Robotics « Kam K. Leang Research

67.

K. C. Hoffman; J. M. Anderson; K. K. Leang

Rapid Airborne Gas-plume Mapping and Source Localization with Feedforward Gas-sensor Dynamics Compensation Journal Article

In: ASME Letters in Dynamic Systems and Control, vol. 4, no. 4, pp. 041002, 2024.

Abstract | Links | BibTeX

66.

J. A. Steiner; W. S. Nagel; K. K. Leang

Magnetically-actuated Endoluminal Soft Robot with Electroactive Polymer Actuation for Enhanced Gait Performance Journal Article

In: ASME J. Mechanisms and Robotics (In press), vol. 16, no. 10, pp. 104503, 2024.

Links | BibTeX

65.

N. R. Olsen; S. M. McKee; O. S. Haddadin; S. M. Lyon; J. E. Campbell; K. K. Leang

Information-Theoretic Bayesian Inference for Multi-Agent Localization and Tracking of an RF Target with Unknown Waveform Journal Article

In: ASME J. Dyn. Syst. Meas. and Cont., Special Issue on Data-Driven Modeling and Control of Dynamical Systems (https://doi.org/10.1115/1.4066453), vol. 146, iss. 6, pp. 061104, 2024.

Abstract | Links | BibTeX

64.

W. S. Nagel, O. Fakharian, M. Aureli, K. K. Leang

Engineered IPMC Sensors: Modeling, Characterization, and Application towards Wearable Postural-tactile Measurement Journal Article

In: Smart Materials and Structures, vol. 33, pp. 015035 (12 pages), 2023.

Abstract | Links | BibTeX

63.

N. R. Olsen, S. M. McKee, O. S. Haddadin, S. Lyon, J. Campbell, K. K. Leang

Information-Based Mobile Sensor Network Localization and Tracking of an Uncooperative Target Proceedings Article

In: IEEE Military Communications Conference (MILCOM), November 28 - December 2, Rockville, MD, USA, pp. 490-495, 2022.

Abstract | Links | BibTeX

62.

N. R. Olsen

Information-Based Mobile Sensor Network Coordination for Localizing and Tracking of an Uncooperative Target Masters Thesis

2022.

BibTeX

61.

W. S. Nagel, J. A. Steiner, O. Fakharian, M. Aureli; K. K. Leang

Ionic Polymer-Metal Composite Sensors and Actuators for Wearable and Medical Devices Proceedings Article

In: 6th International Conference on Active Materials and Soft Mechatronics (AMSM 2022), October 26-29, 2022, Georgia Tech, Atlanta, Georgia, USA, 2022.

BibTeX

60.

S. M. McKee, O. S. Haddadin; K. K. Leang

Feedforward Mutual-Information Anomaly Detection: Application to Autonomous Vehicles Journal Article

In: ASME Journal of Autonomous Vehicles and Systems, vol. 2, iss. 4, no. 041003 (7 pages), 2022.

Abstract | Links | BibTeX

@article{McKeeSM_2022_JAVS,

title = {Feedforward Mutual-Information Anomaly Detection: Application to Autonomous Vehicles},

author = {S. M. McKee, O. S. Haddadin and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/McKeeSM_2024_JAVS.pdf},

doi = {10.1115/1.4064519},

year  = {2022},

date = {2022-10-01},

urldate = {2024-02-13},

journal = {ASME Journal of Autonomous Vehicles and Systems},

volume = {2},

number = {041003 (7 pages)},

issue = {4},

abstract = {This paper describes a mutual-information (MI)-based approach that exploits a dynamics model to quantify and detect anomalies for applications such as autonomous vehicles. First, the MI is utilized to quantify the level of uncertainty associated with the driving behaviors of a vehicle. The MI approach handles novel anomalies without the need for data-intensive training; and the metric readily applies to multivariate datasets for improved robustness compared to, e.g., monitoring vehicle tracking error. Second, to further improve the response time of anomaly detection, current and past measurements are combined with a predictive component that utilizes the vehicle dynamics model. This approach compensates for the lag in the anomaly detection process compared to strictly using current and past measurements. Finally, three different MI-based strategies are described and compared experimentally: anomaly detection using MI with (1) current and past measurements (reaction), (2) current and future information (prediction), and (3) a combination of past and future information (reaction–prediction) with three different time windows. The experiments demonstrate quantification and detection of anomalies in three driving situations: (1) veering off the road, (2) driving on the wrong side of the road, and (3) swerving within a lane. Results show that by anticipating the movements of the vehicle, the quality and response time of the anomaly detection are more favorable for decision-making while not raising false alarms compared to just using current and past measurements.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

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59.

J. Steiner

Locomotion and Steering of a Magnetic-electroactive Endoluminal Soft Robot PhD Thesis

2022.

BibTeX

58.

M. Goodell

Bayesian Find-and-Consume Strategy for Mobile Robotic Sensor Networks: Estimating and Localizing Multiple Gas Leaks Masters Thesis

2022.

BibTeX

57.

