AFASL - Research

Research Interest

In AFASL, our research interest is on the developing and combining different techniques and methodologies to design, analyze, control, and optimize the different types of unmanned aerial and aquatic systems (e.g., fixed wing, flapping wing, tilt-rotor/wing, morphing, space, and marine drones, and underwater robots.) at a reduced computational cost. The focus is on developing new conceptual design, methodologies, and bioinspiration from natural avian and aquatics, such as birds, insects, and marine organisms in order to design and enhance the performance of these robotic systems. We propose methodological, theoretical, and experimental research on bioinspiration, biomimetic, autonomous aerial and aquatic systems, and other topics relevant to the field, with improved capabilities in aerodynamics, hydrodynamics, structure, aeroelasticity, fluid-structure interaction, actuation mechanisms, stability, material and manufacturing techniques. We develop experimentally-validated reduced-order or high fidelity models for these multidisciplinary robotic systems in order to design and manufacturing some efficient prototypes which can participate in the progress of the emerging technologies.

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Autonomous Systems

My research team's scope in the domain of Autonomous Systems is expansive, covering a vast array of platforms that extend from terrestrial to extraterrestrial applications. Our main objective is to push the boundaries of these systems to address complex challenges, ranging from the depths of subterranean mines to the vastness of outer space. Ground systems and aquatic systems are being innovated to explore and monitor environments where human presence is hazardous or limited. Aerial drones are not only being designed to soar in the skies but to delve into underground spaces like coal mines and hover above oil and gas fields, revolutionizing the way we approach mineral and petroleum extraction processes. In the realm of planetary and space exploration, our research has manifested in the development of bioinspired robots capable of embarking on missions to the Moon, Mars, Venus, Titan, Enceladus, and beyond. These robots, which echo the functional genius of biological counterparts found on Earth, are being crafted to navigate and endure the extreme conditions of otherworldly terrains, from the lunar dust to the rocky planes of Mars. High-altitude pseudo-satellites (HAPS) form another component of our portfolio, where we leverage the stratosphere to provide insights into climatic patterns and telecommunications. These technologies hold the promise of bridging connectivity gaps and providing data that can lead to a deeper understanding of our planet's changing climate.

Autonomous systems for underground spaces

Robots for Underground Mine Search and Rescue: This project, funded by NIOSH (CDC), introduces a semi-autonomous hybrid system designed for rapid reconnaissance in underground mines during emergencies. The system comprises robots tasked with data collection and locating trapped miners. Central to this system is an unmanned ground vehicle (UGV) that houses a drone capable of exploration and data transmission. The UGV is equipped with wireless nodes to establish temporary communication links with the rescue team and deploys ostrich egg-inspired sensor packages. These packages monitor environmental conditions, measuring levels of CO2, CO, oxygen, dust, humidity, temperature, and other critical factors, thereby informing navigation decisions. Leveraging backscatter technology, the system facilitates communication between the drone and miners, while LIDAR and depth cameras enable the UGV to navigate in GPS-denied, dark underground environments. A noteworthy aspect of this project is the integration of bee-flower precision landing techniques, allowing the drone to land accurately on the UGV under challenging conditions.

Permissible Drone for Coal Mines: As the mining industry increasingly seeks to incorporate drones into routine underground and surface mining operations, stringent safety regulations present formidable design challenges. Compliance with the Mine Safety and Health Administration (MSHA) standards is particularly demanding for the development of drones suitable for coal mine environments. This project funded by Alpha Foundation, which I lead as the PI in collaboration with colleagues from the Electrical Engineering Department at UT Arlington and the Mining Engineering Department at the University of Kentucky, and Spenser Composite (Sacramento, CA) ventures into designing an intrinsically safe drone propulsion system that can navigate the rigorous safety landscape while improving operational efficiency and managing heat dispersion. We are innovating with a magnetically coupled motor-to-propellor assembly encased in aluminum, selected for its non-sparking characteristics. The propellor shaft is set in a ceramic bearing — a material chosen for its non-magnetic properties and additional advantages including corrosion resistance and minimal thermal expansion. This approach aims to reconcile the challenging demands of safety and functionality in the complex milieu of coal mining.

