Research
Research
Research
Research
33+ open-access research outputs.
Purpose: Magnetic Resonance Spectroscopic Imaging (MRSI) maps endogenous brain metabolism while suppressing the overwhelming water signal. Water-unsuppressed MRSI (wu-MRSI) allows simultaneous imaging…
Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality an…
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers fro…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role …
This work proposes a hybrid framework combining classical computers with quantum annealers for structural optimisation. At each optimisation iteration of an iterative process, two minimisation problem…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly …
Abnormal swing angle detection of bucket grabs is crucial for efficient harbor operations. In this study, we develop a practically convenient swing angle detection method for crane operation, requirin…
Planar-symmetric hands, such as parallel grippers, are widely adopted in both research and industrial fields. Their symmetry, however, introduces ambiguity and discontinuity in the SO(3) representatio…
When observing objects, humans benefit from their spatial visualization and mental rotation ability to envision potential optimal viewpoints based on the current observation. This capability is crucia…
In this paper, we explore the potential of Snapshot Compressive Imaging (SCI) technique for recovering the underlying 3D scene representation from a single temporal compressed image. SCI is a cost-eff…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed,…
This paper describes gaps in acquisition of drone imagery that impair the use with computer vision/machine learning (CV/ML) models and makes five recommendations to maximize image suitability for CV/M…
Low-rank higher-order tensor approximation has been used successfully to extract discrete directions for tractography from continuous fiber orientation density functions (fODFs). However, while it acc…
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, wh…
A characteristic mode (CM) method that relies on a global multi-trace formulation (MTF) of surface integral equations is proposed to compute the modes and the resonance frequencies of microstrip patch…
We propose a new policy parameterization for representing 3D rotations during reinforcement learning. Today in the continuous control reinforcement learning literature, many stochastic policy paramete…
To face pandemics like the one caused by COVID-19, resources such as personal protection equipment (PPE) are needed to reduce the infection rate and protect those in close contact with patients (Heyma…
We proposed a simple and efficient modular single-source surface integral equation (SS-SIE) formulation for electromagnetic analysis of arbitrarily connected penetrable and perfectly electrical conduc…
Deep learning techniques have made an increasing impact on the field of remote sensing. However, deep neural networks based fusion of multimodal data from different remote sensors with heterogenous ch…
Opacity is an information flow property characterizing whether a system reveals its secret to a passive observer. Several notions of opacity have been introduced in the literature. We study the notion…
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