Research
Research
Research
Research
607+ open-access research outputs.
Discrete biological sequence optimization requires iterative refinement under strict syntactic constraints. Diffusion models offer progressive refinement but do not naturally expose controllable discr…
For general control-affine nonlinear systems in the positive orthant, and with positive controls, we show how strict CLFs can be utilized for inverse optimal stabilization. Conventional ``LgV'' invers…
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to possess enhanced agi…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ult…
The Internet of Bio-Nano Things (IoBNT) requires mobile nanomachines that navigate complex fluids while exchanging molecular signals under external supervision. We introduce the chemo-hydrodynamic tra…
This study presents the development and experimental verification of a biomimetic manta ray robot for underwater autonomous exploration. Inspired by manta rays, the robot uses flapping motion for prop…
The preliminary design of AUGs is intrinsically challenging due to the strong coupling between the external hydrodynamic shape, the hydrostatic balance, the structural integrity, and internal packagin…
Zero-order optimization has recently received significant attention for designing optimal trajectories and policies for robotic systems. However, most existing methods (e.g., MPPI, CEM, and CMA-ES) ar…
Understanding self-organization in natural collectives such as bird flocks inspires swarm robotics, yet most flocking models remain reactive, overlooking anticipatory cues that enhance coordination. M…
Recent advances in embodied intelligence have leveraged massive scaling of data and model parameters to master natural-language command following and multi-task control. In contrast, biological system…
Sample Exploring the ocean environment holds profound significance in areas such as resource exploration and ecological protection. Underwater robots struggle with extreme water pressure and often cau…
The increasing complexity of marine operations has intensified the need for intelligent robotic systems to support ocean observation, exploration, and resource management. Underwater swarm robotics of…
This work presents Bio-RV, a compact and resource-efficient RISC-V processor intended for biomedical control applications, such as accelerator-based biomedical SoCs and implantable pacemaker systems. …
To match the growing demand for bio-methane production, anaerobic digesters need to embrace the co-digestion of different feedstocks; in addition, to improve the techno-economic performance, an optima…
To address the imperative for covert underwater swarm coordination, this paper introduces "Hydrodynamic Whispering," a near-field silent communication paradigm utilizing Artificial Lateral Line (ALL) …
Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a mi…
Modern bioimage analysis approaches are data hungry, making it necessary for researchers to scavenge data beyond those collected within their (bio)imaging facilities. In addition to scale, bioimaging …
Conventional soft pneumatic actuators, typically based on hollow elastomeric chambers, often suffer from small structural support and require costly geometry-specific redesigns for multimodal function…
Molecular communication (MC) enables information transfer using particles inspired by biological systems. Volatile Organic Compounds (VOCs) are one of the most abundant and diverse classes of signalin…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control syst…
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