Related papers: Design optimization and robustness analysis of rig…
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Parts fabricated by additive manufacturing (AM) are often fabricated first as a near-net shape, a combination of intended nominal geometry and sacrificial support structures, which need to be removed in a subsequent post-processing stage…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
We study network design problems for nonlinear and nonconvex flow models without controllable elements under load scenario uncertainties, i.e., under uncertain injections and withdrawals. To this end, we apply the concept of adjustable…
Due to the brittle feature of carbon fiber reinforced plastic laminates, mechanical multi-joint within these composite components show uneven load distribution for each bolt, which weaken the strength advantage of composite laminates. In…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
In aerospace engineering, there is a growing demand for lightweight design through topology optimization. This paper presents a novel design optimization method for stiffened air rudders, commonly used for aircraft attitude control, based…
The conceptual design of eVTOL aircraft is a high-dimensional optimization problem that involves large numbers of continuous design parameters. Therefore, eVTOL design method would benefit from numerical optimization algorithms capable of…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
This paper presents a multicomponent topology optimization method for designing structures assembled from additively-manufactured components, considering anisotropic material behavior for each component due to its build orientation,…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
This paper presents a topology optimization framework for structural problems subjected to transient loading. The mechanical model assumes a linear elastic isotropic material, infinitesimal strains, and a dynamic response. The optimization…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
Since wearable linkage mechanisms could control the moment transmission from actuator(s) to wearers, they can help ensure that even low-cost wearable systems provide advanced functionality tailored to users' needs. For example, if a hip…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
Lattice-type structures can provide a combination of stiffness with light weight that is desirable in a variety of applications. Design optimization of these structures must rely on approximations of the governing physics to render solution…