Junyi Geng's research works | Carnegie Mellon University, PA (CMU) and other places

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UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction

Conference Paper

Jan 2023

Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty

Conference Paper

Dec 2022

UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction

Preprint

Dec 2022

This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The simulator is designed to accelerate these aircraft's modeling and control design. It provides various analyses...

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure

Conference Paper

Oct 2022

Robotic Depowdering for Additive Manufacturing Via Pose Tracking

Article

Oct 2022

With the rapid development of powder-based additive manufacturing, depowdering, a process of removing unfused powder that covers 3D-printed parts, has become a major bottleneck to further improve its productiveness. Traditional manual depowdering is extremely time-consuming and costly, and some prior automated systems either require pre-depowdering...

Robotic Depowdering for Additive Manufacturing via Pose Tracking

Preprint

Jul 2022

Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration

Preprint

Jun 2022

A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follo...

Fig. 1: Our custom VTOL tiltrotor platform [6].

Fig. 2: The flowchart of the fault detection method [24].

VTOL Failure Detection and Recovery by Utilizing Redundancy

Preprint

Full-text available

Jun 2022

Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybrid VTOLs the clear front-runners among UAM platforms. On the other hand, concerns regarding the safety and reliability of autonomous aircraft have grown in response to th...

Fig. 1: An efficient industrial assembly cell integrates perception,...

Fig. 2: A complete assembly process, specifically for assembling two...

Fig. 3: A comparison of force detected by a F/T sensor at assembly. Top...

Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration

Preprint

Full-text available

May 2022

Significant progress in robotics reveals new opportunities to advance manufacturing. Next-generation industrial automation will require both integration of distinct robotic technologies and their application to challenging industrial environments. This paper presents lessons from a collaborative assembly project between three academic research grou...

Fig. 1: Tiltrotor VTOL aircraft designed in this work with four rotors,...

Fig. 2: Rotation mechanism in three different positions.

Fig. 3: Visualization of the tiltrotor VTOL's feasible wrench sets. MC...

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure

Preprint

Full-text available

May 2022

Providing both the vertical take-off and landing capabilities and the ability to fly long distances to aircraft opens the door to a wide range of new real-world aircraft applications while improving many existing applications. Tiltrotor vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are a better choice than fixed-wing and mult...

Hierarchical Intention Tracking for Robust Human-Robot Collaboration in Industrial Assembly Tasks

Preprint

Mar 2022

Collaborative robots require effective intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly. During these tasks, human intention continuously changes across multiple steps, and is composed of a hierarchy including high-level interactive intention and low-level task intention. Thus, we pro...

Fig. 3: Comparison of different methods in the same testing episode...

Socially Aware Robot Crowd Navigation with Interaction Graphs and Human Trajectory Prediction

Preprint

Full-text available

Mar 2022

We study the problem of safe and socially aware robot navigation in dense and interactive human crowds. Previous works use simplified methods to model the personal spaces of pedestrians and ignore the social compliance of the robot behaviors. In this paper, we provide a more accurate representation of personal zones of walking pedestrians with thei...