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Relevant bibliographies by topics / Simulation of snake-like robots

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Academic literature on the topic 'Simulation of snake-like robots'

Author: Grafiati

Published: 28 June 2021

Last updated: 27 July 2025

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Journal articles on the topic "Simulation of snake-like robots"

1

Cao, Zhengcai, Dong Zhang, Biao Hu, and Jinguo Liu. "Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator." Complexity 2019 (January 21, 2019): 1–13. http://dx.doi.org/10.1155/2019/8030374.

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This work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot for

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Hůlka, Tomáš, Radomil Matoušek, Ladislav Dobrovský, Monika Dosoudilová, and Lars Nolle. "Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design." MENDEL 26, no. 1 (2020): 1–6. http://dx.doi.org/10.13164/mendel.2020.1.001.

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This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In

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Hasseler, Tristan D., Carl Leake, Aaron Gaut, et al. "EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development." Aerospace 11, no. 10 (2024): 795. http://dx.doi.org/10.3390/aerospace11100795.

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EELS-DARTS is a simulator designed for autonomy development and analysis of large degree of freedom snake-like robots for space exploration. A detailed description of the EELS-DARTS simulator design is presented. This includes the versatile underlying multibody dynamics representation used to model a variety of distinct snake robot configurations as well as an anisotropic friction model for describing screw–ice interaction. Additional simulation components such as graphics, importable terrain, joint controllers, and perception are discussed. Methods for setting up and running simulations are d

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Abdulrab, Hakim Q. A., Ili Najaa Aimi Mohd Nordin, Muhammad Rusydi Muhammad Razif, and Ahmad Athif Mohd Faudzi. "Snake-like Soft Robot Using 2-Chambers Actuator." ELEKTRIKA- Journal of Electrical Engineering 17, no. 1 (2018): 34–40. http://dx.doi.org/10.11113/elektrika.v17n1.39.

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Many researchers have been working on snake-like robots due to their flexibility, safety and dexterity. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. In this work, soft robot is developed using three links of the flexible soft actuator connected by rubber joints. The actuators are fabricated using silicon Silastic P-1 where each actuator link consists of two semi-circular chambers and are reinforced with fibers. Fabrication process from CAD design, mold fabrication and validation with simulation and experiment is presented. The

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Ivan, Virgala, and Filakovský Filip. "CONCERTINA LOCOMOTION OF A SNAKE ROBOT IN THE PIPE." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 109–17. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-109-117.

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Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Inspection of the pipes is well-known engineering application. For this application are usually used wheel-based robots. Another approaches are based on biologically inspired mechanisms like inchworm robot. Our study deals with another kind of pipe inspection robot, namely snake robot. Target setting. Modeling and testing of snake robot

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Marín Arciniegas, Jairo José, and Oscar Andrés Vivas Albán. "Design and Construction of a Snake-Like Robot Implementing Rectilinear and Sidewinding Gait Motions." TecnoLógicas 26, no. 56 (2022): e2412. http://dx.doi.org/10.22430/22565337.2412.

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Bio-inspired robots offer locomotion versatility in a wide variety of terrains that conventional robots cannot access. One such bio-inspired platform is snake-like robots, which are mechanisms designed to move like biological snakes. The aim of this paper was to implement and validate, through comparison in real and simulation tests on flat terrain, the design of a snake robot that allows movements in two perpendicular planes, by the application of three-dimensional locomotion modes. The prototype robot had a modular and sequential architecture composed of eight 3D printed segments. The necess

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Vossoughi, Gholamreza, Hodjat Pendar, Zoya Heidari, and Saman Mohammadi. "Assisted passive snake-like robots: conception and dynamic modeling using Gibbs–Appell method." Robotica 26, no. 3 (2008): 267–76. http://dx.doi.org/10.1017/s0263574707003864.

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SUMMARYIn this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs–Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs–Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of ini

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Sadasue, Yuki, Hayato Nagae, Jyunta Takarabe, and Masami Iwase. "Development of Snake-Like Robot for Cable-Laying —Motion Design for Locomotion over Cable Racks and Ceiling Spaces." Journal of Robotics and Mechatronics 36, no. 6 (2024): 1408–18. https://doi.org/10.20965/jrm.2024.p1408.