Smart Cities and Advanced Air Mobility

Bioinspired Drone Vertiports: Through our initiatives funded by NASA and the NSF, we are crafting a future where drones are an integral component of smart cities. We are developing digital twins to facilitate continuous urban surveillance and designing bioinspired vertiports that cater to both air mobility and the management of deserted oil and gas fields. As urban drone traffic increases, there is a need for a revolutionary approach to drone base design and location. It is crucial to protect drones and keep them powered, and just sending them back to their original launch points isn't enough anymore. My team has developed algorithms to improve how drones are matched with charging stations, ensuring they are efficiently recharged and ready for their next mission. We are drawing inspiration from nature for our vertiport designs, borrowing concepts from trees and wasp and bird nests to craft stations that naturally fit into the urban environment and provide drones with secure landing spots. These vertiports, potentially perched atop buildings, will feature separate compartments to accommodate multiple drones, allowing for simultaneous takeoffs and landings without interference. This setup not only boosts operational efficiency but also safeguards the drones. A specific application of this technology is our project funded by NSF SCC program aimed at monitoring methane emissions from abandoned oil and gas wells. Here, we're proposing a sustainable vertiport system for drone swarms to perform emission measurements efficiently. These vertiports, equipped with solar panels, serve as a home base for drones, providing them with the necessary support to carry out their functions over challenging terrain. This solution presents significant advantages over conventional methods, reducing the resources required for such operations.

Autonomous Systems for Planetary Exploration

Drones on Venus, Mars, and Titan: My research group has conducted a series of groundbreaking projects aimed at expanding the frontiers of planetary exploration through innovative drone technology. Each drone is meticulously designed to meet the unique challenges posed by the diverse environments of Venus, Mars, and Titan, informed by in-depth studies of each celestial body's atmospheric and physical properties.

Venus Mid-Altitude Atmospheric Exploration Drone: We are designing a drone capable of sustained flight in the relatively Earth-like conditions found at an altitude of around 55 km above Venus' surface. This UAV will be equipped with energy harvesting capabilities to navigate the extreme temperatures and pressures of the lower altitudes. Through atmospheric modeling, we've derived functions to gauge the environmental properties such as temperature, pressure, density, and viscosity, crucial for optimizing wing and thrust loading and allowing the UAV to perform lower altitude surveys before returning to safer heights.

Mars Hybrid Drone/VTOL Concept: The thin atmosphere of Mars presents a significant challenge, which we are addressing with the development of a hybrid drone/VTOL system. Our atmospheric analysis up to 3 km altitude provides a detailed understanding of Mars' environmental conditions, allowing us to tailor the design for optimal performance during cruise and loitering flights. This project represents a pivotal step toward the realization of practical UAS exploration on Mars. In addition to these planet-specific projects, we are exploring the integration of multirotor drones that can dock with larger fixed-wing drones for enhanced exploration capabilities. This innovative approach could significantly expand the scope and flexibility of Martian missions, allowing for detailed thermal imaging and the use of inertial measurements for precision docking, all powered by on-board image processing capabilities.

Titan Drone with Soaring Capabilities: Titan's environment, vastly different from Earth's, requires a creative approach to drone design. We are exploring the potential of dynamic and thermal soaring, inspired by natural phenomena like the flight of the albatross, to design drones that can efficiently use wind gradients and thermal currents in Titan's atmosphere. Our studies suggest that the moon's lower gravity and denser atmosphere could make dynamic soaring an incredibly energy-efficient mode of aerial exploration, with the possibility of extending flight durations and reducing power consumption.

