Research
Research Goal
The existing design approaches mainly deal with what is sufficient rather than necessary, locked into the classical thinking of component technology. Design the structure first, then material studies, and add control and signal processing later. The critical question that we ask is whether dramatic performance improvements are possible by combining different disciplines as a communal pool of resources such that engineers in different disciplines have more freedom and can talk to each other in the design space to solve a joint optimization problem. Our research aims to exploit the integration of disciplines for better performance with fewer resources required of various engineering systems.
We would also like to develop and offer more and more software and tools to help engineers knit efficient structures that physics and their imagination allow and motivate students to study structure and control more fundamentally. All the source codes can be found on the Software page.
Research Interests
- Mechanics and Lightweight Infrastructures Design for Long-term Planetary Explorations
- Modeling of Deployable/Flexible/Foldable Space Robotics and Structures
- Deployable Modular Space Structures/Robotics for Landing, Self-Deployment, and In-Situ Assembly
- Integrating Structure and Control Theories for Aerospace Applications Using the Least Necessary Resources
Deployable Space Systems
Research Demonstrations
Growable Space Habitat with 1G Artificial Gravity in Deep Space
(Muhao Chen, Raman Goyal, Yuling Shen, Manoranjan Majji, Robert E. Skelton, Joel Sercel, Jane Shevtsov, and Anthony Longman)
Automated Drilling Rig
(Mohamed S Khaled, Muhao Chen, Enrique Z Losoya, Arturo Lopez Nava Jr., Alkassoum Toure, Salim Al Kharsa, Tom Nan, Ran Wang, Luis A Rodriguez, Eduardo Gildin, Robert E. Skelton, Sam Noynaert, and George Moridis)
Stability Conditions of Tensegrity Structures subject to Local and Global Buckling
(Shuo Ma and Muhao Chen)
Dynamic Reference Tracking and Obstacle Avoidance Control Based on Reinforcement Learning
(Muhao Chen and Robert E. Skelton)
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Lunar-Polar Propellant Mining Outpost (LPMO): Affordable Exploration and Industrialization
(Joel Sercel, Craig Peterson, Anthony Longman, Muhao Chen, Manoranjan Majji, and Robert E. Skelton)
Mass Efficient Double-Helix Tensegrity and Origami
(Muhao Chen, Manoranjan Majji, and Robert E. Skelton)
Model-Based and Data-Based Shape Control of Tensegrity Structures
(Muhao Chen and Robert E. Skelton)
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Economic Sensor & Actuator Selection for Tensegrity Robots Based on the Information Architecture
(Muhao Chen, Yuling Shen, Robert E. Skelton)
Finite-Word Length Optimal Simulation for High-Dimensional Dynamical Systems
(Yuling Shen, Muhao Chen, and Robert E. Skelton)
Model Reduction of Tensegrity Systems
(Muhao Chen and Robert E. Skelton)
Statics of Integrated Tensegrity and Origami Systems
(Shuo Ma, Muhao Chen, Hongying Zhang, and Robert E. Skelton)
Clustered Tensegrity Systems Considering Pulley Sizes
(Shuo Ma, Yiqian Chen, Muhao Chen, and Robert E. Skelton)
Deployable Tensegrity Roof with Covers
(Shuo Ma, Muhao Chen, and Robert E. Skelton)
System Identification (QMC, LS, and ERA) to Tensegrity Systems
(Muhao Chen, Yuling Shen and Robert E. Skelton)
Low-cost, Lightweight, Deployable Shelter subject to Extreme Environments
(Muhao Chen and Robert E. Skelton)
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Minimal Mass Design for Clustered Tensegrity
(Muhao Chen, Xiaolong Bai, and Robert E. Skelton)
Electromagnetic Lunar Launcher
(Xiaowen Su, Muhao Chen, Manoranjan Majji, and Robert E. Skelton)
Energy-Efficient Cable-actuation Strategies of the V-Expander Tensegrity
(Muhao Chen, Aguinaldo Fraddosio, Andrea Micheletti, Gaetano Pavone, Mario Daniele Piccioni, and Robert E. Skelton)
Tensegrity System Dynamics in Fluids (FSI: Fluid-Structure Interaction)
(Muhao Chen, Jun Chen, Manoranjan Majji, and Robert E. Skelton)
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Rigid Body Tensegrity
(Shuo Ma, Muhao Chen, Zhangli Peng, Xingfei Yuan, and Robert E. Skelton)
Double-Helix Tensegrity Spherical Planetary Lander
(Muhao Chen and Robert E. Skelton)
Gyroscopic Tensegrity Robots
(Raman Goyal, Muhao Chen, Manoranjan Majji, and Robert E. Skelton)
Deployable Lightweight Tensegrity Cable Net
(Shuo Ma, Muhao Chen, and Robert E. Skelton)
Deployable Clustered Cable Nets
(Shuo Ma, Kai Lu, Muhao Chen, and Robert E. Skelton)
Deployable Cable Domes
(Shuo Ma, Muhao Chen, Xingfei Yuan, and Robert E. Skelton)