B. Raeymaekers, K. K. Leang, M. Porfiri; S. Xu

Manufacturing for the masses: a novel concept for consumer 3D printer networks in the context of crisis relief Journal Article

In: Advanced Intelligent Systems, pp. 202100121, 2021.

Links | BibTeX

56.

Cheng Gordon Kou

The Effect of Surface Roughness on Quasi-Steady in-Ground Effect for Multirotor Aerial Vehicles Masters Thesis

University of Utah, 2021.

Abstract | BibTeX

55.

M. N. Goodell, T.E. Truong, S. R. Marston, B. J. Smiley, E. R. Befus, A. Bingham, K. Allen, J. R. Bourne, Y. Wei, K. E. Magargal, V. Ganesan, D. L. Mendoza, A. C. Seth, S. A. Harwood, M. Bodson, T. Hermans; K. K. Leang

Autonomous Light Assessment Drone for Dark Skies Studies Proceedings Article

In: ASME Dynamic Systems and Control Conference (Virtual conference), October 4-7, 2020, 2020.

Abstract | Links | BibTeX

54.

J. R. Bourne, M. Goodell, X. He, J. Steiner; K. K. Leang

Decentralized Multi-Agent Information-Theoretic Control for Target Estimation and Localization: Finding Chemical Leaks Journal Article

In: International Journal of Robotics Research, vol. 39, no. 13, pp. 1525 - 1548, 2020.

Links | BibTeX

53.

Joseph R. Bourne

Decentralized multi-agent information theoretic target localization and estimation: finding and predicting chemical gas leaks PhD Thesis

University of Utah, 2020.

Abstract | BibTeX

@phdthesis{BourneJR_2020b,

title = {Decentralized multi-agent information theoretic target localization and estimation: finding and predicting chemical gas leaks},

author = {Joseph R. Bourne},

year  = {2020},

date = {2020-06-13},

urldate = {2020-06-13},

school = {University of Utah},

abstract = {The goal of this dissertation is to quickly and autonomously localize and estimate an unknown target, such as a chemical leak, using a team of mobile robots. Accidental or malicious release of chemical, biological, radiological, nuclear, or explosive (CBRNE) substances can have devastating effects on humans, animals, infrastructure, and the environment.  Thus, fast and accurate localization and estimation of a contaminant release are crucial to saving lives and minimizing damage. To achieve the goal, stochastic estimation and motion planning algorithms are developed, where the performance of two distinct methods for coordinating the mobile robot team are studied. First, a new non-parametric Bayesian-based motion planning algorithm for autonomous plume source term estimation (STE) and source seeking (SS) is developed. Robots coordinate their movements by parsing the belief into multiple modes and they investigate these modes through model-based bio-inspired SS actions. Simulation and experimental results show consistently that the coordinated Bayesian-based STE and SS algorithm outperforms traditional bio-inspired SS and raster-scanning methods, where performance is approximately twice as fast as the uncoordinated case. Second, a new decentralized multi-agent information-theoretic (De-

MAIT) control algorithm that leverages Bayesian estimation and guides robots to minimize uncertainty is developed. The algorithm consists of: (1) a non-parametric Bayesian estimator,

(2) an information-theoretic trajectory planner that generates “informative trajectories” for an agent to follow, and (3) a controller and collision avoidance algorithm that ensure agents follow the trajectory as closely as possible in a safe manner. Simulation results show that the DeMAIT algorithm’s average localization success rate is higher and more robust to changes in the source location, robot team size, and search area size, compared to the coordinated bio-inspired method. Outdoor field experiments are conducted using a team of custom-built aerial robots equipped with gas concentration sensors to estimate and find the source of a propane gas leak to demonstrate efficacy of the DeMAIT algorithm.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

The goal of this dissertation is to quickly and autonomously localize and estimate an unknown target, such as a chemical leak, using a team of mobile robots. Accidental or malicious release of chemical, biological, radiological, nuclear, or explosive (CBRNE) substances can have devastating effects on humans, animals, infrastructure, and the environment. Thus, fast and accurate localization and estimation of a contaminant release are crucial to saving lives and minimizing damage. To achieve the goal, stochastic estimation and motion planning algorithms are developed, where the performance of two distinct methods for coordinating the mobile robot team are studied. First, a new non-parametric Bayesian-based motion planning algorithm for autonomous plume source term estimation (STE) and source seeking (SS) is developed. Robots coordinate their movements by parsing the belief into multiple modes and they investigate these modes through model-based bio-inspired SS actions. Simulation and experimental results show consistently that the coordinated Bayesian-based STE and SS algorithm outperforms traditional bio-inspired SS and raster-scanning methods, where performance is approximately twice as fast as the uncoordinated case. Second, a new decentralized multi-agent information-theoretic (De-
MAIT) control algorithm that leverages Bayesian estimation and guides robots to minimize uncertainty is developed. The algorithm consists of: (1) a non-parametric Bayesian estimator,
(2) an information-theoretic trajectory planner that generates “informative trajectories” for an agent to follow, and (3) a controller and collision avoidance algorithm that ensure agents follow the trajectory as closely as possible in a safe manner. Simulation results show that the DeMAIT algorithm’s average localization success rate is higher and more robust to changes in the source location, robot team size, and search area size, compared to the coordinated bio-inspired method. Outdoor field experiments are conducted using a team of custom-built aerial robots equipped with gas concentration sensors to estimate and find the source of a propane gas leak to demonstrate efficacy of the DeMAIT algorithm.

