Research
Research
Research
Research
398+ open-access research outputs.
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controll…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a …
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Learning to solve the Alternating Current Optimal Power Flow (AC-OPF) problem by neural networks (NNs) is a promising approach in real-time applications. Existing methods to ensure the physical feasib…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical si…
Non-minimum-phase (NMP) zeros in multi-converter power systems impose bandwidth ceilings on feedback control, yet quantifying them at the system level has been impractical because commercial converter…
The decoupling of multivariate functions is a powerful modeling paradigm for learning multivariate input-output relations from data. For the single-layer case, established CPD-based methods are availa…
This paper develops an entropy-based stability and robustness framework for nonlinear hypergraph dynamics with conservation and flow balance. We consider generator-form systems on the simplex whose st…
Popular Bayes filters often apply linearization techniques, such as Taylor expansion or stochastic linear regression, to enable the use of the Kalman filter structure, but this can lead to large error…
Implicit neural representations (INRs) provide a parameter-efficient and fully differentiable image model for CT reconstruction. However, optimizing INRs for CT reconstruction using standard auto-diff…
We study local sensitivity of structured ARX-based data-driven predictive control. Although predictor estimation is linear in the ARX parameters, the lifted multi-step predictor used in MPC depends on…
Carbon-aware grid optimization relies on accurate locational emission metrics to effectively guide demand-side decarbonization tasks such as spatial load shifting. However, existing metrics are only v…
Finite element model updating is a mature discipline for linear structures, yet its extension to nonlinear regimes remains an open challenge. This paper presents a methodology that combines nonlinear …
The progression of modern power systems towards converter-rich operations calls for new models and analytics in steady-state voltage stability assessment. The classic modeling assumption of the genera…
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initialized from neutral/res…
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear…
A complete, self-contained mathematical framework for modelling the coupled aeroelastic and flight dynamic behaviour of free-flying flexible aircraft subject to atmospheric gust encounters is presente…
Identifiability is a central issue in blind source separation (BSS), determining whether latent sources can be uniquely recovered from observed mixtures. Classical approaches address identifiability e…
Reinforcement learning (RL) has demonstrated substantial potential for humanoid bipedal locomotion and the control of complex motions. To cope with oscillations and impacts induced by environmental in…
A systematic approach to nonlinear model order reduction (NMOR) of coupled fluid-structureflight dynamics systems of arbitrary fidelity is presented. The technique employs a Taylor series expansion of…
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