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The DARTS Simulation Laboratory

Figure: FLOATS - A DARTS package for simulating the dynamics and thermodynamics of buoyant aerial platforms (aerobots)

Figure: FLOATS - A DARTS package for simulating the dynamics and thermodynamics of buoyant aerial platforms (aerobots)

The Mobility and Robotic Systems Section's Dynamics And Real-Time Simulation (DARTS) Laboratory develops advanced high-fidelity, multi-mission modeling and simulation tools for the closed-loop development and testing of autonomous spaceflight systems. The lab supports lander/orbiter flight dynamics, surface and near-surface mission domains, and also adapts its tools to specific missions, projects, and technology development activities.

DARTS Lab tools can typically be used in workstation environments as well as for real-time, hardware-in-the-loop simulations for the testing and verification of flight software and hardware. The DARTS Lab simulation capabilities have been widely used by various missions including Galileo, Cassini, Deep Space 1, Stardust, Space Interferometry Mission, Terrestrial Planet Finder, Mars Exploration Rover, Phoenix, Mars Science Laboratory, InSight, Mars 2020, Ingenuity (Mars Helicopter) and the NASA ARTEMIS program including SLS, Orion and ISS project applications. The simulation capabilities are also in active use for a variety of advanced technology-development activities across multiple-domains including for ground vehicle, robotics, aero-capture, rotorcraft, planetary balloon, autonomous sampling, molecular dynamics research and technology development etc

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The DARTS Lab also continues to pioneer the development of the Spatial Operator Algebra (SOA) methodology for minimal coordinate, structure-based dynamics of multibody systems. The dynamics algorithms from this methodology are applicable to the broad class of dynamics problems including multibody systems with rigid and flexible bodies, with branched and closed-graph topologies, non-smooth contact and collision dynamics etc. The recursive algorithms are the fastest available and, being structure-based, allow for time-varying configurations and topologies. These algorithms form the basis of the DARTS multibody dynamics software at the heart of the simulation tools.

Key simulation tools available at the DARTS Lab include the following:

  • DARTS - A high-performance computational engine for flexible multibody dynamics. (Winner of 1997 NASA Software Award).
  • Dshell - A multi-mission simulation framework for real-time, hardware-in-the-loop spacecraft simulations.
  • ROAMS - A Dshell-based planetary rover simulator for surface exploration.
  • DSENDS - A Dshell-based simulator for entry, descent and landing (EDL) scenarios.
  • SimScape - A software tool kit for planetary-terrain-environment models.
  • FLOATS - A DARTS package for simulating the dynamics and thermodynamics of buoyant aerial platforms (aerobots)
  • FModal – A pipeline for easy generation of multibody models from NASTRAN structural dynamic models
  • PyCraft – A computational workbench for SOA methods and algorithms development
  • RoboDarts – A kinematics/dynamics modeling library for embedded use within robotics autonomy software
  • HeliCAT – A rotorcraft simulation tool
  • GNEIMO - A DARTS-based package for internal-coordinate molecular-dynamics simulations.
  • Dspace - A 3D graphics tool for real-time, closed-loop simulation visualization.
  • YaM - A software-development tool kit for the concurrent development of reusable software.

More information and links to publications can be found at the DARTS Lab website.

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Figure: FLOATS - A DARTS package for simulating the dynamics and thermodynamics of buoyant aerial platforms (aerobots)

Figure: FLOATS - A DARTS package for simulating the dynamics and thermodynamics of buoyant aerial platforms (aerobots)

References

Books
  • Abhinandan Jain, "Robot and Multibody Dynamics: Analysis and Algorithms", Springer, ISBN 978-1-4419-7266-8, Dec. 2010.

