Research
Research
Research
Research
66+ open-access research outputs.
Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuat…
Camera pipelines receive raw Bayer-format frames that need to be denoised, demosaiced, and often super-resolved. Multiple frames are captured to utilize natural hand tremors and enhance resolution. Mu…
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not uniform across the ha…
This paper presents an operator-theoretic reconstruction of an equivalent continuous-time LTI model from an exact sampled-data (Poincar\'e-map) baseline of a piecewise-linear switching system. The reb…
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pipeline for constructi…
This paper presents a unified algebraic, topological, and logical framework for electrical one-port networks based on \v{S}are's $m$-theory. Within this formalism, networks are represented by $m$-word…
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an A…
We present the RAW domain diffusion model (RDDM), an end-to-end diffusion model that restores photo-realistic images directly from the sensor RAW data. While recent sRGB-domain diffusion methods achie…
For many real-world applications involving low-power sensor edge devices deep neural networks used for image classification might not be suitable. This is due to their typically large model size and r…
Under-actuated compliant robotic systems offer a promising approach to mitigating actuation and control challenges by harnessing pre-designed, embodied dynamic behaviors. This paper presents Flix-Walk…
This paper reviews the NTIRE 2025 RAW Image Restoration and Super-Resolution Challenge, highlighting the proposed solutions and results. New methods for RAW Restoration and Super-Resolution could be e…
Camera sensors have color filters arranged in a mosaic layout, traditionally following the Bayer pattern. Demosaicing is a critical step camera hardware applies to obtain a full-channel RGB image. Man…
Image degradation caused by noise and blur remains a persistent challenge in imaging systems, stemming from limitations in both hardware and methodology. Single-image solutions face an inherent tradeo…
Denoising is one of the fundamental steps of the processing pipeline that converts data captured by a camera sensor into a display-ready image or video. It is generally performed early in the pipeline…
Motivation: Post-processing of in-vivo diffusion tensor CMR (DT-CMR) is challenging due to the low SNR and variation in contrast between frames which makes image registration difficult, and the need t…
Understanding the structures of biological macromolecules is highly important as they are closely associated with cellular functionalities. Comprehending the precise organization actin filaments is cr…
In this paper, we efficiently compute overapproximating reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric integration theory. W…
Through spectral unmixing, hyperspectral imaging (HSI) in fluorescence-guided brain tumor surgery has enabled detection and classification of tumor regions invisible to the human eye. Prior unmixing w…
In this paper, we propose a novel strategy for a snake robot to move straight up a cylindrical surface. Prior works on pole-climbing for a snake robot mainly utilized a rolling helix gait, and althoug…
As the physical size of recent CMOS image sensors (CIS) gets smaller, the latest mobile cameras are adopting unique non-Bayer color filter array (CFA) patterns (e.g., Quad, Nona, QxQ), which consist o…
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