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52.

D. Guo; K. K. Leang

Image-Based Estimation, Planning, and Control of Cable-Suspended Payload for Package Delivery Journal Article

In: IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2698-2705, 2020.

Links | BibTeX

51.

Xiang He

Modeling and Control of In-Ground-Effect on Rotorcraft Unmanned Aerial Vehicles PhD Thesis

University of Utah, 2020.

Abstract | BibTeX

@phdthesis{HeX_2020_PhD,

title = {Modeling and Control of In-Ground-Effect on Rotorcraft Unmanned Aerial Vehicles},

author = {Xiang He},

year = {2020},

date = {2020-01-11},

school = {University of Utah},

abstract = {The goal of this dissertation is to model and control the behavior of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). Ground effect, or rotor IGE, is a common phenomenon experienced by rotorcraft aerial vehicles when taking off, landing on, hovering around, or flying near surfaces or obstacles. Rotor IGE is caused by aerodynamic interaction between the rotor wake and the nearby obstacle. In particular, the deformed wake causes changes in the induced velocity, which leads to drastic changes in rotor thrust and torque that make flight control in confined spaces difficult and challenging. Many of the existing models for IGE are based on work on helicopters from the early 1940s and more so from the 1950s. Many of these models, unfortunately, are not directly applicable to smaller rotorcraft aerial vehicles due to the assumptions that were made. Also, many of these models suffer from singularities at certain heights, and many of them are computationally heavy. The contributions of this dissertation are computationally-light and accurate models of IGE and the development of feedback controllers that are effective at handling IGE. First, a quasi-steady IGE model for a single rotor that predicts a finite maximum IGE thrust ratio is developed. An empirical approach is used to establish the base exponential function in the quasi-steady model, followed by exploiting blade element theory (BET) and the semipositive induced velocity assumption to relate two IGE model coefficients to blade geometry. The changes in the rotor IGE for various multirotor configurations are studied, characterized, and modeled with respect to the number of rotors, rotor rotation direction, and minimum rotor tip-to-tip distance. The quasi-steady model also incorporates a newly-discovered fountain-vortex thrust loss effect. The quasi-steady model is experimentally validated for off-the-shelf and variable pitch propellers. Second, the quasi-steady model is extended to capture dynamic IGE by considering vehicle flight states and the partial ground effect where a portion of a rotor operates within the ground-effect region. More specifically, using blade element theory, rotor IGE thrust ratios in forward and axial flight are derived as a function of the advance ratio and climbing speed in the IGE regime. A rotation-based IGE test stand that simulates forward flight is created and used to characterize dynamic IGE and to validate the analytical results. The advance ratio, rotor disk angle of attack (AOA), and various multirotor configurations (transverse and tandem rotor) are investigated using the test stand. The partial ground effect is empirically characterized, and the behavior is incorporated into the dynamic IGE model. Finally, the developed IGE models are exploited for vehicle motion control to account for IGE on a quadrotor helicopter (quadcopter) aerial vehicle flying near the ground surface. Specifically, a feedback-based nonlinear disturbance observer controller and a feedforward IGE compensator are designed, simulated, and implemented. Simulation and experimental results validate the effectiveness of the IGE model and flight controller to compensate for IGE when flying close to the ground.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

The goal of this dissertation is to model and control the behavior of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). Ground effect, or rotor IGE, is a common phenomenon experienced by rotorcraft aerial vehicles when taking off, landing on, hovering around, or flying near surfaces or obstacles. Rotor IGE is caused by aerodynamic interaction between the rotor wake and the nearby obstacle. In particular, the deformed wake causes changes in the induced velocity, which leads to drastic changes in rotor thrust and torque that make flight control in confined spaces difficult and challenging. Many of the existing models for IGE are based on work on helicopters from the early 1940s and more so from the 1950s. Many of these models, unfortunately, are not directly applicable to smaller rotorcraft aerial vehicles due to the assumptions that were made. Also, many of these models suffer from singularities at certain heights, and many of them are computationally heavy. The contributions of this dissertation are computationally-light and accurate models of IGE and the development of feedback controllers that are effective at handling IGE. First, a quasi-steady IGE model for a single rotor that predicts a finite maximum IGE thrust ratio is developed. An empirical approach is used to establish the base exponential function in the quasi-steady model, followed by exploiting blade element theory (BET) and the semipositive induced velocity assumption to relate two IGE model coefficients to blade geometry. The changes in the rotor IGE for various multirotor configurations are studied, characterized, and modeled with respect to the number of rotors, rotor rotation direction, and minimum rotor tip-to-tip distance. The quasi-steady model also incorporates a newly-discovered fountain-vortex thrust loss effect. The quasi-steady model is experimentally validated for off-the-shelf and variable pitch propellers. Second, the quasi-steady model is extended to capture dynamic IGE by considering vehicle flight states and the partial ground effect where a portion of a rotor operates within the ground-effect region. More specifically, using blade element theory, rotor IGE thrust ratios in forward and axial flight are derived as a function of the advance ratio and climbing speed in the IGE regime. A rotation-based IGE test stand that simulates forward flight is created and used to characterize dynamic IGE and to validate the analytical results. The advance ratio, rotor disk angle of attack (AOA), and various multirotor configurations (transverse and tandem rotor) are investigated using the test stand. The partial ground effect is empirically characterized, and the behavior is incorporated into the dynamic IGE model. Finally, the developed IGE models are exploited for vehicle motion control to account for IGE on a quadrotor helicopter (quadcopter) aerial vehicle flying near the ground surface. Specifically, a feedback-based nonlinear disturbance observer controller and a feedforward IGE compensator are designed, simulated, and implemented. Simulation and experimental results validate the effectiveness of the IGE model and flight controller to compensate for IGE when flying close to the ground.

