Related papers: Assessment of Detached Eddy Simulation and Sliding…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
The family of multi-plane phase retrieval sensors, such as the curvature and nonlinear curvature wavefront sensors (WFS), contain tip/tilt information embedded in their signals. We have built a nonlinear curvature WFS to study different…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
This study employs an improved delayed detached eddy simulation (AMD-IDDES) method to investigate the flow characteristics of an iced swept wing. The AMD-IDDES approach incorporates an anisotropic minimum-dissipation (AMD) model into the…
We present a successful deployment of high-fidelity Large-Eddy Simulation (LES) technologies based on spectral/hp element methods to industrial flow problems, which are characterized by high Reynolds numbers and complex geometries. In…
Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tasks, simulators, and implementations hinder systematic…
Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D force-based models that can be incorporated into robust control…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
We present a design of a bird-inspired morphing wing aircraft, including bionic research, modeling, simulation and flight experiments. Inspired by birds and activated by a planar linkage, our proposed aircraft has three key states: gliding,…
Electroaerodynamic propulsion, where force is produced via the momentum-transferring collisions between accelerated ions and neutral air molecules, is a promising alternative mechanism for flight at the micro air vehicle scale due to its…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
Tailsitter aircraft attract considerable interest due to their capabilities of both agile hover and high speed forward flight. However, traditional tailsitters that use aerodynamic control surfaces face the challenge of limited control…
This study presents a systematic validation and comparative assessment of computational fluid dynamics (CFD) strategies for centrifugal blood pump simulations using the U.S. Food and Drug Administration benchmark model. A scale-resolving…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
The combination of the high-order accurate spectral difference discretization on unstructured grids with subgrid-scale modelling is investigated for large eddy simulation of a muffler at Re = 4.64 10^4 and low Mach number. The subgrid-scale…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to…
The Large Eddy Simulation (LES) approach - solving numerically the large scales of a turbulent system and accounting for the small-scale influence through a model - is applied to nonlinear gyrokinetic systems that are driven by a number of…