Publications

2024
Wiberg V, Wallin E, Fälldin A, Semberg T, Rossander M, Wadbro E, and Servin M. Sim-to-real transfer of active suspension control using deep reinforcement learning. Robotics and Autonomous Systems, 104731, doi.org/10.1016/j.robot.2024.104731 (2024). [pdf] [videos]

Aoshima K, Fälldin A, Wadbro E, and Servin M. World modeling for autonomous wheel loaders. Automation. 5(3):259-281 (2024). doi.org/10.3390/automation5030016 [pdf] [videos]

Johansson M, Lundbäck M, and Lindroos O. Trade-offs between stump-to-roadside lead time and harvesting cost, when using different number of operators in a harvester-forwarder system. European Journal of Forest Research (2024). https://doi.org/10.1007/s10342-024-01713-w

Wallin E, Wiberg V, and Servin M. Multi-log grasping using reinforcement learning and virtual visual servoing. Robotics 13(1):3, (2024). doi:10.3390/robotics13010003 [pdf] [videos]

Aoshima K and Servin M. Examining the simulation-to-reality gap of a wheel loader digging in deformable terrain. Multibody System Dynamics (2024). doi.org/ 10.1007/s11044-024-10005-5 [pdf] [videos]

Lundbäck M, Lindroos O, and Servin M. Rubber-Tracked Forwarders—Productivity and Cost Efficiency Potentials. Forests 2024, 15, 284. https://doi.org/10.3390/f15020284 [pdf]

Fälldin A, Wallin E, Löfstedt T, and Servin M. Synthesizing multi-log grasp poses. arxiv:2403.11623 (2024). [pdf] [videos]

Pogilus M and Servin M. Adaptive particle refinement in terramechanical DEM simulation. ISTVS 2024, 21st International and 12th Asia-Pacific Regional Conference of the ISTVS in Yokohama, Oct. 28-31 (2024). [abstract]

Thoeni K, Hartmann P, Berglund T, and Servin M. Edge protection along haul roads in mines and quarries: A rigorous study based on full-scale testing and numerical modelling. Submitted manuscript (2024).

Servin M, Fälldin A, Häggström C, Höök C, Jönsson P, Lindroos O, Lundbäck M, Wallin E. Open data, models, and software for machine automation. IUFRO 2024 - XXVI IUFRO World Congress, Stockholm (2024).

Fälldin A, Lundbäck M, Wallin E, Servin M. Learning forwarder trafficability from real and synthetic data. IUFRO 2024 - XXVI IUFRO World Congress, Stockholm (2024).

Wallin E, Lundbäck M, Fälldin A, Servin M. Towards autonomous forwarding using deep learning and simulation. IUFRO 2024 - XXVI IUFRO World Congress, Stockholm (2024).

2023

V. Wiberg. Terrain Machine Learning. PhD thesis. Department of Physics, Umeå University, Sweden, SE-901 87, Umeå, Sweden, May. 2023. diva-207982, [pdf]

Servin M. Physics Informed Heavy Construction Equipment. ICRA 2023 Workshop Future of Construction: Perception, Mapping, Navigation, Control in Unstructured Environments, London (2023).

Lundbäck M, Lindroos O, and Servin M. Rubber-tracked forwarders – productivity and cost efficiency potentials. The 55th International Symposium on Forest Mechanization (FORMEC) and the 7th Forest Engineering Conference (FEC), Florence, Italy, 20223.

M. Pogulis, and M. Servin. Particle and domain size scaling in terramechanical simulations . 9th International Conference on Discrete Element Methods - DEM9, Sep 17-21, Erlangen, Germany (2023). [pdf]

2022

V. Wiberg, E. Wallin, T. Nordfjell, and M. Servin. Control of rough terrain vehicles using deep reinforcement learning. IEEE Robotics and Automation Letters, 7(1):390-397 ( 2022 ). doi:10.1109/LRA.2021.3126904, arxiv:2107.01867 [videos]

E. Wallin, V. Wiberg, F. Vesterlund, J. Holmgren, H. Persson, and M. Servin. Learning multiobjective rough terrain traversability. Journal of Terramechanics, 102:17-26 (2022). doi: 10.1016/j.jterra.2022.04.002 [pdf] [videos]