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50.

S. T. Payne, F. Garrison, S. Markham, T. Hermans; K. K. Leang

Assembly Planning using a Multi-Arm System for Polygonal Furniture Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019, 2019.

BibTeX

49.

J. R. Bourne; K. K. Leang

Body-pose Bayesian estimation of a snow-avalanche victim: a method for first responders and/or aerial robots to quickly locate a buried victim Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019, 2019.

BibTeX

48.

J. R. Bourne, E. Pardyjak, K .K. Leang

Coordinated Bayesian-based Bio-Inspired Plume Source Term Estimation and Source Seeking for Mobile Robots Journal Article

In: IEEE Transactions on Robotics (DOI: 10.1109/TRO.2019.2912520), vol. 35, no. 4, pp. 967-986, 2019.

Abstract | Links | BibTeX

@article{BourneJR_2018a,

title = {Coordinated Bayesian-based Bio-Inspired Plume Source Term Estimation and Source Seeking for Mobile Robots},

author = {J. R. Bourne, E. Pardyjak, K .K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/BourneJR_2019_TRO.pdf},

year  = {2019},

date = {2019-05-28},

urldate = {2019-05-28},

journal = {IEEE Transactions on Robotics (DOI: 10.1109/TRO.2019.2912520)},

volume = {35},

number = {4},

pages = {967-986},

abstract = {A new non-parametric Bayesian-based motion planning algorithm for autonomous plume source term estimation (STE) and source seeking (SS) is presented. The algorithm is designed for mobile robots equipped with gas concentration sensors. Specifically, robots coordinate and utilize a Gaussian-plume likelihood model in a Bayesian-based STE process, then simultaneously search for and navigate toward the source through model-based, bio-inspired SS methods such as biased-random walk and surge-casting. Compared to state-of-the-art Bayesian and sensor-based STE/SS motion planners, the strategy described takes advantage of coordination between multiple robots and the estimated plume model for faster and more robust SS, rather than relying on direct (or filtered) sensor measurements which can be highly sensitive to noise and unsteady atmospheric conditions. A set of Monte Carlo simulation studies are conducted to compare the performance between the uncoordinated and coordinated algorithms for different robot team sizes and starting conditions. Additionally, the algorithms are validated experimentally through a laboratory-safe, realistic humid-air plume that behaves similar to gas plumes, to test STE and SS using mobile ground robots equipped with low-cost humidity sensors.  Simulation and experimental results show consistently that the coordinated Bayesian-based STE and SS algorithm outperforms traditional bio-inspired SS algorithms and is approximately twice as fast as the uncoordinated case. Finally, the plume source is distorted to study the algorithm’s limitations and impact on STE and SS, where results show that even for distorted plumes, useful source localization information can be obtained.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

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47.

Dejun Guo

Dynamic and Aggressive Image-Based Flying in GPS-Denied Environments: Estimation, Motion Planning, and Control PhD Thesis

University of Utah, 2019.

Abstract | BibTeX

@phdthesis{GuoD_2019_PhD,

title = {Dynamic and Aggressive Image-Based Flying in GPS-Denied Environments: Estimation, Motion Planning, and Control},

