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This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for propulsion to minimize seabed disturbance…
We use a $^{87}\text{Rb}$ atomic vapor, suitable for an optically-pumped magnetometer (OPM) in Earth-field conditions, to study the noise properties of three strategies for generating pulsed optical pumping. We compare a frequency-modulated…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
We present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels. DoubleBee exploits the high energy efficiency of a…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
A nonlinear analytical model for the pressure dynamics in a vacuum chamber, pumped with a sputter ion pump (SIP), is proposed, discussed and experimentally evaluated. The model describes the physics of the pumping mechanism of SIPs in the…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. This tracking technique admits theoretical performance…
In various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…
The paper describes an electronic multiprocessor system that assures functionality of a miniature UAV capable of 3D flying. The apparatus consists of six independently controlled brushless DC motors, each having a propeller attached to it.…
This work introduces CLIP, a CUDA-accelerated phase-field lattice Boltzmann framework for simulating immiscible two-phase flows with high density and viscosity ratios in both two- and three-dimensional domains. By leveraging GPU…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
The levitation of condensed matter in vacuum allows the study of its physical properties under extreme isolation from the environment. It also offers a venue to investigate quantum mechanics with large systems, at the transition between the…
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from…
Atmosphere-breathing electric propulsion (ABEP) systems are emerging for orbit maintenance in very-low-Earth orbit (VLEO) by capturing atmospheric propellant \textit{in situ} using an intake device. A previous study proposed the…
We pioneer a new future in robotic dust collection by introducing passive dust-collecting robots that, unlike their predecessors, do not require locomotion to collect dust. While previous research has exclusively focused on active…
We describe an interplay between two injection mechanism of background electrons into an evolving plasma bubble behind an intense laser pulse: one due to the overall bubble expansion, and another due to its periodic undulation. The two…
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…