Research
Research
Research
Research
71+ open-access research outputs.
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Power-to-ammonia (P2A) provides a carbon-free alternative to conventional ammonia production by replacing fossil-based feedstocks with electrolytic hydrogen and nitrogen from air separation. For decen…
We present \texttt{DR-DAQP}, an open-source solver for strongly monotone affine variational inequaliries that combines Douglas-Rachford operator splitting with an active-set acceleration strategy. The…
The increasing penetration of photovoltaic (PV) generation in low-voltage distribution networks presents operational challenges, with overvoltages being among the most critical. This study introduces …
We present StochasticBarrier.jl, an open-source Julia-based toolbox for generating Stochastic Barrier Functions (SBFs) for safety verification of discrete-time stochastic systems with additive Gaussia…
Clubroot, a major soilborne disease affecting canola and other cruciferous crops, is characterized by the development of large galls on the roots of susceptible hosts. In this study, we present the fi…
The consideration of stochastic uncertainty in optimal and predictive control is a well-explored topic. Recently Polynomial Chaos Expansions (PCE) have received considerable attention for problems inv…
This article proposes an optimization problem formulation to find the optimal sizes of Photovoltaics (PV) and Battery Energy Storage Systems (BESS) for individual participants within the context of th…
The discrete exterior calculus (DEC) defines a family of discretized differential operators which preserve certain desirable properties from the exterior calculus. We formulate and solve the porous co…
With the growing integration of modular multilevel converters (MMCs) in Multi-Terminal Direct Current (MTDC) transmission systems, there is an increasing need for control strategies that ensure both e…
The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart-Gough platform. The problem involves determining all possible postures of a mobile platfor…
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…
In the near future, point-to-point High Voltage Direct Current (HVDC) systems are expected to evolve into multi-terminal and meshed HVDC grids, predominantly adopting a bipolar HVDC configuration. Nor…
Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certif…
Since time immemorial an old adage has always seemed to ring true: you cannot use a high-level productive programming language like Python or R for real-time control and embedded-systems programming, …
Traditional locomotion strategies become ineffective at low Reynolds numbers, where viscous forces predominate over inertial forces. To adapt, microorganisms have evolved specialized structures like c…
Proprietary closed-source software is still the norm in advanced process control. Transparency and reproducibility are key aspects of scientific research. Free and open-source toolkit can contribute t…
Active Inference is a framework that emphasizes the interaction between agents and their environment. While the framework has seen significant advancements in the development of agents, the environmen…
Robotic grippers are the end effector in the robot system of handling any task which used for performing various operations for the purpose of industrial application and hazardous tasks.In this paper,…
Lyophilization (aka freeze drying) is a typical process in pharmaceutical manufacturing used for improving the stability of various drug products, including its recent applications to mRNA vaccines. W…
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