Research
Research
Research
Research
66+ open-access research outputs.
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents …
The increasing penetration of intermittent renewable energy sources and the retirement of thermal units have widened the power system flexibility gap. Industrial demand response (DR) driven by real-ti…
Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic environment of the colon r…
Cardiovascular disease (CVD) is a leading cause of morbidity and mortality worldwide, and sustained hypertension is an often silent risk factor, making cuffless continuous blood pressure (BP) monitori…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly re…
This paper suggests a novel rotor-cooling shaft concept for high-performance electric motors that increases the effectiveness of cooling and is yet simple and cost-effective to manufacture. We investi…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-man…
This paper investigates a control approach that renders the driveshaft inertia completely available on the grid side and enhances the fault ride-through behavior of medium-voltage (MV) drive systems. …
Brachytherapy involves bringing a radioactive source near tumor tissue using implanted needles. Image-guided brachytherapy planning requires amongst others, the reconstruction of the needles. Manually…
This is an expository paper which discusses an approach to the LQG/LTR design problem for finite-dimensional SISO control systems. The approach is based on the utilisation of weighting augmentation fo…
This study presents a dynamic model of a universal joint (U-Joint) with radial clearance, focusing on the rigid unilateral frictional contacts at the crosspiece and yoke interfaces. Unlike previous mo…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque ou…
Transferring skills between different objects remains one of the core challenges of open-world robot manipulation. Generalization needs to take into account the high-level structural differences betwe…
This study proposes a novel paradigm for enhancing fault detection and isolation (FDI) of gas generators in all-electric auxiliary power unit (APU) by utilizing shaft power information from the starte…
This study developed an algorithm capable of detecting a reference line (a 0.2 mm thick piano wire) to accurately determine the position of an automated installation robot within an elevator shaft. A …
This study investigates the Rankine vapor power thermodynamic cycle using steam/water as the working fluid, which is common in commercial power plants for power generation as the source of the rotary …
The variability in ECG readings influenced by individual patient characteristics has posed a considerable challenge to adopting automated ECG analysis in clinical settings. A novel feature fusion tech…
Despite their simple and robust structure, low cost, and simple cooling system, switched reluctance motors (SRMs) face the challenge of low mean torque. A possible solution is to change the structure …
This paper presents a novel actuator system combining a twisted string actuator (TSA) with a winch mechanism. Relative to traditional hydraulic and pneumatic systems in robotics, TSAs are compact and …
A substantial amount of variability in ECG manifested due to patient characteristics hinders the adoption of automated analysis algorithms in clinical practice. None of the ECG annotators developed ti…
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