This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed algorithm uses the vehicle dynamic model, and computes the 3D corresponding body-fixed linear and angular velocities as well as vehicle orientations, yielding a feasible 6 DOF trajectory. Tracking controllers...

Simulating fluid flow at micro level is an ongoing problem. Simplified macroscopic flow models like Darcy’s law is unable to estimate fluid dynamic properties of porous media. The digital sample reconstruction by high resolution X-ray computed tomography scanning and fluid-dynamics simulation, together with the increasing power of super-computers, allow to carry out pore-scale simulations throu...

This paper investigates the degrees of freedom (DoF) of the L-cluster, K-user MIMO multi-way relay channel, where users in each cluster wish to exchange messages within the cluster, and they can only communicate through the relay. A novel DoF upper bound is derived by providing users with carefully designed genie information. Achievable DoF is identified using signal space alignment and multipl...

Non-parametric system identification with Gaussian Processes for underwater vehicles is explored in this research the purpose of modelling autonomous vehicle (AUV) dynamics low amount data. Multi-output processes and its aptitude to model dynamic an underactuated AUV without losing relationships between tied outputs used. The simulation a first-principles Remus 100 employed capture data trainin...

Dynamic Multi-Objective TSP (DMO-TSP) proposed as a theoretical model of mobile communication network in 2004 is an NP-hard problem. The problem dynamically changes the characteristics of its objectives, the conflict degrees between its objectives and the number of its cities. In fact, a Dynamic Multi-Objective TSP is not a single optimization problem, but a diverse set of optimization problems...

This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller i...

Partially liquefied vitreous humor is a common physical and biochemical degenerative change in vitreous body which the liquid component gets separated from collagen fiber network and leads to form a region of liquefaction. The main objective of this research is to investigate how the oscillatory motions influence flow dynamics of partial vitreous liquefaction (PVL). So far computational fluid d...

We propose a multi-body solver that extends the Material Point Method (MPM) to simulate cracks in computer animation. We define cracks as the intersection between pieces of bodies created by a pre-fracture process and held together by massless particle constraints (glue particles). These pieces are simulated using a MPM multi-body solver extended by us to efficiently handle N-body collisions. B...

An implicit unsteady upwind solver including a mesh motion approach was applied to simulate a helicopter including body, main rotor and tail rotor in hover flight. The discretization was based on a second order finite volume approach with fluxes given by the Roeand#39;s scheme. Discretization of Geometric Conservation Laws (GCL) was devised in such a way that the three-dimensional flows on arbi...