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Bioinspired flexible blades have been recently shown to significantly improve the versatility of horizontal-axis wind turbines, by widening their working range and increasing their efficiency. The aerodynamic and centrifugal forces bend the…
In the automotive industry, multi-element wings have been used to improve the aerodynamics of race cars. Multi-element wings can enhance a vehicle's handling and stability by reducing drag and increasing downforce, allowing it to corner…
Symmetric NACA airfoils tend to undergo abrupt stall characteristics at higher angle of attacks. The abrupt stall has deteriorating effect on lift as well as the efficiency of the airfoils. Abruptness in stall restricts the airfoil to…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…
The aerodynamic performance of an isolated coaxial rotor in forward flight is analyzed by a high-fidelity computational fluid dynamics (CFD) approach. The analysis focuses on the high-speed forward flight with an advance ratio of 0.5 or…
Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances, and limited landing area. Many existing approaches exhibit…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
When fossil fuel supplies can no longer be replenished and hence fossil fuel power generation becomes outdated, wind energy will become a vital solution to the impending energy crisis. A horizontal-axis wind turbine is a widely used…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
Stability of flapping flight, a natural requirement for flying insects, is one of the major challenges for designing micro aerial vehicles (MAVs). To better understand how a flying insect could stabilize itself during hover, we have…
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…
Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness,…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
Electroaerodynamic propulsion, where force is produced via the momentum-transferring collisions between accelerated ions and neutral air molecules, is a promising alternative mechanism for flight at the micro air vehicle scale due to its…
Wing flexibility governs the flying performance of flapping wing flyers. Here, we use a self-propelled flapping-wing model mounted on a ``merry go round'' to investigate the effect of wing compliance on the propulsive efficiency of the…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…