The Mcgill Aerospace
Mechatronics Lab

The Mcgill Aerospace Mechatronics Lab

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Spacecraft Fixed Wing Propeller Plane Spiri Quadrotor Q-Ball Quadcopter

Recent Publications
in Aerospace Mechatronics

   Botta, E.M, Sharf, I., Misra, A.K., Teichmann, M. , "On the Simulation of Tether-Nets for Space Debris Capture with Vortex Dynamics,'' Acta Astronautica, Vol. 123, pp. 91-102, 2016.
Tribou, M.J., Harmat, A., Wang, D.W.L., Sharf, I. and S. L. Waslander, "Multi-Camera Parallel Tracking and Mapping with Non-overlapping Fields of View,'' International Journal of Robotics Research, Vol. 34, pp. 1480-1500, 2015.
Zhang, F., Sharf, I., Misra, A.K. and Huang, P. "On-line Estimation of Inertia Parameters of Space Debris for its Tether-assisted Removal,'' Acta Astronautica, Vol. 107, pp. 150-162, 2015.
N. Dhanji, M. Nahon and E. Dupuis, "Comparative Study of Aerial Platforms for Mars Exploration,'' Journal of the British Interplanetary Society, Vol. 68, 2015.
   Harmat, A., Trentini, M., Sharf, I., "Multi-Camera Tracking and Mapping for Unmanned Aerial Vehicles in Unstructured Environments,'' Journal of Intelligent and Robotic Systems, 2014.
Persson, S.M. and I. Sharf, "Sampling-based A* Algorithm for Robot Path-planning,'' International Journal of Robotics Research, Vol. 33, pp. 1683-1708, 2014.
Nguyen Huynh T.-C. and I. Sharf, "Adaptive Reactionless Motion and Parameter Identification in Post-capture of Space Debris" Journal of Guidance, Control, and Dynamics, Vol. 36, pp. 404-414, 2013.
Persson, S.M. and I. Sharf, "Invariant Trapezoidal Kalman Filter for Application to Attitude Estimation,'' AIAA Journal of Guidance, Control and Dynamics, 36(3), pp. 721-733, 2013.
Harmat A., Trentini M. and I. Sharf, "Jumping Behaviour for a Wheeled Quadruped Robot: Simulation and Experiments,'' Journal of Unmanned Vehicle Systems, 1(1), pp. 41-60, 2013.
W. Khan and M. Nahon, "Toward an Accurate Physics-Based UAV Thruster Model,'' JIEEE/ASME Transactions on Mechatronics, Vol. 18, No. 4, pp. 1269-1279, 2013.
Zarrouk, D., I. Sharf and M. Shoham, ''Conditions for Worm-Robot Locomotion in a Flexible Environment: Theory and Experiments,'' IEEE Transactions on Biomedical Engineering, Vol. 59, No. 3, 2012.
A. Wiens and M. Nahon, "Optimally Efficient Swimming in Hyper-Redundant Mechanisms: Control, Design, and Energy Recovery,'' Bioinspiration & Biomimetics, Vol. 7, No.4, 13 pages, 2012.
Verscheure, D., I. Sharf, H. Bruyninckx, J. Swevers and J. De Schutter, "Identification of Contact Dynamics Parameters from Stiff Multi-point Contact Robotic Operations,'' International Journal of Robotics Research, Vol. 29, No. 4, pp. 367-385, 2010.
Smith, J.A., I. Poulakakis, M. Trentini and I. Sharf, ''Bounding with Active Wheels and Liftoff Angle Velocity Adjustment,'' International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, 2010.
Zhang, Y. and I. Sharf, "Validation of Nonlinear Viscoelastic Contact Force Models for Low Speed Impact,'' ASME Journal of Applied Mechanics, Vol. 76, No. 5, p.051002 (12 pp.), 2009.
Li, Y., N. Nahon and I. Sharf, ''Dynamics Modeling and Simulation of Flexible Airships,'' AIAA Journal, Vol. 47, No. 3, pp. 592-605, 2009.
P. Coulombe-Pontbriand and M. Nahon, "Modeling and Experimental Characterization of a Tethered Spherical Aerostat in an Outdoor Environment,'' Journal of Wind Engineering and Industrial Aerodynamics, Vol. 97, No. 5-6, pp. 208-218, 2009.
Y. Li, M. Nahon and I. Sharf, "Dynamics Modeling and Simulation of Flexible Airships,'' AIAA Journal, Vol. 47, No. 3, pp. 592-605, 2009.
C. Georgiades, M. Nahon and M. Buehler, "Simulation of an Underwater Hexapod Robot,'' Ocean Engineering, Vol. 36, No. 1, pp. 39-47, 2009.
M. Nahon, C. Lambert, D. Chalmers and W. Bo, "Model Validation and Performance Evaluation for the Multi-Tethered Aerostat Subsystem of the Large Adaptive Reflector,'' Experimental Astronomy, Vol. 17, No. 1-3, pp. 163-175, 2004.
B. Buckham, F. R. Driscoll and M. Nahon, "Development of a Finite Element Cable Model for Use in Low-Tension Dynamics Simulation,'' ASME Journal of Applied Mechanics, Vol. 71, No. 4, pp. 476-485, 2004.
Erickson, D., M. Weber and I. Sharf, "Contact Stiffness and Damping Estimation for Robotic Systems," International Journal of Robotics Research, Vol. 22, No. 1, pp. 41-57, 2003.
Sharf, I., G. Gilardi and C. Crawford, "Identification of Friction Coefficient for Constrained Robotic Tasks,'' ASME Journal of Dynamic Systems, Measurement and Control, Vol. 124, No. 4, pp. 529-538, 2002.
F. Driscoll, M. Nahon and R. Lueck, "A Comparison of Ship-Mounted and Cage-Mounted Passive Heave Compensation Systems,'' ASME Journal of Offshore Mechanics and Arctic Engineering, Vol. 122, No. 3, pp. 214-221, 2000.
S.K. Advani, M. Nahon, N. Haeck and J. Albronda, "Optimization of Six-Degrees-of-Freedom Motion Systems for Flight Simulators,'' AIAA Journal of Aircraft, Vol. 36, No. 5, pp. 819-826, 1999.

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