The state of the aircraft is computed in the internal physics engine of Flightgear which is then transmitted through a port to the SIMULINK model which is constantly listenning for incoming messages.

A set of collective motion patterns is designed for a group of ground robots. A mission then defined as a sequence of submissions, each comprising a motion pattern.

We attempt to design an automatic control system to actively stabilize a platform with four linear actuators arranged in a rectangular layout. The design proceeds by first modeling the mechanical structure of the system using FEM method and then constructing a two-level controller that continually monitors the system conditions and attempts to level the platform with respect to horizontal surface. The performance and accuracy of control system is then tested through multiple simulations.

No Fourier series! Given a 2D shape, we generate cam profiles so that a simple 2-link mechanism could redraw the shape using its tips. There are a lot of design choices on the configuration of the two-link system; here, you can see an example.

After the desired position of the pendulum platform is specified by the user on the figure, horizontal force components (controlled signals) are adjusted so that the specified position command is tracked. (x,y) coordinates of the pendulum platform is fed back to the reduced-order estimator to generate state estimates which in turn is used in the controller. Servo-mechanism control (using internal model method, see Chen [1984]) is used to achieve robust tracking.

We can regulate WIP (around a fixed stationary point), have its pose stabilized (regardless of its position on the plane), command to travel to a new position, and get it to follow a desired trajectory (x_d(t), y_d(t)).

With an initial velocity and a spinning rate, the coin begins rolling on its edge across a rough surface. It continues to spin until damping forces eventually bring it to a halt.

A system of interconnected particle masses isolated from the external world released from a prescribed initial condition and move under the action of internal forces. Total mechanical energy (E) remains constant throughout the motion of the system. Linear momentum (denoted by G) is also conserved; In other words, center of mass (moving white dot with blue border) is not accelerating because no external force is applied to the system.

Classical Kalman filter designed to perfrom state estimation in the presence of process noise and measurement noises, tested on a planar double inverted pendulum controlled by a horizontal force on the cart.