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Dan Negrut
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Journal Articles

Using a Bayesian-Inference Approach to Calibrating Models for Simulation in Robotics

Accepted Manuscript
Huzaifa Unjhawala, Ruochun Zhang, Wei Hu, Jinlong Wu, Radu Serban, Dan Negrut
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam.
Paper No: CND-22-1166
DOI: https://doi.org/10.1115/1.4062199
Published Online: March 27, 2023
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Topics: Robotics, Simulation, Calibration, Machinery, Computer software, Degrees of freedom, Design, Dynamics (Mechanics), Path planning, Predictive control
Journal Articles

On the Use of Half-Implicit Numerical Integration in Multibody Dynamics

Luning Fang, Alexandra Kissel, Ruochun Zhang, Dan Negrut
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. January 2023, 18(1): 014501.
Paper No: CND-22-1206
DOI: https://doi.org/10.1115/1.4056183
Published Online: November 17, 2022
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Topics: Equations of motion, Friction, Jacobian matrices, Multibody dynamics, Pendulums, Computation, Simulation, Kinematics, Computer software, Differential algebraic equations
Journal Articles

Constrained Multibody Kinematics and Dynamics in Absolute Coordinates: A Discussion of Three Approaches to Representing Rigid Body Rotation

Alexandra Kissel, Jay Taves, Dan Negrut
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. October 2022, 17(10): 101008.
Paper No: CND-22-1033
DOI: https://doi.org/10.1115/1.4055140
Published Online: August 18, 2022
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Topics: Dynamics (Mechanics), Kinematics, Radium, Rotation
Journal Articles

Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multiagent Scenarios

Aaron Young, Jay Taves, Asher Elmquist, Simone Benatti, Alessandro Tasora, Radu Serban, Dan Negrut
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2022, 17(5): 051001.
Paper No: CND-21-1304
DOI: https://doi.org/10.1115/1.4053321
Published Online: March 8, 2022
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Topics: Simulation, Vehicles, Sensors, Mechanical admittance, Roads
Proceedings Papers

Dwelling on the Connection Between SO(3) and Rotation Matrices in Rigid Multibody Dynamics – Part 2: Comparison Against Formulations Using Euler Parameters or Euler Angles

Jay Taves, Alexandra Kissel, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A021, August 17–19, 2021
Paper No: DETC2021-72076
DOI: https://doi.org/10.1115/DETC2021-72076
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Topics: Multibody dynamics, Rotation, Radium, Simulation, Differential algebraic equations, Engines, Equations of motion, Pendulums, Simulation results
Proceedings Papers

Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multi-Agent Scenarios

Aaron Young, Jay Taves, Asher Elmquist, Radu Serban, Dan Negrut, Simone Benatti, Alessandro Tasora
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A022, August 17–19, 2021
Paper No: DETC2021-67070
DOI: https://doi.org/10.1115/DETC2021-67070
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Topics: Artificial intelligence, Mechanical admittance, Physics, Roads, Simulation, Sensors, Testing, Engines, Vehicles, American Petroleum Institute
Proceedings Papers

Coupled Lateral and Longitudinal Control for Trajectory Tracking, Lateral Stability, and Rollover Prevention of High-Speed Automated Vehicles Using Minimum-Time Model Predictive Control

Shuping Chen, Huiyan Chen, Alex Pletta, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A024, August 17–19, 2021
Paper No: DETC2021-68099
DOI: https://doi.org/10.1115/DETC2021-68099
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Topics: Autonomous vehicles, Predictive control, Stability, Trajectories (Physics)
Proceedings Papers

Using an SPH-Based Continuum Representation of Granular Terrain to Simulate the Rover Mobility

Wei Hu, Jason Zhou, Radu Serban, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A028, August 17–19, 2021
Paper No: DETC2021-71289
DOI: https://doi.org/10.1115/DETC2021-71289
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Topics: Mechanical admittance, Wheels, Simulation, Dynamics (Mechanics), Granular materials, Particulate matter, Boundary-value problems, Geometry, Hydrodynamics, Robustness
Proceedings Papers

Dwelling on the Connection Between SO(3) and Rotation Matrices in Rigid Multibody Dynamics – Part 1: Description of an Index-3 DAE Solution Approach

Jay Taves, Alexandra Kissel, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A020, August 17–19, 2021
Paper No: DETC2021-72057
DOI: https://doi.org/10.1115/DETC2021-72057
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Topics: Multibody dynamics, Rotation, Kinematics, Constraint equations, Dynamics (Mechanics), Newton's method, Differential algebraic equations, Doors, Linear systems, Simulation
eBook Chapter

A Connected Autonomous Vehicle Emulator (CAVE) for Testing Multi-agent, Conventional–Autonomous Mixed Vehicle Traffic Scenarios

Publisher: ASME
Published: 2021
ISBN: 9780791862025
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Topics: Autonomous vehicles, Caves, Testing, Traffic
Journal Articles

A Sensor Simulation Framework for Training and Testing Robots and Autonomous Vehicles

