Research
Research
Research
Research
553+ open-access research outputs.
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
The Gaussian scale parameter \(\epsilon\) is central to the behavior of Gaussian Kolmogorov--Arnold Networks (KANs), yet its role in deep edge-based architectures has not been studied systematically. …
We introduce a graph-signal generalisation of Sample Entropy, denoted SampEn$_{G}$, to quantify irregularity of graph signals on a continuous state space, complementing existing methods on symbolic dy…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
Reduced-order models (ROMs) are essential for rapid simulation of complex biomechanical systems and for bridging the gap between high fidelity models and clinical application. However, ROMs for tissue…
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…
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, $\Delta f$ …
A $G$-normal random variable $X\sim \mathcal{N}(0,[\underline{\sigma}^2,\overline{\sigma}^2])$ does not admit a unique probability law due to volatility uncertainty. For a given test function $\phi$, …
In this work, we propose an efficient and transparent green learning pipeline to address the automatic modulation classification (AMC) problem. This pipeline aims to enable receivers to blindly identi…
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-efficient 3D distanc…
Microcalcification (MC) analysis is clinically important in screening mammography because clustered puncta can be an early sign of malignancy, yet dense MC segmentation remains challenging: targets ar…
Wearable fingertip haptic devices are critical for realistic interaction in virtual reality, augmented reality, and teleoperation, yet existing approaches struggle to simultaneously achieve adequate t…
Object manipulation is fundamental to virtual reality (VR) applications, yet conventional fingertip haptic devices fail to render certain tactile features relevant for immersive and precise interactio…
Impulsive mechanical systems exhibit discontinuous jumps in their state, and when such jumps are triggered by spatial events, the geometry of the impact surface carries information about the controlla…
We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bo…
The advancement of autonomous systems -- from legged robots to self-driving vehicles and aircraft -- necessitates executing increasingly high-performance and dynamic motions without ever putting the s…
Many engineered physical processes exhibit nonlinear but asymptotically stable dynamics that converge to a finite set of equilibria determined by control inputs. Identifying such systems from data is …
Stock trend prediction has attracted considerable attention for its potential to generate tangible investment returns. With the advent of deep learning in quantitative finance, researchers have increa…
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