Journal Papers/Reports
  1. Jason Neuhaus, Matthew Hawkins, Jesse Couch, Heather Koehler, Bruce Jackson, Robert Shelton, Robert Bossinger, Kyler Brazukas, Trey Fiebelkorn, Edwin Crues, Benjamin Margolis, Tristan Hasseler, Justin Ganniban, Nicholas Olson, Zu Quan Li, Nathan Perreau, Timothy Curry, Dane Erickson, Matthew Andreini, and Zhiqanq Zhou "Check-cases for Lunar Six Degree-of-freedom simulations", American Astronomical Society preprint, 2024.
  2. Tristan D. Hasseler, Carl Leake, Aaron Gaut, Asher Elmquist, Robert Michael Swan, Rob Royce, Bryson Jones, Ben Hockman, Michael Paton, Guglielmo Daddi, Masahiro Ono, Rohan Thacker, and Abhinandan Jain "EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development", Aerospace, vol. 11 no. 10, September 2024. DOI
  3. Carl Leake, Håvard Grip, Vivian Steyert, Tristan D. Hasseler, Martin Cacan, and Abhinandan Jain "HeliCAT-DARTS: A High Fidelity, Closed-Loop Rotorcraft Simulator for Planetary Exploration", Aerospace, vol. 11 no. 9, September 2024. DOI
  4. NATO STO AVT-ET-194 Panel Members "Mobility Assessment Methods and Tools for Autonomous Military Ground Systems", NATO STO Exploratory Team Report, AVT-ET-194, April 2021.
  5. 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,n, Alberto Rodriguez, Jie Tan, and Jeff Trinkle "On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward", PNAS, vol. 118 no. 1, January 5, 2021. DOI
  6. Aaron S. Schutte, Abhinandan Jain, Jeffrey R. Brouwer, Tannen S. VanZwieten. Kimberly A. Simpson "Development and Verification of a Pipelinefor Modeling Flexible Multibody Dynamics", NESC Technical Memo, NASA/TM−2020-5008164, NESC-RP-18-01312, August 2020.
  7. Abhinandan Jain "DARTS - Multibody Modeling, Simulation and Analysis Software", 2019 Multibody Dynamics, ed. Andrés Kecskeméthy, Francisco Geu Flores, Springer, 2019.
  8. Abhinandan Jain "An analytical workbench for system level multibody dynamics", Multibody System Dynamics, vol. 44, no. 1, pp 57–79, 2018. DOI
  9. Ole Balling, Michael Bradbury, Jonathan Bruce, Mark Cammarere, KK Choi, Jean Dasch, Craig Foster, Matthew Funk, Nicholas Gaul, Henry Hodges, Abhinandan Jain, Paramsothy Jayakumar, Michael McCullough, Jeffrey Niemann, Elham Ramyar, Joseph Scalia, Tamer Wasfy, Brian Wojtysiak "Next-Generation NATO Reference Mobility Model (NRMM) Development", NATO STO Technical Report, TR-AVT-248, April 2020.
  10. NATO STO AVT-ET-148 Panel Members "Next-Generation NATO Reference Mobility Model (NRMM) Development", NATO STO Exploratory Team Report, AVT-ET-148, January 2018.
  11. David J. Gorsich, Paramsothy Jayakumar, Michael P. Cole, Cory M. Crean, Abhinandan Jain, Tulga Ersal "Evaluating mobility vs. latency in unmanned ground vehicles", Journal of Terramechanics, vol 80, pp. 11–19, 2018. DOI
  12. Marco B. Quadrelli, Masahiro Ono, Abhinandan Jain "Modeling of Active Tether System concepts for planetary exploration", Acta Astronautica, vol 138, pp. 512–529, 2017. DOI
  13. Sangbae Lee, Titu Devamani, Hyun Deok Song, Manbir Sandhu, Adrien Larsen, Ruth Sommese, Abhinandan Jain, Nagarajan Vaidehi, Sivaraj Sivaramakrishnan "Distinct structural mechanisms determine substrate affinity and kinase activity of protein kinase Cα", Journal of Biological Chemistry, vol 292, no. 39, pp. 16300-16309, 2017. DOI
  14. Harshavardhan Mylapilli, Abhinandan Jain "Complementarity Techniques for Minimal Coordinate Contact Dynamics", Journal of Computational and Nonlinear Dynamics, vol 12, no. 2, 2016. DOI
  15. Abhinandan Jain, Calvin Kuo, Paramsothy Jayakumar, Jonathan Cameraon "Constraint Embedding for Vehicle Suspension Dynamics", Archive of Mechanical Engineering, vol 63, no. 2, pp. 193-213, 2016.
  16. Abhinandan Jain, Calvin Kuo, Ivan Sinkarenko "Feedforward Dynamics for the Control of Articulated Multi-Limb Robots", Multibody System Dynamics, vol. 37, no. 1, pp. 49-68, 2016. DOI
  17. Saugat Kandel, Romelia Salomon-Ferrer, Adrien Larsen, Abhinandan Jain, Nagarajan Vaidehi "Overcoming potential energy distortions in constrained internal coordinate molecular dynamics simulations", The Journal of Chemical Physics, vol 144, number 4, 2016. DOI
  18. Nagarajan Vaidehi, Abhinandan Jain "Internal coordinate molecular dynamics: a foundation for multiscale dynamics", The Journal of Physical Chemistry B, vol 119, number 4, pp. 1233-1242, 2015. DOI
  19. Adrien Larsen, Jeffrey Wagner, Saugat Kandel, Romelia Salomon-Ferrer, Nagarajan Vaidehi, Abhinandan Jain "GneimoSim: A modular internal coordinates molecular dynamics simulation package", Journal of Computational Chemistry, vol 35, issue 31, pp. 2245-2255, 2014. DOI
  20. Abhinandan Jain "Contact Dynamics Formulation Using Minimal Coordinates", book chapter in Multibody Dynamics, Terze, Zdravko (Ed.), Computational Methods in Applied Sciences, vol 35, Springer, 2014. Book link
  21. Abhinandan Jain "Operational Space Inertia for Closed-Chain Robotic Systems", Journal of Computational and Nonlinear Dynamics, vol. 9, issue 2, 2014. DOI
  22. Adrien Larsen, Jeffrey Wagner, Abhinandan Jain, Nagarajan Vaidehi "Protein Structure Refinement of CASP Target Proteins using GNEIMO Torsional Dynamics method", Journal of Chemical Information and Modeling, vol 54, issue 2, pp. 508-517, 2014. DOI
  23. Abhinandan Jain, Saugat Kandel , Jeffrey Wagner, Adrien Larsen , Nagarajan Vaidehi "Fixman Compensating Potential for General Branched Molecules", The Journal of Chemical Physics, vol. 139, issue 24, 2013. DOI
  24. Nicolas Hudson, Jeremy Ma, Paul Hebert, Abhinandan Jain, Max Bajracharya, Thomas Allen, Rangoli Sharan, Matanya Horowitz, Calvin Kuo, Thomas Howard, Larry Matthies, Paul Backes, Joel Burdick "Model-based autonomous system for performing dexterous, human-level manipulation tasks", Autonomous Robots, 2013. DOI.
