Chrono::Vehicle: template-based ground vehicle modelling and simulation

Serban, Radu; Taylor, Michael D.; Negrut, Dan; Tasora, Alessandro

doi:10.1504/ijvp.2019.097096

Cited by 29 publications

(9 citation statements)

References 10 publications

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“…CHRONO is used to model either rigid-body or soft-body interactions and can be executed in parallel by using the OpenMP, MPI, or CUDA algorithms for shared, distributed, or GPU computing (Mazhar et al 2013;Tasora et al 2016). Past CHRONO studies have spanned a wide range of applications, including structural stability (Coïsson et al 2016;Beatini, Royer-Carfagni & Tasora 2017), 3D printing (Mazhar, Osswald & Negrut 2016), terrain-vehicle interactions (Serban et al 2019), and asteroid aggregation (Ferrari et al 2017). Given its versatility, users must install the software and construct physical systems based on their individual needs.…”

Section: H Ro N Omentioning

confidence: 99%

Validating N-body code chrono for granular DEM simulations in reduced-gravity environments

Sunday

Murdoch

Tardivel

et al. 2020

Monthly Notices of the Royal Astronomical Society

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The Discrete Element Method (DEM) is frequently used to model complex granular systems and to augment the knowledge that we obtain through theory, experimentation, and real-world observations. Numerical simulations are a particularly powerful tool for studying the regolith-covered surfaces of asteroids, comets, and small moons, where reduced-gravity environments produce ill-defined flow behaviors. In this work, we present a method for validating soft-sphere DEM codes for both terrestrial and small-body granular environments. The open-source code Chrono is modified and evaluated first with a series of simple two-body-collision tests, and then, with a set of piling and tumbler tests. In the piling tests, we vary the coefficient of rolling friction to calibrate the simulations against experiments with 1 mm glass beads. Then, we use the friction coefficient to model the flow of 1 mm glass beads in a rotating drum, using a drum configuration from a previous experimental study. We measure the dynamic angle of repose, the flowing layer thickness, and the flowing layer velocity for tests with different particle sizes, contact force models, coefficients of rolling friction, cohesion levels, drum rotation speeds and gravity levels. The tests show that the same flow patterns can be observed at Earth and reduced-gravity levels if the drum rotation speed and the gravity-level are set according to the dimensionless parameter known as the Froude number. Chrono is successfully validated against known flow behaviors at different gravity and cohesion levels, and will be used to study small-body regolith dynamics in future works.

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Section: H Ro N Omentioning

confidence: 99%

Validating N-body code chrono for granular DEM simulations in reduced-gravity environments

Sunday

Murdoch

Tardivel

et al. 2020

Monthly Notices of the Royal Astronomical Society

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show abstract

“…Moving from a model-free to a model-based design approach, i.e., carrying out the iterative loop in simulation (8), can reduce the time associated with the design process. Indeed, changing a rover suspension design to assess trafficability in simulation can be as fast as modifying a handful of parameters in a template file that defines the geometry of the vehicle (9). By comparison, physically modifying the suspension of a prototype is significantly more time consuming.…”

Section: How Simulation Is or Could Be Useful In Roboticsmentioning

confidence: 99%

On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward

Choi

Crump

Duriez

et al. 2020

Proc. Natl. Acad. Sci. U.S.A.

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101

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The last five years marked a surge in interest for and use of smart robots, which operate in dynamic and unstructured environments and might interact with humans. We posit that well-validated computer simulation can provide a virtual proving ground that in many cases is instrumental in understanding safely, faster, at lower costs, and more thoroughly how the robots of the future should be designed and controlled for safe operation and improved performance. Against this backdrop, we discuss how simulation can help in robotics, barriers that currently prevent its broad adoption, and potential steps that can eliminate some of these barriers. The points and recommendations made concern the following simulation-in-robotics aspects: simulation of the dynamics of the robot; simulation of the virtual world; simulation of the sensing of this virtual world; simulation of the interaction between the human and the robot; and, in less depth, simulation of the communication between robots. This Perspectives contribution summarizes the points of view that coalesced during a 2018 National Science Foundation/Department of Defense/National Institute for Standards and Technology workshop dedicated to the topic at hand. The meeting brought together participants from a range of organizations, disciplines, and application fields, with expertise at the intersection of robotics, machine learning, and physics-based simulation.

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“…C is used to model either rigid-body or soft-body interactions and can be executed in parallel by using OpenMP, MPI or CUDA algorithms for shared, distributed, or GPU computing (Tasora et al 2016;Mazhar et al 2013). Past C studies have spanned a wide range of applications, including structural stability (Coïsson et al 2016;Beatini et al 2017), 3D printing (Mazhar et al 2016), terrainvehicle interactions (Serban et al 2019), and asteroid aggregation (Ferrari et al 2017). Given its versatility, users must install the software and construct physical systems based on their individual needs.…”

Section: Chronomentioning

confidence: 99%

Validating N-body code Chrono for granular DEM simulations in reduced-gravity environments

Sunday,

Murdoch,

Tardivel

et al. 2020

Preprint

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The Discrete Element Method (DEM) is frequently used to model complex granular systems and to augment the knowledge that we obtain through theory, experimentation, and real-world observations. Numerical simulations are a particularly powerful tool for studying the regolithcovered surfaces of asteroids, comets, and small moons, where reduced-gravity environments produce ill-defined flow behaviors. In this work, we present a method for validating soft-sphere DEM codes for both terrestrial and small-body granular environments. The open-source code C is modified and evaluated first with a series of simple two-body-collision tests, and then, with a set of piling and tumbler tests. In the piling tests, we vary the coefficient of rolling friction to calibrate the simulations against experiments with 1 mm glass beads. Then, we use the friction coefficient to model the flow of 1 mm glass beads in a rotating drum, using a drum configuration from a previous experimental study. We measure the dynamic angle of repose, the flowing layer thickness, and the flowing layer velocity for tests with different particle sizes, contact force models, coefficients of rolling friction, cohesion levels, drum rotation speeds and gravity levels. The tests show that the same flow patterns can be observed at Earth and reduced-gravity levels if the drum rotation speed and the gravity-level are set according to the dimensionless parameter known as the Froude number. C is successfully validated against known flow behaviors at different gravity and cohesion levels, and will be used to study small-body regolith dynamics in future works.

show abstract

Chrono::Vehicle: template-based ground vehicle modelling and simulation

Cited by 29 publications

References 10 publications

Validating N-body code chrono for granular DEM simulations in reduced-gravity environments

Validating N-body code chrono for granular DEM simulations in reduced-gravity environments

On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward

Validating N-body code Chrono for granular DEM simulations in reduced-gravity environments

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