Research
Research
Research
Research
2,260+ open-access research outputs.
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
Automatic feature recognition (AFR) on B-Rep 3D-CAD models is central to CAD/CAM automation, yet most learning-based methods are complex, data-hungry, and evaluate instance grouping and semantic label…
Solving large, sparse linear systems is a fundamental workload in scientific computing and engineering simulations, often dominating runtime and energy consumption in high-performance computing (HPC) …
Foundation segmentation models such as the Segment Anything Model (SAM) have demonstrated strong generalization across natural images; however, their robustness under clinically realistic medical imag…
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modif…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
Variable flux memory motors, which employ Low Coercive Force (LCF) magnets, achieve extended high-efficiency operation through controllable magnetization states. To address the need for a unified appr…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing …
We investigate the problem of jointly testing a pair of composite hypotheses and, depending on the test result, estimating a random parameter under distributional uncertainties. Specifically, it is as…
This paper outlines a pathway towards active operation of lowvoltage distribution grids. In these grids, the growing deployment of distributed generation, controllable demand and storage, together wit…
Matrix-multiply-accumulate (MMA) units, or tensor cores, are now widespread across modern computing architectures. Yet, their use for particle-grid operators remains limited. In implicit particle meth…
The process of calibrating instrument transformers (ITs) has been greatly simplified by using phasor measurement unit (PMU) data since this process eliminates the need for (a) additional hardware, and…
The numerical performance of the material point method (MPM) is strongly governed by the particle-grid kernel, which controls the trade-off among smoothness, locality, numerical diffusion, contact acc…
Multi-UAV inspection missions require spare drones to replace active drones during recharging cycles. Existing fleet-sizing approaches often assume steady-state operating conditions that do not apply …
Quantitative speed-of-sound (SoS) and attenuation of tissues are closely related to pathology; however, conventional B-mode images are limited to qualitative visualization. Existing ultrasound full-wa…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main as…
Ultrasound imaging tasks such as calibration, inverse parameter estimation, and acquisition design require models that are physically grounded, efficient, and differentiable with respect to meaningful…
Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed, single-task, domain-specific solutions towards adaptive, multi-function, general-purpose ag…
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