2023
POLAR3D: Augmenting NASA’s POLAR Dataset for Data-Driven Lunar Perception and Rover Simulation
BH Chen, P Negrut, T Liang, N Batagoda, H Zhang, D Negrut
arXiv preprint arXiv:2309.12397
Zero-Shot Policy Transferability for the Control of a Scale Autonomous Vehicle
H Zhang, S Caldararu, S Ashokkumar, I Mahajan, A Young, A Ruiz, HM Unjhawala, L Bakke, D Negrut
arXiv preprint arXiv:2309.09870
A GPU-accelerated simulator for the DEM analysis of granular systems composed of clump-shaped elements
R Zhang, CV Heuvel, A Schepelmann, A Rogg, D Apostolopoulos, S Chandler, R Serban, D Negrut
arXiv preprint arXiv:2307.03445
Synthetic image generation for robot simulation: quantifying the impact of model modifications on perception
A Elmquist, R Serban, D Negrut
IEEE Sensors Journal
Using a Bayesian-inference approach to calibrating models for simulation in robotics
HM Unjhawala, R Zhang, W Hu, J Wu, R Serban, D Negrut
Journal of Computational and Nonlinear Dynamics
Using a Bayesian-Inference Approach to Calibrating Models for Simulation in Robotics
HM Unjhawala, R Zhang, W Hu, J Wu, R Serban, D Negrut
arXiv e-prints arXiv:2305.06900
Using simulation to design an MPC policy for field navigation using GPS sensing
H Zhang, S Caldararu, I Mahajan, S Chatterjee, T Hansen, A Dashora, S Ashokkumar, L Fang, X Xu, S He, D Negrut
arXiv preprint arXiv:2304.09156
Implementation implications on the performance of ANCF simulations
M Taylor, R Serban, D Negrut
International Journal of Non-Linear Mechanics
Calibration of an expeditious terramechanics model using a higher-fidelity model, Bayesian inference, and a virtual bevameter test
D Negrut, W Hu, P Li, HM Unjhawala, R Serban
Authorea Preprints
On the Use of Half-Implicit Numerical Integration in Multibody Dynamics
L Fang, A Kissel, R Zhang, D Negrut
Journal of Computational and Nonlinear Dynamics 18 (1), 014501
2022
Implementation implications on the performance of ANCF simulations
M Taylor, R Serban, D Negrut
International Journal of Non-Linear Mechanics, 104328
An efficiency comparison of different ANCF implementations
M Taylor, R Serban, D Negrut
International Journal of Non-Linear Mechanics, 104308
Camera simulation for robot simulation: how important are various camera model components?
A Elmquist, R Serban, D Negrut
arXiv preprint arXiv:2211.08599
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering
Asher Elmquist, Aaron Young, Thomas Hansen, Sriram Ashokkumar, Stefan Caldararu, Abhiraj Dashora, Ishaan Mahajan, Harry Zhang, Luning Fang, He Shen, Xiangru Xu, Radu Serban, Dan Negrut
arXiv preprint arXiv:2211.04886
Improving the Scalability of GPU Synchronization Primitives
P Dalmia, R Mahapatra, J Intan, D Negrut, MD Sinclair
IEEE Transactions on Parallel and Distributed Systems 34 (1), 275-290
Evaluating a GAN for enhancing camera simulation for robotics
A Elmquist, R Serban, D Negrut
arXiv preprint arXiv:2209.06710
A performance contextualization approach to validating camera models for robot simulation
A Elmquist, R Serban, D Negrut
arXiv preprint arXiv:2208.01022
A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality
Asher Elmquist, Aaron Young, Ishaan Mahajan, Kyle Fahey, Abhiraj Dashora, Sriram Ashokkumar, Stefan Caldararu, Victor Freire, Xiangru Xu, Radu Serban, Dan Negrut
arXiv preprint arXiv:2206.06537
A consistent multiphase flow model with a generalized particle shifting scheme resolved via incompressible SPH
L Yang, M Rakhsha, W Hu, D Negrut
Journal of Computational Physics 458, 111079
Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multiagent Scenarios
A Young, J Taves, A Elmquist, S Benatti, A Tasora, R Serban, D Negrut
