Research
Research
Research
Research
66+ open-access research outputs.
The globally optimal robust adaptive beamforming (RAB) solution is studied for worst-case signal-to-interference-plus-noise ratio (SINR) maximization (the maximin SINR problem) under convex and closed…
Intra-vehicular free-flying robots are anticipated to support various work in human spaceflight while working side-by-side with astronauts. Such example of robots includes NASA's Astrobee, DLR's CIMON…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower …
Electrical isolation is critical to ensure safety and minimize electromagnetic interference (EMI), yet existing methods struggle to simultaneously transmit power and signals through a unified channel.…
This paper addresses the power control design for a cell-free massive MIMO (CF-mMIMO) system that performs integrated sensing and communications (ISAC). Specifically, the case where many access points…
We present an AI-integrated molecular communication link validated on a benchtop nanomachine testbed representative of subdermal implants. The system employs an indium-gallium-zinc-oxide electrolyte-g…
Quadruped robots face persistent challenges in achieving versatile locomotion due to limitations in reference motion data diversity. To address these challenges, we introduce an in-between motion gene…
Imitation Learning (IL) is a widely adopted approach which enables agents to learn from human expert demonstrations by framing the task as a supervised learning problem. However, IL often suffers from…
Breast cancer (BC) remains one of the leading causes of cancer-related mortality among women, despite recent advances in Computer-Aided Diagnosis (CAD) systems. Accurate and efficient interpretation o…
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution f…
Although robots have been introduced in many industries, food production robots are yet to be widely employed because the food industry requires not only delicate movements to handle food but also com…
Multiple instance learning (MIL) is a promising approach for weakly supervised classification in pathology using whole slide images (WSIs). However, conventional MIL methods such as Attention-Based De…
Precedence constraints are inequalities used to model time dependencies. In 1958, Gallai proved that a finite system of precedence constraints admits solutions if and only if the corresponding precede…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of pos…
Recently, gravity has been highlighted as a crucial constraint for state estimation to alleviate potential vertical drift. Existing online gravity estimation methods rely on pose estimation combined w…
Enabling legged robots to perform non-prehensile loco-manipulation is crucial for enhancing their versatility. Learning behaviors such as whole-body object pushing often requires sophisticated plannin…
Liquid metal (LM)-based composites hold promise for soft electronics due to their high conductivity and fluidic nature. However, the presence of {\alpha}_Ga2O3 and GaOOH layers around LM droplets impa…
Energy storage devices with liquid_metal electrodes have attracted interest in recent years due to their potential for mechanical resilience, self_healing, dendrite_free operation, and fast reaction k…
Utilizing the complementary strengths of wavelength-specific range or depth sensors is crucial for robust computer-assisted tasks such as autonomous driving. Despite this, there is still little resear…
Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to under…
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