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The purpose of this study is to develop a snake-like robot for cable laying. Cable laying is one of the tasks that inevitably occur in construction work. Cable laying is generally performed manually by workers in high and narrow spaces, such as cable racks installed in ceilings and ceiling spaces. Therefore, it involves significant risks, such as falls. To ensure worker safety and enable anyone to perform the task, automation and labor-saving through robots are anticipated. Therefore, this study aims to develop a snake-like robot that pulls a lead cable through traveling wave inspired by worke

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Yang, Zhiyong, Zhen Fang, Shengze Yang, Yuhong Xiong, and Daode Zhang. "Research on the Spiral Rolling Gait of High-Voltage Power Line Serpentine Robots Based on Improved Hopf-CPGs Model." Applied Sciences 15, no. 3 (2025): 1285. https://doi.org/10.3390/app15031285.

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The efficiency of helical locomotion in snake-like robots along high-voltage transmission lines is often hindered by low motion efficiency, high joint signal noise, and challenges in traversing obstacles. This study aims to address these issues by proposing a gait generation method that leverages a standardized Central Pattern Generator (CPG). We modify the traditional Hopf-CPG model by incorporating constraint functions and a frequency-tuning mechanism to regulate the oscillator, which allows for the generation of asymmetric waveform signals for deflection joints and facilitates rapid converg

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Ansari, Beenish, and Shahnawaz Shah. "Modeling and Control of a Snake Robot using SimMechanics." Sukkur IBA Journal of Emerging Technologies 6, no. 2 (2024): 1–10. http://dx.doi.org/10.30537/sjet.v6i2.1378.

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Snake robots are biological inspired robots designed to locomote in an unwanted environment. The mechanism comprises of serially connected links through rotational joints capable of rotating its body in one or more plans. In this paper, snake robot model is proposed. The proposed model consists of a 10-links physically connected through joints. The aim of this work is to propel a snake robot consisting of 10-link through the n-1 rotary joint on the serpentine aisle. Structure of the entire mechanical model of a snake is created in Simmechanics, MATLAB library tool within Simulink environment.

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Dissertations / Theses on the topic "Simulation of snake-like robots"

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Call, Anson Jay. "Dynamic modeling and simulation of a snake-like robot." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/19523.

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Vidlák, Marek. "Článkové roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232193.

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Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematica

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Motyčková, Paulína. "Simulační modelování a řízení hadům podobných robotů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-442848.

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This paper deals with the design of a robotic snake, its assembly, simulation using CoppeliaSim, and the testing of various methods for the control of robotic snakes (Serpentinoid, CPG). For individual control methods, the influence of selected parameters on the signals controlling the motorized joints of the robotic snake is observed, and their influence on the speed and energy consumption of the given mechanism is described.

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Liu, Zehao. "Obstacle Avoidance Path Planning for Worm-like Robot." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1619457610715525.

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Atakan, Baris. "3-d Grasping During Serpentine Motion With A Snake-like Robot." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606887/index.pdf.

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In this thesis, we introduce our lasso-type grasping scheme. This 3-D lasso-type grasping scheme, different from the previously performed grasping schemes which are either planar or fixed base, is the novelty of our approach where the snake robot grasps an object with any of its body links which are at close proximity to the object while undergoing its serpentine motion with the remaining links and dragging the grasped object. Since our snake robot has the pitch motion for every link, we can ensure that the links do not run into each other as they wrap around the object. A lasso-type power gr

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Caglav, Engin. "A Snake-like Robot For Searching, Cleaning Passages From Debris And Dragging Victims." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607994/index.pdf.

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In this thesis, a snake like robot is implemented for search and rescue applications. The snake is intentionally selected as a reference for their ability to move on various environments, but due to the mechanical limitations the implemented snake-like robot design could not be close to the biological counterparts. Although the implemented snake like robot is not a replica of biological snakes<br>it captured key aspects of snakes such as flexibility, redundancy and high adaptation. To depart from the mechanical limitations<br>a model of the implemented robot is designed in MATLAB - SIMMECHANIC

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Ryo, Ariizumi. "Analysis of parametric gaits and control of non-parametric gaits of snake robots." 京都大学 (Kyoto University), 2015. http://hdl.handle.net/2433/199266.

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Batsios, Nicholas. "Design and construction of a multi-segment snake-like wheeled vehicle." Ohio : Ohio University, 1997. http://www.ohiolink.edu/etd/view.cgi?ohiou1177610642.

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Thayer, Nicholas D. "Towards a Human-like Robot for Medical Simulation." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/35077.

