The Mcgill Aerospace
Mechatronics Lab

The Mcgill Aerospace Mechatronics Lab

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Spacecraft Fixed Wing Propeller Plane Spiri Quadrotor Q-Ball Quadcopter

The AML Team

Professors

Prof. Inna Sharf

Dr. Inna Sharf is currently a full professor in the Department of Mechanical Engineering at McGill University, Montreal, Canada. She received her B.A.Sc. in Engineering Science, specializing in Aerospace option, from the University of Toronto. She completed her PhD at the Institute for Aerospace Studies, University of Toronto and in January 1991, joined the Department of Mechanical Engineering at the University of Victoria (UVic) as an Assistant Professor and holder of the NSERC’s Women’s Faculty Award. Sharf’s research activities at that time were focused on the dynamics and modeling of space manipulators, such as Canadarm. In the ten years at UVic, she collaborated with several industries, most notably, with MDA (former Spar Aerospace).

In 2001, Sharf relocated to McGill where she took up a position as Associate Professor. At McGill, Sharf started the construction of a facility for studying robotic grasping of satellites and debris in space, which later grew into the Aerospace Mechatronics laboratory. Since its inception in 2003, the research in the lab expanded to include problems in control, motion planning and state estimation for unmanned aerial vehicles.

Sharf is presently participating in the NSERC Canadian Field Robotics Network, as a principal investigator in the group of 11 co-applicants from 8 Canadian Universities. Her contribution to this five-year initiative is to further develop autonomy for small rotary UAVs. Sharf has published over 100 conference and journal papers on her academic research. She teaches courses in the areas of mechanics, system dynamics, controls and robotics. She is an associate fellow of AIAA and a member of IEEE and ASME.

Prof. Meyer Nahon

Dr. Meyer Nahon received a B.A.Sc. in Mechanical Engineering from Queen's University in Kingston, an M.A.Sc. in Aerospace Engineering from the University of Toronto, and a Ph.D. in Mechanical Engineering from McGill University. He was an Assistant and Associate Professor in Mechanical Engineering at the University of Victoria from 1991 to 2001, following which, he was Associate Professor, and now Professor and chair of Mechanical Engineering at McGill University.

His research has spanned a range of topics, including flight simulation, redundantly-actuated robots, underwater vehicles, cable-actuated systems, lighter-than-air vehicles (airships and aerostats), offshore platforms and autonomous aerial vehicles. Most recently, he has worked on various aspects of dynamics and control of aerial and marine vehicles and systems, with a particular emphasis on tethered systems.

He is a Senior Member of the IEEE, and an Associate Fellow of the AIAA and Fellow of the Canadian Aeronautics and Space Institute (CASI). He has received a number of awards from the AIAA and CASI for his work on flight simulator motion systems, space-based robotics and thruster modeling.

Students

Eitan Bulka

Ph.D.

Research topic:
Control and Motion Planning for agile Fixed-wing UAVs

Dylan Caverly

M.Eng Thesis

Dylan Caverly:
Wind Disturbance Rejection of VTOL UAVs

Fares El Tin

Ph.D.

Research topic:
Autonomous Unmanned Aerial Glider for Wildfire Monitoring

Sam El Toufaili

M.Eng Thesis

Research topic:
Collision Recovery Control for Quadrotor UAVs under Actuator Failure

Sean Fielding

M.Eng Thesis

Research topic:
System Design, Motion Planning and Control for Quadrotor-Slung Load Systems

Juan Carlos Hernández Ramírez

Ph.D.

Research topic:
Robust Control of Fixed-Wing UAV

Mikkel Jorgensen

Ph.D.

Research topic:
Planning and Optimization for a Multiple, Large Space Debris Removal Mission using a Flexible Connection

Walter Jothiraj

Ph.D.

Research topic:
Bidirectional Thrust for Quadrotors

Joshua Levin

Ph.D.

Research topic:
Optimal Trajectory Design of Agile Fixed-Wing UAV Maneuvers

Sahand Rezaei-Shoshtari

M.Eng Thesis

Research topic:
Hybrid Data-Driven and Physics Based Modeling of Robotic Manipulators

Luc Sagnières

Ph.D.

Research topic:
Attitude Propagation of Space Debris

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