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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A Review of Physics Simulators for Robotic Applications

In this paper, we propose a mapping approach that constructs a globally deformable virtual occupancy grid map (VOG-map) based on local submaps. Such a representation allows pose graph SLAM systems to correct globally accumulated drift via loop closures while maintaining free space information for the purpose of path planning. We demonstrate use of such a representation for implementing an underwater SLAM system in which the robot actively plans paths to generate accurate 3D scene reconstructions. We evaluate performance on simulated as well as real-world experiments. Our work furthers capabilities of mobile robots actively mapping and exploring unstructured, three dimensional environments.

Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments

AUV position tracking and trajectory control based on fast-deployed deep reinforcement learning method

Simulation plays an important role in the development, testing and evaluation of new robotic applications, reducing implementation time, cost and risk. For much of the robotics community, the open-source Gazebo robot simulator has emerged as the de facto standard environment for prototyping and testing robotic systems. While Gazebo offers strong support for terrestrial, aerial and space robotics applications, less support is available for marine applications involving vehicles at and below the water surface. To address this deficiency, we present the Virtual RobotX (VRX) simulation, a general purpose open-source development and testing tool, based on Gazebo, capable of approximating the behavior of unmanned surface vessels operating in complex ocean environments. We highlight the application of these capabilities using the VRX challenge reference implementation, a new simulation-based robot competition designed to complement the physical Maritime RobotX Challenge.

Toward Maritime Robotic Simulation in Gazebo

This paper presents a summary of recent progress towards the development and upscaling of an emerging class of electrostatic power take-off (PTO) systems for wave energy converters (WECs), called dielectric elastomer generators (DEGs). DEGs are electromechanical devices able to convert mechanical energy into electrical energy by exploiting the deformation of rubber-like dielectric materials. The high power density (in the order of hundreds of Watts per kilogram), good efficiency and ease of assembling, combined with the low-cost of the employed materials (a few euros per kilogram) and their intrinsic resilient/reliable response to mechanical shocks make DEGs a very promising option for the deployment of a future generation of WECs. In the last decade, some specific concepts of WECs based on DEGs have been devised and a considerable interest in the topic has been aroused in the wave energy community. Among the candidate DEG topologies for wave energy harvesting, recent studies have suggested that a specific layout, namely the axial-symmetric inflating DEG diaphragm, could be a very promising candidate for future upscaling. This paper first describes the operating principle of DEG PTOs and the effect of electro-mechanical material parameters on their energetic performance. With reference to the above-mentioned inflating DEG diaphragm topology, an overview of concepts for integration on WECs is then provided, with a special focus on advanced concepts enabling the achievement of dynamical tuning with the incoming waves. A general lumped-parameter modelling approach for the design of DEG-based WECs is proposed. Experimental activity carried out to date, i.e. dry-run laboratory tests, wave-tank tests and preliminary sea trials is reviewed, with the aim of showing the progression in the device's scale and performance. Finally, economical and technological considerations are outlined, in order to point out challenges, future research opportunities and to draft a roadmap for future research and technological transfer.

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Advances in the development of dielectric elastomer generators for wave energy conversion

This paper describes the Unmanned Underwater Vehicle (UUV) Simulator, an extension of the open-source robotics simulator Gazebo to underwater scenarios, that can simulate multiple underwater robots and intervention tasks using robotic manipulators. This is achieved mainly through a set of newly implemented plugins that model underwater hydrostatic and hydrodynamic effects, thrusters, sensors, and external disturbances. In contrast to existing solutions, it reuses and extends a general-purpose robotics simulation platform to underwater environments.

UUV Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation

Es
wird ein elektromagnetisches Ventil (10), insbesondere fur eine Kraftstoffeinspritzanlage eines
Kraftfahrzeugs, beschrieben. Das Ventil (10) weist ein Gehause (12)
und einen Anker (14) auf, zwischen denen ein Ringraum (15) angeordnet
ist. Der Anker (14) ist etwa parallel zu einer Achse (11) hin- und
herbewegbar. Der Ringraum (15) bildet im Querschnitt etwa ein langliches,
in Richtung der Achse (11) ausgerichtetes Rechteck, das im wesentlichen
von einer Zylinderflache
(19) und einer Stirnflache
(17) des Gehauses
(12) und einer Mantelflache (21)
und einer Ringflache
(20) des Ankers (14) gebildet ist, wobei die Lange (a) der Mantelflache (21)
in Richtung der Achse (11) und die Lange (b) der Ringflache (20)
des Ankers (14) in Richtung der Achse (11) ein Verhaltnis von
etwa 2 (a/b etwa 2) bilden.

Elektromagnetisches Ventil, insbesondere für eine Kraftstoffeinspritzanlage eines Kraftfahrzeugs

The wave energy transformer (1) has an electro active polymer foil (8) and is arranged as wave follower (9) in a floating body (10). The floating body has a flask-shaped upward and downward open hollow body (12), which has a diaphragm (13). The diaphragm locks a passage by the hollow body. The diaphragm has the electro active polymer foil.

Wave energy transformer for generator for converting mechanical wave energy into electrical energy in wave energy plant, has electro active polymer foil and is arranged as wave follower in floating body

A method for determining a yaw angle fault of a wind turbine comprises a step for determining (545) the yaw angle fault based on a moment acting on at least one rotor blade of the wind turbine.

Method and device for determining a yaw angle fault in a wind turbine and wind turbine

In a process to apply a microstructure to the surface of a workpiece, the workpiece is subjected to a high-pressure water pulse jet containing abrasive particles of from 1to 30 m. The abrasive particles are e.g. boron carbide or silicon carbide with admixed air bubbles.

Martin Voss

Papers

UUV Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation

Elektromagnetisches Ventil, insbesondere für eine Kraftstoffeinspritzanlage eines Kraftfahrzeugs

Wave energy transformer for generator for converting mechanical wave energy into electrical energy in wave energy plant, has electro active polymer foil and is arranged as wave follower in floating body

Method and device for determining a yaw angle fault in a wind turbine and wind turbine

Process to apply a microstructure to a component part with high-pressure water pulse jet containing abrasive particles and air bubbles