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Medical mannequins provide the first hands-on training for nurses and doctors and help eliminate human mistakes that would otherwise take place with a real person. The closer the mannequin is to mimicking a human being, the more effective the training; thus, additional features such as movable limbs and eyes, vision processing and realistic social interaction will provide a more fulfilling learning experience. A humanoid robot with a 23 degree of freedom (DOF) hand was developed which is capable of performing complex dexterous tasks such as typing on a keyboard. A single DOF elbow and two D

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Ali, Shaukat. "Newton-Euler approach for bio-robotics locomotion dynamics : from discrete to continuous systems." Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00669588.

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This thesis proposes a general and unified methodological framework suitable for studying the locomotion of a wide range of robots, especially bio-inspired. The objective of this thesis is twofold. First, it contributes to the classification of locomotion robots by adopting the mathematical tools developed by the American school of geometric mechanics.Secondly, by taking advantage of the recursive nature of the Newton-Euler formulation, it proposes numerous efficient tools in the form of computational algorithms capable of solving the external direct dynamics and the internal inverse dynamics

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Books on the topic "Simulation of snake-like robots"

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Hirose, Shigeo. Biologically inspired robots: Snake-like locomotors and manipulators. Oxford University Press, 1993.

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Believable Bots Can Computers Play Like People. Springer, 2012.

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Biologically inspired robots: Snake-like locomotors and manipulators. Oxford University Press, 1993.

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Lie, Knut-Andreas, and Olav Møyner, eds. Advanced Modeling with the MATLAB Reservoir Simulation Toolbox. Cambridge University Press, 2021. http://dx.doi.org/10.1017/9781009019781.

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Many leading experts contribute to this follow-up to An Introduction to Reservoir Simulation using MATLAB/GNU Octave: User Guide for the MATLAB Reservoir Simulation Toolbox (MRST). It introduces more advanced functionality that has been recently added to the open-source MRST software. It is however a self-contained introduction to a variety of modern numerical methods for simulating multiphase flow in porous media, with applications to geothermal energy, chemical enhanced oil recovery (EOR), flow in fractured and unconventional reservoirs, and in the unsaturated zone. The reader will learn how

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Book chapters on the topic "Simulation of snake-like robots"

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Aubin, R., P. Blazevic, and J. P. Guyvarch. "Simulation of a Novel Snake-Like Robot." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_105.

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Ciurezu-Gherghe, L., N. Dumitru, and C. Copilusi. "Design and Simulation of a Snake like Robot." In New Advances in Mechanism and Machine Science. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-79111-1_26.

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Sibilska-Mroziewicz, Anna, Ayesha Hameed, Jakub Możaryn, and Andrzej Ordys. "Virtual Reality Simulations of the Snake Robot." In Digital Interaction and Machine Intelligence. Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-37649-8_31.

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AbstractThe following paper introduces a new way of presenting the results of engineering simulations. The object of consideration is the motion of the snake robot on a flat surface. The robot’s trajectory and control signals are calculated in MATLAB. Different approaches have been presented to show how the robot moves - from 2D plots and 3D animations observed from a computer screen to realistic visualisations displayed in the Virtual Reality headset. The proposed VR simulation will allow watching the simulation results and manipulating simulation parameters from inside of VR.

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Khatib, O., O. Brock, K. S. Chang, et al. "Efficient Algorithms for Robots with Human-Like Structures and Interactive Haptic Simulation." In Advances in Robot Kinematics. Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_10.

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Bruno, Giovanni di Dio. "Erwhi Hedgehog: A New Learning Platform for Mobile Robotics." In Makers at School, Educational Robotics and Innovative Learning Environments. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-77040-2_32.

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AbstractErwhi Hedgehog is one of the smallest mobile robots. It enables mapping and vision analysis, and also displays machine learning features. Behaving like a small, curious animal, eager to explore the surroundings, the robot can be used to test navigation, mapping and localization algorithms, thus allowing the prototyping of new hardware and software for robotics. This application is particularly handy for educational robotics, at both high school and university level. On the one hand, the project is fully open source and open hardware under MIT license and available on Github, so everyon

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Fischer, Marc, Lars Klingel, Armin Lechler, Alexander Verl, and Michael Neubauer. "Dynamic Safety Distance Determination for Human Robot Coexistence in Industrial Applications." In Advances in Automotive Production Technology – Towards Software-Defined Manufacturing and Resilient Supply Chains. Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-27933-1_4.

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AbstractThe coexistence of humans and robots in manufacturing requires safety. Typically, safety functionalities for coexistence are based on speed and separation monitoring according to EN ISO 10218. Thereby, a robot should reduce speed or stop completely when an obstacle is too close to avoid collisions. Nowadays, despite this standard, speed and separation monitoring are still realized with static worst-case safety assumptions about the kinematics of humans and robots. Over the years, different static techniques have evolved in the industrial environment like fences, light fences, or camera

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Walker, Ian D., Howie Choset, and Gregory S. Chirikjian. "Snake-Like and Continuum Robots." In Springer Handbook of Robotics. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32552-1_20.

