A5055473599- Biomimetic flight and propulsion mechanisms
- Winter Sports Injuries and Performance
- Robotic Locomotion and Control
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Remote Sensing and LiDAR Applications
- Cryospheric studies and observations
- Sports Dynamics and Biomechanics
- Aerospace Engineering and Energy Systems
- Ecology and Vegetation Dynamics Studies
- Tree Root and Stability Studies
- UAV Applications and Optimization
- Power Line Inspection Robots
- Fluid Dynamics and Turbulent Flows
- Forest Ecology and Biodiversity Studies
- Sports injuries and prevention
- Micro and Nano Robotics
- Modular Robots and Swarm Intelligence
- Prosthetics and Rehabilitation Robotics
- Aerospace and Aviation Technology
- Remote Sensing in Agriculture
- Soil Mechanics and Vehicle Dynamics
- Sports Performance and Training
- Smart Agriculture and AI
- Underwater Vehicles and Communication Systems
Université de Sherbrooke
2006-2024
Harvard University
2013-2014
Wyss Institute for Biologically Inspired Engineering
2014
Stanford University
2009-2013
Canadian Space Agency
2006
An approach is presented whereby small, unmanned aircraft can land on walls. The demonstrated with a plane that uses an ultrasonic sensor to initiate pitch-up maneuver as it flies toward wall. contacts the wall spines engage asperities surface. A non-linear suspension absorbs kinetic energy while keeping attached. planar dynamic model used evaluate maneuvers and determine parameters satisfy constraints contact forces for range of flight velocities. Simulations conducted using are compared...
Combined jumping and gliding locomotion, or 'jumpgliding', can be an efficient way for small robots animals to travel over cluttered terrain. This paper presents functional requirements models a simple jumpglider which formalize the benefits limitations of using aerodynamic surfaces augment ability. Analysis model gives insight into design choices control strategies higher performance accommodate special conditions such as slippery launching surface. The informs robotic platform that perform...
Flapping wings are important in many biological and bioinspired systems. Here, we investigate the fluid mechanics of flapping that possess a single flexible hinge allowing passive wing pitch rotation under load. We perform experiments on an insect-scale ( ${\approx}1$ cm span) robotic flapper compare results with quasi-steady dynamical model coupled fluid–structure computational dynamics model. In measure time varying kinematics, lift force two-dimensional velocity fields induced flow from...
Tree canopy sampling is critical in many forestry-related applications, including ecophysiology, foliar nutrient diagnostics, remote sensing model development, genetic analysis, and biodiversity monitoring conservation. Many of these applications require foliage samples that have been exposed to full sunlight. Unfortunately, current techniques are severely limited cases where site topography (e.g., rivers, cliffs, canyons) or tree height (i.e., branches located above 10 m) make it...
Abstract Kauaʻi, an island within the Hawaiʻi archipelago, is home of a unique flora that contains 250 single-island endemic plant species. Threats have led to significant population decrease where 97% these species are now listed as endangered, critically or extinct. Vertical cliff habitats on Kauaʻi work refugia protect plants from their stressors. However, this habitat makes conservation particularly difficult, forcing scientists, and botanists use risky time-consuming methods such...
With the goal of extending unmanned aerial vehicles mission duration, a solar recharge strategy is envisioned with lakes as preferred charging and standby areas. The Sherbrooke University Water-Air VEhicle (SUWAVE) concept developed able to takeoff land vertically on water. physical prototype consists wing coupled rotating center body that minimizes added components passive maneuver. A dynamic model takeoff, validated experimental results, serves design tool. landing executed by diving,...
Articulation based on flexure hinges is increasingly popular in microrobotics because of the absence Coulomb friction, ease manufacturability, fluid motion, durability, and large angular ranges. However, inherent flexibility these makes modeling very complex specific to particular engineering applications for which they were developed. In this paper we describe development testing a simplified, versatile method stress hinge under multi-axis loads order maximize lifespan. We also discuss...
The arboreal ecosystem is vitally important to global and local biogeochemical processes, the maintenance of biodiversity in natural systems, human health urban environments. ability collect samples, observations, data conduct meaningful scientific research similarly vital. primary methods modes access remain limited difficult. In an online survey, canopy researchers ( n = 219) reported a range challenges obtaining adequate including ∼10% who found it impossible procure what they needed....
We present an approach that builds upon previous developments in unmanned air vehicles and climbing robots seeks to emulate the capabilities of bats, insects certain birds combine powered flight with ability land perch on sloped vertical surfaces. As it approaches a wall, plane executes intentional pitch-up maneuver shed speed its feet for landing. On contact, nonlinear suspension dissipates remaining kinetic energy directs interaction forces toward feet, where microspines can engage small...