  25. Vamshi K. Gangupomu, Jeffrey R. Wagner, In-Hee Park, Abhinandan Jain, Nagarajan Vaidehi "Mapping conformational dynamics of proteins using torsional dynamics simulations", Biophysical Journal, vol. 104, issue 9, pp. 1999-2008, 2013. DOI.
  26. Jeffrey R. Wagner, Gouthaman S. Balaraman, Michiel J. M. Niesen, Adrien B. Larsen, Abhinandan Jain, Nagarajan Vaidehi "Advanced Techniques for Constrained Internal Coordinate Molecular Dynamics", Journal of Computational Chemistry, vol. 34, issue 11, pp. 904-914, 2013. DOI.
  27. Abhinandan Jain, In-Hee Park, Nagarajan Vaidehi "Equipartition Principle for Internal Coordinate Molecular Dynamics", Journal of Chemical Theory and Computation, vol. 8, no. 8, pp. 2581-2587, 2012. DOI.
  28. In-Hee Park, V. Gangupomu, J. Wagner, A. Jain and Nagarajan Vaidehi, "Structure Refinement of Protein Low Resolution Models Using the GNEIMO Constrained Dynamics Method", The Journal of Physical Chemistry B, vol. 116, no. 8, pp. 2365-2375, 2012, PMID: 22260550. DOI.
  29. Abhinandan Jain, "Multibody graph transformations and analysis Part I. Tree topology systems", Nonlinear Dynamics, vol. 67, no. 4, pp. 2779-2797, 2012. DOI.
  30. Abhinandan Jain, "Multibody graph transformations and analysis Part II. Closed-chain constraint embedding", Nonlinear Dynamics, vol. 67, no. 3, pp. 2153-2170, 2012. DOI.
  31. Abhinandan Jain, "Graph Theoretic Foundations of Multibody Dynamics: Part I - Structural Properties", Multibody System Dynamics, vol. 26, no. 3, pp. 307-333, 2011. DOI.
  32. Abhinandan Jain, "Graph Theoretic Foundations of Multibody Dynamics: Part II - Analysis and Algorithms", Multibody System Dynamics, vol. 26, no. 3, pp. 335-365, 2011. DOI.
  33. Gouthaman S. Balaraman, In-Hee Park, Abhinandan Jain, and Nagarajan Vaidehi, "Folding of Small Proteins Using Constrained Molecular Dynamics", The Journal of Physical Chemistry B, May 18, 2011. DOI
  34. A. Jain, G. Rodriguez, "Multibody Mass Matrix Sensitivity Analysis Using Spatial Operators", Int. Journal for Multiscale Computational Engineering, vol.1, Issue 2-3, 2003.
  35. A. Jain, "Compensating Mass Matrix Potential for Constrained Molecular Dynamics," Journal of Computational Physics, Jul. 1997.
  36. G. Rodriguez and A. Jain, "2-Way Recursive Decomposition of the Free-Flying Robot mass matrix," Journal of Applied Mathematics and Computer Science, vol. 7, pp. 101-119, June 1997.
  37. N. Vaidehi, A. Jain, and W. Goddard, "Constant Temperature Constrained Molecular Dynamics: The Newton-Euler Inverse Mass Operator Method," J. Phys. Chem., vol. 100, no. 25, pp. 10508-10517, 1996.
  38. A. Jain and G. Rodriguez, "Diagonalized Lagrangian Robot Dynamics," IEEE Transactions on Robotics and Automation, vol. 11, pp. 571-584, Aug. 1995.
  39. A. Jain and G. Rodriguez, "Base-Invariant Symmetric Dynamics of Free-Flying Space Manipulators," IEEE Transactions on Robotics and Automation, vol. 11, pp. 585-597, Aug. 1995.
  40. A. M. Mathiowetz, A. Jain, N. Karasawa, and W. A. Goddard III, "Protein Simulations using Techniques Suitable for Very Large Systems: the Cell Multipole Method for Nonbond Interactions and the Newton-Euler Inverse Mass Operator Method for Internal Coordinate Dynamics," Proteins: Structure, Function, and Genetics, vol. 20, pp. 227-247, 1994.
  41. A. Jain and G. Rodriguez, "Recursive Dynamics Algorithm for Multibody Systems with Prescribed Motion," Journal of Guidance, Control and Dynamics, vol. 16, pp. 830-837, Sept. 1993.
  42. A. Jain and G. Rodriguez, "An Analysis of the Kinematics and Dynamics of Underactuated Manipulators," IEEE Transactions on Robotics and Automation, vol. 9, pp. 411-422, Aug. 1993.
  43. A. Jain, N. Vaidehi, and G. Rodriguez, "A Fast Recursive Algorithm for Molecular Dynamics Simulations," Journal of Computational Physics, vol. 106, pp. 258-268, June 1993.
  44. A. Jain and G. Rodriguez, "Linearization of Manipulator Dynamics Using Spatial Operators," IEEE Transactions on Systems, Man and Cybernetics, vol. 23, pp. 239-248, Jan. 1993.
  45. A. Jain and G. Rodriguez, "Recursive Flexible Multibody System Dynamics Using Spatial Operators," Journal of Guidance, Control and Dynamics, vol. 15, pp. 1453-1466, Nov. 1992.
  46. K. Kreutz-Delgado, A. Jain, and G. Rodriguez, "Recursive Formulation of Operational Space Control," The International Journal of Robotics Research, vol. 11, pp. 320-328, Aug. 1992.
  47. G. Rodriguez and K. Kreutz-Delgado, "Spatial Operator Factorization and Inversion of the Manipulator Mass Matrix," IEEE Transactions on Robotics and Automation, vol. 8, pp. 65-76, Feb. 1992.
  48. G. Rodriguez, A. Jain, and K. Kreutz-Delgado, "Spatial Operator Algebra for Multibody System Dynamics," Journal of the Astronautical Sciences, vol. 40, pp. 27-50, Jan.-March 1992.
  49. G. Rodriguez, K. Kreutz-Delgado, and A. Jain, "A Spatial Operator Algebra for Manipulator Modeling and Control," The International Journal of Robotics Research, vol. 10, pp. 371-381, Aug. 1991.
  50. A. Jain, "Unified Formulation of Dynamics for Serial Rigid Multibody Systems," Journal of Guidance, Control and Dynamics, vol. 14, pp. 531-542, May-June 1991.
  51. G. Rodriguez, "Random Field Estimation Approach to Robot Dynamics," IEEE Transactions on Systems, Man and Cybernetics, vol. 20, pp. 1081-1093, Sept. 1990.
  52. G. Rodriguez, "Recursive Forward Dynamics for Multiple Robot Arms Moving a Common Task Object," IEEE Transactions on Robotics and Automation, vol. 5, pp. 510-521, Aug. 1989..
  53. G. Rodriguez, "Kalman Filtering, Smoothing and Recursive Robot Arm Forward and Inverse Dynamics," IEEE Journal of Robotics and Automation, vol. 3, pp. 624-639, Dec. 1987.
  54. G. Rodriguez, "Recursive forward dynamics for two robot arms in a closed chain based on Kalman filtering and Bryson-Frazier smoothing," Robotics, M. Jamshidi Ed., Amsterdam, The Netherlands, North-Holland 1986.

