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Lab Introduction
2014.09.22.
Jae-Hung Han
Smart Systems and Structures Lab: Design & Control
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Lab overview
Members (As of September 2014) Supervisor: Prof. Jae-Hung HAN Post Doc. (0) Grad. Students: Ph.D.(full-time 10/part-time 1), M.S.(4) Alumni (since 2007)
Ph. D. (7): 2008(1), 2009(1), 2010(2), 2012(1), 2013(2) M. S. (13): 2006(2), 2007(1), 2008(1), 2009(2), 2010(3), 2011(2), 2012(2), 2013(1) Exchange Students (8): From Germany, Italy 2006(1), 2007(1), 2008(1), 2009(2), 2010(1), 2011(1), 2012(1)
Honors and awards The first creative lecturer awards in KAIST, 2007 Best Paper Award, World Automation Congress, Kobe,
Japan, 2010 Best Poster Award, European Conf. on Composite
Materials, Venice, Italy, 2012
International collaborations Technical University of Munich, Germany (Prof. Baier) University of Cambridge, UK (Prof. Ellington) Fukuoka Institute of Technology, Japan (Prof. Kawamura) Nanjing University of Aeronautics and Astronautics, China
(Prof. Qiu)
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Lab brief history
3
Date Events
Oct. 2012 Selected as Center for Intelligent Multi-Agent Defense System
Sep. 2009 Selected as one of NSL (National Space Lab.)
Feb. 2008 First Ph.D. (D.-K. Kim, He joined KARI)
Mar. 2007 Triple S Lab. was founded. (#1315 of N7 building)
Feb. 2006 First M.S. students graduated.
Sep. 2003 First Ph.D. student joined (Mr. D.-K. Kim)
Mar. 2003 First M.S. student joined (Mr. L.-H. Kang)
Mar. 2003 Form a research group in ISVC Lab.
Feb. 2003 Prof. Han joined the faculty of AE, KAIST
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Lab members and their research interests
Ph.D. Course Ph.D. Course Ph.D. Course Ph.D. Course Ph.D. Course
Ph.D. Course Ph.D. Course
Pseudo flight environment, UAV
Vibration isolator for space applications
Insect flight dynamics and control, Flexible multi-body dynamics
Plasma actuator in atmospheric
condition
Microvibration emulator for space
applications
Explosive bolts design and analysis,
Behavior analysis at high strain rate
deformation
Small UAV control using motion capture
system
Ph.D. Course
Aerodynamics of the flapping-wing flyers
Ph.D. Course
Vortex Lattice Method, FEM, Flapping wing
Ph.D. Course
3D shape-estimation via Stereo pattern recognition (SPR)
method
http://sss.kaist.ac.kr/wp-content/uploads/2010/01/identification-picture.jpghttp://sss.kaist.ac.kr/wp-content/uploads/2010/01/Ho-Young.png
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Lab members and their research interests
M. S Student
Pseudo flight environment, UAV
M. S Student
Insect flight dynamics and control, Flexible multi-body dynamics
M. S Student
Explosive bolts design and analysis,
Behavior analysis at high strain rate
deformation
M. S Student
TBD
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Lab research facility (1/2)
Simulated space environment facility
Thermal vacuum chamber
DAQ systems
LabVIEW/ DSPACE devices
3D printer/ Laser cutter
Manufacturing facilities
Chamber
Computer
Diffuser
SpecimenBase
TargetMirror Ref-Mirror
Door-Heater
Wall-Heater, Cooler
Thermal vacuum chamber
3D printer and its user interface LabVIEW and DSPACE systems
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Lab research facility (2/2)
KARPE (KAIST Arena with Real-time Positioning Environment) A Universal Testbed with Real-time External Positioning System
12 Motion Capture Cameras(Motion Analysis Eagle Camera) http://karpe.kaist.ac.kr
Pseudo Flight Environment
A safety guaranteed flight test environment for a MAV using magnetic levitation device
Magnetic Levitation Device (2kW) and Wind Tunnel (30cm x 30cm)
Research in Pseudo Flight Environment
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Research area
Smart Structures & Technologies Vibration Control using Smart Materials Plasma Actuator Real-time Shape Estimation
