Research
Research
Research
Research
359+ open-access research outputs.
This paper proposes and analyzes Riemannian optimization algorithms on the manifold of unitary and symmetric matrices, denoted ${\cal {U}}_s$, which naturally models the scattering matrices of passive…
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers …
The large-scale integration of inverter-based resources (IBRs), particularly distributed photovoltaics (DPVs), into distribution networks increases the need for integrated transmission and distributio…
We develop a wildfire simulation model that evolves the temperature scalar field using an energy balance equation accounting for heat generation, transport, and loss. For these equations, we develop q…
Near Field Communication (NFC) cards are widely used for identification, but their passive nature often limits the ability to incorporate additional security mechanisms. As a result, anyone holding th…
Reliable in-hand manipulation requires accurate real-time estimation of slip between a gripper and a grasped object. Existing tactile sensing approaches based on vision, capacitance, or force-torque m…
Reachability analysis evaluates system safety, by identifying the set of states a system may evolve within over a finite time horizon. In contrast to model-based reachability analysis, data-driven rea…
We present a data-driven framework for reachability analysis of nonlinear dynamical systems that requires no explicit model. A denoising diffusion probabilistic model learns the time-evolving state di…
In cases of prevalent diseases and disorders, such as Prenatal Alcohol Exposure (PAE), multi-site data collection allows for increased study samples. However, multi-site studies introduce additional v…
Tiny palm-sized aerial robots possess exceptional agility and cost-effectiveness in navigating confined and cluttered environments. However, their limited payload capacity directly constrains the sens…
The International Telecommunication Union (ITU) identifies "Artificial Intelligence (AI) and Communication" as one of six key usage scenarios for 6G. Agentic AI, characterized by its ca-pabilities in …
This article presents a deep learning-driven inverse design methodology for Doherty power amplifiers (PA) with multi-port pixelated output combiner networks. A deep convolutional neural network (CNN) …
Data-driven reachability analysis computes over-approximations of reachable sets directly from noisy data. Existing deterministic methods require either known noise bounds or system-specific structura…
High-fidelity visuo-tactile sensing is important for precise robotic manipulation. However, most vision-based tactile sensors face a fundamental trade-off: opaque coatings enable tactile sensing but b…
As a robot's operational environment and tasks to perform within it grow in complexity, the explicit specification and balancing of optimization objectives to achieve a preferred behavior profile move…
Robot-assisted endoluminal procedures are increasingly used for early cancer intervention. However, the intricate, narrow and tortuous pathways within the luminal anatomy pose substantial difficulties…
Due to the conceptual simplicity, the linear filtering framework, notably the autoregressive (AR) process, has a long history in simulating clutter sequences with specified probability density functio…
Spectrally-efficient communication systems rely on the use of multi-level modulation formats. At the receiver side, a demodulator is often used to extract soft information about the transmitted bits. …
We investigate the problem of establishing finite-time probabilistic safety guarantees for discrete-time stochastic dynamical systems subject to unknown disturbance distributions, using barrier certif…
Due to their expressive power, neural networks (NNs) are promising templates for functional optimization problems, particularly for reach-avoid certificate generation for systems governed by stochasti…
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