arXiv subjects

Stanley Wang

Publications and source records attributed to Stanley Wang.

4 recordsLinked to original sources

arXiv2026

Long-Reach Robotic Manipulation for Assembly and Outfitting of Lunar Structures

Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electrical outfitting necessitate transport, routing, and fine manipulation of cables across large structures. To address this need, we present a compact and long-reach manipulator incorporating a deployable composite boom, capable of performing manipulation tasks across large structures and workspaces. We characterize the deflection, vibration, and blossoming characteristics inherent to the deployable structure, and present a manipulation control strategy to mitigate these effects. Experiments indicate an average endpoint accuracy error of less than 15 mm for boom lengths up to 1.8 m. We demonstrate the approach with a cable routing task to illustrate the potential for lunar outfitting applications that benefit from long reach.

cs.RO↗

arXiv2026

Long-Reach Robotic Cleaning for Lunar Solar Arrays

Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning, dust mitigation, and minor repair are essential to preserve performance and extend system life. A specific application is the cleaning of lunar solar arrays. Solar arrays are expected to provide substantial fraction of lunar surface power and operate for months to years, supplying continuous energy to landers, habitats, and surface assets, making sustained output mission-critical. However, over time lunar dust accumulates on these large solar arrays, which can rapidly degrade panel output and reduce mission lifetime. We propose a small mobile robot equipped with a long-reach, lightweight deployable boom and interchangeable cleaning tool to perform gentle cleaning over meter-scale workspaces with minimal human involvement. Building on prior vision-guided long-reach manipulation, we add a compliant wrist with distal force sensing and a velocity-based admittance controller to regulate stable contact during surface cleaning. In preliminary benchtop experiments on a planar surface, the system maintained approximately 2 N normal force while executing a simple cleaning motion over boom lengths from 0.3 m to 1.0 m, with RMS force error of approximately 0.2 N after initial contact. These early results suggest that deployable long-reach manipulators are a promising architecture for robotic maintenance of lunar infrastructure such as solar arrays, radiators, and optical surfaces.

cs.RO↗

arXiv2023

Nature-inspired three-dimensional surface serration topologies enable silent flight by suppressing airfoil-turbulence interaction noise

As natural predators, owls fly with astonishing stealth due to the sophisticated serrated surface morphology of their feathers that produces advantageous flow characteristics and favorable boundary layer structures. Traditionally, these serrations are tailored for airfoil edges with simple two-dimensional patterns, limiting their effect on overall noise reduction while negotiating tradeoffs in aerodynamic performance. Here, we formulate new design strategies that can mitigate tradeoffs between noise reduction and aerodynamic performance by merging owl feather and cicada insect wing geometries to create a three-dimensional topology that features silent and efficient flight. Aeroacoustics and aerodynamics experimental results show that the application of our hybrid topology yields a reduction in overall sound pressure levels by up to 9.93% and an increase in propulsive efficiency by over 48.14% compared to benchmark designs. Computational fluid dynamics simulations reveal that the three-dimensional, owl-inspired surface serrations can enhance surface vorticity. The produced coherent vortex structures serve to suppress the source strength of dipole and quadrupole pressure sources at various Reynolds numbers, resulting in a universal noise reduction effect. Our work demonstrates how a bioinspired three-dimensional serration topology refines the turbulence-airfoil interaction mode and improves multiple functionalities of an aerodynamic surface to enable quieter and more fuel-efficient, aerial vehicles.

physics.flu-dyn↗

arXiv2019

Connectedness of the Moduli Space of Genus 1 Planar Tropical Curves

Tropical geometry is a relatively recent field in mathematics created as a simplified model for certain problems in algebraic geometry. We introduce the definition of abstract and planar tropical curves as well as their properties, including combinatorial type and degree. We also talk about the moduli space, a geometric object that parameterizes all possible types of abstract or planar tropical curves subject to certain conditions. Our research focuses on the moduli spaces of planar tropical curves of genus one, arbitrary degree d and any number of marked, unbounded edges. We prove that these moduli spaces are connected.

math.AG↗