Journal of Computational and Nonlinear Dynamics 17 (5), 051001
End-to-end learning for off-road terrain navigation using the Chrono open-source simulation platform
S Benatti, A Young, A Elmquist, J Taves, A Tasora, R Serban, D Negrut
Multibody System Dynamics 54 (4), 399-414
Modeling soil aggregate fracture using the discrete element method
FF Foldager, LJ Munkholm, O Balling, R Serban, D Negrut, RJ Heck, O Green
Soil and Tillage Research 218, 105295
Traction control design for off-road mobility using an SPH-DAE cosimulation framework
W Hu, Z Zhou, S Chandler, D Apostolopoulos, K Kamrin, R Serban, K Kamrin, R Serban, D Negrut
Multibody System Dynamics, 1-24
2021
Lagrangian vs. Eulerian: An analysis of two solution methods for free-surface flows and fluid solid interaction problems
M Rakhsha, CE Kees, D Negrut
Fluids, 6(12), 460
Modeling granular material dynamics and its two-way coupling with moving solid bodies using a continuum representation and the SPH method
W Hu, M Rakhsha, L Yang, K Kamrin, D Negrut
Computer Methods in Applied Mechanics and Engineering 385, 114022
The role of physics-based simulators in robotics
CK Liu, D Negrut
Annual Review of Control, Robotics, and Autonomous Systems 4, 35-58
A Sensor Simulation Framework for Training and Testing Robots and Autonomous Vehicles
A Elmquist, R Serban, D Negrut
Journal of Autonomous Vehicles and Systems 1 (2), 021001
On the use of multibody dynamics techniques to simulate fluid dynamics and fluid–solid interaction problems
M Rakhsha, L Yang, W Hu, D Negrut
Multibody System Dynamics, 1-29
On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward
HeeSun Choi, Cindy Crump, Christian Duriez, Asher Elmquist, Gregory Hager, David Han, Frank Hearl, Jessica Hodgins, Abhinandan Jain, Frederick Leve, Chen Li, Franziska Meier, Dan Negrut, Ludovic Righetti, Alberto Rodriguez, Jie Tan, Jeff Trinkle
Proceedings of the National Academy of Sciences 118 (1)
Producing 3D friction loads by tracking the motion of the contact point on bodies in mutual contact
L Fang, D Negrut
Computational Particle Mechanics, 1-25
2020
Implementation of MPC-Based Path Tracking for Autonomous Vehicles Considering Three Vehicle Dynamics Models with Different Fidelities
S Chen, H Chen, D Negrut
Automotive Innovation 3 (4), 386-399
MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel
S Chen, G Xiong, H Chen, D Negrut
Journal of Central South University 27 (12), 3702-3720
Billion degree of freedom granular dynamics simulation on commodity hardware via heterogeneous data-type representation
C Kelly, N Olsen, D Negrut
Multibody System Dynamics 50, 355-379
Implementation of MPC-Based Trajectory Tracking Considering Different Fidelity Vehicle Models
S Chen, H Chen, D Negrut
JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY 29 (3), 303-316
Multibody Dynamics Versus Fluid Dynamics: Two Perspectives on the Dynamics of Granular Flows
M Rakhsha, C Kelly, N Olsen, R Serban, D Negrut
Journal of Computational and Nonlinear Dynamics 15 (9), 091009
Methods and models for simulating autonomous vehicle sensors
A Elmquist, D Negrut
IEEE Transactions on Intelligent Vehicles 5 (4), 684-692
2019
Simulation of surface strain in tibiofemoral cartilage during walking for the prediction of collagen fibre orientation
Milad Rakhsha, Colin R Smith, Antonio M Recuero, Scott CE Brandon, Michael F Vignos, Darryl G Thelen, Dan Negrut
Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization
A consistent spatially adaptive smoothed particle hydrodynamics method for fluid–structure interactions
W Hu, G Guo, X Hu, D Negrut, Z Xu, W Pan
Computer Methods in Applied Mechanics and Engineering 347, 402-424