In recent years, the use of inspection drones has become increasingly popular for high-voltage electric cable inspections due to their efficiency, cost-effectiveness, and ability access hard-to-reach areas. However, safely landing on power lines, especially under windy conditions, remains a significant challenge. This study introduces semi-autonomous control scheme an electrical line with NADILE drone (an experimental based original LineDrone key features lines) assesses operating envelope...
Dynamic perching maneuvers for fixed-wing aircraft are becoming increasingly plausible due to recent progress in using `micro-spines' mounted on tuned suspensions and, separately, feedback motion planning techniques post-stall maneuvering. In this paper, we bring these complementary together by efficiently estimating the mechanical stability of plane when it makes contact with a vertical surface; resulting landing funnel can then be used algorithm flight controller. We consider simplified...
A dynamic model of a jump glider is presented and correlated with the results obtained prototype glider. The uses carbon fiber spring main wing that pivots approximately parallel to airflow during ascent latches into place for gliding descent. robot demonstrates longer traveled distance than an equivalent drag-free ballistic mass. detailed numerical simplified algebraic are also introduced, which useful exploring design tradeoffs performance. These models suggest ways improve indicate modest...
Exoskeletons are increasingly interesting for human assistance applications ranging from rehabilitation to force enhancement. However, today's exoskeletons relatively slow and lack the mechanical transparency required complete several daily tasks, mainly due their bulky non-back-drivable actuation mechanisms. To improve upon conventional exoskeleton designs, this letter presents a novel power-distribution system that combines magnetorheological (MR) clutches low-friction hydrostatic...
Conventional multirotors are unable to land on inclined surfaces without specialized suspensions and adhesion devices. With the development of a bidirectional rotor, landing maneuvers could benefit from rapid thrust reversal, which would increase envelope involving addition heavy complex gears or reduction payload capacity. This letter presents model designed accurately simulate quadrotor landings, behavior their stiff gear, limitations rotors. The was validated using experimental results...
This paper presents a wing characterization method for insect-scale flapping-wing robots. A quasi-steady model is developed to predict passive pitching at mid-stroke. Millimeter scale wings and hinges are manufactured using the SCM fabrication processes. Flapping experiments various frequencies driving voltages performed extract kinematics comparison with predictions. These examine validity of demonstrate robustness method. In addition, because time-averaged lift drag strongly correlated...
Imaging spectroscopy is currently the best approach for continuously mapping forest canopy traits, which important ecosystem and biodiversity assessments. Ideally, models are trained with trait data from fully sunlit leaves top of canopy. However, sampling at often difficult, foliage crown periphery collected instead, assuming minimal within-crown variation among leaves. We tested degree to position affects foliar traits spectra using mixed-effects comparing sun centre mature sugar maple...
This letter presents the first method for autonomous exploration of unknown cavities in three dimensions (3D) that focuses on minimizing distance traveled and length tether unwound. Considering entanglements are little influenced by global path, our approach employs a 2-level hierarchical architecture. The frontier-based planning solves Traveling Salesman Problem (TSP) to minimize distance. local attempts path cost using an adjustable decision function whose parameters play trade-off between...
We present improvements to Sherbrooke's multimodal autonomous drone (S-MAD), a microspine-based perching fixed-wing UAV that enables thrust-assisted climbing along vertical surfaces. Aircraft models are used predict the performance of various aerial climb regimes and design controller for wall distance tracking. It is found fast, long, climbs favorable. Both short long maneuvers demonstrated on rough surfaces (e.g., brick, roofing shingles). Results show S-MAD compares favorably with...
A novel non-destructive method for quickly, accurately and simultaneously measuring the bending torsional stiffness distributions of an alpine ski is presented. This method, named SMAD (Stiffness Measurement through Angular Deformations), based on angular deformations resulting from a known combined torsion load. The method's accuracy repeatability investigated are average under 2% 3%, respectively. coupling in measurement during loading due to misalignment test machine investigated....
Small multirotors are not capable of landing in complex situations, such as on inclined surfaces, wind gusts or at high impact velocities. This paper explores the use lightweight friction shock absorbers, combined with rapid thrust reversal, to increase envelope a quadrotor. The absorbers serve dissipate drone's kinetic energy and reverse increases maximum slope inclination which it can land. A gear prototype was designed implemented DJI F450, model created generate maps evaluate its...
Soil sampling is used in agriculture to monitor fields and plan fertilizer application. This task typically performed manually, but ground robots have recently been introduced. However, are often slow heavy, which contributes soil compaction. Fast-flying drones could provide an interesting alternative robots. severely limited their payload the forces that they can apply soil. paper presents Terra-22, first airborne system capable of densely compacted agricultural soils. To do so, many...