K. Aoshima, D. Lindmark, and M. Servin. Examining the simulation-to-reality-gap of a wheel loader interacting with deformable terrain. 11th Asia-Pacific Regional Conference of the ISTVS. September 26-28, 2022, Harbin, China (2022). [abstract] [videos]

V. Wiberg, E. Wallin, E. Wadbro, M. Rossander, M. Servin. Simulation-to-reality transfer to control a forwarder with active suspensions through deep reinforcement learning. International Conference of Forest Engineering COFE-FORMEC-IUFRO, Corvallis, Oregon, USA (2022). [abstract]

M. Lundback, T. Nordfjell, V. Wiberg, E. Wallin, and M. Servin. Traversability analysis using high-resolution laser-scans, simulation, and deep learning. International Conference of Forest Engineering COFE-FORMEC-IUFRO, Corvallis, Oregon, USA (2022). [abstract]

2021
M. Servin., T. Berglund., and S. Nystedt. A multiscale model of terrain dynamics for real-time earthmoving simulation. Advanced Modeling and Simulation in Engineering Sciences 8, 11 (2021). doi.org/10.1186/s40323-021-00196-3, arxiv:2011.00459 [videos]

J. Andersson, K. Bodin, D. Lindmark, M. Servin and E. Wallin. Reinforcement Learning Control of a Forestry Crane Manipulator. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2121-2126, (2021). doi: 10.1109/IROS51168.2021.9636219. [pdf] arXiv:2103.02315 [videos]

S. Backman, D. Lindmark, K. Bodin, M. Servin, J. Mörk, and H. Löfgren. Continuous control of an underground loader using deep reinforcement learning. Machines 9(10): 216 (2021) . doi.org/10.3390/machines9100216 [pdf] [videos] arxiv:2103.01283

E. Wallin and M. Servin. Data-driven model order reduction for granular media. Computational Particle Mechanics 9:15-28, (2021). doi.org/10.1007/s40571-020-00387-6, arxiv:2004.03349 [pdf] [videos]

V. Wiberg, M. Servin, and T. Nordfjell. Discrete element modelling of large soil deformations under heavy vehicles. Journal of Terramechanics 93:11–21 (2021). doi.org/10.1016/j.jterra.2020.10.002, [pdf] [videos]

M. Servin, F. Vesterlund, and E. Wallin. Digital twins with distributed particle simulation for mine-to-mill material tracking. Minerals 11(5),524 (2021). doi.org/10.3390/min11050524, arXiv:2104.09111, [videos]

K. Aoshima, M. Servin, E. Wadbro. Simulation-Based Optimization of High-Performance Wheel Loading. Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC), Dubai, UAE (2021). doi.org/10.22260/ISARC2021/0093 [pdf] [supplementary]

J. Andersson and M. Servin. Predicting gripability heatmaps using conditional GANs. Technical Report. Umeå University (2021). [pdf]

M. Servin, H. Götz, T. Berglund, and E. Wallin. Towards a graph neural network solver for granular dynamics. VIIth International Conference on Particle-Based Methods - PARTICLES 2021 (2021) [abstract]

2020

M. Servin., T. Berlund., and S. Nystedt. A multiscale model of terrain dynamics for real-time earthmoving simulation. Advanced Modeling and Simulation in Engineering Sciences. DOI: 10.1186/s40323-021-00196-3 (2020). arxiv:2011.00459 [pdf] [videos]

M. Servin, F. Vesterlund, and E. Wallin. Digital twins with embedded particle simulation. 14th World Congress in Computational Mechanics (WCCM) ECCOMAS Congress 2020, 11 – 15 January 2021, Paris, France. [pdf]

2019
M. Servin. and E. Wallin. Reduced order modeling for realtime simulation with granular materials. VIth International Conference on Particle-Based Methods - Fundamentals and Applications - PARTICLES 2019 (2019).

