arXiv subjects

P. H. Nguyen

Publications and source records attributed to P. H. Nguyen.

4 recordsLinked to original sources

arXiv2025

AMBER: A tether-deployable gripping crawler with compliant microspines for canopy manipulation

This paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a dual-track rotary gripper, and an elastic tail, enabling secure attachment and stable traversal across branches of varying curvature and inclination. Experiments demonstrate reliable gripping up to 90$^\circ$ body roll and inclination, while effective climbing on branches inclined up to 67.5$^\circ$, achieving a maximum speed of 0.55 body lengths per second on horizontal branches. The compliant tracks allow yaw steering of up to 10$^\circ$, enhancing maneuverability on irregular surfaces. Power measurements show efficient operation with a dimensionless cost of transport over an order of magnitude lower than typical hovering power consumption in aerial robots. The crawler provides a robust, low-power platform for environmental sampling and in-canopy sensing. The aerial deployment is demonstrated at a conceptual and feasibility level, while full drone-crawler integration is left as future work.

cs.RO↗

arXiv2024

TumblerBots: Tumbling Robotic sensors for Minimally-invasive Benthic Monitoring

Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems, preventing depiction of the undisturbed environmental condition. In response to this challenge, we propose a novel framework utilizing a lightweight tumbler system equipped with a sensing unit, deployed via a drone. This design minimizes disruption to the water habitat by maintaining a slow descent. The sensing unit is detached once on the water surface, enabling precise and non-invasive data collection from the benthic zone. The tumbler is designed to be lightweight and compact, enabling deployment via a drone. The sensing pod, which detaches from the tumbler and descends to the bottom of the water body, is equipped with temperature and pressure sensors, as well as a buoyancy system. The later, activated upon task completion, utilizes a silicon membrane inflated via a chemical reaction. The reaction generates a pressure of 70 kPa, causing the silicon membrane to expand by 30\%, which exceeds the 5.7\% volume increase required for positive buoyancy. The tumblers, made from ecofriendly materials to minimize environmental impact when lost during the mission, were tested for their gliding ratio and descent rate. They exhibit a low descent rate, in the range of 0.8 to 2.5 meters per seconds, which minimizes disturbance to the ecosystem upon water landing. Additionally, the system demonstrated robustness in moderate to strong wind conditions during outdoor tests, validating the overall framework.

cs.RO↗

arXiv2020

RAMPVIS: Towards a New Methodology for Developing Visualisation Capabilities for Large-scale Emergency Responses

The effort for combating the COVID-19 pandemic around the world has resulted in a huge amount of data, e.g., from testing, contact tracing, modelling, treatment, vaccine trials, and more. In addition to numerous challenges in epidemiology, healthcare, biosciences, and social sciences, there has been an urgent need to develop and provide visualisation and visual analytics (VIS) capacities to support emergency responses under difficult operational conditions. In this paper, we report the experience of a group of VIS volunteers who have been working in a large research and development consortium and providing VIS support to various observational, analytical, model-developmental and disseminative tasks. In particular, we describe our approaches to the challenges that we have encountered in requirements analysis, data acquisition, visual design, software design, system development, team organisation, and resource planning. By reflecting on our experience, we propose a set of recommendations as the first step towards a methodology for developing and providing rapid VIS capacities to support emergency responses.

cs.HC↗

arXiv2013

Anisotropic Models for Globular Clusters, Galactic Bulges and Dark Halos

Spherical systems with polytropic equations of state are of great interest in astrophysics. They are widely used to describe neutron stars, red giants, white dwarfs, brown dwarfs, main sequence stars, galactic halos, and globular clusters of diverse sizes. In this paper we construct analytically a family of self-gravitating spherical models in the post-Newtonian approximation of general relativity. These models present interesting cusps in their density profiles which are appropriate for the modeling of galaxies and dark matter halos. The systems described here are anisotropic in the sense that their equiprobability surfaces in velocity space are nonspherical, leading to an overabundance of radial or circular orbits, depending on the parameters of the model under consideration. Among the family of models, we find the post-Newtonian generalization of the Plummer and Hernquist models. A close inspection of their equation of state reveals that these solutions interpolate smoothly between a polytropic sphere in the asymptotic region and an inner core that resembles an isothermal sphere. Finally, we study the thermodynamics of these models and argue for their stability.

gr-qc↗