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Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling between lift and attitude, resembling…
This paper presents preliminary results towards the development of an autonomous ocean observing system using Miniature Underwater Gliders (MUGs) that can operate with the support of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Plasma discharge devices have recently emerged as compact and versatile tools for particle beam manipulation. Building upon the Active Plasma Lens (APL) and its curved extension, the Active Plasma Bending (ABP), this work introduces the…
In this paper we study the self-propulsion of a dumbbell micro-robot submerged in a viscous fluid. The micro-robot consists of two rigid spherical beads connected by a rod or a spring; the rod's/spring's length is changing periodically. The…
Powered by acoustics, existing therapeutic and diagnostic procedures will become less invasive and new methods will become available that have never been available before. Acoustically driven microrobot navigation based on microbubbles is a…
We present a tabletop six-axis vibration isolation system, compatible with Ultra-High Vacuum (UHV), which is actively damped and provides 25 dB of isolation at 10 Hz and 65 dB at 100 Hz. While this isolation platform has been primarily…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, achieving high-performance regulation across both pressure polarities remains challenging due…
We report on the design and characterization of an antiproton deceleration beamline, based on a pulsed drift tube, for the PUMA experiment at the Antimatter Factory at CERN. The design has been tailored to high-voltage (100 kV) and…
UAVs are becoming versatile and valuable platforms for various applications. However, the main limitation is their flying time. We present BEAVIS, a novel aerial robotic platform striking an unparalleled trade-off between the…
This paper presents a novel autonomous drone-based smoke plume tracking system capable of navigating and tracking plumes in highly unsteady atmospheric conditions. The system integrates advanced hardware and software and a comprehensive…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its friction-less, levitating, yet planar motion over a…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
The backswimmer fly is an aquatic insect, capable of regulating its buoyancy underwater. Its abdomen is covered with hemoglobin cells, used to bind and release oxygen, reversibly. Upon entering water, the fly entraps an air bubble in a…