Robert Tang

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The roll dynamics of a 5kg, 1.3 m high sounding rocket are analyzed in a vertical wind tunnel. Significant turbulence in the tunnel makes the system identification of the effective inertia, damping and asymmetry with respect to roll challenging. A novel method is developed which decouples the disturbance from the rocket frame’s intrinsic roll dynamics and(More)
Optical flow and monocular vision have been used as a means of providing obstacle avoidance to a telerobotics platform. The robotic platform, controlled to avoid obstacles through an unstructured indoor environment, is of a small two wheeled coaxial robot (inverted pendulum). Suitable digital filtering techniques are developed to remove the effect of the(More)
The roll dynamics of a 5kg, 1.3 m high sounding rocket are analyzed in a vertical wind tunnel. Significant turbulence in the tunnel makes the system identification of the effective inertia, damping and asymmetry with respect to roll challenging. A novel method is developed which decouples the disturbance from the rocket frame's intrinsic roll dynamics and(More)
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