Research
Research
Research
Research
1,588+ open-access research outputs.
Robotic-assisted surgery offers significant clinical advantages but largely eliminates direct haptic feedback, increasing the risk of excessive tool-tissue interaction forces. Although recent commerci…
As the penetration of distributed energy resources (DERs) increases, harnessing their flexibility becomes critical for power system operations. Virtual power plants (VPPs) offer a promising solution. …
Solving large, sparse linear systems is a fundamental workload in scientific computing and engineering simulations, often dominating runtime and energy consumption in high-performance computing (HPC) …
The joint training of speech enhancement and speaker embedding networks for speaker recognition is widely adopted under noisy acoustic environments. While effective, this paradigm often fails to lever…
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although…
We investigate the problem of jointly testing a pair of composite hypotheses and, depending on the test result, estimating a random parameter under distributional uncertainties. Specifically, it is as…
This paper introduces PHOTON (PHysical Optical Tracking of Notes), a non-invasive optical sensing system for measuring key-lever motion in historical keyboard instruments. PHOTON tracks the vertical d…
Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed, single-task, domain-specific solutions towards adaptive, multi-function, general-purpose ag…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial re…
Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated …
Accurate inference from quartz crystal microbalance (QCM) measurements in liquids is often limited by reducing resonance behavior to two scalar endpoints (frequency and dissipation shifts, $\Delta f$ …
Particle Swarm Optimization (PSO) is susceptible to premature convergence when the swarm collapses around the global best, particularly on multimodal landscapes in higher dimensions. We propose Diverg…
One of the concerns with autonomous vehicles is their ability to communicate their intent to other road users, specially pedestrians, in order to prevent accidents. External Human-Machine Interfaces (…
The growing complexity of visuomotor policies poses significant challenges for deployment with heterogeneous robotic hardware constraints. However, most existing model-efficient approaches for robotic…
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which …
Let $f:\mathbb{R}^n\to\mathbb{R}$ be an unknown object, and suppose the observations are tomographic projections of randomly rotated copies of $f$ of the form $Y = P(R\cdot f)$, where $R$ is Haar-unif…
The human auditory system has the ability to selectively focus on key speech elements in an audio stream while giving secondary attention to less relevant areas such as noise or distortion within the …
We present an empirical case study of cinema SDR-to-HDR mapping using ASC StEM2, a rare common-source dataset containing EXR scene-referred images and matched SDR/HDR cinema release masters from the s…
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