Related papers: Deformable Cargo Transport in Microgravity with As…
This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly…
Time-dependent fields are a valuable tool to control fundamental quantum phenomena in highly coherent low dimensional electron systems. Carbon nanotubes and graphene are a promising ground for these studies. Here we offer a brief overview…
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs…
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios,…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
The simulation of charge transport in ultra-scaled electronic devices requires the knowledge of the atomic configuration and the associated potential. Such "atomistic" device simulation is most commonly handled using a tight-binding…
Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight…
Ongoing investigations to introduce software techniques suitable to support new experimental requirements for multi-scale simulation are discussed.
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
We present the results of a numerical investigation of charged-particle transport across a synthesized magnetic configuration composed of a constant homogeneous background field and a multiscale perturbation component simulating an effect…
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
We consider subspace transfer within the time-dependent one-dimensional quantum transverse Ising model, with random nearest-neighbor interactions and a transverse field. We run numerical simulations using a variational approach and the…
Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. This lack of flexibility requires a fleet of diverse drones tailored to specific cargo dimensions. Here we propose a new reconfigurable drone based on a…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial…
The influence of microscopic force fields on the motion of Brownian particles plays a fundamental role in a broad range of fields, including soft matter, biophysics, and active matter. Often, the experimental calibration of these force…
Viscophoresis refers to the transport of suspended nanoparticles driven by a steep viscosity gradient. This work investigates this new transport effect using a random walk simulation. By modelling position-dependent Brownian motion,…
We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while using space-qualifiable components. Furthermore,…