Research
Research
Research
Research
2,218+ open-access research outputs.
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To a…
Robots need task planning methods to generate action sequences for complex tasks. Recent work on adversarial attacks has revealed significant vulnerabilities in existing robot task planners, especiall…
The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tu…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike tradition…
A new approach for analyzing waveguide junctions containing conductive cylindrical objects is proposed. The algorithm is based on mode matching technique using local projection functions, which improv…
Deep learning has achieved significant advancements in medical image segmentation. Currently, obtaining accurate segmentation outcomes is critically reliant on large-scale datasets with high-quality a…
Multi-speaker automatic speech recognition (MASR) aims to predict ''who spoke when and what'' from multi-speaker speech, a key technology for multi-party dialogue understanding. However, most existing…
Modern microgrids depend on distributed sensing and communication interfaces, making them increasingly vulnerable to cyber physical disturbances that threaten operational continuity and equipment safe…
Generative adversarial networks (GANs) and diffusion models have recently achieved state-of-the-art performance in audio super-resolution (ADSR), producing perceptually convincing wideband audio from …
Classic problem-space theory models problem solving as a navigation through a structured space of states, operators, goals, and constraints. Systems Engineering (SE) employs analogous constructs (func…
Deformable scenes violate the rigidity assumptions underpinning classical visual--inertial odometry (VIO), often leading to over-fitting to local non-rigid motion or to severe camera pose drift when d…
A new computational framework is presented to predict the structural integrity of welds in hydrogen transmission pipelines. The framework combines: (i) a thermo-mechanical weld process model, and (ii)…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actiona…
Vision-Language-Action (VLA) models have achieved remarkable breakthroughs in robotics, with the action chunk playing a dominant role in these advances. Given the real-time and continuous nature of ro…
Multiply connected freeform surface features are widely encountered in industrial components, where toolpath generation often suffers from discontinuities, sharp turns, non-uniform scallop heights, an…
With the rapid expansion of low Earth orbit (LEO) constellations, thousands of satellites are now in operation, many equipped with onboard GNSS receivers capable of continuous orbit determination and …
Video semantic communication, praised for its transmission efficiency, still faces critical challenges related to privacy leakage. Traditional security techniques like steganography and encryption are…
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV…
In recent years, the demand of image compression models for machine vision has increased dramatically. However, the training frameworks of image compression still focus on the vision of human, maintai…
This paper proposes a sampling-based motion planner that employs a dual quaternion representation to generate smooth, collision-free six-degree-of-freedom pose trajectories for satellite rendezvous an…
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