Bioinspired Robots for Planetary Exploration: In the arena of bioinspired robotics for planetary exploration, my team and I have embarked on developing robots that take a page from the remarkable adaptability and energy efficiency observed in the natural world. These robots are not only designed to navigate diverse terrains but are also pivotal for the exploration of other planets where conventional rovers may falter. Our versatile pillbug-inspired robot is adept at navigating complex terrains, from steep volcanic craters to uneven cave floors, transforming as needed for optimal energy conservation and protection. The Golden Wheel Spider's sand-dune cartwheeling escape inspires our second robot, which is engineered to roll across the challenging landscapes of planets like Mars, prioritizing speed and energy efficiency. Lastly, our grasshopper-inspired jumping robot embodies the insect's impressive agility and power, optimized for high-mobility and precise navigation over planetary obstacles. These innovations reflect a harmonious blend of biomimicry and engineering, laying the groundwork for a new era of space exploration where robots traverse, survey, and unlock the secrets of other worlds with unprecedented efficiency and adaptability.

Seeds-Inspired Micro Flyers: My team is engineering micro drones inspired by dandelions for environmental and lava tubes monitoring, designed to mimic the seed’s wind-assisted dispersal. These micro flyers are equipped with energy-harvesting capabilities and advanced sensors to collect and transmit data across vast areas. We are employing aerodynamic analyses to optimize their shape for efficient flight and energy use, with rigorous wind tunnel testing to ensure real-world functionality. Our goal is to deploy swarms of these lightweight drones, which will float like seeds on the breeze, gathering critical environmental information powered by innovative solar and piezoelectric energy solutions.

Stratospheric Airships: This project is dedicated to advancing the capabilities of High Altitude Platform Systems (HAPS), or stratospheric airships. We are focusing on the intricate design and optimization of aerodynamic and aerostatic controls to enhance maneuverability and stability at high altitudes. We are delving into the precise control of yaw, pitch, and altitude to achieve both static and dynamic stability. Key considerations in this endeavor include the selection of materials, the integration of advanced control systems, and the improvement of operational efficiency. Through meticulous design and iterative refinement, we aim to craft a sophisticated airship architecture that not only boosts performance but also upholds stringent safety and reliability standards for mission success.

Taxidermy Bird Drones for Wildlife Monitoring: My research group’s contributions to the realm of bioinspired drone technology have notably included the Taxidermy Bird Drone project, a unique venture supported by NSF REU funding. This research encapsulates the synthesis of avian mechanics and drone technology, resulting in flapping-wing drones that replicate the authentic flight patterns of birds. These drones are distinguished by their silent flight capabilities, offering a substantial reduction in noise pollution compared to conventional drone models. The project's innovation lies in its dual objective: achieving enhanced maneuverability and controllability for practical applications such as wildlife observation and aeronautical safety, and exploring the energy-saving flight mechanisms inherent in bird physiology. This fusion of taxidermy with modern drone technology not only serves ecological monitoring and military reconnaissance with minimal environmental impact but also addresses the challenge of bird strikes in aviation, particularly near aquatic environments adjacent to airports. The project is poised to make a profound impact, reaching potentially to 6 billion people, and exemplifies the transformative potential of integrating natural designs into technological advancements.

Drones Design and Manufacturing: This research encompass a broad range of engineering challenges and innovations across scales—from Micro Air Vehicles (MAVs) to Nano Air Vehicles (NAVs). Research in this area includes conceptual design, aerodynamic analysis, stability and control, navigation, and system integration. MAV studies often focus on optimizing lift, drag, and maneuverability while maintaining lightweight and compact structures suitable for surveillance, environmental monitoring, and autonomous operations. Advanced research expands into flapping-wing, tilt-wing, and tilt-rotor platforms, which draw inspiration from biological flight to achieve high agility, energy efficiency, and multifunctional capabilities. These efforts integrate aerodynamic modeling, aeroelastic analysis, fluid–structure interaction, and modern actuation strategies to create adaptable and resilient aerial systems. At the nano scale, flapping-wing NAVs explore insect-inspired designs to enable hovering and forward-flight modes within extremely compact footprints. Wing patterns derived from biological species are often combined with quasi-steady aerodynamic models to estimate forces, optimize kinematics, and enhance performance.

