Research
Research
Research
Research
206+ open-access research outputs.
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observabil…
Efficient beam alignment is fundamental to high-throughput and reliable connectivity in Vehicle-to-Everything (V2X) systems. However, conventional beam management in dynamic vehicular topologies incur…
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The s…
Simulation-based data generation has become a dominant paradigm for training robotic manipulation policies, yet existing platforms do not incorporate object affordance information into trajectory gene…
Model Reference Adaptive Control based on Lyapunov stability theory is developed for gust load alleviation of nonlinear aeroelastic systems. The controller operates on a nonlinear reduced-order model …
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a …
Accurate aerodynamic field prediction is crucial for vehicle drag evaluation, but the computational cost of high-fidelity CFD hinders its use in iterative design workflows. While learning-based method…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control a…
Existing robotic manipulation methods primarily rely on visual and proprioceptive observations, which may struggle to infer contact-related interaction states in partially observable real-world enviro…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewabl…
Transparent liquid manipulation in robotic pouring remains challenging for perception systems: specular/refraction effects and lighting variability degrade visual cues, undermining reliable level esti…
Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data c…
In this work, we study how to make mmWave radar presence detection more interpretable for Ambient Assisted Living (AAL) settings, where camera-based sensing raises privacy concerns. We propose a Gener…
Wake interactions in floating wind farms are inherently coupled to platform motion, yet most experimental studies to date neglect this two-way coupling by prescribing platform movements. This work pre…
In this work, we extend and generalize our solving strategy, first introduced in [1], based on a greedy optimization algorithm and the alternating direction method (ADM) for nonlinear systems computed…
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework f…
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximity. We present SafeHu…
Robotic manipulation tasks are contact-rich, yet most imitation learning (IL) approaches rely primarily on vision, which struggles to capture stiffness, roughness, slip, and other fine interaction cue…
This study presents a novel deep learning approach aimed at enhancing stochastic Gust Load Alleviation (GLA) specifically for compliant wings. The approach incorporates the concept of smooth wing camb…
Temporal awareness plays a central role in intelligent behavior by shaping how actions are paced, coordinated, and adapted to changing goals and environments. In contrast, most robot learning algorith…
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