Related papers: CyberDiver: an untethered robotic impactor for wat…
We propose the DIVER (Defensive Implant for Visibility into Embedded Run-times) framework for real-time deep visibility into embedded control devices in cyber-physical systems (CPSs). DIVER enables run-time detection of anomalies and…
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…
Manipulating particles, such as cells and tissues, in a flowing liquid environment is crucial for life science research. Traditional contactless tweezers, although widely used for single-cell manipulation, face several challenges. These…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…
An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model…
Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems,…
This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform…
We propose a new defense mechanism against undetected infiltration into controllers in cyber-physical systems. To this end, we cautiously design the outputs of the sensors that monitor the state of the system. Different from the defense…
This research develops a novel sensor for aquatic robots inspired by the whiskers of harbor seals. This sensor can detect the movement of water, offering valuable data on speed, currents, barriers, and water disturbance. It employs a…
The hydrodynamic interactions between a sedimenting microswimmer and a solid wall have ubiquitous biological and technological applications. A plethora of gravity-induced swimming dynamics near a planar no-slip wall provides a platform for…
This paper presents a novel Cyber-Hardware-in-the-Loop (Cyber-HIL) platform for assessing control operation in ship cyber-physical systems. The proposed platform employs cutting-edge technologies, including Docker containers, real-time…
The coming decades may see the large scale deployment of networked cyber-physical systems to address global needs in areas such as energy, water, healthcare, and transportation. However, as recent events have shown, such systems are…
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with…
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier-Stokes and finite elasticity is computationally expensive.…
Few simulations exist for microswimmers near deformable interfaces. Here, we present numerical simulations of the hydrodynamic flows associated with a single microswimmer embedded in a binary fluid mixture. The two fluids demix, separated…
Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle…
Backdoor attack aims to deceive a victim model when facing backdoor instances while maintaining its performance on benign data. Current methods use manual patterns or special perturbations as triggers, while they often overlook the…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and full differentiability with respect to fluid and robot states…