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Nilsson, Martin. "Fast 3D Simulation of Snake Robot Motion." In Distributed Autonomous Robotic Systems 2. Springer Japan, 1996. http://dx.doi.org/10.1007/978-4-431-66942-5_7.

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Byrtus, Roman, and Jana Vechetová. "Trident Snake Robot Motion Simulation in V-Rep." In Modelling and Simulation for Autonomous Systems. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-14984-0_3.

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Melo, Kamilo, Jose Monsalve, Alvaro Di Zeo, et al. "Integration Scheme for Modular Snake Robot Software Components." In Modelling and Simulation for Autonomous Systems. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-13823-7_17.

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Conference papers on the topic "Simulation of snake-like robots"

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Lu, Jingpei, Florian Richter, Shan Lin, and Michael C. Yip. "Tracking Snake-Like Robots in the Wild Using Only a Single Camera." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10611438.

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Qu, William Ziming, Jessica Ziyu Qu, Li Li, Jie Yang, and Yuanyuan Jia. "Bayesian Deep Predictive Coding for Snake-like Robotic Control in Unknown Terrains." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10801298.

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Haghshenas-Jaryani, Mahdi, and GholamReza Vossoughi. "Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46480.

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This paper presents operational space control of snake-like robots for tracking designated paths using a double layer sliding mode control algorithm. The snake robot has n links with assumed lateral sliding that leads to n+2 degrees-of-freedom (DOF) while it has only n-1 actuator at joints and therefore it is underactuated. Kinematic constraints were determined which describe the geometric relationship between the position of links’ mass center and the joints’ relative angle. The outer layer (loop) of the controller was designed to modulate the parameters of the serpenoid curve using the kinem

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Vossoughi, Golamreza, Hodjat Pendar, Zoya Heidari, and Saman Mohammadi. "Conception and Dynamic Modeling of an Assisted Passive Snake-Like Robot Using Gibbs-Appell Method." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85008.

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In this paper we present a novel planar structure of a snake-like robot. This structure enables passive locomotion in snake-like robots through an auxiliary link in joint and a torsional spring. Dynamic equations are derived, using Gibbs-Appell method. Kinematic model of the robot include numerous non-holonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in significant reduction of simulation time. Simulation results show that, by

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Mohammadi, Alireza. "Design of Propulsive Virtual Holonomic Constraints for Planar Snake Robots." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5159.

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Virtual holonomic constraints (VHCs) framework is a recent control paradigm for systematic design of motion controllers for wheel-less biologically inspired snake robots. Despite recent developments for VHC-based control systems for ground and underwater robotic snakes, they employ only two families of propulsive virtual holonomic constraints, i.e., lateral undulatory and eel-like virtual constraints. In this paper we extend the family of propulsive virtual constraints that can be used with VHC-based controllers by presenting a VHC analysis and synthesis methodology for planar snake robots tha

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Meng, Xianyu, Songrui Zhao, Xiquan Yu, Hongsheng Liu, and Shuo Wang. "Motion simulation of bionic snake-like robot based on Adams." In Third International Conference on Mechanical Design and Simulation (MDS 2023), edited by Mohamed Arezki Mellal and Yunqing Rao. SPIE, 2023. http://dx.doi.org/10.1117/12.2681840.

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Qiao, Guifang, Xiulan Wen, Guangming Song, Di Liu, and Qi Wan. "Effects of the compliant intervertebral discs in the snake-like robots: A simulation study." In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2016. http://dx.doi.org/10.1109/robio.2016.7866423.

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Yang, Bingsong, Liang Han, Guangming Li, Wenfu Xu, and Bingshan Hu. "A modular amphibious snake-like robot: Design, modeling and simulation." In 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2015. http://dx.doi.org/10.1109/robio.2015.7419054.

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Yong Chen, Zhaoding Qiu, Zhenli Lu, and Limin Mao. "Numerical simulation of hydrodynamic characteristics of underwater snake-like robot." In 2015 International Conference on Control, Automation and Information Sciences (ICCAIS). IEEE, 2015. http://dx.doi.org/10.1109/iccais.2015.7338719.

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Mohammadi, Saman, Zoya Heidari, Hojjat Pendar, Aria Alasty, and Gholamreza Vossoughi. "Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34988.

