Related papers: Passivity-Based Robust Shape Control of a Cable-Dr…
A solar sail is one of the most promising space exploration system because of its theoretically infinite specific impulse using solar radiation pressure (SRP). Recently, some researchers proposed "transformable spacecrafts" that can…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However,…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
High variability of solar PV and sudden changes in load (e.g., electric vehicles and storage) can lead to large voltage fluctuations in the distribution system. In recent years, a number of controllers have been designed to optimize voltage…
We propose a novel design for a lightweight, high-performance space-based solar power array combined with power beaming capability for operation in geosynchronous orbit and transmission of power to Earth. We use a modular configuration of…
In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…
The electric solar wind sail (E-sail) is a novel, efficient propellantless propulsion concept which utilises the natural solar wind for spacecraft propulsion with the help of long centrifugally stretched charged tethers. The E-sail requires…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
There is a desire to observe the sun's poles to further deepen our understanding of solar activity. However, because of the large speeds needed to perform out-of-ecliptic plane maneuvers, chemical and electric rocket propulsion mechanisms…
This paper proposes an adaptive gravity compensation (AGC) control strategy for a cable-driven upper-limb exosuit intended to assist the wearer with lifting tasks. Unlike most model-based control techniques used for this human-robot…
Recent major oil-spills were tracked using observations with sufficient altitudes over the sea surface, to detect oil slick locations. For oil-spill responders, we propose a captive Unmanned Aerial System, UAS acting like a periscope over a…
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional…
Due to the rapid developments in synchronized measurement technologies, there exist enormous opportunities to attenuate disturbances in future power grids with high penetration of renewables and complex load demands. To that end, this paper…
Modern Space Launch Vehicles (SLVs), being slender in shape and due to the use of lightweight materials, are generally flexible in nature. This structural flexibility, when coupled with sensor and actuator dynamics, can adversely affect the…
To reduce CO2 emissions and tackle increasing fuel costs, the aviation industry is swiftly moving towards the electrification of aircraft. From the viewpoint of systems and control, a key challenge brought by this transition corresponds to…
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…
Bistable tape spring booms are used on spacecraft for their ability to self-deploy using stored strain energy. However, their uncontrolled deployment can induce mechanical shocks that are variable as a function of material properties and…