Energy Harvesting and Saving

My research group portfolio also prominently features the pursuit of energy harvesting and conservation strategies for autonomous systems, a crucial endeavor given the ever-increasing need for sustainable and efficient energy solutions. This research spans various facets, from the bioinspired dynamics of soaring to innovative methods of drag reduction observed in nature. We have delved into the study of dynamic and thermal soaring, techniques employed by birds to conserve energy during long flights by exploiting atmospheric phenomena. Such natural strategies inspire the design of autonomous systems capable of extended missions without frequent energy replenishment. Similarly, the formation flight patterns of migratory birds provide key insights into reducing aerodynamic drag, which I've explored to improve the flight efficiency of drone swarms. Moreover, my team’s work examines the thermal effects of coloration in the heated boundary layer of various animals, drawing from the nuanced adaptations seen in creatures ranging from birds to aquatic life and insects. These studies are aimed at developing autonomous systems that can sustain themselves through enhanced energy harvesting from the environment, thereby paving the way for longer, more versatile, and environmentally friendly operations.

Coloration and Drag Reduction: The innovative research into the coloration of wings and skins has substantially contributed to our understanding of energy efficiency in autonomous systems. My team, in collaboration with biologists from different universities, has conducted pioneering studies that suggest dark-colored bird feathers can significantly reduce flight drag, improving overall flight performance by up to 20%. These groundbreaking findings have paved the way for further research, with the work garnering international media attention from outlets such as National Geographic and The New York Times.

One aspect of this research examines the unique color patterns of Monarch butterflies, where larger white spots on their wings are theorized to boost flight efficiency by creating variable thermal zones, thus affecting air flow and reducing drag. Similarly, my team's analysis of penguins' black and white coloration reveals that their countershaded bodies are not merely for camouflage but play a critical role in energy and swimming performance. This understanding is leading to innovations in unmanned aerial and aquatic vehicles, optimizing their efficiency for extended operational ranges.

Moreover, the behavior of Emperor penguins in the Antarctic has inspired potential applications for space infrastructure, demonstrating how social thermoregulation via huddling can be an effective mechanism for minimizing energy loss in harsh environments. By incorporating these biological insights into the design and operation of drones and other autonomous systems, the research aims to revolutionize our approach to sustainable, energy-efficient exploration and monitoring on Earth and beyond.

Formation Flight and Energy Saving: Migrating birds, through their V-shaped flocking behavior, provide a fascinating blueprint for energy optimization in flight, an insight that is increasingly informing the development of unmanned aerial vehicle (UAV) technologies. This comprehensive study delves into the aerodynamics and energetic implications of V-shaped formation flying, drawing significant parallels between natural phenomena and their technological applications, particularly in the realm of drone efficiency and performance enhancement. The strategic formation of birds in a V-shape during migration plays a crucial role in enhancing flight efficiency. This configuration allows birds to exploit aerodynamic benefits, notably in terms of drag reduction and lift generation. The bird at the lead confronts the highest air resistance, thereby creating an upwash of air currents that benefit the following birds. These trailing birds can then maintain flight speed with reduced energy expenditure due to the aerodynamic updraft created by the leader. An essential aspect of this formation is the dynamic repositioning within the flock. For instance, research focusing on Canada Geese has demonstrated that periodic rotation of the lead and tail positions can improve the flock's range and endurance by more than 44.6%. Such behavior suggests a sophisticated energy management strategy, where the burden of the most energetically demanding positions is shared among the flock members, ensuring an equitable distribution of energy expenditure and optimizing the group's overall efficiency. Inspired by avian flocking strategies, similar principles have been applied to the swarming flight of UAVs, examining the potential for energy savings and efficiency improvements in drone operations. Theoretical models and analyses of aerodynamic drag forces within drone swarms, particularly when adopting a V-shaped formation, indicate the possibility of achieving up to 70% energy savings. A significant challenge in adapting these natural strategies to UAVs is the variability in drone capabilities and energy requirements. Therefore, the introduction of a systematic replacement algorithm becomes imperative. This algorithm allows for the dynamic rotation of drones within the formation, enhancing the swarm's efficiency and extending its operational range and flight time by over 21 percent. Such strategic repositioning is informed by the natural dynamics observed in migrating bird flocks, emphasizing the importance of equitable energy distribution and optimization.