Smart Aerospace Systems Bioinspired Ornithopter Pseudo Flight Environment Intelligent Multiple Autonomous Defense System Projectile Trajectory Control Pyrotechnic-Mechanical Device & Pyroshock Satellite Jitter Analysis
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Satellite Vibration Analysis and Isolation (1/8)
Effect of jitter on the performance of optical payloads in a satellite
Changes in the Line of Sight
Jitter
Degraded image due to jitter
Image without jitter effects
Lightweight Flexible Structure
10 micro radian angular vibration 5m change in LOS at 500 km 360m change in LOS at geostationary orbit
http://images.google.co.kr/imgres?imgurl=http://blog.joins.com/usr/s/u/suns2000/1/%EC%A7%80%EA%B5%AC.jpg&imgrefurl=http://blog.joins.com/media/folderListSlide.asp?uid=suns2000&folder=1&list_id=3862150&usg=__aQlcj_36Zr6a4Re5JuFFEFL596I=&h=479&w=479&sz=60&hl=ko&start=2&sig2=oIBLciiuqRCJx1UGpHbrwg&um=1&tbnid=3xhNWK5FVbZosM:&tbnh=129&tbnw=129&prev=/images?q=%EC%A7%80%EA%B5%AC&ndsp=20&hl=ko&lr=&rlz=1G1GGLQ_KOKR324&sa=N&um=1&newwindow=1&ei=GNtuStzREI_utQPN9-3CBA
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Satellite Vibration Analysis and Isolation (2/8)
Development of integrated jitter analysis framework to evaluate performance degradation of optical payloads due to micro-vibration
Disturbance + Structure + Vibration Isolator + Optical Model
Framework Overview MATLAB GUI
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Satellite Vibration Analysis and Isolation (3/8)
Development of micro-vibration emulator Micro-vibration emulator can generate vibration
disturbances that closely resemble the input profile (measured disturbance profiles of FM RWA of various wheel speed, type, size, etc)
Allows vibration isolation test in vibration environment that closely resembles the actual vibration environment without FM RWAs which are expensive and hard to access
Single axis micro-vibration emulator
3 axis micro-vibration emulator
Input Force Profile Measured Generated Force
Vibration Emulator
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Satellite Vibration Analysis and Isolation (4/8)
Analytical & Experimental jitter evaluation Analytical approach
RWA disturbance model + Satellite structure model = Prediction of acceleration & displacement
Experimental approach
RWA emulator + Satellite structure testbed = Measurement of acceleration & displacement
Analytical
Experimental
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Satellite Vibration Analysis and Isolation (5/8)
Development of hybrid vibration isolator single axis Passive Components
Bellows (Stiffness) Viscous fluid + orifice (damping)
Active Components Voice coil motor Force Sensor Active Controller
100
101
102
-60
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-10
0
10
20Experiment
Tran
smis
sibi
lity
(dB
)
Frequency (Hz)
PassiveHybrid
2 22a
Notcho o
K sGs s
=+ +
aIFF
KGs
=
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Satellite Vibration Analysis and Isolation (6/8)
Development of hybrid vibration isolator multi-axis Cubic Stewart platform
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Satellite Vibration Analysis and Isolation (7/8)
Vibration suppression of flexible structures using shunted piezoelectric In order to suppress low-frequency and low-damping vibrations of flexible aerospace
structures, shunted piezoelectric technique is studied in a passive or a semi-active way.
Experiment Setup Experiment Results
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Satellite Vibration Analysis and Isolation (8/8)
Performance sensitivities of passive shunted piezoelectrics The sensitivity of the damping performance is evaluated according to the change of
shunted piezoelectric characteristics considering the operating conditions. A loss factor and a Q factor are selected as performance indices for a resistive and
resonant shunted piezoelectrics (RES and RSPs), respectively.
