arXiv subjects

Suguru Sato

Publications and source records attributed to Suguru Sato.

4 recordsLinked to original sources

arXiv2026

Solderable Microcontroller-Integrated E-Textiles using UV-Tape-Assisted Laser Patterning Technique

In this study, we developed a UV-tape-assisted laser patterning (UT-Laser) technique that enables the simple transfer-based formation of wiring with line widths below 200 $\mu$m onto textile substrates. With the rapid advancement of wearable devices capable of acquiring various types of physiological and environmental information, research on electronic textiles (e-textiles)-in which electronic components are integrated into fabrics and clothing-has progressed considerably. However, integrating high-performance, rigid electronic components onto textiles remains challenging: the diameter of textile fibers limits the formation of fine wiring, making reliable mounting of such components difficult. To address these challenges, we devised the UT-Laser technique, in which thin foil or film materials are laser vector-cut on UV tape, and the adhesive strength is controlled through UV exposure. The unnecessary portions are selectively and collectively peeled away to form fine wiring, which is subsequently transferred onto the textile substrate. This approach enables facile fabrication of fine wiring with line widths below 200 $\mu$m on textiles. Furthermore, by forming fine wiring from a flexible copper clad laminate and transferring it onto heat-resistant glass cloth, electronic components can be soldered directly, allowing the fabrication of e-textile devices capable of withstanding more than 10,000 bending cycles. The prototype e-textile device fabricated using the proposed method integrates a microcontroller, USB connector, battery holder, flash memory, inertial measurement unit, and environmental sensors, and successfully acquires data related to stair climbing, respiration, and changes in body temperature during sleep.

physics.med-ph↗

arXiv2026

Optimal Thruster Configuration for 6-DOF Control of a Small Satellite

With the growing deployment of small satellites (such as CubeSats, Nanosats, Picosats, and Femtosats) in Low Earth Orbit (LEO) for targeted applications like imaging, communication, data storage, and rendezvous-docking mission, there is increasing attention on orbit maintenance and attitude control. A common approach for active orbit control involves the use of multiple thrusters, which, when properly arranged, can also generate the required torque for attitude control. Starting from a 24-thruster configuration, this paper presents a set of thruster configurations (referred to as a viable configuration group) that enable full six degrees of freedom (6-DOF) control. Further, configuration group that requires minimum total thrust to achieve 6-DOF commands are found among the viable configuration group. One configuration from each of these groups is further evaluated for its attitude control performance through a representative rendezvous-docking mission, demonstrating that even with a reduced thruster count, sufficient maneuverability can be achieved.

cs.RO↗

arXiv2026

Modeling and Simulation of Virtual Rigid Body Formations and Their Applications Using Multiple Air Vehicles

This paper presents thorough mathematical modeling, control law development, and simulation of virtual structure formations which are inspired by the characteristics of rigid bodies. The stable constraint forces that establish the rigidity in the formation are synthesized by utilizing d'Alembert's principle of virtual work, constraint sensitivities (Lagrange multipliers) and constraint stabilization using Baumgarte stabilization. The governing equations of motion of a multiagent system are derived via Newton's and Euler's equations to include these constraint forces and to enable inputs regarding the formation as if it were an independent rigid body. The performance of this framework is evaluated under multiple cases including waypoint following missions, and using different number of agents.

eess.SY↗

arXiv2026

Three Dimensional Hydrodynamic Flow-Based Collision Avoidance for UAV Formations Facing Emergent Dynamic Obstacles

This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are modeled as three dimensional doublets or ellipsoids that generate local velocity fields, guiding nearby UAVs to execute smooth, collision-free maneuvers without trajectory discontinuities or explicit trajectory replanning. This flow-based approach enables real-time operation and interpretable behavior by leveraging the nature of fluid flow around obstacles via the harmonic properties of Laplace's equation, inherently avoiding local minima common in traditional potential field methods. To establish and maintain coordination among the UAVs, a Virtual Rigid Body (VRB) formation strategy is integrated, ensuring that formation geometry and trajectory tracking are preserved. Simulation results demonstrate the feasibility and scalability of the method for both individual and multi-UAV scenarios with multiple formation geometries encountering moving obstacles. The proposed approach achieves safe, smooth, and computationally efficient avoidance maneuvers suitable for real-time and practical applications.

cs.RO↗