arXiv subjects

Teaya Yang

Publications and source records attributed to Teaya Yang.

4 recordsLinked to original sources

arXiv2025

Autonomous Close-Proximity Photovoltaic Panel Coating Using a Quadcopter

Photovoltaic (PV) panels are becoming increasingly widespread in the domain of renewable energy, and thus, small efficiency gains can have massive effects. Anti-reflective and self-cleaning coatings enhance panel performance but degrade over time, requiring periodic reapplication. Uncrewed Aerial Vehicles (UAVs) offer a flexible and autonomous way to apply protective coatings more often and at lower cost compared to traditional manual coating methods. We present a quadcopter-based system, equipped with a liquid dispersion mechanism, designed to automate such tasks. The localization stack only uses onboard sensors, relying on visual-inertial odometry and the relative position of the PV panel detected with respect to the quadcopter. The control relies on a model-based controller that accounts for the ground effect and the mass decrease of the quadcopter during liquid dispersion. We validate the autonomy capabilities of our system through extensive indoor and outdoor experiments.

cs.RO↗

arXiv2024

A Tactile Feedback Approach to Path Recovery after High-Speed Impacts for Collision-Resilient Drones

Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions. Traditional methods focus on avoiding obstacles entirely, but these approaches can be limiting, particularly in cluttered spaces or on weight-and compute-constrained platforms such as drones. This paper presents a novel approach to enhance drone robustness and autonomy by developing a path recovery and adjustment method for a high-speed collision-resilient aerial robot equipped with lightweight, distributed tactile sensors. The proposed system explicitly models collisions using pre-collision velocities, rates and tactile feedback to predict post-collision dynamics, improving state estimation accuracy. Additionally, we introduce a computationally efficient vector-field-based path representation that guarantees convergence to a user-specified path, while naturally avoiding known obstacles. Post-collision, contact point locations are incorporated into the vector field as a repulsive potential, enabling the drone to avoid obstacles while naturally returning to its path. The effectiveness of this method is validated through Monte Carlo simulations and demonstrated on a physical prototype, showing successful path following, collision recovery, and adjustment at speeds up to 3.7 m/s.

cs.RO↗

arXiv2024

Towards Safe and Efficient Through-the-Canopy Autonomous Fruit Counting with UAVs

We present an autonomous aerial system for safe and efficient through-the-canopy fruit counting. Aerial robot applications in large-scale orchards face significant challenges due to the complexity of fine-tuning flight paths based on orchard layouts, canopy density, and plant variability. Through-the-canopy navigation is crucial for minimizing occlusion by leaves and branches but is more challenging due to the complex and dense environment compared to traditional over-the-canopy flights. Our system addresses these challenges by integrating: i) a high-fidelity simulation framework for optimizing flight trajectories, ii) a low-cost autonomy stack for canopy-level navigation and data collection, and iii) a robust workflow for fruit detection and counting using RGB images. We validate our approach through fruit counting with canopy-level aerial images and by demonstrating the autonomous navigation capabilities of our experimental vehicle.

cs.RO↗

arXiv2023

Bifurcation instructed design of multistate machines

We propose a novel design paradigm for multistate machines where transitions from one state to another are organized by bifurcations of multiple equilibria of the energy landscape describing the collective interactions of the machine components. This design paradigm is attractive since, near bifurcations, small variations in a few control parameters can result in large changes to the system's state providing an emergent lever mechanism. Further, the topological configuration of transitions between states near such bifurcations ensures robust operation, making the machine less sensitive to fabrication errors and noise. To design such machines, we develop and implement a new efficient algorithm that searches for interactions between the machine components that give rise to energy landscapes with these bifurcation structures. We demonstrate a proof of concept for this approach by designing magneto elastic machines whose motions are primarily guided by their magnetic energy landscapes and show that by operating near bifurcations we can achieve multiple transition pathways between states. This proof of concept demonstration illustrates the power of this approach, which could be especially useful for soft robotics and at the microscale where typical macroscale designs are difficult to implement.

cond-mat.soft↗