Sensitivities
Damping Performance
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Material Status at 0.005 ms
Pyroshock Analysis and Isolation (1/6)
Separation Behavior Analysis of Ridge-Cut Explosive Bolts
Pressure Contour
Failure
Cross-sectional diagram of ridge-cut explosive bolts Before Separation After Separation
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Pyroshock Analysis and Isolation (2/6)
A Parametric Study
Explosive Weights
Ridge Angle
Ridge Position
Confinement Condition
Contact Distance (Confinement Condition)
Study of Separation Characteristics using Behavior analysis
Pressure Contour
No Contact Distance Case
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Pyroshock Analysis and Isolation (3/6)
Explosive Bolt Separation Experiments and Pyro-shock Analysis
Experiment Setup and SEA Model
(Sensor 3)
(Sensor 4)
Separation Experiment Simulator
(Sensor 2)
(Sensor 1)
Comparison of Analysis and Experiment Results
Measured Shock Response Spectrum
(SRS)
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Pyroshock Analysis and Isolation (4/6)
Dynamic environment during the flight of launch vehicle Sinusoidal vibration
Induces the maximum dynamic pressure during flight , brings down the structural stability of payload
Pyrotechnic shock Cause malfunctions in the electric components equipped within launch vehicles or the satellites
I. Pyroshock Isolator using SMA
High reliability & strength High strength of SMA wire Enhancement of isolation capacity Mesh structure + Pseudoelasticity of SMA Easy to apply and design
II. Frequency Tunable Isolator
Sinusoidal & random vibration region Higher stiffness to avoid the low frequency
vibration amplification at maximum dynamic pressure phase
Pyro-shock events Lower stiffness to increase shock
attenuation
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Pyroshock Analysis and Isolation (5/6)
Development Pyroshock Mesh Isolator Based on SMA Pseudoelasticity
9mm
50mm
27mm
15mm
All Thickness = 5mm
Pyroshock Isolation Test Results
Manufactured and designed shape of the mesh isolator
Manufacturing processes of the mesh isolators
Frequency [Hz]
Shock
Res
ponse
Spec
trum
[G
]
Lateral Axis Pyroshock Test
Shock
Res
ponse
Spec
trum
[G
]
Frequency [Hz]
Axial Axis Pyroshock Test
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Pyroshock Analysis and Isolation (6/6)
Development of frequency tunable isolator
Mode 1 Spring force stretches the SMA wires up to guide bolt head With 1mm pre-compressive deformation The natural frequency of isolator is low ( < 80Hz)
Mode 2 Recovery load and deformation of actuators compress WI The natural frequency of isolator is high ( >160Hz)1
Natural frequency Dynamic Stiffness
Mode 1 55 Hz 119,422 N/m
Mode 2 195 Hz 1,501,166 N/m
Ratio(Mode2/Mode1) 3.55 12.57
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Real-time shape estimation (1/5)
FBG sensors
FORJ(Fiber optic rotary joint)
FBGinterrogator
Strains [ ]FEMDST
FEM model
Strain measurement using fiber optic sensors
Precise strain measurement using Fiber Bragg Grating sensors
=> Uncertainty evaluation of strain measurements
=> Rotating application
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Real-time shape estimation (2/5)
Strain based shape estimation Sensor location optimization => Efficient optimization approach based on the system observability Minimization of system uncertainty effects using Operational Modal Analysis (OMA) => Field update of Displacement-Strain relationship
OMA
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Real-time shape estimation (3/5)
Shape estimation of wind turbine blade
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Real-time shape estimation (4/5)
Shape reconstruction using Stereo Pattern Recognition (SPR) method Development of Webcam-based SPR System
4. Triangulation
1. Calibration
2. Image Processing
3. Epipolar Method
[X Y Z]i
Calculate camera parameters Acquire camera positions
Extract the 2-D coordinates Compensate for distortion
Match points between image planes
[x y]i
Calculate 3-D coord. of points
P-matrix
Estimation Process Developed SPR System
Deformation Measurement Results
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Real-time shape estimation (5/5)
Shape reconstruction using stereo pattern recognition (SPR) method Shape estimation using commercial motion capture cameras
Vibrating Shape Measurement of Composite Wing
1st mode shape 3rd mode shape
Estimation of Rotor Blade Motions
KARI Wind Tunnel
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Plasma Actuator (1/2)
Dielectric barrier glow discharge plasma actuator for active flow control
Simple and easy method for generating air-flow w/o mechanical moving parts
E field amplitude
distance
Momentum change due to the actuator [1]
Discharged plasma and asymmetric E field
induce wall jet
Flow visualization of plasma actuator[2]
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Plasma Actuator (2/2)
Improvement & modeling of plasma actuator performance
Semi-empirical thrust model
Electrode shape variation for performance enhancement
Saw-tooth shape electrode discharge Meshed shape electrode discharge
Actuator experiment set up
Amplifier
DAQ Com
Wind-tunnel
6DOF force sensor
Power line
Actuator + airfoil
Plasma actuator flow control
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Flight dynamics and stability of hovering insect Flexible multibody dynamics approach for 6-DOF nonlinear flight dynamic analysis Based on data from real insect (collaboration with UCAM Zoology Dept.)