Conference Papers
  1. M. Ingham, Z. Hasnain, S. Ardito, S. Bandyopadhyay, T.D. Hasseler, B. Huffman, K. Patterson, G. Rabideau, N. Rouquette, T.S. Vaquero "Autonomous Onboard Planning, Execution and Resource Management for the Endurance Lunar Rover", AIAA ASCEND Conference, Washington D.C., USA, 2026.
  2. K. Patterson, T.D. Hasseler, T. Del Sesto, S. Bandyopadhyay, L. Werner, M. Hutter, M. Ingham "Simulating Lunar Conditions for Autonomous Power and Thermal Management in the Endurance Rover", AIAA SciTech 2026 Forum, Orlando, Florida, 2026.
  3. T. Aagren., A. Ruan, J. Garcia-Bonilla, V. Steyert, N. Filipe, L. Jones-Wilson, J. Izraelevitz, S. Withrow "Rotor–Rotor Interference Modeling for Flight Dynamics Analysis of a Mars Hexacopter Concept", Vertical Lift Aircraft Design and Aeromechanics Specialist’s Conference, San Jose, California, 2026.
  4. Juan Garcia-Bonilla, Carl Leake, Asher Elmland, Tristan D. Hasseler, Vivian Steyert, Aaron Gaut, Abhinandan Jain "Dshell-DARTS: A Reusability-Focused Multi-Mission Aerospace and Robotics Simulation Toolkit", IEEE Aerospace Conference, Big Sky, Montana, 2025.
  5. Asher Elmland, Vivian Steyert, Spencer Diehl, Abhinandan Jain "Accurate, GPU Accelerated Solar Radiation Pressure Modeling for Exoatmosphere Trajectory Simulation", IEEE Aerospace Conference, Big Sky, Montana, 2025.
  6. Tristan Hasseler, Carl Leake, Aaron Gaut, Asher Elmquist, Robert Swan, Rob Royce, Bryson Jones, Benjamin Hockman, Michael Paton, Guglielmo Daddi, Masahiro Ono, Rohan Thakker, Abhinandan Jain "EELS-DARTS: A Planetary Snake Robot Simulator for Closed-Loop Autonomy Development", The 7th International Conference on Multibody System Dynamics, Madison, Wisconsin, 2024.
  7. Rohan Thakker et al "To Boldly Go Where No Robots Have Gone Before–Part 4: NEO Autonomy for Robustly Exploring Unknown, Extreme Environments with Versatile Robots..", AIAA Scitech 2024 Forum, Orlando, Florida, 2024.
  8. Masahiro Ono et al "To Boldly Go Where No Robots Have Gone Before–Part 1: EELS Robot to Spearhead a New One-Shot Exploration Paradigm with in-situ Adaptation.", AIAA Scitech 2024 Forum, Orlando, Florida, 2024.
  9. Carl Leake, Abhinandan Jain "FModal: A Flexible Body Dynamics Modeling Pipeline for Guidance and Control", IEEE Aerospace Conference, Big Sky, Montana, 2023.
  10. Rohan Thakker et al "EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, 2023.
  11. Jacob Izraelevitz, Michael Pauken, Siddharth Krishnamoorthy, Ashish Goel, Carolina Aiazzi, Leonard Dorsky, James Cutts, Jeffery L. Hall, Caleb Turner and Tim Lachenmeier "Subscale Prototype and Hangar Test Flight of a Venus Variable-Altitude Aerobot", IEEE Aerospace Conference, Big Sky, Montana, 2022.
  12. Jeff Delaune et al "Mid-Air Helicopter Delivery at Mars Using a Jetpack", IEEE Aerospace Conference, Big Sky, Montana, 2022.
  13. Carolina Aiazzi, Aaron Gaut, Aaron Young, Asher Elmquist and Abhinandan Jain "IRIS: Inter-planetary Rendering for Imaging and Sensors", AIAA Scitech 2022 Forum, San Diego, California, 2022.
  14. Jeffery L. Hall, Jacob Izraelevitz, Michael Pauken, Aaron Schutte, Siddharth Krishnamoorthy, Carolina Aiazzi, Jacob Izraelevitz, Caleb Turner and Tim Lachenmeier "Prototype Development of a Variable Altitude Venus Aerobot", AIAA AVIATION Forum, Aug 2-6, 2021.
  15. Joseph Bowkett, Jeremy Nash, David Inkyu Kim, Sung-Kyun Kim, Rohan Thakker, Alex Brinkman, Yang Cheng, Reg Willson, Chris Lim, Aaron Gaut, Abhinandan Jain, Matt Gildner, Blair Emanuel, and Paul Backes "Functional Autonomy Challenges in Sampling for an Europa Lander Mission", IEEE Aerospace Conference, Big Sky, Montana, 2021.
  16. Ashish Goel, Anna Boettcher, Shoya Higa, Michael Hans, Jacek Sawoniewicz, Aaron Gaut, Abhinandan Jain, Christopher Lim, Max Thomsen, Emanuele Aucone. Hari Nayar "Design of an Ocean World Lander Autonomy Testbed", ASCEND, November 2020.
  17. Larry Young, Jeff Delaune, Wayne Johnson, Shannah Withrow, Haley Cummings, Evgeniy Sklyanskiy, Jacob Izraelevitz, Aaron Schutte, Abigail Fraeman, Raghav Bhagwat "Design Considerations for a Mars Highland Helicopter", ASCEND Conference, November 2020.
  18. Jeff Delaune, Jacob Izraelevitz, Larry Young, William Rapin, Evgeniy Sklyanskiy, Wayne Johnson, Aaron Schutte, Abigail Fraeman, Valerie Scott, Carl Leake, Erik Ballesteros, Shannah Withrow, Raghav Bhagwat, Haley Cummings, Kim Aaron, Marcel Veismann, Skylar Wei, Regina Lee, Luis Pabon Madrid, Morteza Gharib, Joel Burdick "Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars", ASCEND Conference, November, 2020.
  19. Carolina Aiazzi, Marco B. Quadrelli, Aaron J. Gaut, Abhinandan Jain "Physics-Based Rendering of Irregular Planetary Bodies", i-SAIRAS 2020, Oct, 2020.
  20. Aaron Gaut, Jonathan Cameron, Abhinandan Jain "A Jupyter Notebook Environment for Multibody Dynamics", Proceedings of the ASME 2020 International Design Engineering Technical Conference (IDETC), Nov, 2020. DOI
  21. Aaron Gaut, Jonathan Cameron, Abhinandan Jain "Jupyter Notebooks for Spacecraft and Robot Dynamics Simulations", SciPy 2020, Aug, 2020.
  22. Aaron Schutte, Jeff Delaune, Evgeniy Skylanskiy, Robert Hewitt, Shreyansh Daftry, Marco B. Quadrelli and Larry Matthies "Integrated Simulation and State Estimation for Precision Landing on Titan", IEEE Aerospace Conference, Big Sky, Montana, 2020.
  23. Ole Balling, Morten Rydahl-Haastrup, Louise Bendtsen1, Frederik Homaa, Christopher S. Lim, Aaron Gaut, Abhinandan Jain "Next-Generation Nato Reference Mobility Model Using ROAMS Simulation For Demonstration Of Technology - Verification And Validation", 2019 NDIA GROUND VEHICLE SYSTEMS ENGINEERING AND TECHNOLOGY SYMPOSIUM, Nivo, Michigan, Aug 13-15, 2019.
  24. Abhinandan Jain "DARTS - Multibody Modeling, Simulation and Analysis Software", ECCOMAS Thematic Conference on Multibody Dynamics, Duisberg, Germany, July, 2019.
  25. Jeffery L. Hall, Jonathan M. Cameron, Michael T. Pauken, Jacob S. Izraelevitz , Mitchell W. Dominguez, Kristopher T. Wehage "Altitude-Controlled Light Gas Balloons for Venus and Titan Exploration", AIAA AVIATION Forum, Dallas, TX, 17-21 June, 2019.
  26. Marco B. Quadrelli, Aaron Schutte, Jasmine Rimani, Luca Ermolli "Aero Maneuvering Dynamics and Control for Precision Landing on Titan", IEEE Aerospace Conference, Big Sky, Montana, 2019.