Asher Elmquist, Radu Serban, Dan Negrut
Journal: Journal of Autonomous Vehicles and Systems
Article Type: Research Papers
J. Auton. Veh. Sys. April 2021, 1(2): 021001.
Paper No: JAVS-20-1050
DOI: https://doi.org/10.1115/1.4050080
Published Online: February 23, 2021
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Topics: Sensors, Simulation, Robots, Vehicles, Autonomous vehicles
Proceedings Papers

Parameter Identification for Multibody Dynamic Systems

Radu Serban, Jeffrey S. Freeman, Dan Negrut
Proc. ASME. DETC97, Volume 1A: 16th Biennial Conference on Mechanical Vibration and Noise, V01AT06A031, September 14–17, 1997
Paper No: DETC97/VIB-4211
DOI: https://doi.org/10.1115/DETC97/VIB-4211
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Topics: Dynamic systems, Optimization, Sensitivity analysis, Algebra, Modeling, Multibody systems, Noise (Sound)
Proceedings Papers

Implicit Integration of the Equations of Multibody Dynamics in Descriptor Form

Edward J. Haug, Mirela Iancu, Dan Negrut
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A077, September 14–17, 1997
Paper No: DETC97/DAC-3852
DOI: https://doi.org/10.1115/DETC97/DAC-3852
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Topics: Multibody dynamics, Equations of motion, Algebra, Dynamic systems, Kinematics, Simulation, Structural dynamics
Proceedings Papers

State-Space Based Implicit Integration of the Differential-Algebraic Equations of Multibody Dynamics

Dan Negrut, Edward J. Haug
Proc. ASME. DETC99, Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 263-272, September 12–16, 1999
Paper No: DETC99/VIB-8240
DOI: https://doi.org/10.1115/DETC99/VIB-8240
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Topics: Algebra, Multibody dynamics, Algorithms, Simulation, Degrees of freedom, Vehicles
Journal Articles

Special Issue: Selected Papers From 2019 IDETC-CIE, MSNDC, and VIB Conferences

Olivier Bauchau, Michael Leamy, Dan Negrut, Massimo Ruzzene
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Guest Editorial
J. Comput. Nonlinear Dynam. September 2020, 15(9): 090301.
Paper No: CND-20-1231
DOI: https://doi.org/10.1115/1.4047500
Published Online: July 16, 2020
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Topics: Computers, Computers and information in engineering , Design engineering, Engineering teachers, Fittings, Leadership, Multibody systems, Noise (Sound), Nonlinear dynamics, Students
Journal Articles

Multibody Dynamics Versus Fluid Dynamics: Two Perspectives on the Dynamics of Granular Flows

Milad Rakhsha, Conlain Kelly, Nic Olsen, Radu Serban, Dan Negrut
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2020, 15(9): 091009.
Paper No: CND-19-1471
DOI: https://doi.org/10.1115/1.4047237
Published Online: July 16, 2020
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Topics: Dams, Dynamics (Mechanics), Flow (Dynamics), Fluid dynamics, Fluids, Granular materials, Multibody dynamics, Simulation, Pressure, Friction
Proceedings Papers

Multibody Dynamics vs. Fluid Dynamics: Similarities and Differences

Milad Rakhsha, Conlain Kelly, Nic Olsen, Radu Serban, Dan Negrut
Proc. ASME. IDETC-CIE2019, Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A026, August 18–21, 2019
Paper No: DETC2019-97999
DOI: https://doi.org/10.1115/DETC2019-97999
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Topics: Fluid dynamics, Multibody dynamics, Simulation, Dams, Equations of motion, Fluids, Compressibility, Computer simulation, Dynamics (Mechanics), Flow (Dynamics)
Proceedings Papers

Comparison of Surface Tension Models in Smoothed Particles Hydrodynamics Method

Lijing Yang, Milad Rakhsha, Dan Negrut
Proc. ASME. IDETC-CIE2019, Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A028, August 18–21, 2019
Paper No: DETC2019-98124
DOI: https://doi.org/10.1115/DETC2019-98124
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Topics: Hydrodynamics, Particulate matter, Surface tension, Deformation, Drops, Energy dissipation, Fluids, Kinetic energy, Molecular dynamics, Numerical analysis
Proceedings Papers

Billion Degree-of-Freedom Granular Dynamics Simulation on Commodity Hardware

Conlain Kelly, Nicholas Olsen, Dan Negrut
Proc. ASME. IDETC-CIE2019, Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A012, August 18–21, 2019
Paper No: DETC2019-98055
DOI: https://doi.org/10.1115/DETC2019-98055
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Topics: Degrees of freedom, Dynamics (Mechanics), Hardware, Simulation, Graphics processing units, Discrete element methods, Engines, Flow (Dynamics), Software design
Proceedings Papers

A Partitioned Lagrangian-Lagrangian Approach for Fluid-Solid Interaction Problems

Milad Rakhsha, Arman Pazouki, Radu Serban, Dan Negrut
Proc. ASME. IDETC-CIE2017, Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A032, August 6–9, 2017
Paper No: DETC2017-68206
DOI: https://doi.org/10.1115/DETC2017-68206
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Topics: Fluids, Boundary-value problems, Brakes, Dams, Displacement, Fluid structure interaction, Gates (Closures), Hydrodynamics, Particulate matter