Research
Research
Research
Research
44+ open-access research outputs.
Computing Fourier transforms of k-sparse signals, where only k of N frequencies are non-zero, is fundamental in compressed sensing, radar, and medical imaging. While the Fast Fourier Transform (FFT) e…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terram…
In-Situ Resource Utilization (ISRU) is one of the key technologies for enabling sustainable access to the Moon. The ability to excavate lunar regolith is the first step in making lunar resources acces…
Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance safety monitor that col…
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a continuous state--cos…
Rock capturing with standard excavator buckets is a challenging task typically requiring the expertise of skilled operators. Unlike soil digging, it involves manipulating large, irregular rocks in uns…
Earthmoving operations with wheel loaders require substantial power and incur high operational costs. This work presents an efficient automation framework based on the Fundamental Earthmoving Equation…
This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DRLR framework is deve…
This paper presents the development of a calibrated digital twin of a wheel loader. A calibrated digital twin integrates a construction vehicle with a high-fidelity digital model allowing for automate…
This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problems. Built on Chrono's…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure.…
Accurate prediction of excavation forces is critical for enabling autonomous operation and optimizing control strategies in earthmoving machinery. Conventional approaches often depend on extensive dat…
Hematoxylin and Eosin (H&E) has been the gold standard in tissue analysis for decades, however, tissue specimens stained in different laboratories vary, often significantly, in appearance. This variat…
Ghost imaging (GI) achieves 2D image reconstruction through high-order correlation of 1D bucket signals and 2D light field information, particularly demonstrating enhanced detection sensitivity and hi…
Crowdfunding platforms face high transaction fees, need for more transparency, and trust deficits. These issues deter contributors and entrepreneurs from effectively leveraging crowdfunding for innova…
Abnormal swing angle detection of bucket grabs is crucial for efficient harbor operations. In this study, we develop a practically convenient swing angle detection method for crane operation, requirin…
This work presents a deep reinforcement learning-based approach to train controllers for the autonomous loading of ore piles with a Load-Haul-Dump (LHD) machine. These controllers must perform a compl…
In this paper, we propose a control algorithm based on reinforcement learning, employing independent rewards for each joint to control excavators in a 3D space. The aim of this research is to address …
The short-loading cycle is a repetitive task performed in high quantities, making it a great alternative for automation. In the short-loading cycle, an expert operator navigates towards a pile, fills …
Remote heart rate measurement is an increasingly concerned research field, usually using remote photoplethysmography (rPPG) to collect heart rate information through video data collection. However, in…
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