  27. Håvard Fjær Grip, Johnny N. Lam, David Bayard, Dylan T. Conway, Gurkirpal Singh, Roland Brockers, Jeff Delaune, Larry Matthies, Carlos Malpica, Travis Brown, Abhinandan Jain, Miguel San Martin, Gene Merewether "Flight Control System for NASA's Mars Helicopter", AIAA Scitech 2019 Forum, San Diego, California, 2019.
  28. Abhinandan Jain "Computing Inter-Body Constraint Forces in Recursive Multibody Dynamics", The 5th Joint International Conference on Multibody System Dynamics, Lisboa, Portugal, June, 2018.
  29. Jonathan Cameron, Abhinandan Jain, Dan Burkhart, Erik Bailey, Bob Balaram, Eugene Bonfiglio, Havard Grip, Mark Ivanov, Evgeniy Sklyanskiy, "DSENDS: Multi-mission Flight Dynamics Simulator for NASA Missions", AIAA SPACE 2016, pp. 5421, Long Beach, CA, Sep, 2016.
  30. Abhinandan Jain "PyCraft: An Analytical and Computational Workbench for System Level Multibody Dynamics", The 4 th Joint International Conference on Multibody System Dynamics, Montreal, Canada, May, 2016.
  31. Marco B. Quadrelli1, J. (Bob) Balaram, Abhinandan Jain, Jonathan Cameron, Steven Myint, Avinash Devalla "Modeling and Simulation of Vehicle Dynamics on the Surface of Phobos", AIAA Space 2015 Conference, Pasadena, CA, Aug, 2015.
  32. Brian Wilcox et al "Testbed for the Capture of a Small, Free-Flying Asteriod in Space", AIAA Space 2015 Conference, Pasadena, CA, Aug, 2015.
  33. Håvard Fjær Grip, Miguel San Martin, Abhinandan Jain, Bob Balaram, Jonathan Cameron, and Steven Myint "Modeling and Simulation of Asteroid Capture using a Deformable Membrane Capture Device", Proceedings of the ASME 2015 International Design Engineering Technical Conferences, Boston, MA, Aug 2-5, 2015.
  34. Abhinandan Jain, Calvin Kuo, Paramsothy Jayakumar, Jonathan Cameraon "A Constraint Embedding Approach for Complex Vehicle Suspension Dynamics", ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, June 2015.
  35. Paramsothy Jayakumar, Abhinandan Jain, James Polpawski, Marco B. Quadrelli, Jonathan Cameraon "Advanced Mobility Testbed for Dynamic Semi-Autonomous Un- manned Ground Vehicles", NATO Meeting AVT-241/RSM-022: Technological and Operational Problems Connected with UGV Application for Future Military Operations, Rzeszow, Poland, April 2015. Barcelona, Spain, June 2015.
  36. Harshavardhan Mylapilli, Abhinandan Jain, "Evaluation of Complementarity Techniques for Minimal Coordinate Contact Dynamics", Proceedings of the ASME 2014 International Design Engineering Technical Conference (IDETC), Buffalo, NY, Aug, 2014.
  37. Abhinandan Jain, Calvin Kuo, Ivan Sinkarenko, "Dynamics Compensation for the Control of Articulated Multi-Limb Robots", The 3rd International Conference on Multibody System Dynamics (IMSD), Busan, Korea, June, 2014.
  38. Havard Fjær Grip, Masahiro Ono, J. Balaram, Jonathan Cameron, Abhinandan Jain, Calvin Kuo, Steven Myint, Marco Quadrelli "Modeling and Simulation of Asteroid Retrieval Using a Flexible Capture Mechanism", 2014 IEEE Aerospace Conference, Big Sky, Montana, Mar 1-8, 2014.
  39. Jonathan M. Cameron, Steven Myint, Calvin Kuo, Abhinandan Jain, Havard Grip, Paramsothy Jayakumar, Jim Overholt "Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics", 2013 NDIA Ground Vehicle Systems Engineering and Technology Symposium, Troy, Michigan, Aug 21-22, 2013.
  40. Abhinandan Jain, "Operational Space Inertia for Robots with Internal Loops", Multibody Dynamics 2013, ECCOMAS Thematic Conference, Zagreb, Croatia, July, 2013.
  41. Abhinandan Jain "Minimal Coordinates Formulation of Contact Dynamics", Multibody Dynamics 2013, ECCOMAS Thematic Conference, Zagreb, Croatia, July, 2013.
  42. Abhinandan Jain, "Structure-Based Computational Modeling Architecture for Robotics", 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May, 2013.
  43. M.I. Pomerantz, C. Lim, S. Myint, G. Woodward, J. Balaram, and C. Kuo, "Multi-Mission Simulation and Visualization for Real-time Telemetry Display, Playback and EDL Event Reconstruction", 2012 AIAA Space, Pasadena, CA, Sep, 2012.
  44. Jonathan M. Cameron, J. Balaram, Abhinandan Jain, Calvin Kuo, Christopher Lim, and Steven Myint, "Next Generation Simulation Framework for Robotic and Human Space Missions", 2012 AIAA Space, Pasadena, CA, Sep, 2012.
  45. Dan Negrut, Hammad Mazhar, Daniel Melanz, David Lamb, Paramsothy Jayakumar, Michael Letherwood, Abhinandan Jain and Marco Quadrelli, "Investigating the Mobility of Light Autonomous Tracked Vehicles Using a High Performance Computing Simulation Capability", 2012 GVSETS, Aug, 2012.
  46. Abhinandan Jain, Cory Crean, Calvin Kuo, Hubertus von Bremen, Steven Myint, "Minimal Coordinate Formulation of Contact Dynamics in Operational Space", 2012 Robotics: Science and Systems Conference, Sydney, Australia, July, 2012.
  47. Abhinandan Jain, Cory Crean, Calvin Kuo, Marco B. Quadrelli, "Efficient Constraint Modeling for Closed-Chain Dynamics", The Second Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May, 2012.
  48. Nicolas Hudson, Thomas Howard, Jeremy Ma, Abhinandan Jain, Max Bajracharya, Steven Myint, Calvin Kuo, Larry Matthies, Paul Backes, Paul Hebert, Thomas Fuchs and Joel Burdick, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation", IEEE Int. Conf. on Robotics and Automation, May, 2012.
  49. S. Myint, A. Jain, J. Cameron, C. Lim, "Scalable Large, Multi-Resolution Terrain Real-Time Modeling and Visualization for Surface System Simulations", IROS, San Francisco, CA, Sep, 2011.
  50. J. (Bob) Balaram, J. Cameron, A. Jain, H. Kline, C. Lim, H. Mazhar, S. Myint, H. Nayar, R. Patton, M. Pomerantz, M. Quadrelli, P. Shakkotai, K.Tso, "Physics-Based Simulator for NEO Exploration Analysis & Modeling", AIAA SpaceOps Long Beach, CA, Sep, 2011.
  51. Steven Myint, Abhinandan Jain, Jonathan Cameron, Christopher Lim, "Large Terrain Modeling and Visualization for Planets", Fourth IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2011), San Francisco, CA, August, 2011.
  52. Abhinandan Jain, "Partitioning and sub-structuring of multibody dynamics algorithms using graph techniques", Multibody Dynamics 2011, ECCOMAS Thematic Conference, Brussels, Belgium, July 2011.
  53. Thomas M. Howard, Jonathan Cameron, Steven Myint, Hari Nayar, and Abhi Jain, "A KML Interface for Dynamics Simulation of Robotic Planetary Exploration", 2011 IEEE Aerospace Conference, Big Sky, Montana, Mar. 2011.
