Explanipedia

Cellular plasticity model for self-organized phenotypes in multi-cellular robots Open

Trevor Smith, Thomas G. Smith, Nicholas S. Szczecinski, Sergiy Yakovenko, Yu Gu · 2025

Robotic systems often struggle to adapt to dynamic, unstructured environments due to top-down design constraints based on human assumptions. Inspired by biological morphogenesis, this study introduces a cellular plasticity model based on T…

Robust Flower Cluster Matching Using The Unscented Transform Open

Andy Chu, Rashik Shrestha, Yu Gu, Jason N. Gross · 2025

Monitoring flowers over time is essential for precision robotic pollination in agriculture. To accomplish this, a continuous spatial-temporal observation of plant growth can be done using stationary RGB-D cameras. However, image registrati…

A Kinetic Model for Oxide–Carbonitride Inclusion Heterogeneous Nucleation and Precipitation during Superalloy Solidification Open

Peng Zhao, Shulei Yang, Yu Gu, Wei Liu, Shufeng Yang · 2024

Complex oxide–carbonitrides (MgO-Ti(CN), Al2O3-Ti(CN), and MgO·Al2O3-Ti(CN)) are the most common non-metallic inclusions presented in cast and wrought superalloys. In this work, a coupled kinetics model was proposed to predict the complex …

Design of Stickbug: a Six-Armed Precision Pollination Robot Open

Trevor A. Smith, Madhav Rijal, Christopher Tatsch, R. Michael Butts, Jared Beard , et al. · 2024

This work presents the design of Stickbug, a six-armed, multi-agent, precision pollination robot that combines the accuracy of single-agent systems with swarm parallelization in greenhouses. Precision pollination robots have often been pro…

‘Swarm of one’ robot is a single machine made up of independent modules Open

Yu Gu, Trevor C. Smith · 2024

Human-Swarm Interaction Robotics as Context for Training Diverse Undergraduate Researchers Open

Reagan Curtis, Jason N. Gross, Evana Nusrat Dooty, Sumaia Ali Raisa, Yu Gu · 2024

We seek to help undergraduate students develop into independent researchers through challenging them with real-world problems utilizing human-swarm interactions as both research context and pedagogical model for how to engage students in u…

Analysis of UAV Thermal Soaring via Hawk-Inspired Swarm Interaction Open

Adam Pooley, Max Gao, Arushi Sharma, Sachi Barnaby, Yu Gu , et al. · 2023

A swarm of unmanned aerial vehicles (UAVs) can be used for many applications, including disaster relief, search and rescue, and establishing communication networks, due to its mobility, scalability, and robustness to failure. However, a UA…

Proprioceptive Slip Detection for Planetary Rovers in Perceptually Degraded Extraterrestrial Environments Open

Çağri Kiliç, Yu Gu, Jason N. Gross · 2022

Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that sufficie…

A Scalable Framework for Map Matching Based Cooperative Localization Open

Chizhao Yang, Jared Strader, Yu Gu · 2021

Localization based on scalar field map matching (e.g., using gravity anomaly, magnetic anomaly, topographics, or olfaction maps) is a potential solution for navigating in Global Navigation Satellite System (GNSS)-denied environments. In th…

Effects of Human Personal Space on the Robot Obstacle Avoidance Be havior: A Human-in-the-loop Assessment Open

Yuhao Chen, Trevor C. Smith, Nathan Hewitt, Yu Gu, Boyi Hu · 2021

To ensure both the physical and mental safety of humans during human-robot interaction (HRI), a rich body of literature has been accumulated, and the notion of socially acceptable robot behaviors has arisen. To be specific, it requires the…

Socially Aware Robot Obstacle Avoidance Considering Human Intention and Preferences Open

Trevor C. Smith, Yuhao Chen, Nathan Hewitt, Boyi Hu, Yu Gu · 2021

Search Planning of a UAV/UGV Team With Localization Uncertainty in a Subterranean Environment Open

Matteo De Petrillo, Jared Beard, Yu Gu, Jason N. Gross · 2021

We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the lo…

Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization Open

Çağri Kiliç, Nicholas Ohi, Yu Gu, Jason N. Gross · 2021

The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constra…

Molecular Characterization and Genomic Analysis of Novel Phage vB_ ShiP-A7 Infecting Multidrug-Resistant Shiglla Fexneri and Escherichia Coli Open

Jing Xu, Yu Gu, Xinyan Yu, Ruiyang Zhang, Xuesen Zhang , et al. · 2020

BackgroundPhage therapy has regained more attention due to the rise of multidrug-resistant (MDR) bacteria. Several case reports demonstrated clinical application of phage in resolving infections caused by MDR bacteria in recent years. Resu…

