriram Ashokkumar +6
We report on a study that employs an in-house developed simulation infrastructure to accomplish zero shot policy transferability for a control policy associated with a scale autono…
POLAR-Sim: Augmenting NASA's POLAR Dataset for Data-Driven Lunar Perception and Rover Simulation
Bo-Hsun Chen, Peter Negrut, Thomas Liang +3
NASA's POLAR dataset contains approximately 2,600 pairs of high dynamic range stereo photos captured across 13 varied terrain scenarios, including areas with sparse or dense rock d…
A GPU-accelerated simulator for the DEM analysis of granular systems composed of clump-shaped elements
Ruochun Zhang, Colin Vanden Heuvel, Alexander Schepelmann +5
We discuss the use of the Discrete Element Method (DEM) to simulate the dynamics of granular systems made up of elements with nontrivial geometries. The DEM simulator is GPU accele…
Using a Bayesian-Inference Approach to Calibrating Models for Simulation in Robotics
Huzaifa Mustafa Unjhawala, Ruochun Zhang, Wei Hu +3
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 simula…
Using simulation to design an MPC policy for field navigation using GPS sensing
Harry Zhang, Stefan Caldararu, Ishaan Mahajan +8
Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and vali…