  54. Hari D. Nayar, Bob Balaram, Jonathan Cameron, Matthew DiCicco, Thomas Howard, Abhinandan Jain, Yoshiaki Kuwata, Christopher Lim, Rudranarayan Mukherjee, Steven Myint, Alex Palkovic, Marc Pomerantz, Stephen Wall, "Surface Operations Analysis for Lunar Missions", AIAA SPACE 2010 Conference and Exposition, Anaheim, CA, Sep, 2010.
  55. A. Jain, "Graph Theoretic Structure of Multibody System Spatial Operators", The 1st Joint International Conference on Multibody System Dynamics, Lappeenranta, Finland, May, 2010.
  56. A. Jain, "Graph Theory Roots of Spatial Operators for Kinematics and Dynamics", 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010.
  57. H. Nayar, A. Jain, J. Balaram, J. Cameron, C. Lim, R. Mukherjee, M. Pomerantz, L. Reder, S. Myint, N. Serrano, S. Wall, "Recent Developments on a Simulator for Lunar Surface Operations", AIAA SPACE 2009 Conference & Exposition, Pasadena, CA, September 14-17, 2009.
  58. A. Jain, "Recursive Algorithms using Local Constraint Embedding for Multibody System Dynamics", ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009) , San Diego, CA, August 30-September 2, 2009.
  59. Jonathan Cameron, Abhi Jain, Terry Hunstberger, Garett Sohl, Rudranarayan Mukherjee, "Vehicle-Terrain Interaction Modeling and Validation for Planetary Rovers," JPL Publication 10-15, Pasadena, CA, August 2009.
  60. C. Lim, A. Jain, "Dshell++: A Component Based, Reusable Space System Simulation Framework", Third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, July 19-23, 2009.
  61. M. Pomerantz, A. Jain, S. Myint, "Dspace: Real-time Visualization System for Spacecraft Dynamics Simulation", Third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, July 19-23, 2009.
  62. H. Nayar, J. Balaram, J. Cameron, A. Jain, C. Lim, R. Mukherjee, S. Peters, M. Pomerantz, L. Reder, P. Shakkottai, S. Wall, "A Lunar Surface Operations Simulator", Proc. International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), Venice Italy, Nov. 3-7, 2008.
  63. Terry Huntsberger, Abhi Jain, Jonathan Cameron, Gail Woodward, David Myers and Garett Sohl, "Characterization of the ROAMS Simulation Environment for Testing Rover Mobility on Sloped Terrain ," i-SAIRAS 2008, Pasadena, CA, January 2008.
  64. A. Jain, J. Ziegler, "PyCraft: An Algorithm Workbench for Computational Multibody Dynamics," 7th World Congress on Computational Mechanics, Los Angeles, CA, July 16-22, 2006.
  65. A Jain, J. Cameron, C. Lim, J. Guineau, "SimScape Terrain Modeling Toolkit," Second International Conference on Space Mission Challenges for Information Technology (SMC-IT 2006), Pasadena, CA, July 2006.
  66. A Jain and J. Biesiadecki, "YaM - A Framework for Rapid Software Development," Second International Conference on Space Mission Challenges for Information Technology (SMC-IT 2006), Pasadena, CA, July 2006.
  67. G. Sohl and A Jain, "Wheel-Terrain Contact Modeling in the Roams Planetary Rover Simulation," Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Long Beach, CA, September 2005.
  68. R Madison, M Pomerantz, and A Jain, "Camera Response Modeling and Verification in ROAMS," i-SAIRAS 2005, Munich, Germany, September 2005.
  69. A. Jain, J. Balaram, J. Cameron, J. Guineau, C. Lim, M. Pomerantz, G. Sohl, "Recent Developments in the ROAMS Planetary Rover Simulation Environment", IEEE 2004 Aerospace Conf., Big Sky, Montana, March 6-13, 2004.
  70. A. Jain, J. Guineau, C. Lim, W. Lincoln, M. Pomerantz, G. Sohl, R. Steele, "Roams: Planetary Surface Rover Simulation Environment", To be presented at the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2003), (Nara, Japan), May 19-23, 2003.
  71. S. Striepe, J. Balaram, "Mars Smart Lander Simulations for Entry, Descent, and Landing", AIAA Atmospheric Flight Mechanics Conf., Monetery, California, 5-8 August, 2002.
  72. B. Martin, J. Balaram, D. Henriquez, G. Sohl, C. Miller, M. Pomerantz, "System Engineering Challenges of Real-Time Simulation for Mars Smart Lander Entry, Descent, and Landing", AIAA Atmospheric Flight Mechanics Conf., Monterery, California, 5-8 August, 2002.
  73. J. Balaram, R. Austin, P. Banerjee, T. Bentley, D. Henriquez, B. Martin, E. McMahon, G. Sohl, "DSENDS - A High-Fidelity Dynamics and Spacecraft Simulator for Entry, Descent and Surface Landing", IEEE 2002 Aerospace Conf., Big Sky, Montana, March 9-16, 2002.
  74. A. Jain and G. Rodriguez, "Sensitivity Analysis for Multibody Systems Using Spatial Operators", Sixth Int. Conf. on Methods and Models in Automation and Robotics (Miedzyzdroje, Poland), Aug. 38-31 2000.
  75. A. Jain and G. Rodriguez, "Sensitivity Analysis for Multibody Systems Using Spatial Operators," in International Conference on Scientific Computation and Differential Equations (SciCADE'99), (Fraser Island, Queensland, Australia), Aug. 1999.
  76. J. Yen and A. Jain, "ROAMS: Rover Analysis Modeling and Simulation Software," in International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'99), (Noordwijk, Netherlands), June 1999.
  77. J. Biesiadecki, D. Henriquez and A. Jain, "A Reusable, Real-Time Spacecraft Dynamics Simulator," in 6th Digital Avionics Systems Conference, (Irvine, CA), Oct 1997.
  78. A. Jain and G. Rodriguez, "A Spatial Operator Algebra for Computational Multibody Dynamics," in International Conference on Scientific Computation and Differential Equations (SciCADE'97), (Grado, Italy), Sep. 1997.
  79. J. Biesiadecki, A. Jain, and M.L. James, "Advanced Simulation Environment for Autonomous Spacecraft," in International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'97), (Tokyo, Japan), Jul. 1997.
  80. J. Biesiadecki and A. Jain, "A Reconfigurable Testbed Environment for Spacecraft Autonomy," in Simulators for European Space Programmes, 4th Workshop, (Noordwijk, The Netherlands), ESTEC, Oct. 1996.
  81. G. Rodriguez, "Spatially Random Models, Estimation Theory, and Robot Dynamics," Proceeding of Workshop on Telerobotics, JPL Publication 87-13, Pasadena, CA, 1987.
  82. G. Rodriguez, "Recursive multirigid body topological tree dynamics via Kalman filtering and Bryson-Frazier smoothing," presented at the 6th VPI/SU Symp. Control of Large Structures, Balcksburg, VA, June 1987.
  83. G. Rodriguez, "Kalman Filtering, Smoothing and Recursive Robot Arm Forward and Inverse Dynamics," JPL Publication 86-48, 1986.

