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UID:pretalx-juliacon-2026-WKD3CN@pretalx.com
DTSTART;TZID=CET:20260812T144500
DTEND;TZID=CET:20260812T150000
DESCRIPTION:Matching the swimming efficiency and agility of fish has remain
 ed an elusive goal in underwater robotics — one that demands accurate si
 mulation of complex vortex interactions between a robot's body and the sur
 rounding fluid. These dynamics\, governed by coupled ordinary and partial 
 differential equations\, pose far greater computational challenges than th
 e multi-body dynamics of classical rigid robotic systems.\n\nWe present Aq
 uarium 2.0\, a Julia framework for simulating strongly coupled fluid-robot
  multiphysics as a unified optimization problem. The coupled manipulator a
 nd incompressible Navier-Stokes equations are derived together from a sing
 le Lagrangian using the principle of least action\, and we employ discrete
  variational mechanics to obtain a stable\, well-conditioned\, and physica
 lly accurate scheme for jointly simulating articulated bodies and their su
 rrounding fluid. Derivatives of the fully coupled dynamics are computed vi
 a the implicit function theorem\, making the simulator directly amenable t
 o gradient-based optimization within Julia's scientific computing ecosyste
 m.\n\nWe showcase various swimming demonstrations of a bioinspired swimmin
 g robot\, including forward undulation and a highly dynamic\, optimized C-
 start escape maneuver. Both gaits are validated on physical hardware\, dem
 onstrating successful sim-to-real transfer.
DTSTAMP:20260710T092545Z
LOCATION:Alte Mensa — Audi Max
SUMMARY:Aquarium 2.0: Realizing Robotic Swimming with Differentiable Fluid-
 Structure Interaction Simulation - JJ Lee
URL:https://pretalx.com/juliacon-2026/talk/WKD3CN/
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