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A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
This study offers an interdisciplinary approach to movement technique analysis, designed to deal with intensive interaction between an environment and a trainee. The free-fall stage of skydiving is investigated, when aerial maneuvers are…
The current need of improving performance in terms of control and aerodynamic efficiency of ammunitions leads to the necessity of performing accurate flying geometry characterizations. Therefore, new investigation methods are developed in…
This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
Elastically-supported section model tests are the most basic experimental technique in wind engineering, where helical springs are commonly employed to simulate the two-degree-of-freedom low-order modal motions of flexible structures.…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
In the context of autonomous airships, several works in control and guidance use wind velocity to design a control law. However, in general, this information is not directly measured in robotic airships. This paper presents three…
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…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
The maritime industry aims towards a sustainable future, which requires significant improvements in operational efficiency. Current approaches focus on minimising fuel consumption and emissions through greater autonomy. Efficient and safe…
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
This study presents a comprehensive evaluation of dynamic aerodynamic derivatives during aircraft transition phases using advanced CFD simulations and forced oscillation testing. Two case studies are examined: a three dimensional fighter…
We present the CyberDiver, an untethered robotic impactor capable of actively modulating the fluid physics during high-speed water entry. First, we utilize the CyberDiver to extend our understanding of the water entry of passively flexible…
Inspired by the wake-surfing nature of animals, this study aims to understand the aerodynamic force variation on a wing surfing in an unsteady 2-D wake. Wind tunnel experiments were conducted using Particle Image Velocimetry (PIV) and force…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
Dynamical models estimate and predict the temporal evolution of physical systems. State Space Models (SSMs) in particular represent the system dynamics with many desirable properties, such as being able to model uncertainty in both the…