M. Hallén., M Åstrand., J. Sikstrom., and M. Servin. Reinforcement Learning for Grinding Circuit Control in Mineral Processing. 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Zaragoza, Spain, 2019, pp. 488-495. doi.org/10.1109/ETFA.2019.8869212 [pdf]

T. Berglund and M. Servin. agxTerrain. Technical Report, Algoryx Simulation (2019).

V. Wiberg., M. Servin. and T. Nordfjell. Analysis of rut formation using particle-based terrain simulation. 52nd International Symposium on Forestry Mechanization (FORMEC), Sopron, Hungary (2019). [pdf]

W. u. Rehman Butt, M. Servin, K. Samara, E. A. Al Rahman, S. Kouki and M. Bouchahma. Static and Moving Object Detection and Segmentation in Videos. 2019 Sixth HCT Information Technology Trends (ITT), Ras Al Khaimah, United Arab Emirates, 2019, pp. 197-201, doi:10.1109/ITT48889.2019.9075127. arxiv:2012.10708 [pdf]

V. Wiberg and M. Servin. Particle-based terrain - A validation study. Technical report, Umeå University (2019).

2018
M. Servin and M. Brandl. Physics-based virtual environments for autonomous earthmoving and mining machinery. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, ISSN 2198-7432, Kaiserslautern (2018). doi:10.1007/978-3-658-21300-8 [pdf] [videos]

D. Lindmark and M. Servin. Computational exploration of robotic rock loading. Robotics and Autonomous Systems, Vol. 106, pp. 117-129 (2018). doi.org/10.1016/j.robot.2018.04.010 [pdf] [videos]

C. Lacoursière and T. Härdin. FMIGo! A runtime environment for FMI based simulation. Technical Report UMINF 18.03, Umeå University (2018). [pdf]

T. Berglund, K-O. Mickelsson and M. Servin. Virtual commissioning of a mobile ore chute. The 9nth International Conference on Conveying and Handling of Particulate Solids (CHoPS), London, UK (2018). [pdf] [videos]

K. Thoeni, M. Servin, S. Sloan, and A. Giacomini. Designing waste rock barriers by advanced numerical modelling. Journal of Rock Mechanics and Geotechnical Engineering. doi.org/10.1016/j.jrmge.2018.11.005 (2018). [videos 1] [videos 2] [popular article]

W-R. Butt and M. Servin. The importance of silhouette optimization in 3D shape reconstruction system from multiple object scenes. arxiv:2012.10660 (2018).

2017
C. Lacoursière and T. Härdin. FMI Go! A simulation runtime environment with a client server architecture over multiple protocols. Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017. [link] [pdf]

K. Thoeni, M. Servin, and A. Giacomini. Using non-smooth multi-domain dynamics to improve the safety on haul roads in surface mining. The V International Conference on Particle-Based Methods: PARTICLES 2017. P. Wriggers, M. Bischoff, E. Oñate, D.R.J. Owen, & T. Zohdi (Eds). [pdf]

M. Servin, T. Berglund T., and K-O. Mickelsson. Impact force analysis with the nonsmooth discrete element method. The V International Conference on Particle-Based Methods (PARTICLES 2017). [abstract]

M. Servin, T. Berglund, and J. Boström. Computational modeling of flow and size segregation in a stockpile with multiple outlets. The V International Conference on Particle-Based Methods (PARTICLES 2017). [abstract]

W-R. Butt, M. Servin, and M. Pause. Object Detection in Digital Images Under Non Standardized Conditions using Illumination and Shadow Filtering. ICIPCVPR 2017: 19th International Conference on Image Processing, Computer Vision and Pattern Recognition, [pdf]

J. Nordberg and M. Servin. Particle based solid for nonsmooth multidomain dynamics. Computational Particle Mechanics, Vol 5(2), pp. 125-139 (2017). doi:10.1007/s40571-017-0158-3 [pdf] [videos]

2016
M. Servin and D. Wang. Adaptive model reduction for nonsmooth discrete element simulation. Computational Particle Mechanics, 3(1):107–121 (2016). doi:10.1007/s40571-015-0100-5 [pdf] [videos]

D. Wang, M. Servin, and T. Berglund. Warm starting the projected Gauss-Seidel algorithm for granular matter simulation. Computational Particle Mechanics, 3(1):43-52 (2016). doi:10.1007/s40571-015-0088-x, [pdf] [videos]

C. Lacoursière, N. Hjelte, M. Nilsson. A data-oriented, task based design for high performance, parallel simulation of multibody system dynamics simulation. The Fourth Joint International Conference on Multibody System Dynamics (IMSD 2016), Montréal, Canada, May 29–June 2, 2016.