This exploration of V-shaped flocking in birds and its application to UAV technology not only underscores the potential for significant advancements in drone efficiency but also exemplifies the value of interdisciplinary research in drawing inspiration from nature to solve complex technological challenges. Future studies may focus on refining the replacement algorithms, incorporating real-time environmental data to further optimize UAV formations in response to dynamic conditions, mirroring the adaptive strategies employed by migrating birds. The integration of these natural principles into UAV design and operation holds promise for a range of applications, from surveillance and environmental monitoring to delivery systems, potentially revolutionizing the way aerial vehicles are utilized. By embracing the lessons offered by nature, such research paves the way for sustainable, efficient, and innovative technological solutions that benefit both humanity and the environment.

Virtual and Augmented reality

Virtual Reality (VR) has emerged as a transformative technology across various sectors, notably in engineering, where its applications span from design visualization to immersive training. In this research, my team explores the creation of diverse VR modules using the Unity engine and Computer-Aided Design (CAD) models, such as a satellite concept for operational visualization, a virtual lunar environment showcasing robots designed by the NMT Lunabotics club, and a training module for miners equipped with haptics and an omnidirectional treadmill to simulate mine conditions. The integration of an omnidirectional treadmill enhances the realism of navigating virtual mines and lunar landscapes, while the development of realistic mine emergency scenarios aims to prepare operators for high-pressure situations. Despite VR's vast potential, challenges like cybersickness—symptoms including nausea and disorientation from prolonged VR exposure—pose hurdles to widespread adoption. Addressing cybersickness is crucial as VR finds broader applications in fields like mine rescue, astronaut training, and emergency medicine, highlighting the need for ongoing research to mitigate its effects and maximize VR's educational and operational benefits in engineering and beyond.

Undergraduate Capstone Projects and Clubs

At New Mexico Tech, I have had the privilege of guiding a myriad of ambitious senior and junior design projects, all of which have been significantly influenced by my research, creating a seamless transition from undergraduate studies to graduate aspirations. Our diverse range of projects includes the Amphibious Drone Team, which was focused on developing a dual-functional drone for marine research and structural health monitoring, reducing resource strain significantly. There is also the Model Airplane Team, which competes in prestigious events like the AIAA DBF and SAE competitions. In the biomedical domain, the Steinhoff Prosthetic Team were taken on the challenge of creating a functional, affordable prosthetic using a neuroscience-based approach with EMG sensors. Tackling safety in challenging environments, the Spherical Drone Team is devising a drone for GPS-denied underground mine inspection and healthcare support during pandemics. Our students have tested their mettle in the NASA Lunabotics competition, and the Stratospheric Airship project has provided invaluable insights into airship performance with various flight controllers and propulsion systems. Addressing the pressing issue of space debris, we have the Space Debris Removal Project, which aims to conceptualize feasible removal methods. The Wearable, Automatic Eye Medication Dispenser is another notable project aiming to assist the elderly with self-administering medication. Lastly, in line with NASA’s AAM mission, the Drones Garden project envisions bioinspired drone housing and charging stations, reminiscent of natural forms like wasp nests and blooming flowers, that could redefine the landscape of urban air mobility.

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