Using a half-implicit integration scheme for the SPH-based solution of fluid–solid interaction problems
M Rakhsha, A Pazouki, R Serban, D Negrut
Computer Methods in Applied Mechanics and Engineering 345, 100-122
Dynamics of scattering in undulatory active collisions
Jennifer M Rieser, Perrin E Schiebel, Arman Pazouki, Feifei Qian, Zachary Goddard, Kurt Wiesenfeld, Andrew Zangwill, Dan Negrut, Daniel I Goldman
Physical Review E 99 (2), 022606
Deformable soil with adaptive level of detail for tracked and wheeled vehicles
A Tasora, D Mangoni, D Negrut, R Serban, P Jayakumar
International Journal of Vehicle Performance 5 (1), 60-76
An integrated framework for high-performance, high-fidelity simulation of ground vehicle-tyre-terrain interaction
R Serban, D Negrut, A Recuero, P Jayakumar
International journal of vehicle performance 5 (3), 233-259
Chrono:: Vehicle: template-based ground vehicle modelling and simulation
R Serban, M Taylor, D Negrut, A Tasora
International Journal of Vehicle Performance 5 (1), 18-39
2018
Differential variational approach for handling fluid–solid interaction problems via smoothed particle hydrodynamics
H Mazhar, A Pazouki, M Rakhsha, P Jayakumar, D Negrut
Journal of Computational Physics 371, 92-110
Simulation of surface strain in tibiofemoral cartilage during walking for the prediction of collagen fibre orientation
M Rakhsha, C R. Smith, A M. Recuero, S C. E. Brandon, M F. Vignos, D G. Thelen, D Negrut
Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization 7 (4), 396-405
2017
Compliant contact versus rigid contact: A comparison in the context of granular dynamics
A Pazouki, M Kwarta, K Williams, W Likos, R Serban, P Jayakumar, and D Negrut
Physical Review E 96 (4), 042905
Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem
D Negrut, R Serban, A Tasora
Journal of Computational and Nonlinear Dynamics 13 (1), 014503
A Consistent Multi-Resolution Smoothed Particle Hydrodynamics Method
W Hu, W Pan, M Rakhsha, Q Tian, H Hu, D Negrut
Computer Methods in Applied Mechanics and Engineering 324, 278-299
A Comparison of Numerical Methods for Solving Multibody Dynamics Problems with Frictional Contact Modeled via Differential Variational Inequalities
D Melanz, L Fang, J Jayakumar, D Negrut
Computer Methods in Applied Mechanics and Engineering 320, 668-693
Analysis of a Splitting Approach for the Parallel Solution of Linear Systems on GPU Cards
A Li, R Serban, D Negrut
SIAM Journal on Scientific Computing 39 (3), 215-237
A High-fidelity Approach for Vehicle Mobility Simulation: Nonlinear Finite Element Tires Operating on Granular Material
A Recuero, R Serban, B Peterson, H Sugiyama, P Jayakumar, D Negrut
Journal of Terramechanics 72, 39-54
2016
Efficient computation of cartilage contact pressures within dynamic simulations of movement
C. R Smith, K. W Choi, D Negrut, D. G Thelen
Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization 6 (5), 491-498
On the Use of Computational Multi-body Dynamics Analysis in SLS-based 3D Printing
H Mazhar, T Osswald, D Negrut
Additive Manufacturing 12 (B), 291-295
Experimental Validation of a Differential Variational Inequality-Based Approach for Handling Friction and Contact in Vehicle/Granular-Terrain Interaction
D Melanz, P Jayakumar, D Negrut
Journal of Terramechanics 65, 1-13
2015
Numerical Investigation of Microfluidic Sorting of Microtissues
A Pazouki, D Negrut
Computers & Mathematics with Applications 72 (2), 251-263
On the Importance of Displacement History in Soft-Body Contact Models
A Fleischmann, R Serban, D Negrut, P Jayakumar
ASME Journal of Computational and Nonlinear Dynamics 11 (4), 044502
Using Nesterov’s Method to Accelerate Multibody Dynamics with Friction and Contact