M. Servin, J. Nordberg, and C. Lacoursière. Realtime strongly coupled vehicle-terrain dynamics. The Fourth Joint International Conference on Multibody System Dynamics (IMSD 2016), Montréal, Canada, May 29–June 2 (2016).

2015
D. Wang. Accelerated granular matter simulation. PhD thesis. Department of Physics, Umeå University, Sweden, SE-901 87, Umeå, Sweden, Nov. 2015. [pdf] [video illustration]

C. Lacoursière , M. Linde, Y. Lu, and J. Trinkle. A framework for data exchange and benchmarking of frictional contact solvers in multibody dynamics. ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain (2015) [pdf].

M. Servin, T. Berglund, K-O. Mickelsson, S. Rönnbäck, and D. Wang. Modeling and simulation of a granulation system using a nonsmooth discrete element method. ECCOMAS IV International Conference on Particle-based Methods, Barcelona, Spain (2015) [abstract] [slides]

D. Wang, M. Servin, T. Berglund, K-O. Mickelsson, and S. Rönnbäck. Parametrization and validation of a nonsmooth discrete element method for simulating flows of iron ore green pellets. Powder Technology, Vol. 283, 475-487 (2015). doi: 10.1016/j.powtec.2015.05.040 (2015) [pdf] [youtube] [video]

J. Zakrisson, K. Wiklund, M. Servin, O. Axner, C. Lacoursière, and M. Andersson. Rigid multibody simulation of a helix-like structure: the dynamics of bacterial adhesion pili. European Biophysics Journal, Vol 44 (5), pp 291-300 (2015). doi: 10.1007/s00249-015-1021-1, [pdf]

H. Lideskog, J. Wallsten, M. Karlberg, D. Athanassiadis, M. Näsström, M. Hedblom, M. Servin, T. Nordfjell. Strategi och utmaningar vid utveckling av specialiserad drivningsteknik för skogsenergiskörd–SWOT analys och handlingsplan. Project report. Department of Forest Biomaterials and Technology, Swedish University of Agricultural Sciences (2015). [pdf]

2014
C. Lacoursière and T. Sjöström. A non-smooth event-driven, accurate, adaptive time stepper for simulating switching electronic circuits. Technical Report UMINF 14.16, Umeå University, 2014. [pdf]

C. Lacoursière and T. Sjöström. Variational Time Stepping Method for Analytical System Dynamics Models. IMSD2014-ACMD2014: The 3rd Joint International Conference on Multibody System Dynamics, The 7th Asian Conference on Multibody Dynamics, BEXCO, Busan, Korea, June 30 - July 3 (2014). [abstract]

C. Lacoursière, F. Nordfeldth, and M. Linde. A partitioning method for parallelization of large systems in realtime. IMSD2014-ACMD2014: The 3rd Joint International Conference on Multibody System Dynamics, The 7th Asian Conference on Multibody Dynamics, BEXCO, Busan, Korea, June 30 - July 3 (2014). [abstract]

J. Nordberg., M. Servin, and U. Bergsten. Modeling and validation of an elastoplastic terrain model for simulation of forestry machines. 11th World Congress on Computational Mechanics (WCCM XI), July 20 - 25, 2014, Barcelona, Spain (2014). [abstract]

Y. Lu , J. William, C. Lacoursière, and J.C. Trinkle. A framework for problem standardization and algorithm comparison in multibody system. ASME International Design and Engineering Technical Conferences and Computers and Information in Engineering (IDETC/CIE), Buffalo, NY, (2014). [pdf]

M. Servin, D. Wang, C. Lacoursière, and K. Bodin. Examining the smooth and nonsmooth discrete element approaches to granular matter. International Journal for Numerical Methods in Engineering, vol 97, no. 12, 878–902 (2014). [pdf] [preprint] [web]

D. Wang, M. Servin, and K-O. Mickelsson. Outlet design optimization based on large-scale nonsmooth DEM simulation. Powder Technology, vol 253, pp. 438 - 443 (2014). [pdf] [preprint] [video] [web]

2013
C. Lacoursière , M. Linde, and N. Melin. A direct-iterative splitting method for real-time simulation of rigid multibody systems with frictional contacts. ECCOMAS Thematic Conference on Multibody Dynamics, Zagreb, Croatia, July 1–4 (2013).