author = {Dejun Guo},

year  = {2019},

date = {2019-05-18},

school = {University of Utah},

abstract = {The goal of this dissertation is to enable an aerial robotic system (including an aircraft with a cable-suspended payload) to fly autonomously in GPS-denied environments through vision from a single monocular camera. To achieve this goal, new estimation, motion planning, and control algorithms that exploit the image-based visual-servo framework are developed.  Rigorous stability analysis based on the Lyapunov approach is also presented for the developed control systems. The image-based framework is of interest because of its robustness to image noise and lower computational demand compared to position-based techniques where pose estimation is required. However, this research tackles inherent challenges including nonlinear dynamics, singularity issues, and complex stability analysis for cases with relaxed constraints on initial estimation errors, vehicle position, and height. The resulting theoretical outcomes are validated experimentally by showing demonstrations of aerial-robot assisted operations related to emergency response, search and rescue, and package delivery in GPS-denied environments, such inside of buildings or in urban canyons where global vehicle localization and control schemes are ineffective or impractical. Firstly, a new kinematic image-based control algorithm using a mobile overhead camera for aerial robots is developed. The control algorithm exploits adaptation to compensate for uncertainties in the camera parameters and depth information, and repetitive control is used to reject inherent periodic tracking errors in the image plane. Stability analysis in the Lyapunov sense is shown. Both simulations and physical experiments are provided for a quadcopter to demonstrate the approach. Secondly, a new nonlinear flight control scheme that combines a vision-based closed-loop observer with a backstepping-based controller using an onboard camera and the inertial measurement unit (IMU) is developed. This new approach is computationally efficient and asymptotically stable. Flight tests are conducted to validate the algorithm’s capabilities for take-off, to hover, to track trajectory, and landing. Finally, a new flight control scheme that combines an image-based position controller and a quaternion-based attitude controller are created that enables and aerial robot to fly aggressively through several narrow windows without knowledge of the robot's position and window size, and the approach is extended to control the motion of a cable-suspended payload for package delivery. Both simulations and physical experiments demonstrate that the approaches are capable of flying into and out of a small house and picking up and transporting several packages with unknown mass.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

The goal of this dissertation is to enable an aerial robotic system (including an aircraft with a cable-suspended payload) to fly autonomously in GPS-denied environments through vision from a single monocular camera. To achieve this goal, new estimation, motion planning, and control algorithms that exploit the image-based visual-servo framework are developed. Rigorous stability analysis based on the Lyapunov approach is also presented for the developed control systems. The image-based framework is of interest because of its robustness to image noise and lower computational demand compared to position-based techniques where pose estimation is required. However, this research tackles inherent challenges including nonlinear dynamics, singularity issues, and complex stability analysis for cases with relaxed constraints on initial estimation errors, vehicle position, and height. The resulting theoretical outcomes are validated experimentally by showing demonstrations of aerial-robot assisted operations related to emergency response, search and rescue, and package delivery in GPS-denied environments, such inside of buildings or in urban canyons where global vehicle localization and control schemes are ineffective or impractical. Firstly, a new kinematic image-based control algorithm using a mobile overhead camera for aerial robots is developed. The control algorithm exploits adaptation to compensate for uncertainties in the camera parameters and depth information, and repetitive control is used to reject inherent periodic tracking errors in the image plane. Stability analysis in the Lyapunov sense is shown. Both simulations and physical experiments are provided for a quadcopter to demonstrate the approach. Secondly, a new nonlinear flight control scheme that combines a vision-based closed-loop observer with a backstepping-based controller using an onboard camera and the inertial measurement unit (IMU) is developed. This new approach is computationally efficient and asymptotically stable. Flight tests are conducted to validate the algorithm’s capabilities for take-off, to hover, to track trajectory, and landing. Finally, a new flight control scheme that combines an image-based position controller and a quaternion-based attitude controller are created that enables and aerial robot to fly aggressively through several narrow windows without knowledge of the robot's position and window size, and the approach is extended to control the motion of a cable-suspended payload for package delivery. Both simulations and physical experiments demonstrate that the approaches are capable of flying into and out of a small house and picking up and transporting several packages with unknown mass.

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46.

J. Steiner, O. Hussain, L. Pham, J. J. Abbott; K. K. Leang

Magneto-electroactive Endoluminal Soft Robots Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019 (Accepted, forthcoming), 2019.

BibTeX

45.

X. He, J. R. Bourne, J. A. Steiner; K. K. Leang

Gaussian-based Kernel for Multi-Agent Aerial Chemical-Plume Mapping Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019 (Accepted, forthcoming), 2019.

BibTeX

44.

X. He; K. K. Leang

A New Quasi-steady In-Ground Effect Model Rotorcraft Unmanned Aerial Vehicles Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019, 2019.

BibTeX

43.

J. A. Steiner, J. R. Bourne, X. He, D. Cropek; K. K. Leang

Chemical-source localization using a swarm of decentralized unmanned aerial vehicles for urban/suburban environments Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019, 2019.

BibTeX

42.

X. He, J. R. Bourne, J. A. Steiner, C. Mortensen, K. C. Hoffman, C. J. Dudley, B. Rogers, D. M. Cropek; K. K. Leang

Autonomous Chemical Sensing Aerial Robot for Urban/Suburban Environmental Monitoring Journal Article

In: IEEE Systems Journal, Vol. 13, No. 3, pp. 3524 - 3535, 2019.

Links | BibTeX

41.

K. K. Leang, F. Iida, J. Paik, Y.-L. Park; J. Ueda

Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC) Journal Article

In: IEEE/ASME Transactions on Mechatronics, Focused Section, Vol. , vol. 24, no. 1, pp. 1-4, 2019.