External Papers
  1. Heather Koehler, Matt Hawkins, Jason Neuhaus "Expansion of Check-Cases for 6DOF Simulation, Volume I", NASA Engineering and Safety Center Technical Assessment Report, September 19, 2024.
  2. Alex Austin, Adam Nelessen, Bill Strauss, Joshua Ravich, Mark Jesick, Ethiraj Venkatapathy, Robin Beck, Paul Wercinski, Michael Aftosmis, Michael Wilder, Gary Allen, Robert Braun, Michael Werner, Evan Roelke "SmallSat Aerocapture to Enable a New Paradigm of Planetary Missions", IEEE Aerospace Conference, Big Sky, Montana, 2019.
  3. Giacomo Bonaccorsi "Guidance & Control of a Parafoil-Based Landing on Titan", Master of Science Thesis, Polytecnico Milano, 2019.
  4. Carlo Sinigaglia "Granular Imager: Modeling and Control", Master of Science Thesis, Polytecnico Milano, 2019.
  5. Marco B. Quadrelli, Henry Garrett, Julie Castillo, Adrian Stoica, Masahiro Ono, Caleb Christianson, Dario Lusso, Hanspeter Schaub "Active Electrostatic Flight For Airless Bodies", IEEE Aerospace Conference, 4-11 March, 2017, Big Sky, Montana.
  6. Marco B. Quadrelli, Adrian Stoica, Michel Ingham, Anubhav Thakur "Flexible Electronics-Based Transformers for Extreme Environments", AIAA SPACE 2015 Conference and Exposition, 31 Aug-2 Sep 2015, Pasadena, California, 2017.

