arXiv subjects

Laura Lee

Publications and source records attributed to Laura Lee.

3 recordsLinked to original sources

arXiv2026

System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot

Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terrain and agility over rough terrain. Inspired by these athletes, we present the design and control of a robotic platform, Ultra Mobility Vehicle (UMV), which combines a bicycle and a reaction mass to move dynamically with minimal actuated degrees of freedom. We employ a simulation-driven design optimization process to synthesize a spatial linkage topology with a focus on vertical jump height and momentum-based balancing on a single wheel contact. Using a constrained Reinforcement Learning (RL) framework, we demonstrate zero-shot transfer of diverse athletic behaviors, including track-stands, jumps, wheelies, rear wheel hopping, and front flips. This 23.5 kg robot is capable of high speeds (8 m/s) and jumping on and over large obstacles (1 m tall, or 130% of the robot's nominal height).

cs.RO↗

arXiv2025

Astronomical Optical Interferometry from the Lunar Surface

The lunar surface is a compelling location for large, distributed optical facilities, with significant advantages over orbital facilities for high spatial resolution astrophysics. The serious development of mission concepts is timely because of the confluence of multiple compelling factors. Lunar access technology is maturing rapidly, in the form of both US-based crewed and uncrewed landers, as well as international efforts. Associated with this has been a definitive maturation of astronomical optical interferometry technologies at Earth-based facilities over the past three decades, enabling exquisitely sharp views on the universe previously unattainable, though limited at present by the Earth's atmosphere. Importantly, the increasing knowledge and experience base about lunar surface operations indicates it is not just suitable, but highly attractive for lunar telescope arrays.

astro-ph.IM↗

arXiv2021

The First Dynamical Mass Determination of a Nitrogen-rich Wolf-Rayet Star using a Combined Visual and Spectroscopic Orbit

We present the first visual orbit for the nitrogen-rich Wolf-Rayet binary, WR 133 (WN5o + O9I) based on observations made with the CHARA Array and the MIRC-X combiner. This orbit represents the first visual orbit for a WN star and only the third Wolf-Rayet star with a visual orbit. The orbit has a period of 112.8 d, a moderate eccentricity of 0.36, and a separation of $a$= 0.79 mas on the sky. We combine the visual orbit with an SB2 orbit and Gaia parallax to find that the derived masses of the component stars are $M_{\rm WR}$ = $9.3\pm1.6 M_\odot$ and $M_{\rm O}$ = $22.6\pm 3.2 M_\odot$, with the large errors owing to the nearly face-on geometry of the system combined with errors in the spectroscopic parameters. We also derive an orbital parallax that is identical to the {\it Gaia}-determined distance. We present a preliminary spectral analysis and atmosphere models of the component stars, and find the mass-loss rate in agreement with polarization variability and our orbit. However, the derived masses are low compared to the spectral types and spectral model. Given the close binary nature, we suspect that WR 133 should have formed through binary interactions, and represents an ideal target for testing evolutionary models given its membership in the cluster NGC 6871.

astro-ph.SR↗