BibTeX

40.

D. Guo, H. Wang; K. K. Leang

Nonlinear Vision-based Observer for Visual Servo Control of an Aerial Robot in GPS-denied Environments Journal Article

In: ASME J. Mechanisms and Robotics, vol. 10, no. 6, pp. 061018, 2018.

BibTeX

39.

E. Andersen

Design and control of a micro aerial vehicle powered with resonant inductive wireless power transfer Masters Thesis

University of Utah, 2018.

BibTeX

38.

James D. Carrico

3D printing, performance characterization, and machine learning control of ionic polymer-metal composite actuators with applications in soft robotics PhD Thesis

University of Utah, 2018.

BibTeX

37.

K. Jenson-Nau

Near-optimal area coverage path planning for an energy constrained autonomous mobile robot: application to autonomous aerial chemical sensing Masters Thesis

University of Utah, 2018.

BibTeX

36.

Kyle C. Hoffman

Characterization, Modeling, and Feedforward Compensation of Gas Sensor Dynamics for Aerial Robot Chemical Plume Mapping and Swarm-based Localization Masters Thesis

University of Utah, 2018.

BibTeX

35.

J. Lee, K. K. Leang, W. Yim

Modular design and control of a fully-actuated hexrotor for aerial manipulation applications Journal Article

In: ASME J. Mechanisms and Robotics, vol. 10, no. 4, pp. 041007, 2018.

BibTeX

34.

J. D. Carrico, T. Tyler; K. K. Leang.

A Comprehensive Review of Select Smart Polymeric and Gel Actuators for Soft Mechatronics Applications: Fundamentals, Free-form Fabrication, and Motion Control Journal Article

In: Invited article to the Special Issue on Active Materials and Soft Mechatronics, International Journal of Smart and Nano Materials, vol. 8, no. 4, pp. 144-213, 2018.

Links | BibTeX

33.

G. Plaizier, E. Andersen, B. Truong, X. He, S. Roundy; K. K. Leang

Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs) Proceedings Article

In: IEEE International Conference on Robotics and Automation (ICRA), Brisbane Convention & Exhibition Centre, Australia, May 21-25, 2018, pp. 6104-6109, 2018.

BibTeX

32.

Keith Dockstader

Design, modeling, and gait control of a rolling quadruped (Roll-U-Ped) Masters Thesis

University of Utah, 2018.

BibTeX

31.

D. Guo; K. K. Leang

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

30.

J. R. Bourne; K. K. Leang

Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

29.

X. He, M. Calaf; K. K. Leang

Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

28.

X. Tan, K. K. Leang; Z. Yin

Guest Editorial: Focused Section on Advances in Soft Robotics Journal Article

In: International Journal of Intelligent Robotics and Applications, vol. 1, no. 2, pp. 121 - 123, 2017.

BibTeX

27.

H. Wang, D. Guo, X. Liang, W. Chen, G. Hu; K.K. Leang

Adaptive Vision-Based Leader- Follower Formation Control of Mobile Robots Journal Article

In: IEEE Transactions on Industrial Electronics, vol. 64, no. 4, pp. 2893 - 2902, 2017.

Links | BibTeX

26.

D. Guo, J. Bourne, H. Wang, W. Yim; K. K. Leang

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras Journal Article

In: Journal of Nonlinear Science, Special issue on robotics: mechanics and control of locomotion, vol. 27, no. 4, pp. 1235-1256, 2017.

Abstract | Links | BibTeX

@article{DejunG_2016a,

title = {Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras},

author = {D. Guo, J. Bourne, H. Wang, W. Yim and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/DejunG_2017a_JNS.pdf},

year  = {2017},

date = {2017-03-22},

journal = { Journal of Nonlinear Science, Special issue on robotics: mechanics and control of locomotion},

volume = {27},

number = {4},

pages = {1235-1256},

abstract = {This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV’s camera frame.Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera’s intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

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25.

K. K. Leang; J. D. Carrico

Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics Proceedings Article

In: SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, Portland, OR, March 26-29, 2017., 2017.

BibTeX

24.

X. He, D. Guo; K. K. Leang

Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles Proceedings Article

In: American Control Conference May 24-26, Seattle, WA, 2017, 2017.

BibTeX

23.

H. Wang, D. Guo, H. Xu, W. Chen, T. Liu; K. K. Leang,

Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator Journal Article

In: IEEE Transactions on Aerospace and Electronic Systems, vol. 53, no. 4, pp. 1855 - 1865, 2017.

BibTeX

22.

J. D. Carrico, K. J. Kim; K. K. Leang,

3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot Proceedings Article

In: IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, 2017, 2017.

BibTeX

21.

D. Guo, H. Wang, W. Chen, M. Liu, Z. Xia, K. K. Leang

A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera Proceedings Article

In: IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, pp. 3792 - 3797, 2017.

BibTeX

20.

