Research
Research
Research
Research
432+ open-access research outputs.
In multi-agent systems, should limited resources be concentrated into a few capable agents or distributed among many simpler ones? This work formulates the split over $n$ resource sharing problem wher…
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
The self-noise of capacitive sensors, primarily caused by thermal noise from the gate-bias resistor in the preamplifier, imposes a fundamental limit on measurement sensitivity. In electret condenser m…
Structural reliability evaluation for composites constitutes a fundamentally high-dimensional multiscale problem, as microscale material uncertainties must propagate to the macroscale and can be quant…
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted eit…
With the rapid growth of Multi-access Edge Computing (MEC), secure and efficient computation offloading from user equipment (UEs) to edge access points (APs) is critical. However, DISCO intelligent re…
Purpose: To develop and evaluate a deep learning (DL) method for free-breathing phase-sensitive inversion recovery (PSIR) late gadolinium enhancement (LGE) cardiac MRI that produces diagnostic-quality…
As the amount of used home appliances is expected to increase despite the decreasing labor force in Japan, there is a need to automate disassembling processes at recycling plants. The automation of di…
Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a consequence, the learne…
The rise of unmanned ``dark factories'' operating without human presence demands autonomous safety systems capable of detecting and responding to multiple hazard types. We present SafeGuard ASF (Agent…
Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pertinent challenges reg…
The da Vinci Research Kit (dVRK) is widely used for research in robot-assisted surgery, but most modeling and control methods target the first-generation dVRK Classic. The recently introduced dVRK-Si,…
We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transformation between the …
The paradigm of robot-assisted surgery is shifting toward data-driven autonomy, where policies learned via Reinforcement Learning (RL) or Imitation Learning (IL) enable the execution of complex tasks.…
Most existing robotic surgery systems adopt a human-in-the-loop paradigm, often with the surgeon directly teleoperating the robotic system. Adding intelligence to these robots would enable higher-leve…
In-line digital holography (DIH) is a widely used lensless imaging technique, valued for its simplicity and capability to image samples at high throughput. However, capturing only intensity of the int…
Deep learning-based Personal Sound Zones (PSZs) rely on simulated acoustic transfer functions (ATFs) for training, yet idealized point-source models exhibit large sim-to-real gaps. While physically in…
Koopman operator provides a general linear description of nonlinear systems, whose estimation from data (via extended dynamic mode decomposition) has been extensively studied. However, the elusiveness…
The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imba…
Machine-learning models applied to skin images often have degraded performance when the skin colour captured in images (SCCI) differs between training and deployment. These discrepancies arise from a …
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