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Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments.…
This study aims to develop a simulation framework for rotating detonation engines (RDEs) using multicomponentFluid solver in OpenFOAM v12 and to demonstrate reducing the computational costs by adaptive mesh refinement (AMR) and dynamic load…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
The proposed Next Linear Collider (NLC) contains linac systems operating at L,S,C, and X band. This paper describes a wideband modular low-level RF (LLRF) system applicable for all NLC pulsed RF systems. High speed digital IF techniques are…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
The use of polarized beams enhance the possibility of the precision measurements at the International Linear Collider (ILC). In order to preserve the degree of polarization during beam transport spin rotators are included in the current TDR…
Beam steering is the process involving the calibration of the angle and position at which a particle accelerator's electron beam is incident upon the x-ray target with respect to the rotation axis of the collimator. Beam Steering is an…
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…
The control of ultrafast molecular rotational motion has benefited from the development of innovative techniques in strong-field laser physics. Here, we theoretically demonstrate a novel type of coherent control by inducing rotation of an…
We investigate the physics of an optically-driven micromotor of biological origin. A single, live red blood cell, when placed in an optical trap folds into a rod-like shape. If the trapping laser beam is circularly polarized, the folded RBC…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
Bound states in the continuum (BICs) have enabled lasers with rich momentum-space textures. However, the output patterns of quasi-BIC lasers remain largely static and confined to a few geometries. Here, a reconfigurable momentum-space…
The interaction between free electrons and laser-induced near-fields provides a platform to study ultrafast processes and quantum phenomena while enabling precise manipulation of electron wavefunctions through linear and orbital momentum…
This paper introduces a manipulation framework for the elastic rod, including shape representation, sensorimotor-model estimation, and shape controller. Until now, the manipulation of the elastic rod has faced several challenges: 1) shape…
Machine learning-based classifiers are commonly evaluated by metrics like accuracy, but deeper analysis is required to understand their strengths and weaknesses. MLMC is a visual exploration tool that tackles the challenge of multi-label…
The precise and safe control of heavy material handling machines presents numerous challenges due to the hard-to-model hydraulically actuated joints and the need for collision-free trajectory planning with a free-swinging end-effector tool.…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…