Research
Research
Research
Research
32+ open-access research outputs.
We provide a systematic interval observer design method for detectable linear time-invariant (LTI) systems, where a part of the state is observable from the measured output. An observability-based inv…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, frict…
In this paper, we address the problem of distributed state estimation for a discrete-time, linear time-invariant system. Building on the framework proposed in [2], we exploit the Jordan canonical form…
Humanoid robots toward human-level dexterity require robotic hands capable of simultaneously providing high grasping force, rapid actuation speeds, multiple degrees of freedom, and lightweight structu…
Background and objective: Expert annotations limit large-scale supervised pretraining in medical imaging, while ubiquitous metadata (modality, anatomical region) remain underused. We introduce ModAn-M…
Teletaction, the transmission of tactile feedback or touch, is a crucial aspect in the field of teleoperation. High-quality teletaction feedback allows users to remotely manipulate objects and increas…
The design of feedback controllers is undergoing a paradigm shift from modelic (i.e., model-driven) control to datatic (i.e., data-driven) control. Canonical form of state space model is an important …
Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. …
This paper presents a novel model order reduction technique tailored for power systems with a large share of inverter-based energy resources. Such systems exhibit an increased level of dynamic stiffne…
A diversified dataset is crucial for training a well-generalized supervised computer vision algorithm. However, in the field of microbiology, generation and annotation of a diverse dataset including f…
The biliary tree is a network of tubes that connects the liver to the gallbladder, an organ right beneath it. The bile duct is the major tube in the biliary tree. The dilatation of a bile duct is a ke…
GANs are able to model accurately the distribution of complex, high-dimensional datasets, e.g. images. This makes high-quality GANs useful for unsupervised anomaly detection in medical imaging. Howeve…
WOGAN is an online test generation algorithm based on Wasserstein generative adversarial networks. In this note, we present how WOGAN works and summarize its performance in the SBST 2022 CPS tool comp…
In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Sl…
In the field of Internet of Things, there is an urgent need for sensors with large-scale sensing capability for scenarios such as intelligent monitoring of production lines and urban infrastructure. B…
This paper presents a robotic system (\textit{Chitrakar}) which autonomously converts any image of a human face to a recognizable non-self-intersecting loop (Jordan Curve) and draws it on any planar s…
In this paper we propose a 2D deep residual Unet with 104 convolutional layers (DR-Unet104) for lesion segmentation in brain MRIs. We make multiple additions to the Unet architecture, including adding…
Spatial resolution improvement from an acquired measurement using long pulse is developed for Brillouin optical time domain analysis (BOTDA) systems based on the total variation deconvolution algorith…
State-of-the-art models for high-resolution image generation, such as BigGAN and VQVAE-2, require an incredible amount of compute resources and/or time (512 TPU-v3 cores) to train, putting them out of…
Signal processing on directed graphs (digraphs) is problematic, since the graph shift, and thus associated filters, are in general not diagonalizable. Furthermore, the Fourier transform in this case i…
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