Gallery

Images

ATHLETE Simulation

ATHLETE Simulation

Aerobot Simulation

Aerobot Simulation

Simulation for SOOPS

Simulation for SOOPS

DARTS Simulation Laboratory: ROAMS

DARTS Simulation Laboratory: ROAMS

DARTS Simulation Laboratory: DSENDS

DARTS Simulation Laboratory: DSENDS

DARTS Simulation Laboratory: Rendezvous

DARTS Simulation Laboratory: Rendezvous

Videos

EELS-DARTS Snake Robot Simulator

EELS-DARTS Snake Robot Simulator

HeliCAT-DARTS Rotorcraft Simulator

HeliCAT-DARTS Rotorcraft Simulator

DARTS Endurance High-Fidelity Simulation

DARTS Endurance High-Fidelity Simulation

DARTS - Ingenuity New Guidance

DARTS - Ingenuity New Guidance

ROAMS FED Alpha Over Full KRC Course

ROAMS FED Alpha Over Full KRC Course

DARTS - Robosimian Climbling a Ladder

DARTS - Robosimian Climbling a Ladder

DARTS - Dual-Arm Manipulating Articulated Chain

DARTS - Dual-Arm Manipulating Articulated Chain

DARTS - ATHLETE Simulation

DARTS - ATHLETE Simulation