Research
Research
Research
Research
902+ open-access research outputs.
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force mode…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic …
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraint…
Deep learning has enabled highly realistic synthetic speech, raising concerns about fraud, impersonation, and disinformation. Despite rapid progress in neural detectors, transparent baselines are need…
Speech deepfake detection (SDD) systems perform well on standard benchmarks datasets but often fail to generalize to expressive and emotional spoofing attacks. Many methods rely on spoof-heavy trainin…
This study proposes a reinforcement learning-based adaptive running motion simulation for a unilateral transtibial amputee with the flexibility of a leaf-spring-type sports prosthesis using hybrid-lin…
Computational models support high-stakes decisions across engineering and science, and practitioners increasingly seek probabilistic predictions to quantify uncertainty in such models. Existing approa…
This paper describes a multi-region control framework for floating offshore wind farms. Specifically, we propose a novel generator torque controller that regulates rotor speed in Region 2, correspondi…
This chapter presents a novel approach to brain-to-speech (BTS) synthesis from intracranial electroencephalography (iEEG) data, emphasizing prosody-aware feature engineering and advanced transformer-b…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capa…
This work presents the system identification of a variable-pitch propeller (VPP) powertrain, encompassing the full actuation chain from PWM signals to thrust generation, with the aim of developing com…
This paper proposes a new pitch estimator and a novel pitch tracker for speakers. We first decompose the sound signal into subbands using an auditory filterbank, assuming time-frequency sparsity of hu…
This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame with flexible arms, e…
Optimism in the face of uncertainty is a popular approach to balance exploration and exploitation in reinforcement learning. Here, we consider the online linear quadratic regulator (LQR) problem, i.e.…
We introduce ParaSpeechCLAP, a dual-encoder contrastive model that maps speech and text style captions into a common embedding space, supporting a wide range of intrinsic (speaker-level) and situation…
Unmanned Aerial Vehicles (UAVs) perception relies on onboard sensors like cameras and LiDAR, which are limited by the narrow field of view (FoV). We present Self-Perception INertial Navigation Enabled…
Scalable control of pneumatic and fluidic networks remains fundamentally constrained by architectures that require continuous power input, dense external control hardware, and fixed routing topologies…
Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuat…
Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric constraints complicat…
Free open-access publishing with Google Scholar indexing.
Submission Guide →