相关论文: Modeling and Controls of Fluid-Structure Interacti…
Fault-tolerant flight control faces challenges, as developing a model-based controller for each unexpected failure is unrealistic, and online learning methods can handle limited system complexity due to their low sample efficiency. In this…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…
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…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
Hummingbirds and insects achieve outstanding flight performance by adapting their flapping motion to the flight requirements. Their wing kinematics can change from smooth flapping to highly dynamic waveforms, generating unsteady aerodynamic…
We propose a computational framework for vascular fluid-structure interaction (FSI), focusing on biomechanical modeling, geometric modeling, and solver technology. The biomechanical model is constructed based on the unified continuum…
Cable subsystems characterized by long, slender, and flexible structural elements are featured in numerous engineering systems. In each of them, interaction between an individual cable and the surrounding fluid is inevitable. Such a…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors,…
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…
Non-intrusive model reduction is a promising solution to system dynamics prediction, especially in cases where data are collected from experimental campaigns or proprietary software simulations. In this work, we present a method for…
Mixing characteristics of a supersonic jet influenced by a Downstream Microjet Fluidic Injection (DMFI) system are numerically investigated. The DMFI system is built on the observation of a previous experimental study that utilized…
In this fluid dynamics video, results from high fidelity numerical simulations are presented, which have been carried out to study the flow and droplet dynamics of liquid sheets formed by two impinging jets. A three-dimensional…
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…
In this paper, a novel Three dimensional (3D) positioning framework of fluid antenna system (FAS)-enabled unmanned aerial vehicles (UAVs) is developed. In the proposed framework, a set of controlled UAVs cooperatively estimate the real-time…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
With more efficient structures, last trends in aeronautics have witnessed an increased flexibility of wings, calling for adequate design and optimization approaches. To correctly model the coupled physics, aerostructural optimization has…
Phononic materials (PMs) are periodic media that exhibit novel elastodynamic responses. While PMs have made progress in vibration-mitigation applications, recent studies have demonstrated the potential of PMs to passively and adaptively…