Search for: All records

Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch on objects of unknown shapes, sizes, and texture. Efforts to include compliance have introduced designs that incorporate external mechanical impact protection at the cost of reduced agility and flight time due to the added weight. In this work, we propose and develop a lightweight, inflatable, soft-bodied aerial robot (SoBAR) that can pneumatically vary its body stiffness to achieve intrinsic collision resilience. Unlike the conventional rigid aerial robots, SoBAR successfully demonstrates its ability to repeatedly endure and recover from collisions in various directions, not only limited to in-plane ones. Furthermore, we exploit its capabilities to demonstrate perching where the three-dimensional collision resilience helps in improving the perching success rates. We also augment SoBAR with a novel hybrid fabric-based bistable (HFB) grasper that can utilize impact energies to perform contact-reactive grasping through rapid shape conforming abilities. We exhaustively study and offer insights into the collision resilience, impact absorption, and manipulation capabilities of SoBAR with the HFB grasper. Finally, we compare the performance of conventional aerial robots with the SoBAR through collision characterizations, grasping identifications, and experimental validations of collision resilience and perching in various scenarios and on differently shaped objects. 

Soft robots have shown great potential to enable safe interactions with unknown environments due to their inherent compliance and variable stiffness. However, without knowledge of potential contacts, a soft robot could exhibit rigid behaviors in a goal-reaching task and collide into obstacles. In this paper, we introduce a Sliding Mode Augmented by Reactive Transitioning (SMART) controller to detect the contact events, adjust the robot’s desired trajectory, and reject estimated disturbances in a goal reaching task. We employ a sliding mode controller to track the desired trajectory with a nonlinear disturbance observer (NDOB) to estimate the lumped disturbance, and a switching algorithm to adjust the desired robot trajectories. The proposed controller is validated on a pneumatic-driven fabric soft robot whose dynamics is described by a new extended rigid-arm model to fit the actuator design. A stability analysis of the proposed controller is also presented. Experimental results show that, despite modeling uncertainties, the robot can detect obstacles, adjust the reference trajectories to maintain compliance, and recover to track the original desired path once the obstacle is removed. Without force sensors, the proposed model-based controller can adjust the robot’s stiffness based on the estimated disturbance to achieve goal reaching and compliant interaction with unknown obstacles. 

Abstract Factors thought to influence deep cycle turbulence in the equatorial Pacific are examined statistically for their predictive capacity using a 13-year moored record that includes microstructure measurements of the turbulent kinetic energy dissipation rate. Wind stress and mean current shear are found to be most predictive of the dissipation rate. Those variables, together with the solar buoyancy flux and the diurnal mixed layer thickness, are combined to make a pair of useful parameterizations. The uncertainty in these predictions is typically 50% greater than the uncertainty in present-day in situ measurements. To illustrate the use of these parameterizations, the record of deep cycle turbulence, measured directly since 2005, is extended back to 1990 based on historical mooring data. The extended record is used to refine our understanding of the seasonal variation of deep cycle turbulence. 

Abstract Progress in gravitational-wave (GW) astronomy depends upon having sensitive detectors with good data quality. Since the end of the Laser Interferometer Gravitational-Wave Observatory-Virgo-KAGRA third Observing run in March 2020, detector-characterization efforts have lead to increased sensitivity of the detectors, swifter validation of GW candidates and improved tools used for data-quality products. In this article, we discuss these efforts in detail and their impact on our ability to detect and study GWs. These include the multiple instrumental investigations that led to reduction in transient noise, along with the work to improve software tools used to examine the detectors data-quality. We end with a brief discussion on the role and requirements of detector characterization as the sensitivity of our detectors further improves in the future Observing runs.