Research
Research
Research
Research
975+ 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…
This work presents the design and analysis of a sixth-order triple-coupled transformer-based tank, enabling third-harmonic expansion for mmWave VCOs. Unlike conventional fourth-order tanks, the propos…
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…
Under-resourced languages remain underrepresented in quantitative rhythm research,particularly in systematic intra-branch analysis of acoustic differentiation within closely related linguistic groups.…
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
This study proposes an anomaly-detection framework for monitoring exposure-length variations in submarine free-span cables using Distributed Acoustic Sensing (DAS), which is one of the distributed fib…
The escalating climate crisis and ecosystem degradation demand intelligent, low-cost sensors capable of robust, long-term monitoring in real-world environments. Absolute dissolved oxygen (DO) concentr…
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…
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…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
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 …
Online Feedback Optimization leverages properties of optimization algorithms to develop controllers for systems with limited model availability, which is often the case in process control. The interpl…
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, $\Delta f$ …
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and com…
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…
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