For a fun introduction to vine robots, watch this viral Veritasium video.
For an overview of my PhD work, watch my thesis defense.
For a list of publications, see my GoogleScholar page.
Active projects
Robotic anchoring in lunar gravity
With the help of dozens of undergraduate students, I am developing an automated experiment to test my self-anchoring device in artificial lunar gravity onboard an experimental suborbital spaceflight. Our automated payload was designed and built entirely in-house and features an anchoring device, penetrometer and regolith preparation system supported by a high pressure pneumatic system, linear actuators, sensors, microcontroller, and shielded chassis. We have passed MIL-Spec vibration testing, but still need to complete EMI testing and extensive functional testing.
Self anchoring like a plant root
Inspired by the mechanics of plant roots, I am developing a burrowing device that anchors itself in the soil as it grows deeper. It could be particularly useful for reduced gravity environments where reaction forces are difficult to produce.
Vine robots
I am always working and collaborating on a variety of vine robot projects for field and medical applications. In particular, I am interested in using high-performance materials and fabrication methods across scales, improving steering methods, and increasing functionality through tool and camera attachments.
Past projects
Burrowing robot
Drawing inspirations from nature, I developed a soft burrowing robot featuring tip extension, granular fluidization, and asymmetry. Our results advanced the understanding and capabilities of subterranean robotic locomotion. Our work was published in Science Robotics (video).
Fabric pneumatic artificial muscle
Using only a tube of airtight fabric and a clever use of textile bias, I invented a simple, compliant, pneumatic muscle for soft robots and active wearables. This work was published in Robotics and Automation Letters (video).
Continuously variable harmonic drive
I designed a continuously variable harmonic drive using a gecko-inspired adhesive instead of gear teeth. The main innovation was to invert the morphology of a conventional harmonic drive to better leverage the shear adhesive properties of the gecko adhesive. Our work was published in Robotics and Automation Letters (video).
Vine robot retraction and camera mount
We developed a soft retraction device and internal camera mount that advanced the vine robot’s ability to traverse challenging terrain while collecting data. Our work was published in Robotics and Automation Letters (video).
Annular wind turbine wake
As part of a collaboration, I designed an experiment to measure the wake behind an annular (donut) shaped wind turbine. Future experimental results will be compared with our analytical model published in Wind Energy.
Micro-featured dielectric elastomer actuator
The performance of dielectric elastomer actuators are often limited by material and manufacturing defects. I explored an alternative micro-featured dielectric design that could simplify electrode fabrication. I have put this project on pause, but will return to the idea in the future.
Non-linear energy sink
I built an experiment to test a non-linear energy sink that could effectively absorb vibrational energy over a wide frequency range by using a spring with a non-linear force profile. This work was published in the Journal of Sound and Vibration.
Formula SAE
Over my four years on the Duke Motorsports team I designed and built an improved drivetrain system, and then lead our team to a strong finish at the annual international competition at Michigan International Speedway.
Ocean wave energy harvesting
We studied with dynamics of different buoy designs in a wave tank towards the development of an energy harvesting system to power buoy lights and sensors.
Rapid buoyancy system
As a part of the Shell Ocean Discovery X-prize competition I explored a buoyancy system design for a diving sonar pod using solid fuel rocket engines underwater to quickly generate gas and bring the sonar pod to the surface.
Hydroelectric power internship
As an engineering and operations intern at Cube Hydro I developed models to predict water flow and determine the best time of year for planned outages. I also inspected equipment failures and helped prepare repair instructions.
Biomedical assay automation internship
As an intern at Sequenta, Inc. for two summers I designed and implemented automated protocols on a liquid handling robot for various gel electrophoresis and PCR preparations previously done by hand. I also experimentally identified defective PCR primers that were then optimized for what became a commercially launched clinical test.
Nicholas Naclerio, PhD 