Bioinspired Ornithopters (1/3)
u+q
Ex.) Longitudinal mode #1 and #2 (Two cases are overlapped in the video)
wz
Stroke plane
spy( )t
( )t
wy( )t
spz
spx
wx
-0.4
-0.3
-0.2
-0.1
0.0
0.1
0.2
0.3
0.4
-0.2
-0.1
0.0
0.1
0.2
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-2
-1
0
1
2
3
-80
-60
-40
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0
20
40
60
80
(ai)
Longitudinal mode #1: +u, +q (in-phase)
[ u, v
, w] /
U
u v w
(aii)
[p, q
, r]c
/U
p q r
(bi)
wingbeat stroke
[ XG, Y
G, Z
G] /
R
XG YG ZG
109876543210
(bii)
wingbeat stroke
Eule
r ang
les
(deg
)
roll pitch yaw
109876543210
0.0 0.5 1.0-60
-30
0
30
60
90
120
150
180
(t)
(t)
wingbeat stroke
Angl
e (d
eg)
down stroke up stroke
(t)
measured rigid-wing flexible-wing
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Bioinspired Ornithopters (2/3)
Flight dynamics and control study using motion capture system
In-flight deformation of wings and tail, body motion measurement
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Bioinspired Ornithopters (3/3)
Indoor formation flight of multiple flapping-wing air vehicles
Focus on how to deal the nonlinear and uncertain flight system?
4 sec/turn
Four agents Single agents
Taken for 0.5 sec
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Pseudo Flight Environment (1/2)
What is Pseudo Flight Environment? a test environment that emulates free flight test for a MAV based on wind tunnel tests
using a magnetic levitation device.
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Pseudo Flight Environment (2/2)
Demonstration of DOF Adjustment and Safety Guaranteed Flight Test The magnetic constraint moment for the yaw DOF of a MAV model is removed while
the other DOFs of the MAV model are still fixed by the magnetic levitation device. The yaw controller of the MAV model is activated so that the MAV model can hold the
yaw attitude by itself using control surface (rudder).
Control algorithm of the magnetic levitation device
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Intelligent Multi Agent Defense system(iMADs) (1/2)
G C S
Data-link between GCS and other systems Data-link between Manned/Unmanned system
Supply mission
Fire support
Mobile Navigation Support
Manned/Unmanned system operation
Surveillance/Reconnaissance
Cooperative system of multi/heterogeneous agents Development of autonomous architecture Development of decision making and topology optimization of real-time cooperative system. Autonomous and collaborative UAV task research and technical demonstration
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Intelligent Multi Agent Defense system(iMADs) (2/2)
Technical demonstration of multi agent system in indoor environment Using KARPE(KAIST Arena of Real-time Positioning Environment) motion capture system.
System Modelling Controller Design & Simulation Flight test using KARPE
Trajectory Tracking Test(4 quad-rotors) Hovering Test(6 quad-rotors)
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Thank you
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Reference Recent publications (2012-2014)
1. Jeong, H.-K., Han, J.-H., Youn, S.-H., and Lee, J., Frequency Tunable Vibration and Shock Isolator using SMA Wire Actuator, Journal of Intelligent Material Systems and Structures, Vol. 25, No. 7, pp. 908-919, 2014. [DOI]
2. Park, J.-W., and Han, J.-H., Sensitivity analysis of damping performances for passive shunted piezoelectrics Aerospace Science and Technology, Vol. 33, No. 1, pp.16-25 2014 [DOI].
3. Park, G.-Y., Lee, D.-O., and Han, J.-H., Development of multi-degree-of-freedom microvibration emulator for efficient jitter test of spacecraft, Journal of Intelligent Material Systems and Structures, Vol. 25, No. 9, pp. 1069-1081, 2014 [DOI].
4. Yoon, J.-S., Kim, H.-I., Han, J.-H., and Yang, H.-S., Effects of Dimensional Stability of Composites on Optical Performances of Space Telescopes, Journal of Aerospace Engineering, Vol. 27 No. 1, pp.40-47, 2014 [DOI].
5. Kang, C.-G., Lee, J.-S, and Han, J.-H., Development of bi-stable and millimeter-scale displacement actuator using snap-through effect for reciprocating control fins, Aerospace Science and Technology, Vol. 32, No. 1, pp.131-141, 2014 [DOI].
6. Kim, J.-K., and Han, J.-H., A multibody approach for 6-DOF flight dynamics and stability analysis of the hawkmoth Manduca sexta, Bioinspiration & Biomimetics, Vol. 9, No. 1, 016011, 2014 [DOI].
7. Woo, S-H. and Han, J.-H ., Mid frequency shock response determination by using energy flow method and time domain correction,Shock and Vibration, Vol. 20, No. 5, pp.847-861, 2013 [DOI].
8. Kim, J.-K. and Han, J.-H., Control Effectiveness Analysis of Hawkmoth Manduca Sexta: a Multibody Dynamics Approach, International Journal of Aeronautical and Space Sciences, Vol. 14, No. 2, pp. 152-161, 2013 [DOI].
