Yi-Hsuan Chen

Yi-Hsuan Chen

PhD student at UMD in Aerospace Engineering

Projects

Fast-Planner ROS2 Implementation, and Multiple AprilTags Detection and Navigation

Graduate Course Project, University of Maryland, ENAE788M-Hands on Aerial Robotics, 2024

This project aims to detect AprilTag positions and use a planner to generate the drone’s trajectory. We use multiple AprilTags to provide waypoints for the drone, leveraging the tracking camera’s video feed for detection. The Fast-Planner is used to plan a safe, kinodynamically feasible trajectory based on these waypoints. The flight tests were done with a Modal AI VOXL2 drone at UMD Brin Family Aerial Robotics Lab.

Design of Longitudinal Control for Reduced-G Atmospheric Flight

Master Thesis Research, KAUST, RISC Lab, Department of Mechanical Engineering, 2023

This work proposed a triple-integral flight control framework for a zero-gravity flight using a proof-mass-tracking approach. A triple-integral control strategy is adopted to overcome unknown, quadratically increasing drag. Furthermore, to avoid the non-minimum phase characteristics of aircraft longitudinal dynamics (see below), the position deviation from the inertial reference is redefined such that the closed-loop system is minimum phase.

Dual-spin Stabilization of a satellite

Graduate Course Project, University of Maryland, ENAE646-Advanced Dynamics, 2023

This goal of this project is to analyze the motion of a torque-free rigid body and determine its trajectory in the inertial frame.

Fault Tolerant Control of a quadrotor under actuator failures

Undergraduate Research, National Cheng Kung University (NCKU), Intelligent Embedded Control (IEC) Lab, Department of Aeronautics and Astronautics, 2018

The objective is to design a flight control algorithm for a quadrotor and study further how to recover control in the presence of single rotor loss.