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In this paper we follow two approaches in optimal nonlinear control of a snake-like robot. After deriving the dynamic equations of motion using Gibbs-Appell method, reducing these equations, and some assumptions, feedbacklinearization method was used to linearize the nonlinear system. The obtained controller is used in simulations to control robot to track a desired line, with minimum required torques. Two goals are desired. First the robot’s head is expected to track a distinct line with a given speed. And next, tracking the serpenoid curve is desired. The simulation results prove the control

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Reports on the topic "Simulation of snake-like robots"

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Hoppel, Mark. Creation of Robotic Snake to Validate Contact Modeling in Simulation. Defense Technical Information Center, 2013. http://dx.doi.org/10.21236/ada594656.

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Rezaei-Hartmann, Nasim, and Rebecca Saive. A step-by-step guide to simulating an ant-like piezoelectric robot. University of Twente, 2023. http://dx.doi.org/10.3990/1.9789036556330.

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This tutorial is about building up a COMSOL model for a robot ant. In this model, we have a robot with a size of a few centimeters and which is based on piezoelectric ceramics. This robot has already been built by the University of Michigan and some COMSOL models only for the legs’ operation are already existing and are published. From what we know, the full ant robot had not been computationally simulated before. Here, we provide a tutorial on how to successfully achieve this task. Furthermore, we uploaded a video on YouTube to visualize the results: https://youtu.be/ePyD8TAQt3I

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Iraoya, Augustine, Chukwuka Onyekwena, David Okorie, and Adedeji Adeniran. EVALUATION OF THE EFFECTS OF AFRICAN CONTINENTAL FREE TRADE AREA (AFCFTA) ON AFRICA’S BIODIVERSITY. Global Development Network (GDN), 2024. https://doi.org/10.69814/wp/202492.

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Free Trade Agreements (FTAs), such as the African Continental Free Trade Area (AfCFTA), can significantly influence biodiversity conservation based on their design and implementation. While AfCFTA may encourage countries to strengthen environmental regulations in line with international agreements like the Convention on Biological Diversity (CBD) and CITES, there are concerns that economic goals might overshadow ecological considerations. This could lead to industrial growth in agriculture and mining, risking deforestation, soil erosion, and water pollution. Using a combination of qualitative

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Lee, Wall, and Worsley. PR-398-113719-R01 Technologies for Monitoring Erosion Corrosion and Direct Inspection of Subsea Assets. Pipeline Research Council International, Inc. (PRCI), 2014. http://dx.doi.org/10.55274/r0010570.

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This Final Report prepared by ESR Technology Ltd., provides the results of a study on subsea pipeline erosion and corrosion monitoring. The report is therefore split into two parts. The first part deals with monitoring erosion and corrosion, subsea; and the second part is on direct inspection techniques to monitor wall thickness loss. Generally, Subsea equipment is significantly more difficult to inspect than topside or land-based equipment and the study recognizes that many challenges and technology gaps remain. Sand, produced from oil and gas wells, can cause erosion and erosion/corrosion of

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Shen, Shiyu, Yuhui Zhai, and Yanfeng Ouyang. Planning and Dynamic Management of Autonomous Modular Mobility Services. Illinois Center for Transportation, 2024. https://doi.org/10.36501/0197-9191/24-029.

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As we enter the next era of autonomous driving, robo-vehicles (which serve as low-cost and fully compliant drivers) are replacing conventional chauffeured services in the mobility market. During just the last few years, companies like Waymo Inc. and Cruise Inc. have already offered fully driverless robo-taxi services to the general public in cities like Phoenix and San Francisco. The rapid evolution of autonomous vehicles is anticipated to reshape the shared mobility market very soon. This project aims to address the following open questions. At the operational level, how should modular units

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Bailey Bond, Robert, Pu Ren, James Fong, Hao Sun, and Jerome F. Hajjar. Physics-informed Machine Learning Framework for Seismic Fragility Analysis of Steel Structures. Northeastern University, 2024. http://dx.doi.org/10.17760/d20680141.

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The seismic assessment of structures is a critical step to increase community resilience under earthquake hazards. This research aims to develop a Physics-reinforced Machine Learning (PrML) paradigm for metamodeling of nonlinear structures under seismic hazards using artificial intelligence. Structural metamodeling, a reduced-fidelity surrogate model to a more complex structural model, enables more efficient performance-based design and analysis, optimizing structural designs and ease the computational effort for reliability fragility analysis, leading to globally efficient designs while maint

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