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A new beam dump has been designed, built, installed and operated to withstand the future proton beam extracted from the Proton Synchrotron Booster (PSB) in the framework of the LHC Injector Upgrade (LIU) Project at CERN, consisting of up to…
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a motion planning framework that plans arm motions for a…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly…
In this paper, a new unmanned aerial vehicle (UAV) structure, referred to as swash mass UAV, is presented. It consists of a double blade coaxial shaft rotor and four swash masses that allow changing the orientation and maneuvering the UAV.…
This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to…
Radio-frequency-driven atmospheric pressure plasma jets (RF APPJs) play an essential role in many technological applications. This work studies the characteristics of these discharges in the so-called non-neutral regime where the…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
Following up a recent study describing a flexible plasma source operated in planar geometry, the performance of a cold atmospheric plasma jet (CAPJ) matrix emanating radially from a soft cylindrical surface in the open air is presented. The…
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and…
A compact helicon plasma thruster that features a cusp in its internal magnetic field is analyzed with experiments and simulations. A compensated Langmuir probe and a Faraday cup are used in the former, while a hybrid PIC/fluid transport…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
In the field of space exploration, floating platforms play a crucial role in scientific investigations and technological advancements. However, controlling these platforms in zero-gravity environments presents unique challenges, including…
We present a microfluidic device that enables trapping, analysis, and on-demand release of individual microparticles through membrane deformation driven by pneumatic actuation. Inspired by Pachinko-style architectures, the system features…
We present the design and vacuum performance of a compact room-temperature trapped ion system for quantum computing, consisting of a ultra-high vacuum (UHV) package, a micro-fabricated surface trap and a small form-factor ion pump. The…
Here, we report our studies on the continuous loading of a U-magneto-optical trap (U-MOT) on atom-chip from background rubidium (Rb) vapor generated using a dispenser source in ultra high vacuum (UHV) environment. Using the U-MOT loading…
The use of parallel manipulators in aerospace engineering has gained significant attention due to their ability to provide improved stability and precision. This paper presents the design, control, and analysis of 'STEWIE', which is a…
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that…