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The roll-out of a flexible ramping product provides Independent System Operators (ISOs) with the ability to address ramping capacity shortages. ISOs procure flexible ramping capability by committing more generating units or reserving a…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Low-thrust electric propulsion missions are often designed under simplifying assumptions such as constant thrust or fixed specific impulse, neglecting the strong coupling between trajectory dynamics, spacecraft power availability, and…
In dynamic urban logistics, the stochastic emergence of time-sensitive tasks poses a significant optimality challenge for heterogeneous AAVs logistics task allocation. To address this problem, a reinforcement learning enhanced overlapping…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
Humans subconsciously choose robust ways of selecting and using tools, for example, choosing a ladle over a flat spatula to serve meatballs. However, robustness under external disturbances remains underexplored in robotic tool-use planning.…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…
In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…
We present a novel three-dimensional (3D) variational aeroelastic framework for flapping wing with a flexible multibody system subjected to an external incompressible turbulent flow. The proposed aeroelastic framework consists of a…
A novel interface reconstruction strategy for volume of fluid (VOF) methods is introduced that represents the liquid-gas interface as two planes that co-exist within a single computational cell. In comparison to the piecewise linear…
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Aircraft design optimization traditionally relies on computationally expensive simulation techniques such as Finite Element Method (FEM) and Finite Volume Method (FVM), which, while accurate, can significantly slow down the design iteration…
Topologically interlocked material systems are two-dimensional assemblies of unit elements from which no element can be removed from the assembly without disassembly of the entire system. Consequently, such tile assemblies are able to carry…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
In this research, multi-physics topology optimization is employed to achieve the detailed design of a lightweight porous linear actuation mechanism that harnesses energy through laser activation. A multiscale topology optimization…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…