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Soft robots enable safe, adaptive interaction with complex environments but remain difficult to sense and control due to their highly deformable structures. Architected soft materials such as helicoid lattices offer tunable stiffness and…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Rotor position feedback is required in many industrial and automotive applications, e.g. for field-oriented control of brushless motors. Traditionally, magnetic sensors, resolvers or optical encoders are used to measure the rotor position.…
Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline…
Folding can transform mundane objects such as napkins into stunning works of art. However, finding new folding transformations for sheet materials is a challenging problem that requires expertise and real-world experimentation. In this…
In order to increase the efficiency of phase retrieval,Wang proposed a high-speed moire phase retrieval method.But it is used only to measure the tiny object. In view of the limitation of Wang method,we proposed a dynamic three-dimensional…
A high-sensitivity wireless pressure sensor with active processing structure designed on the dielectric substrate has been present and evaluated in this paper. The sensor configuration has been optimized by computer-aided design to achieve…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Magnetoelastic composites are integral elements of sensors and actuators utilizing magnetostriction for their functionality. Their sensitivity typically scales with the saturation magnetostriction and inversely with magnetic anisotropy.…
Birds have a remarkable ability to perform complex maneuvers at post-stall angles of attack. The passive deployment of self-actuating covert feathers in response to unsteady flow separation while performing such maneuvers provides a passive…
A mathematical model for wire rolling is developed, focusing on predicting the lateral spread. This provides, for the first time, an analytic model of lateral spread without any fitting parameters. The model is derived directly from the…
High-efficiency energy harvesting of ultrasonic elastic waves are crucial for powering electric gadgets in many emerging technologies such as wearable devices, wireless sensing, and biomedical implants. Although topological phononic…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
In order to develop predictive wear laws, relevant material parameters and their influence on the wear rate need to be identified. Despite decades of research, there is no agreement on the mathematical form of wear equations and even the…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
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…
We present an experimental method to fabricate centimetric thin elastic capsules with highly uniform thickness and negligible bending stiffness using silicone elastomers. In our experiments, the capsules thickness is tunable at fabrication,…
Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the…