Research
Research
Research
Research
23+ open-access research outputs.
With the rapid advancement of computer technologies enabling fast calculations of complex structures, numerical methods have become a central tool in engineering sciences, while physical models have i…
The normal forms provide useful approximations for many trajectories of interest within the circular restricted three-body problem. This paper aims to thoroughly compare two of these forms: the Birkho…
Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering …
This paper presents Forte, a fully 3D-printable, 6-DoF robotic arm designed to achieve near industrial-grade performance - 0.63 kg payload, 0.467 m reach, and sub-millimeter repeatability - at a mater…
Energy efficiency is critical to the success of legged robotics. Efficiency is lost through wasted energy during locomotion and standing. Including elastic elements has been shown to reduce movement c…
Automatic Modulation Recognition (AMR) is an essential part of Intelligent Transportation System (ITS) dynamic spectrum allocation. However, current deep learning-based AMR (DL-AMR) methods are challe…
Robotic systems with many degrees of freedom (DoF) are constrained by the demands of dedicating a motor to each joint, and while mechanical multiplexing reduces actuator count, existing clutch designs…
Integrating robotically driven contact-based material characterization techniques into self-driving laboratories can enhance measurement quality, reliability, and throughput. While deep learning model…
Bayesian inference has been used in the past to model visual perception (Kersten, Mamassian, & Yuille, 2004), accounting for the Helmholtz principle of perception as "unconscious inference" that is co…
In this paper, we address the problem of finding the best ergodic or Birkhoff averages in the mean ergodic theorem to ensure rapid convergence to a desired value, using graph filters. Our approach beg…
We consider the problem of dynamic channel allocation (DCA) in cognitive communication networks with the goal of maximizing a global signal-to-interference-plus-noise ratio (SINR) measure under a spec…
In many robotic systems, the holding state consumes power, limits operating time, and increases operating costs. Electrostatic clutches have the potential to improve robotic performance by generating …
In this paper, a computer-vision-assisted simulation method is proposed to address the issue of training dataset acquisition for wireless hand gesture recognition. In the existing literature, in order…
Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic p…
In the pulp and paper industry, about 5 Mt/y chemithermomechanical pulp (CTMP) are produced globally from softwood chips for production of carton board grades. For tailor making CTMP for this purpose,…
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around n…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two s…
Differential drive mobile robots often use one or more caster wheels for balance. Caster wheels are appreciated for their ability to turn in any direction almost on the spot, allowing the robot to do …
Wireless networks have been widely deployed for many Internet-of-Things (IoT) applications, like smart cities and precision agriculture. Low Power Wide Area Networking (LPWAN) is an emerging IoT netwo…
In this paper, we propose a control framework for a battery energy storage system to provide simultaneously multiple services to the electrical grid. The objective is to maximise the battery exploitat…
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