Cooperative Navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements Open

Chizhao Yang, Jared Strader, Yu Gu, Aaron Canciani, Kevin Brink · 2020

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperat…

Cooperative UAV Navigation using Magnetic Anomaly Measurements and Limited Inter-Vehicle Ranging Information. Open

Chizhao Yang, Jared Strader, Yu Gu, Aaron Canciani, Kevin Brink · 2020

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperat…

Cooperative Extended State Observer Based Control of Vehicle Platoons With Arbitrarily Small Time Headway Open

Anquan Liu, Tao Li, Yu Gu, Haohui Dai · 2020

We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and …

String Stability of Homogenous Vehicle Platoons Based on Cooperative Extended State Observers Open

Anquan Liu, Tao Li, Yu Gu, Haohui Dai · 2020

We study platoon control of homogeneous vehicles with linear third-order longitudinal dynamics with the constant time headway (CTH) policy. In order to ensure string stability with a small time headway, a distributed control law based on e…

Flower Interaction Subsystem for a Precision Pollination Robot Open

Jared Strader, Jennifer Nguyen, Christopher Tatsch, Yixin Du, Kyle Lassak , et al. · 2019

Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments not suitable for bees such as greenhouses, growth chambers, and in out…

Efficient Distributed Method for NLOS Cooperative Localization in WSNs Open

Shiwa Chen, Jianyun Zhang, Yunxiang Mao, Chengcheng Xu, Yu Gu · 2019

The accuracy of cooperative localization can be severely degraded in non-line-of-sight (NLOS) environments. Although most existing approaches modify models to alleviate NLOS impact, computational speed does not satisfy practical applicatio…

Effects of Withdrawal Rate on the Microstructure of Directionally Solidified GH4720Li Superalloys Open

Jinglong Qu, Shufeng Yang, Zhengyang Chen, Jingshe Li, Anping Dong , et al. · 2019

Increasing the ingot size of GH4720Li superalloys makes it difficult to control their microstructure, and the withdrawal rate is an important factor in controlling and refining the microstructure of GH4720Li superalloys. In this study, GH4…

Effects of Different Melting Technologies on the Purity of Superalloy GH4738 Open

Zhengyang Chen, Shufeng Yang, Jinglong Qu, Jingshe Li, Anping Dong , et al. · 2018

The choice of melting technique is crucial for controlling the purity of a superalloy, which is especially important because purity has come to limit progress in the superalloy field. In this study, double- and triple-melting techniques we…

Design of an Autonomous Precision Pollination Robot Open

Nicholas Ohi, Kyle Lassak, Ryan M. Watson, Jared Strader, Yixin Du , et al. · 2018

Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but can also surpass them in efficiency and uniformity, helping to feed the fast-growing human population on Earth. This paper presents the d…

Analysis of Pilot-Induced-Oscillation and Pilot Vehicle System Stability Using UAS Flight Experiments Open

Tanmay Mandal, Yu Gu · 2016

This paper reports the results of a Pilot-Induced Oscillation (PIO) and human pilot control characterization study performed using flight data collected with a Remotely Controlled (R/C) unmanned research aircraft. The study was carried out…

Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements Open

Jason N. Gross, Yu Gu, Matthew B. Rhudy · 2016

This article considers a novel approach to using global positioning system (GPS) signal strength readings and estimated velocity vector for estimating the attitude of a small fixed-wing unmanned aerial vehicle (UAV). This approach has the …

Flight-Test Evaluation of Kinematic Precise Point Positioning of Small UAVs Open

Jason N. Gross, Ryan M. Watson, Stéphane d’Urso, Yu Gu · 2016

An experimental analysis of Global Positioning System (GPS) flight data collected onboard a Small Unmanned Aerial Vehicle (SUAV) is conducted in order to demonstrate that postprocessed kinematic Precise Point Positioning (PPP) solutions wi…

A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation Open

Yu Gu, Jason N. Gross, Matthew B. Rhudy, Kyle Lassak · 2016

A novel sensor fusion design framework is presented with the objective of improving the overall multisensor measurement system performance and achieving graceful degradation following individual sensor failures. The Unscented Information F…

Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds Open

Caleb Rice, Yu Gu, Haiyang Chao, Trenton Larrabee, Srikanth Gururajan , et al. · 2016

Autonomous formation flight is a key approach for reducing energy cost and managing traffic in future high density airspace. The use of Unmanned Aerial Vehicles (UAVs) has allowed low-budget and low-risk validation of autonomous formation …

Unmanned Aerial Vehicle Navigation Using Wide-Field Optical Flow and Inertial Sensors Open

Matthew B. Rhudy, Yu Gu, Haiyang Chao, Jason N. Gross · 2015

This paper offers a set of novel navigation techniques that rely on the use of inertial sensors and wide-field optical flow information. The aircraft ground velocity and attitude states are estimated with an Unscented Information Filter (U…

Yu Gu YOU? Author Swipe