D. Bareiss, J. Bourne, K. K. Leang

On-Board Model-Based Automatic Collision Avoidance: Application in Remotely Piloted Unmanned Aerial Vehicles Journal Article

In: Autonomous robots, vol. 41, no. 7, pp. 1539-1554, 2017.

Abstract | Links | BibTeX

19.

Christopher J. Pratt

Design and modeling of the dynamic underactuated flying-walking (DUCK) robot Masters Thesis

University of Utah, 2016.

Links | BibTeX

18.

D. Guo, W. Yim,; K. K. Leang

Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera Proceedings Article

In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea, pp. 4258 - 4265, 2016.

BibTeX

17.

Daman Bareiss, Jur van den Berg, Jake Abbott, Kam K. Leang

Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles Proceedings Article

In: 2016 IEEE International Symposium on Safety, Security and Rescue Robotics, October 23-27, 2016, EPFL, Lausanne, Switzerland, 2016.

Links | BibTeX

16.

D. Bareiss

Model-based collision avoidance for dynamic single- and multi-robot systems: theory and application in ground and aerial robots PhD Thesis

University of Utah, 2016.

Abstract | Links | BibTeX

@phdthesis{BareissD_2016b,

title = {Model-based collision avoidance for dynamic single- and multi-robot systems: theory and application in ground and aerial robots},

author = {D. Bareiss},

url = {http://www.kam.k.leang.com/academics/pubs/2016BareissDissertation.pdf},

year  = {2016},

date = {2016-06-07},

school = {University of Utah},

abstract = {This dissertation solves the collision avoidance problem for single and multi-robot systems where dynamic effects are significant. In many robotic systems (e.g., highly maneuverable and agile unmanned aerial vehicles) the dynamics cannot be ignored and collision avoidance schemes based on kinematic models can result in collisions or provide limited performance, especially at high operating speeds. Herein, real-time, model-based collision avoidance algorithms that explicitly consider the robots' dynamics and perform real-time input changes to alter the trajectory and steer the robot away from potential collisions are developed, implemented, and verified in simulations and physical experiments. Such algorithms are critical in applications where a high degree of autonomy and performance are needed, for example in robot-assisted first response where aerial and/or mobile ground robots are required to maneuver quickly through cluttered and dangerous environments in search of survivors. Firstly, the research extends reciprocal collision avoidance to robots with dynamics by unifying previous approaches to reciprocal collision avoidance under a single, generalized representation using control obstacles. In fact, it is shown how velocity obstacles, acceleration velocity obstacles, continuous control obstacles, and linear quadratic regulator (LQR)-obstacles are special instances of the generalized framework. Furthermore, an extension of control obstacles to general reciprocal collision avoidance for non-linear,

non-homogeneous systems where the robots may have different state spaces and different non-linear equations of motion from one another is described. Both simulations and physical experiments are provided for a combination of differential-drive, differential-drive with a trailer, and car-like robots to demonstrate that the approach is capable of letting a non-homogeneous group of robots with non-linear equations of motion safely avoid collisions at real-time computation rates. Secondly, the research develops a stochastic collision avoidance algorithm for a tele-operated unmanned aerial vehicle (UAV) that considers uncertainty in the robot's dynamics model and the obstacles' position as measured from sensors. The model-based automatic collision avoidance algorithm is implemented on a custom-designed quadcopter UAV system with on-board computation and the sensor data is processed using a split-and-merge segmentation algorithm and an approximate Minkowski difference. Flight tests are conducted to validate the algorithm's capabilities for providing tele-operated collision-free operation. Finally, a set of human subject studies are performed to quantitatively compare the performance between the model-based algorithm, the basic risk field algorithm (a variant on potential field), and full manual control. The results show that the model-based algorithm performs significantly better than manual control in both the number of collisions and the UAVs average speed, both of which are extremely vital, for example, for UAV-assisted search and rescue applications. Compared to the potential-field based algorithm, the model-based algorithm allowed the pilot to operate the UAV with higher average speeds.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

