Related papers: PUB: A Plasma-Propelled Ultra-Quiet Blimp with Two…
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter…
Electric propulsion is now a sucessfull method for primary propulsion of deep space long duration missions and for geosyncronous satellite attitude control. Closed Drift Plasma Thruster, so called Hall Thruster or SPT (stationary plasma…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
A miniature robotic blimp, as one type of lighter-than-air aerial vehicle, has attracted increasing attention in the science and engineering field for its long flight duration and safe aerial locomotion. While a variety of miniature robotic…
Artificial intelligence-powered pocket-sized air robots have the potential to revolutionize the Internet-of-Things ecosystem, acting as autonomous, unobtrusive, and ubiquitous smart sensors. With a few cm$^{2}$ form-factor, nano-sized…
We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stage automated design pipeline that optimizes the placement of…
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…
This study proposes a soft robotic device with a slim and flexible body that switches between air blowing and suction with a single airflow control. Suction is achieved by jet flow entraining surrounding air, and blowing is achieved by…
Challenging space missions include those at very low altitudes, where the atmosphere is source of aerodynamic drag on the spacecraft. To extend the lifetime of such missions, an efficient propulsion system is required. One solution is…
The Robinson Research Institute is developing a type of electric propulsion for spacecraft called an applied-field magneto-plasma-dynamic (AF-MPD) thruster. The applied field module of the thruster features a cryocooler-cooled…
We propose and demonstrate a robust control scheme by ultrafast nonadiabatic chirped laser pulse, designed for targeting coherent superpositions of two-level systems. Robustness against power fluctuation is proved by our numerical study and…
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator control in industry. Meanwhile, multi-rotor drones like…
Unmanned aerial-aquatic vehicles (UAAVs) can operate both in the air and underwater, giving them broad application prospects. Inspired by the dual-function wings of puffins, we propose a UAAV with amphibious wings to address the challenge…
Mechanical oscillators based on levitated particles are promising candidates for sensitive detectors and platforms for testing fundamental physics. The targeted quality factors for such oscillators correspond to extremely low damping rates…
Abdominal Undulation with Compliant Mechanism Improves Flight Performance of Biomimetic Robotic ButterflThis paper presents the design, modeling, and experimental validation of a biomimetic robotic butterfly (BRB) that integrates a…
A new experimental method for creating void-free complex (``dusty'') plasmas under microgravity conditions is presented. The method is based on a pulsed operation mode of a four-channel radio-frequency generator for plasma sustainment. A…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
Operating satellites in Very Low Earth Orbit (VLEO) benefits the already expanding New Space industry in applications including Earth Observation and beyond. However, long-term operations at such low altitudes require propulsion systems to…
We present an aerial vehicle composed of a custom quadrotor with tilted rotors and a helium balloon, called SBlimp. We propose a novel control strategy that takes advantage of the natural stable attitude of the blimp to control…