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In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
Autonomous landing of UAVs in high sea states requires the UAV to land exclusively during the ship deck's "rest period," coinciding with minimal movement. Given this scenario, determining the ship's "rest period" based on its movement…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
The operational reliability of a high performance marine vessel depends critically on the health of its marine propulsion systems, which are increasingly subjected to diverse operational loads and environmental stressors. This paper…
Advection-dominated dynamical systems, characterized by partial differential equations, are found in applications ranging from weather forecasting to engineering design where accuracy and robustness are crucial. There has been significant…
We propose and investigate the quasi-phase matched (QPM) nonlinear optical frequency conversion of optical vortices in periodically poled Lithium Niobate (PPLN). Laguerre-Gaussian (LG) modes are used to represent the orbital angular…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
In this paper we introduce a novel Neural Networks-based approach for approximating solutions to the (2D) incompressible Navier--Stokes equations, which is an extension of so called Deep Random Vortex Methods (DRVM), that does not require…
Quantum computing shows substantial potential in accelerating simulations and alleviating memory bottlenecks in computational fluid dynamics (CFD), owing to its inherent properties of superposition and entanglement. The lattice Boltzmann…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
Non-volatile memory (NVM) provides a scalable and power-efficient solution to replace DRAM as main memory. However, because of relatively high latency and low bandwidth of NVM, NVM is often paired with DRAM to build a heterogeneous memory…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
The formation of the leading-edge vortex (LEV) is a key feature of unsteady flows past aerodynamic surfaces, but is expensive to model in high fidelity computations. Low-order methods based on discrete vortex elements are able to capture…
Transition control poses a critical challenge in Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL UAV) development due to the tilting rotor mechanism, which shifts the center of gravity and thrust direction during transitions.…
Although Lattice Boltzmann Method (LBM) is relatively straightforward, it demands a well-crafted framework to handle the complex partial differential equations involved in multiphase flow simulations. For the first time to our knowledge,…
This paper considers single-sensor estimation of vortex shedding in cylinder wakes at $Re=100$ in simulations and at $Re=1036$ in experiments. A model based on harmonic decomposition is developed to capture the periodic dynamics of vortex…
Geometrically-resolved Direct Numerical Simulations of vertical-axis wind turbines are presented. Simulations were performed using the spectral/hp element method framework Nektar++ with a moving reference frame formulation. Three turbine…