H Mazhar, T Heyn, A Tasora, D Negrut
Association for Computing Machinery Transactions on Graphics 34 (3), 32:1-32:14
A GPU-based preconditioned Newton-Krylov solver for flexible multibody dynamics
R Serban, D Melanz, A Li, I Stanciulescu, J Jayakumar, D Negrut
International Journal for Numerical Methods in Engineering 102 (9), 1585-1604
A numerical study of the effect of particle properties on the radial distribution of suspension in pipe flow
A Pazouki, D Negrut
Computers & Fluids 108, 1-12
2014
A High Performance Computing Approach to the Simulation of Fluid-Solid Interaction Problems with Rigid and Flexible Bodies
A Pazouki, R Serban, D Negrut
Archive of Mechanical Engineering 61 (2), 227-251
Parallel Computing in Multibody System Dynamics: Why, When and How
D Negrut, R Serban, H Mazhar, T Heyn
ASME Journal of Computational and Nonlinear Dynamics 9(4), 041007
2013
A Matrix-Free Newton Krylov Parallel Implicit Implementation of the Absolute Formulation
D Melanz, N Khude, P Jayakumar, D Negrut
ASME Journal of Computational and Nonlinear Dynamics 9(1), 011006
Using Krylov Subspace and Spectral Methods for Solving Compementarity Problems in Many-Body Contacti Dynamics Simulation
T Heyn, A Tasora, M Anitescu, D Negrut
International Journal for Numerical Methods in Engineering 95 (7), 541–561
Investigating Through Simulation the Mobility of Light Tracked Vehicles Operating on Discrete Granular Terrain
D Negrut, D Melanz, H Mazhar, D Lamb, P Jayakumar, M Letherwood
SAE International Journal of Passenger Cars – Mechanical SystemsSAE 6, 369-381
Chrono: A Parallel Multi-Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics
H Mazhar, T Heyn, A Pazouki, D Melanz, A Seidl, A Bartholomew, A Tasora, D Negrut
Mechanical Sciences 4(1), 49-64
On the Parallel Sumulation of Large Flexible Body Systems with Multiple Contacts
N Khude, D Melanz, I Stanciulescu, D Negrut
ASME Journal of Computational and Nonlinear Dynamics 8(4), 041003
A Compliant Visco-Plastic Particle Contact Model based on Differential Variational Inequalities
A Tasora, M Anitescu, S Negrini, D Negrut
International Journal of Non-linear Mechanics 53, 2-12
2012
Leveraging Parallel Computing in Multibody Dynamics
D Negrut, A Tasora, H Mazhar, T Heyn, P Hahn
Multibody System Dynamics 27, 95-117
A Physics-Based Vehicle/Terrain Interaction Model for Soft Soil Off-Road Vehicle Simulations
J Madsen, D Negrut, A Reid, A Seidl, P Ayers, G Bozdech, J Freeman, J O’Kins
SAE International Journal of Commercial Vehicles 5(1), 280-290
Parallel collision detection of ellipsoids with applications in large scale multibody dynamics
A Pazouki, H Mazhar, D Negrut
Mathematics and Computers in Simulation 82(5), 879-894
A Co-Simulation Environment for High-Fidelity Virtual Prototyping of Vehicle Systems
M Datar, I Stanciulescu, D Negrut
International Journal of Vehicle Systems Modeling and Testing 7(1), 54-72
2011
An Expeditious High Fidelity ABAQUS-Based Surrogate Tire Model for Full Vehicle Durability Analysis in ADAMS
H Ardeh, M Datar, K Jagadeesan, D Negrut
SAE International Journal of Materials and Manufacturing 4(1), 263-277
Reliability Prediction for the HMMWV Suspension System
D Ghiocel, D Negrut, D Lamb, D Gorsich
SAE International Journal of Materials and Manufacturing 4(1), 896-928
A Scalable Parallel Method for Large Scale Collision Detection Problems
H Mazhar, T Heyn, D Negrut
Multibody System Dynamics 26, 37-55
2010
A Quantitative Assessment of the Potential of Implicit Integration Methods for Molecular Dynamics Simulation
N Schafer, D Negrut
ASME Journal of Computational and Nonlinear Dynamics 5(3), 031012
Construction and Use of Surrogate Models for the Dynamic Analysis of Multibody Systems
