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

Related publications (53)

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Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots

Alcherio Martinoli, William Christopher Evans, Grégory Mermoud

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabiliti ...

2010

Collaborative coverage using a swarm of networked miniature robots

Alcherio Martinoli, Nicolaus Correll, Samuel Rutishauser

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realis ...

2009

Three-dimensional fluid simulations of a simple magnetized plasma

Paolo Ricci

Three-dimensional fluid simulations are performed in a simple magnetized toroidal plasma, in which vertical and toroidal magnetic fields create helicoidal magnetic field lines that terminate on the torus vessel. The simulations are carried out in the three ...

AIP2009

Part load flow in radial centrifugal pumps

Olivier Braun

Centrifugal pumps are required to sustain a stable operation of the system they support under all operating conditions. Minor modifications of the surfaces defining the pump's water passage can influence the tendency to unstable system operation significan ...

EPFL2009

Transition of Bubbly Flow in Vertical Tubes: New Criteria Through CFD Simulation

John Richard Thome

The two fluid model is used to simulate upward gas-liquid bubbly flow through a vertical conduit. Coalescence and breakup of bubbles have been accounted for by embedding the population balance technique in the two fluid model. The simulation enables one to ...

2009

, , , , ,

In global gyrokinetic simulations it takes a long time for the turbulence to reach a quasisteady state, and quantitative predictions about the quasisteady state turbulence have been difficult to obtain computationally. In particular, global particle-in-cel ...

American Institute of Physics2008

Graph signature for self-reconfiguration planning

Auke Ijspeert, Pierre Dillenbourg, Aude Billard, Masoud Asadpour

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

2008

A Computer-Based Real-Time Simulation of Interventional Radiology

Hannes Bleuler, Lindo Robert Duratti, Fei Wang, Evren Samur

Interventional radiology is a minimally invasive procedure where thin instruments, guidewires and catheters or stents are steered through the patient’s vascular system under X- ray imaging for treatment of vascular diseases. The complexity of these procedu ...

2007

In this Note we propose a stabilized explicit coupling scheme for fluid-structure interaction based on Nitsche's method. The scheme is stable irrespective of the fluid-solid density ratio. Numerical experiments show that optimal time accuracy can be obtain ...

Elsevier2007

Research into the methods and techniques used in simulating crowds is now reaching maturity, but until now there is no book that focuses on this important topic. Prior approaches have been application-specific focusing on different aspects of collective be ...

Springer2007