D. Wang and M. Servin. Validation of a nonsmooth discrete element method by confined compression and rod penetration. Particles 2013 – ECCOMAS International Conference on Particle-based Methods, Stuttgart (2013). [abstract] [slides]

D. Wang and M. Servin. Parametrization and validation of a nonsmooth discrete element method for simulating flows of mineral ore balls. Particles 2013 – ECCOMAS International Conference on Particle-based Methods, Stuttgart (2013). [abstract] [slides]

Y. Lu, J. Williams, C. Lacoursière , and J. Trinkle. Standard Interface for data analysis of solvers in multibody dynamics. The 4th Canadian Conference on Nonlinear Solid Mechanics (CanCNSM 2013), McGill University, July 23-26, 2013, Montreal, Canada, Paper ID 814, (2013). [pdf]

E. Billing and M. Servin. Composer - A prototype multilingual model composition tool. 7th MODPROD Workshop on Model-Based Product Development, Linköping University, www.modprod.liu.se – February 5-6 (2013). [abstract] [slides]

T. Back Ersson, J. Jundén, U. Bergsten, and M. Servin. Simulated productivity of one- and two-armed tree planting machines. Silva Fennica, Vol 47, no. 2, article id 958 (2013). doi.org/10.14214/sf.958

2012
C. Lacoursière. Real-time simulation of tracked vehicles on rough terrain. The Second Joint International Conference on Multibody System Dynamics - IMSD 2012, Stuttgart, Germany in May 29 - June 1 (2012). [pdf]

J. Edlund, E. Keramati, and M. Servin. A long-tracked bogie design for forestry machines on soft and rough terrain. Journal of Terramchanics, Vol 50, Issue 2, pp. 73-83 (2013). [pdf] [preprint] [video] [supplementary material]

B.T. Ersson, L. Jundén, U. Bergsten, and M. Servin. Simulations of Mechanized Planting – Modelling Terrain and Crane-Mounted Planting Devices. Mežzinātne 25(58)2012 - special edition: 15–19, The Nordic Baltic conference on forest operations OSCAR 2012 (2012). [abstract] [slides]

A. Backman, K. Bodin, C. Lacoursière, and M. Servin. Democratizing CAE with Interactive Multiphysics Simulation and Simulators. NAFEMS NORDIC Conference 2012 - Engineering Simulation: Best Practices, New Developments, Future Trends, 22 - 23 May 2012, Gothenburg, Sweden (2012). [pdf]

L. Jundén, D. Bergström, M. Servin, and U. Bergsten. Simulation of boom-corridor thinning using a double-crane system and different levels of automation. International Journal of Forest Engineering, Issue 1 (2013). DOI:10.1080/14942119.2013.798131 [pdf]

2011
M. Servin, C. Lacoursière, D. Wang, and K. Bodin. Examining the smooth and nonsmooth discrete element approaches to granular matter. International Conference on Particle-based Methods (Particles 2011), Barcelona, Spain (2011). [abstract]

D. Wang, M. Servin, and K-O. Mickelsson. Outlet design optimization based on large-scale nonsmooth DEM simulation. International Conference on Particle-based Methods (Particles 2011 ), Barcelona, Spain (2011). [abstract]

K. Bodin, C. Lacoursière , M. Nilsson, and M. Servin. Constraint based particle fluids on GPGPU. International Conference on Particle-based Methods (Particles 2011), Barcelona, Spain (2011). [abstract]

C. Lacoursière and M. Servin. Regularized multibody dynamics with dry frictional contacts. Euromech Colloquium: Nonsmooth contact and impact laws in mechanics, July 6th - 8th 2011, Grenoble, France, (2011) [pdf]

