Related papers: A Microgravity Simulation Experimental Platform Fo…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…
This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robot Collaboration. These aspects are Awareness, Intelligence…
We present the state-of-the-art theoretical modeling, molecular simulation, and coarse-graining strategies for the transport of gases and liquids in nanoporous materials (pore size 1-100 nm). Special emphasis is placed on the transport of…
Legged robots constructed from soft materials are commonly claimed to demonstrate safer, more robust environmental interactions than their rigid counterparts. However, this motivating feature of soft robots requires more rigorous…
The aim of our work is to analyze size distributions of particles and their agglomerates in imagery from astrophysical microgravity experiments. The data acquired in these experiments are given by sequences consisting of several hundred…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
This paper presents innovative designs for 3D-printed tumbling microrobots, specifically engineered for targeted in vivo drug delivery applications. The microrobot designs, created using stereolithography 3D printing technologies,…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Space-time methods promise more efficient time-domain simulations, in particular of electrical machines. However, most approaches require the motion to be known in advance so that it can be included in the space-time mesh. To overcome this…
The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet…
In the past few years, there has been a resurgence in studies towards space-based optical/infrared interferometry, particularly with the vision to use the technique to discover and characterise temperate Earth-like exoplanets around solar…
A high fidelity multi-physics Eulerian computational framework is presented for the simulation of supersonic parachute inflation during Mars landing. Unlike previous investigations in this area, the framework takes into account an initial…
The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the…
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60cm, but larger humanoid robots…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
We propose a machine learning approach for image regression from sparse experimental measurements. We show the application of the proposed method on film cooling studies in propulsion system development, aiming to reduce the need for…
This paper illustrates the MIR (Mobile Intelligent Robotics) Vehicle: a feasible option of transforming an electric ride-on-car into a modular Graphics Processing Unit (GPU) powered autonomous platform equipped with the capability that…
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…