‘University at Buffalo GB | Department of Mechanical and Aerospace Engineering School of Engineering and Applied Sciences Guidance, Estimation, and Control for Robots in Fluid Flows Dr. Francis D. Lagor Department of Aerospace Engineering , University of Maryland Abstract Some of the largest challenges currently facing mobile robotic platforms involve interactions with surround- ing fluid environments. For example, strong gusts can have devastating effects on micro-air vehicles. Au- tonomous ocean sampling vehicles must efficiently navigate strong, uncertain currents while also conserving energy. Operating in fluid environments is exceptionally difficult due to flow-field nonlinearities, the com= plexities of fluid mechanical models, and the presence of turbulence. Are there strategies for optimally sensing the surrounding flow field to reduce quickly the uncertainties in the state of the flow field? How can a vehicle rapidly perform accurate flow-field calculations on-board, given time constraints and hardware limitations? Given flow estimates and uncertainties, what actions can a vehicle take to maximize continued observability of the flow field while maintaining control authority? To address these questions, effective al- gorithms for control and path planning that incorporate flow-sensing information must be developed. My Yechnical approach is to optimize sensor routing and placement for flow-field observability using reduced~ order flow models, perform nonlinear/non-Gaussian estimation of the flow with Bayesian inference, and re- cursively update flow-field estimates with observer-based feedback control. This approach is effective for long-range path planning as well as vehicle-scale flow sensing and control. | present an example of flow- field estimation in a two-vortex flow using a controlled Lagrangian sensor navigating according to an ob- servability-bosed guidance strategy with a novel planning measure known as the empirical augmented un- observability index. | also present examples of observer-based feedback control of bio-inspired robotic fish executing motion primitives, such as rheotaxis (i.e., orienting upstream), station-holding behind an obstacle (ie., positioning behind an obstacle), and speed regulation in an uncertain oncoming flow. Ongoing work examines Dynamic Mode Decomposition (DMD) based flow field estimation with a distributed array of pressure sensors on an airfoil operating at a high angle of attack. | will also discuss the potential impact of future research in this growing area and my planned research program to address the open questions posed above. Sketch Frank Lagor is a Ph. D. candidate in the Department of Aerospace engineering and the University of Mary- land (graduating May 2017). He received his B.S. in Mechanical Engineering from Villanova University 2006, and his MS. in Mechanical Engineering and Applied Mechanics from the University of Pennsylvania 2009. He worked for Lockheed Martin Space Systems Company for three years prior to pursuing a Ph.D. in dynamics and control. His research interests focus on guidance, estimation, and control of robotic systems in complex flow environments. He has co-taught a graduate course in applied nonlinear control, been the recipient of an outstanding teaching assistant award, and mentored numerous undergraduate and gradu- ate students. He has also been awarded national graduate fellowships from Tau Beta Pi and Phi Kappa Phi honor societies. Thursday, February 9 Knox 109 i 30-4:30 pm