The Rock-Gazebo Integration and a Real-Time AUV Simulation

Watanabe, Thomio; Neves, Gustavo; Cerqueira, Romulo; Trocoli, Tiago; Reis, Marco; Joyeux, Sylvain; Albiez, Jan

doi:10.1109/lars-sbr.2015.15

Cited by 19 publications

(7 citation statements)

References 8 publications

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“…The fluid domain is set as a square water with both length and width of 1 m. Among them, the two sides in the horizontal direction are set as wall conditions without slippage, and the ones on the upper and lower sides are set as open boundary conditions. Compared with other simulation software, such as Rock Gazebo [36] and freefloating gazebo [37], COMSOL has the advantage that it can add more relevant physical quantities to the problems studied, and react to more realistic engineering scenarios by coupling different physical fields. As shown in Figure 2, the bionic jellyfish robot model has been automatically meshed in COMSOL.…”

Section: Methods and Modelmentioning

confidence: 99%

Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot

Cheng

Chen

et al. 2023

Sustainability

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Underwater robotics is rapidly evolving due to the increasing demand for marine resource exploitation. Compared with rigid robots propelled by propellers, bionic robots are stealthier and more maneuverable, such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs), making them widely used underwater. In order to study the motion state of the umbrella jellyfish bionic robot, the displacement of the jellyfish robot along the same direction and the surrounding fluid pressure distribution caused by the jellyfish motion under different experimental conditions are discussed in this paper. The effect of different environmental factors on driving the jellyfish robot is determined by comparing the displacements at different observation points. The results of the study show that the lower the frequency and the longer the motion period, the greater the displacement produced by the robot within the same motion period. Frequency has a significant effect on the motion state of the jellyfish robot. While the change of amplitude also affects the motion state of the jellyfish robot, the displacement of the relaxation phase of the jellyfish robot is much smaller than that of the contraction phase with a small amplitude. It can be concluded that the effect of frequency on robot displacement is greater than the effect of amplitude on robot displacement. This study qualitatively discusses the changes of the motion state of the bionic jellyfish robot in still water under the excitation of different frequencies and amplitudes, and the results can provide corresponding reference for the future application of the bionic jellyfish robot, such as resource exploration, underwater exploration, and complex environment exploration.

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Section: Methods and Modelmentioning

confidence: 99%

Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot

Cheng

Chen

et al. 2023

Sustainability

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show abstract

“…In particular, some of those that were born as extensions of Gazebo and Morse for considering the marine environment, i.e. Free-Floating [27], Rock-Gazebo [28] and UW Morse [29]. However, they implement fewer features than UWsim and UUV.…”

Section: Simulators Of Underwater Vehiclesmentioning

confidence: 99%

“…Within the FlatFish project, it was developed the Rock-Gazebo package 3 [28] to integrate Robot Construction Kit (Rock) framework and Gazebo to create a platform for realtime HIL simulations. Rock-Gazebo uses OpenScene-Graph (OSG), the same as UWsim, as the graphics engine, particularly for modelling water's visual effects.…”

Section: Rock-gazebomentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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The underwater environment is among Earth's most challenging domains, where failures incur elevated risks and costs for both technology and human endeavors. As a consequence, forecasting the behavior of mechatronic systems through simulation has become increasingly important. Underwater Robotic Simulators (URSs) allow researchers and engineers to safely develop and assess submarine systems. The selection of an appropriate URS from the list of available tools is not trivial. Moreover, the integration of this software with the Digital Twin (DT) concept presents numerous advantages, particularly the ability to link the simulated environment with actual underwater vehicles. This connection is facilitated by performing validation and simulation tests using Software In the Loop (SIL), Model In the Loop, and Hardware In the Loop (HIL) techniques. This paper extensively reviews URSs in the context of both robots and unmanned vehicles in light of the DT paradigm. The article critically examines distinctions among existing URSs, offering valuable insights to aid researchers in selecting the most fitting tool for their specific applications. Additionally, the review explores the practical applications of the identified simulators, categorizing their usage across different fields to illuminate the preferences within the scientific community and showcase prominent case studies.

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“…Other notable gazebo extensions/packages include Rock-Gazebo [78] and f reef loating − gazebo [73]. ROCK-Gazebo is the integration between Gazebo and the Robot Construction Kit (ROCK) framework to allow for realtime simulation.…”

Section: Marine Roboticsmentioning

confidence: 99%

A Review of Physics Simulators for Robotic Applications

Collins

Chand²,

Vanderkop³

et al. 2021

IEEE Access

162

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The use of simulators in robotics research is widespread, underpinning the majority of recent advances in the field. There are now more options available to researchers than ever before, however navigating through the plethora of choices in search of the right simulator is often non-trivial. Depending on the field of research and the scenario to be simulated there will often be a range of suitable physics simulators from which it is difficult to ascertain the most relevant one. We have compiled a broad review of physics simulators for use within the major fields of robotics research. More specifically, we navigate through key sub-domains and discuss the features, benefits, applications and use-cases of the different simulators categorised by the respective research communities. Our review provides an extensive index of the leading physics simulators applicable to robotics researchers and aims to assist them in choosing the best simulator for their use case.

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The Rock-Gazebo Integration and a Real-Time AUV Simulation

Cited by 19 publications

References 8 publications

Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot

Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot

Underwater Simulators Analysis for Digital Twinning

A Review of Physics Simulators for Robotic Applications

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