This dissertation solves the collision avoidance problem for single and multi-robot systems where dynamic effects are significant. In many robotic systems (e.g., highly maneuverable and agile unmanned aerial vehicles) the dynamics cannot be ignored and collision avoidance schemes based on kinematic models can result in collisions or provide limited performance, especially at high operating speeds. Herein, real-time, model-based collision avoidance algorithms that explicitly consider the robots' dynamics and perform real-time input changes to alter the trajectory and steer the robot away from potential collisions are developed, implemented, and verified in simulations and physical experiments. Such algorithms are critical in applications where a high degree of autonomy and performance are needed, for example in robot-assisted first response where aerial and/or mobile ground robots are required to maneuver quickly through cluttered and dangerous environments in search of survivors. Firstly, the research extends reciprocal collision avoidance to robots with dynamics by unifying previous approaches to reciprocal collision avoidance under a single, generalized representation using control obstacles. In fact, it is shown how velocity obstacles, acceleration velocity obstacles, continuous control obstacles, and linear quadratic regulator (LQR)-obstacles are special instances of the generalized framework. Furthermore, an extension of control obstacles to general reciprocal collision avoidance for non-linear,
non-homogeneous systems where the robots may have different state spaces and different non-linear equations of motion from one another is described. Both simulations and physical experiments are provided for a combination of differential-drive, differential-drive with a trailer, and car-like robots to demonstrate that the approach is capable of letting a non-homogeneous group of robots with non-linear equations of motion safely avoid collisions at real-time computation rates. Secondly, the research develops a stochastic collision avoidance algorithm for a tele-operated unmanned aerial vehicle (UAV) that considers uncertainty in the robot's dynamics model and the obstacles' position as measured from sensors. The model-based automatic collision avoidance algorithm is implemented on a custom-designed quadcopter UAV system with on-board computation and the sensor data is processed using a split-and-merge segmentation algorithm and an approximate Minkowski difference. Flight tests are conducted to validate the algorithm's capabilities for providing tele-operated collision-free operation. Finally, a set of human subject studies are performed to quantitatively compare the performance between the model-based algorithm, the basic risk field algorithm (a variant on potential field), and full manual control. The results show that the model-based algorithm performs significantly better than manual control in both the number of collisions and the UAVs average speed, both of which are extremely vital, for example, for UAV-assisted search and rescue applications. Compared to the potential-field based algorithm, the model-based algorithm allowed the pilot to operate the UAV with higher average speeds.

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15.

C. J. Pratt; K. K. Leang

Dynamic underactuated flying-walking (DUCK) robot Proceedings Article

In: 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 3267 - 3274, 2016.

Links | BibTeX

14.

Daman Bareiss, Jur van den Berg; Kam K. Leang

Stochastic automatic collision avoidance for tele-operated unmanned aerial vehicles Proceedings Article

In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, pp. 4818-4825, Hamburg, Germany, 2015.

Links | BibTeX

13.

Christopher J. Dudley, Alex Woods; Kam K. Leang

A Micro Spherical Rolling and Flying Robot Proceedings Article

In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, Hamburg, Germany, 2015.

Links | BibTeX

12.

J. D. Carrico, N. W. Traeden, M. Aureli; K. K. Leang,

Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures Proceedings Article

In: ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 21-23, 2015 in Colorado Springs, Colorado., Colorado Springs, Colorado, 2015, (Jim Carrico and Nick Traeden were winners of the 2015 SMASIS Conf. Best Student Paper Award!).

Links | BibTeX

11.

J. J. Hubbard; M. Fleming; V. Palmre; D. Pugal; K. J. Kim; K. K. Leang

Monolithic IPMC fins for propulsion and maneuvering in bio-inspired underwater robotics Journal Article

In: IEEE Journal of Oceanic Engineering, vol. 39, no. 3, pp. 540 - 551, 2014.

Links | BibTeX

10.

Christopher J. Dudley

A spherical aerial terrestrial robot Masters Thesis

University of Nevada, Reno, 2014.

Links | BibTeX

9.

Brandon M. Hurd

Control of a Quadcopter Aerial Robot Using Optic Flow Sensing Masters Thesis

University of Nevada, Reno, Reno, Nevada, 2013.

Links | BibTeX

8.

M. Walker; K. K. Leang; S. Tyler; S. Lether; P. Weisberg

Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources Proceedings Article

In: CABNR/NAES/UNCE Main Station - Field Day, 2013.

BibTeX

7.

N. L. Johnson; K. K. Leang

Augmented proportional-derivative control of a micro quadcopter Proceedings Article

In: ASME Dynamic Systems and Controls Conference, 2013.

BibTeX

6.

V. Palmre; M. Fleming; J. J. Hubbard; D. Pugal; S. Kim; K. J. Kim; K. K. Leang

An IPMC-enabled bio-inspired bending/twisting fin for underwater applications Journal Article

In: Smart Mater. Struct., vol. 22, pp. 014003, 2013.

Abstract | Links | BibTeX

@article{PalmreV_2013,

title = {An IPMC-enabled bio-inspired bending/twisting fin for underwater applications},

author = { V. Palmre and M. Fleming and J. J. Hubbard and D. Pugal and S. Kim and K. J. Kim and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/PalmreV_2013.pdf},

year  = {2013},

date = {2013-01-01},

journal = {Smart Mater. Struct.},

volume = {22},

pages = {014003},

abstract = {This paper discusses the design, fabrication, and characterization of an ionic polymer–metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a ‘fin’) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the

more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or ‘activating’ the boot material similar to creating IPMCs. For a prototype fin (90-mm wide x 60-mm long x 1.5-mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm/s showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure.  These results suggest that such IPMC-enabled fin designs can be used for developing active propeller blades or control surfaces on underwater vehicles.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

Close

This paper discusses the design, fabrication, and characterization of an ionic polymer–metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a ‘fin’) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the
more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or ‘activating’ the boot material similar to creating IPMCs. For a prototype fin (90-mm wide x 60-mm long x 1.5-mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm/s showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure. These results suggest that such IPMC-enabled fin designs can be used for developing active propeller blades or control surfaces on underwater vehicles.

Close

5.