K. Bodin, C. Lacoursière, and M. Servin. Constraint fluids. IEEE Transactions on Visualization and Computer Graphics, Vol pp, Issue 99. 2011. doi:10.1109/TVCG.2011.29 [pdf] [video]

M. Servin, C. Lacoursière, F. Nordfelth, and K. Bodin. Hybrid, multi-resolution wires with massless frictional contacts. IEEE Transactions on Visualization and Computer Graphics, Volume: 17 Issue:7, On page(s): 970 - 982, July (2011). doi: 10.1109/TVCG.2010.122 [pdf] [video]

2010
C. Lacoursiére. Quaternion-based constraints. Game Physics Pearls, chapter 8, pages 195–214. Editors: G. van den bergen and D. Gregorious. Taylor and Francis Group (2010).

C. Lacoursière, M. Linde M., and O. Sabelström. Direct Sparse Factorization of Blocked Saddle Point Matrices. Para 2010: State of the Art in Scientific and Parallel Computing, June 6-9, Reykjavík , Iceland (2010). [pdf]

C. Lacoursière, M. Servin, and A. Backman. Fast and stable simulation of granular matter and machines. DEM5 - The Fifth International Conference on Discrete Element Methods, 25-26, London, United Kingdom,(2010). [pdf]

A. Hansson and M. Servin. Semi-autonomous shared control of large-scale manipulator arms. Control Engineering Practice, Elsevier, Vol 18, Issue 9, pp. 1069-1076 (2010). doi.org/10.1016/j.conengprac.2010.05.015 [pdf]

2009
K. Bodin, C. Lacoursière, and M. Servin. Method for simulating dynamic incompressible fluids using particle based spatial discretization and mass density constraints. Registered U.S. and European patent, US patent ID 61/183566 (2009). [link]

2008
M. Servin, K. Wiklund, E. Fällman, C. Lacoursière, C. Svebilius, and M. Andersson. Rigid multibody simulation of a helixlike structure - The dynamics of P pili. Internal report, Umeå, Sweden (2008).

M. Servin, C. Lacoursière, and F. Nordfelth. Adaptive resolution in physics based virtual environments. SIGRAD 2008, Stockholm, Sweden, (2008). [pdf]

M. Servin, A. Backman, K. Bodin, U. Bergsten, D. Bergström, B. Löfgren, T. Nordfjell, and I. Wästerlund. Visual Simulation of Machine Concepts for Forest Biomass Harvesting. 10th Virtual Reality International Conference (VRIC '08 Laval Virtual), Laval, France (2008). [pdf]

M. Servin and C. Lacoursière. Rigid body cable for virtual environments. IEEE Transactions on Visualization and Computer Graphics, 14:783-796 (2008). [pdf]

A. Hansson and M. Servin. Semi-autonomous Shared Control for Redundant Forwarder Cranes. Project report, Umeå University (2008). [pdf] [web]

2007
C. Lacoursière. Regularized, Stabilized, Variational Methods for Multibodies. The 48th Scandinavian Conference on Simulation and Modeling (SIMS 2007), pages 40–48, ISBN = 91-85643-17-3, Linköping University Electronic Press, (2007). [pdf]

C. Lacoursière. Ghosts and machines: Regularized variational methods for interactive simulations of multibodies with dry frictional contacts. Ph.D. dissertation, Department of Computing Science, Umeå University, Sweden, SE-901 87, Umeå, Sweden, Jun. 2007. [pdf]

C. Lacoursière. A Parallel Block Iterative Method for Interactive Contacting Rigid Multibody Simulations on Multicore PCs. Applied Parallel Computing: State of the Art in Scientific Computing (PARA 2006), Lecture Notes in Computer Science (LNCS) 4699, pages 956–965. Springer, editor Kågström et al. (2007). [pdf]

2006
M. Servin and C. Lacoursière. Massless cable for real-time simulation. Computer Graphics Forum, vol 26, no. 2, 172-184 (2006). doi:10.1111/j.1467-8659.2007.01014.x [pdf]

M. Servin, C. Lacoursière, and N. Melin. Interactive simulation of elastic deformable materials. SIGRAD 2006 Conference Proceedings, Skövde, Sweden, (2006), ISBN 91-85643-17-3 [pdf]

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