9. Lee, D.-K. , Lee, J-S. , Han, J.-H., and Yoshiyuki Kawamura.,Dynamic calibration of magnetic suspension and balance system for sting-free measurement in wind tunnel tests, Journal of Mechanical Science and Technology, Vol.27, No.7, pp.1963-1970, 2013. [DOI]
10. Kim, H.-Y., Lee, J.-S., and Han, J.-H., Indoor autonomous flight of ornithopter using motion capture system, International Journal of Intelligent Unmanned Systems, Vol. 1, No. 3, pp. 204-214, 2013. [DOI]
11. Han, J.-H., Lee, D.-K., Lee, J.-S. and Chung, S.-J., Teaching Micro Air Vehicles How to Fly as We Teach Babies How to Walk, Journal of Intelligent Material Systems and Structures, Vol. 24, No.8, pp. 936-944, 2013. [DOI]
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Reference Recent publications (2012-2014)
12. Lee, J.-W., Kim, J.-K., Han, J.-H., and Shin, H.-K., Active load control for wind turbine blades using trailing edge flap, Wind & Structures,Vol. 16, No. 3, pp.263-278, Mar.2013.
13. Yoon, J.-S., Kim, H.-I., Han, J.-H., Transverse Strain Effects on the Thermal Expansion Measurement of Composite Structure Using FBG Sensors: Experimental Validation, Journal of Intelligent Material Systems and Structures, Vol. 24, No. 7, pp. 796-802, 2012. [DOI]
14. Lee, J.-W., Lee, J.-S., Han, J.-H., and Shin, H.-K., Aeroelastic Analysis of Wind Turbine Blades based on Modified Strip Theory, Journal of Wind Engineering and Industrial Aerodynamics, Vol. 110, pp. 62-69, Sept. 2012. [DOI]
15. Lee, J.-S., and Han, J.-H., Experimental Study on the Flight Dynamics of a Bioinspired Ornithoper: Free Flight Testing and Wind Tunnel Testing, Smart Materials and Structures, Vol. 21, No. 9, Article No. 094023 (11pp), Sept. 2012. [DOI]
16. Farinelli, C., Kim, H.-I., and Han, J.-H., Feasibility Study to Actively Compensate Deformations of Composite Structure in a Space Environment, International Journal of Aeronautical and Space Sciences, Vol. 13, No. 2, pp. 221-228, Jun. 2012. [DOI]
17. Lee, D.-O., Yoon, J.-S., and Han, J.-H., Development of Integrated Simulation Tool for Jitter Analysis, International Journal of Aeronautical and Space Sciences, Vol. 13, No. 1, pp. 64-73, Mar. 2012. [DOI]
18. Kim, J.-K., Lee, J.-S., and Han, J.-H., Passive Longitudinal Stability in Ornithopter Flight, Journal of Guidance, Control, and Dynamics, Vol. 35, No. 2, pp. 669-673, Mar.-Apr. 2012. [DOI]
19. Lee, J.-S., Kim, J.-K., Han, J.-H., and Ellington, C. P., Periodic Tail Motion Linked to Wing Motion Affects the Longitudinal Stability of Ornithopter Flight, Journal of Bionic Engineering, Vol. 9, No. 1, pp. 18-28, Mar., 2012. [DOI]
Lab IntroductionLab overviewLab brief history Lab members and their research interestsLab members and their research interestsLab research facility (1/2)Lab research facility (2/2)Research areaSatellite Vibration Analysis and Isolation (1/8)Satellite Vibration Analysis and Isolation (2/8)Satellite Vibration Analysis and Isolation (3/8)Satellite Vibration Analysis and Isolation (4/8)Satellite Vibration Analysis and Isolation (5/8)Satellite Vibration Analysis and Isolation (6/8)Satellite Vibration Analysis and Isolation (7/8)Satellite Vibration Analysis and Isolation (8/8)Pyroshock Analysis and Isolation (1/6)Pyroshock Analysis and Isolation (2/6)Pyroshock Analysis and Isolation (3/6)Pyroshock Analysis and Isolation (4/6)Pyroshock Analysis and Isolation (5/6)Pyroshock Analysis and Isolation (6/6)Real-time shape estimation (1/5)Real-time shape estimation (2/5)Real-time shape estimation (3/5)Real-time shape estimation (4/5)Real-time shape estimation (5/5)Plasma Actuator (1/2)Plasma Actuator (2/2)Bioinspired Ornithopters (1/3)Bioinspired Ornithopters (2/3)Bioinspired Ornithopters (3/3)Pseudo Flight Environment (1/2)Pseudo Flight Environment (2/2)Intelligent Multi Agent Defense system(iMADs) (1/2)Intelligent Multi Agent Defense system(iMADs) (2/2)Thank youReference Recent publications (2012-2014)Reference Recent publications (2012-2014)