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This paper describes the process and challenges behind the design and development of a micro-gravity enabling aerial robot. The vehicle, designed to provide at minimum 4 seconds of micro-gravity at an accuracy of .001 g's, is designed with…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
We present the technology and control methods developed for the pointing system of the SPIDER experiment. SPIDER is a balloon-borne polarimeter designed to detect the imprint of primordial gravitational waves in the polarization of the…
Optical centrifuge has emerged as a promising tool for achieving centrifuge motion of particles in many fields. Herein, we report a novel optical centrifuge, as driven by optical lateral force arising from transverse phase gradient of light…
Photonic technologies offer numerous advantages for astronomical instruments such as spectrographs and interferometers owing to their small footprints and diverse range of functionalities. Operating at the diffraction-limit, it is…
Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an integrated structural system that can effectively balance…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
CubeSats have the potential to expand astrophysical discovery space, complementing ground-based electromagnetic and gravitational-wave observatories. The CubeSat design specifications help streamline delivery of instrument payloads to…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Cardiac and lung ultrasound are technically demanding because operators must identify patient-specific intercostal acoustic windows and then navigate between standard views by adjusting probe position, rotation, and force across different…
The Balloon-borne Large Aperture Submillimeter Telescope for Polarimetry (BLASTPol) is a suborbital mapping experiment designed to study the role magnetic fields play in star formation. BLASTPol has had two science flights from McMurdo…
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Active optics is defined as the control of the shape and the alignment of the components of an optical system at low temporal frequencies. For modern large telescopes with flexible monolithic or segmented primary mirrors and also flexible…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
The use of parallel manipulators in aerospace engineering has gained significant attention due to their ability to provide improved stability and precision. This paper presents the design, control, and analysis of 'STEWIE', which is a…
The study of collective animal behaviour must progress through a comparison between the theoretical predictions of numerical models and data coming from empirical observations. To this aim it is important to develop methods of…
In this paper, we have designed a low-cost scanning tunneling microscope (STM) priced at 300 USD or 2000 CNY. This microscope is suitable for educational purposes and low-demand research imaging at the nanometer level. This microscope's…
This approach permits much finer adjustments of the beam direction and position when compared to other beam steering techniques of the same mechanical precision. This results in a much increased precision, accuracy and mechanical stability.…