I studied mechanical engineering at the Department of Mechanical and Process Engineering at ETH Zurich and graduated in 2009 (BSc ETH ME) and 2011 (MSc ETH ME). Since 2012, I am a doctoral student at the Institute of Mechanical Systems at ETH Zurich under the mentorship of Prof. Ch. Glocker.
Future Projects: Contact me if you are interested in a Master thesis related to non-smooth dynamics or granular media.
Mechanics III (Autumn 2012), Lecturer: Christoph Glocker
chute flow simulation & experiment with 1 million spheres
Gehring, Ch. , Nützi, G., Diethelm, R., Siegwart, R., 2014. "An Evaluation of Moreau’s Time-Stepping Scheme for the Simulation of a Legged Robot" ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control Buffalo, New York, USA, August 17–20, 2014, PDF
Nützi, G., Schweizer, A. , Moeller, M. , Glocker, Ch., 2014. "Projective Jacobi and Gauss-Seidel on the GPU for Non-Smooth Multi-Body Systems" ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control Buffalo, New York, USA, August 17–20, 2014, PDF
Nützi, G., Feng, X. Siegwart, R. , Kock, S. , 2013. "Optimal Contact Force Prediction of Redundant Single and Dual-Arm Manipulators" Journal of the Chinese Society of Mechanical Engineers, Volume: 34, Issue: 3, Pages: 251-258, PDF
Gabriel Nützi; Weiss, S. , Scaramuzza, D., Siegwart, S., 2011. "Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM", Journal of Intelligent & Robotic Systems, January 2011, Volume: 61, Issue: 1-4, Pages: 287-299, PDF
Nützi, G., 2012. "Computing Non-Smooth Dynamics on the GPU". Master's thesis, ETH Zurich, PDF
Granular Rigid-Body Simulation Framework
The simulation framework with GUI/MPI/NONGUI support for simulating large-scale non-smooth multi-body systems. Includes a converter tool to "simulink"-style convert simulation results, e.g for rendering with a RIB-compliant renderer.