Research
Research
Research
Research
7,833+ open-access research outputs.
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, whi…
Recent research has explored complex loss functions for deblurring. In this work, we explore the impact of a previously introduced loss function - Q which explicitly addresses sharpness and employ it …
Classical reinforcement learning (RL) methods often struggle in complex, high-dimensional environments because of their extensive parameter requirements and challenges posed by stochastic, non-determi…
Using machine learning (ML), high performance computing, and a large body of geospatial information, we develop surrogate models to predict soil liquefaction across regional scales. Two sets of models…
The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for the tracking to comp…
This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over …
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF…
Automatic differentiation through digital signal processing algorithms for virtual analogue modelling has recently gained popularity. These algorithms are typically more computationally efficient than…
In the field of human biometry, accurately estimating the volume of the whole body and its individual segments is of fundamental importance. Such measurements support a wide range of applications that…
Spherical robots offer unique advantages for mapping applications in hazardous or confined environments, thanks to their protective shells and omnidirectional mobility. This work presents two compleme…
Trajectory prediction serves as a critical functionality in autonomous driving, enabling the anticipation of future motion paths for traffic participants such as vehicles and pedestrians, which is ess…
Networked Control Systems (NCSs) have been instrumental in realizing fully connected and responsive intelligent environments within the context of real-time virtual control and management. However, tr…
Objective assessment of audio source-separation systems still mismatches subjective human perception, especially when interference from competing talkers and distortion of the target signal interact. …
Transient simulation of linear and nonlinear circuits remains an important task in modern EDA tools. At present, SPICE-like simulators face challenges in parallelization, nonlinear convergence and lin…
In this work, we propose a novel flow field-based motion planning method that drives a robot from any initial state to a desired reference trajectory such that it converges to the trajectory's end poi…
Purpose: Scatter artifacts drastically degrade the image quality of cone-beam computed tomography (CBCT) scans. Although deep learning-based methods show promise in estimating scatter from CBCT measur…
Hadamard matrix-based aperture encoding is a method for producing synthetic aperture datasets with high Signal-to-Noise Ratios. Recently, the pulse inversion capabilities of bias-sensitive Top-Orthogo…
Model-free diffusion planners have shown great promise for robot motion planning, but practical robotic systems often require combining them with model-based optimization modules to enforce constraint…
The contractile motion of the heart is strongly determined by the distribution of the fibers that constitute cardiac tissue. Strain analysis informed with the orientation of fibers allows to describe …
Environmental licensing related to underwater acoustic emissions represents a critical bottleneck for the commercial deployment of marine renewable energy. This study presents a control engineering fr…
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