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

Related publications (53)

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RoboScallop: A Bivalve Inspired Swimming Robot

Jamie Paik, Matthew Aaron Robertson

Underwater swimming robots permit remote access to over 70% of the Earth's surface that is covered in water for a variety of scientific, environmental, tactical, or industrial purposes. Many practical applications for robots in this setting include sensing ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Controlling transport dynamics of confined asymmetric fibers

François Gallaire, Mathias Simon Daniel Bechert, Jean Cappello

Transport properties of particles in confining geometries show very specific characteristics as lateral drift, oscillatory movement between lateral walls or the deformation of flexible fibers. These dynamics result from viscous friction with transversal an ...

IOP PUBLISHING LTD2019

Turbulent Flows over Rough Permeable Beds in Mountain Rivers: Experimental Insights and Modeling

Gauthier Paul Daniel Marie Rousseau

Steep mountain streams exhibit shallow waters with roughness elements such as stones and pebbles that are comparable in size to flow depth. Owing to the difficulty in measuring fluid velocities at the interface, i.e., from the rough permeable bed to the fr ...

EPFL2019

Application of Material Point Method

Selimcan Ozden

The main goal of this project is by using MPM which is in continuum formulation to reproduce the wear mechanism in larger scale simulation which is performed in atomistic scale by Professor Jean-François Molinari. Then, having experience and getting inform ...

2019

The Hydrodynamics of a Micro-Rocket Propelled by a Deformable Bubble

François Gallaire, Lailai Zhu, Giacomo Gallino

We perform simulations to study the hydrodynamics of a conical-shaped swimming micro-robot that ejects catalytically produced bubbles from its inside. We underline the nontrivial dependency of the swimming velocity on the bubble deformability and on the ge ...

2019

Blade Tio Loss in a Small-Scale Fan

Luca Massera

In this study the influence of tip leakage on the performance of a small-scale fan is evaluated through computational fluid dynamics. ANSYS CFX Release 18.1 is employed for the numerical simulations, the results are extracted, analyzed and compared to the ...

2017

Multi-physics modelling of a compliant humanoid robot

Renaud Ronsse, Nicolas Benoît Dominique Van der Noot

We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator's key features. First, we provide a study on how the numerical integration speed and accuracy depend on t ...

Springer2017

Control of agent swarms in random environments

Guillaume Adrien Sartoretti

The collective dynamic behavior of large groups of interacting autonomous agents (swarms) have inspired much research in both fundamental and engineering sciences. It is now widely acknowledged that the intrinsic nonlinearities due to mutual interactions c ...

EPFL2016

Simulation of bubble expansion and collapse in the vicinity of a free surface

Mohamed Farhat, Outi Supponen

The present paper focuses on the numerical simulation of the interaction of laser-generated bubbles with a free surface, including comparison of the results with instances from high-speed videos of the experiment. The Volume Of Fluid method was employed fo ...

Amer Inst Physics2016

Numerical simulation of a collapsing bubble subject to gravity

Mohamed Farhat, Outi Supponen

The present paper focuses on the simulation of the expansion and aspherical collapse of a laser-generated bubble subjected to an acceleration field and comparison of the results with instances from high-speed videos. The interaction of the liquid and gas i ...

Amer Inst Physics2016