H Ansari, M Tupy, M Datar, D Negrut
SAE International Journal of Passenger Cars-Mechanical Systems 3(1), 8-20
2009
A Framework for Terrain-Induced Uncertainty Quantification in Vehicle Dynamics Simulation
M Datar, D Gorsich, D Lamb, D Negrut
International Journal of Vehicle Systems Modeling and Testing 4, 234-255
A Discussion of Low Order Numerical Integration Formulas for Rigid and Flexible Multibody Dynamics
D Negrut, L O Jay, N Khude
ASME Journal of Computational and Nonlinear Dynamics 4(2), 149-160
On the Regularity of Reduced Models Obtained by Quasicontinuum-like Approaches
M Anitescu, D Negrut, P Zapol, A El-Azab
Mathematical Programming 118(2), 207-236
Efficient Sampling of Dynamical Systems with Spatial Uncertainty
K Schmitt, M Anitescu, D Negrut
International Journal for Numerical Methods in Engineering 80(5), 537-564
2008
Large-Scale Parallel Multi-Body Dynamics with Frictional Contact on the Graphical Processing Unit
A Tasora, D Negrut, M Anitescu
Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 222(4), 315-326
Implicit and Explicit Integration in the Solution of the Absolute Nodal Coordinate Differential/Algebraic Equations
B Hussein, D Negrut, A Shabana
Nonlinear Dynamics 54, 283-296
Quasicontinuum-like reduction of DFT calculations of nanostructures
D Negrut, M Anitescu, A El-Azab, P Zapol
Journal of Nanoscience and Nanotechnology 8(7), 3729-3740
2007
Extensions of the HHT-method to differential-algebraic equations in mechanics
L O Jay, D Negrut
Electronic Transactions on Numerical Analysis 26, 190-208
On an Implementation of the HHT Method in the Context of Index 3 Differential Algebraic Equations of Multibody Dynamics
D Negrut, R Rampalli, G Ottarsson, A Sajdak
ASME Journal of Computational and Nonlinear Dynamics 2(1), 73-85
2006
A Practical Approach for the Linearization of the Constrained Multibody Dynamics Equations
D Negrut, J Ortiz
ASME Journal of Computational and Nonlinear Dynamics 1(3), 230-239
2003
A Rosenbrock-Nystrom State Space Implicit Approach for the Dynamic Analysis of Mechanical Systems: I – Theoretical Formulation
A Sandu, D Negrut, E Haug, F Potra, C Sandu
Journal of Multi-body Dynamics 217(4), 263-271
A Rosenbrock-Nystrom state space implicit approach for the dynamic analysis of mechanical systems: II—method and numerical examples
D Negrut, A Sandu, E Haug, F Potra, C Sandu
Journal of Multi-body Dynamics 217(4), 273-281
An Implicit Runge-Kutta Method for the Integration of Differential-Algebraic Equations of Multibody Dynamics
D Negrut, E J Haug, H C German
Multibody System Dynamics 9(2), 121–142
1999
Numerical Methods for High-Speed Vehicle Dynamic Simulation
E J Haug, D Negrut, R Serban, D Solis
Mechanics of Structures and Machines 27(4), 507-533
Implicit Runge-Kutta Integration of the Equations of Multibody Dynamics in Descriptor Form
E Haug, D Negrut, C Engstler
Mechanics of Structures and Machines 27(3), 337-364
1997
A State-Space Based Implicit Integration Algorithm for Differential-Algebraic Equations of Multibody Dynamics
E Haug, D Negrut, M Iancu
Mechanics of Structures and Machines 25(3), 311-334
A Topology Based Approach for Exploiting Sparsity in Multibody Dynamics. The Cartesian Formulation
R Serban, D Negrut, F A Potra, E J Haug
Mechanics of Structures and Machines 25(3), 379-396
A Topology Based Approach for Exploiting Sparsity in Multibody Dynamics. The Joint Formulation
D Negrut, R Serban, F A Potra, E J Haug
Mechanics of Structures and Machines 25(2), 221-241
1994
Dynamic Tire Modelling for Application with Vehicle Simulations Incorporating Terrain
D Negrut, J Freeman
SAE Journal of Passenger Cars 103, 940223