Research
Research
Research
Research
1,832+ open-access research outputs.
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
Accurate estimation of thermospheric mass density is a prerequisite for orbit prediction and space situational awareness, where the upper atmosphere responds nonlinearly to solar and geomagnetic forci…
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…
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 …
We study whether deep networks for medical imaging learn useful nonrobust features - predictive input patterns that are not human interpretable and highly susceptible to small adversarial perturbation…
Brain-inspired non-Boolean computing offers intrinsic error tolerance and parallelism, but its practical deployment is limited by the lack of compact, energy-efficient spiking hardware compatible with…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightl…
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…
In this paper we design a switching control law for the \'Cuk converter in the continuous conduction mode using piecewise linear Lyapunov functions. These Lyapunov functions can be constructed using d…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic …
Large Language Models have revolutionized natural language processing, achieving unprecedented success across a vast range of tasks. However, their practical application in long-context scenarios is s…
This experimental dataset presents both module-level and cell-level characterization data for lithium-ion battery modules composed of three parallel-connected inhomogeneous cells across a wide range o…
Porous electrode theory (PET) provides essential insights into electrochemical states, but its computational complexity hinders real-time control and obscures scaling relations. To bridge the gap betw…
Deploying learned multi-robot models on heterogeneous robots remains challenging due to hardware heterogeneity, communication constraints, and the lack of a unified execution stack. This paper present…
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…
Behavior cloning (BC) policies on position-controlled robots inherit the closed-loop response of the underlying PD controller, yet the effect of controller gains on BC failure lacks a nonasymptotic th…
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots ne…
Satellite constellations are transforming space systems from isolated spacecraft into networked, software-defined platforms capable of on-orbit perception, decision making, and adaptation. Yet much of…
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted eit…
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