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A global hybrid extension of variational two-electron reduced-density matrix (v2RDM)-driven multiconfiguration pair-density functional theory (MCPDFT) is developed. Using a linear decomposition of the electron-electron repulsion term, a…
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier…
This work considers the problem of using multiple aerial carriers to hold a cable-suspended load while remaining in periodic motion at all times. Using a novel differential geometric perspective, it is shown that the problem may be recast…
Connected and automated vehicles (CAVs) represent the future of transportation, utilizing detailed traffic information to enhance control and decision-making. Eco-driving of CAVs has the potential to significantly improve energy efficiency,…
Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face critical limitations, including unreliable perception of…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…
This paper presents prototype testing and a control allocation algorithm for the Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) concept aimed at performing momentum management of a solar sail. CABLESSail uses…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
Prototyping and validating hardware-software components, sub-systems and systems within the intelligent transportation system-of-systems framework requires a modular yet flexible and open-access ecosystem. This work presents our attempt…
As deep learning models become increasingly large, they pose significant challenges in heterogeneous devices environments. The size of deep learning models makes it difficult to deploy them on low-power or resource-constrained devices,…
Microgrids with AC/DC architecture benefit from advantages of both AC and DC power. In this paper, daily operation problem for a zero-carbon AC/DC microgrid in presence of electric vehicles (EVs) is considered. In this framework, EVs'…
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and insertion of plugs, as well as the manipulation of cables, have…
In recent years, the use of robots in agriculture has been increasing mainly due to the high demand of productivity, precision and efficiency, which follow the climate change effects and world population growth. Unlike conventional…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
The growing demand for innovation in agriculture is essential for food security worldwide and more implicit in developing countries. With growing demand comes a reduction in rapid development time. Data collection and analysis are essential…
Range-extended electric vehicles combine the higher efficiency and environmental benefits of battery-powered electric motors with the longer mileage and autonomy of conventional internal combustion engines. This combination is particularly…
This thesis studies the interference-free workspace (IFW) of arbitrary cable-driven robots (CDRs) for both cables and obstacles using the ray-based method. Continuing from this, the point-to-point path planning and verification technique to…
This paper presents a modeling framework to optimize the two-dimensional placement of powertrain elements inside the vehicle, explicitly accounting for the rotation, relative placement and alignment. Specifically, we first capture the…
Carbon matching aims to improve corporate carbon accounting by tracking emissions rather than energy consumption and production. We present a mathematical derivation of carbon matching using marginal emission rates, where the unit of…
Modern agriculture faces escalating challenges: increasing demand for food, labor shortages, and the urgent need to reduce environmental impact. Agricultural robotics has emerged as a promising response to these pressures, enabling the…