Research
Research
Research
Research
424+ open-access research outputs.
A class of planar bipedal robots with unique mechanical properties has been proposed, where all links are balanced around the hip joint, preventing natural swinging motion due to gravity. A common pro…
Elastomers are central to vision-based tactile sensors (VBTSs), where they transduce external contact into observable deformation. Different VBTS architectures, however, require distinct optical and m…
Popular Bayes filters often apply linearization techniques, such as Taylor expansion or stochastic linear regression, to enable the use of the Kalman filter structure, but this can lead to large error…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
This paper presents a sim-to-real approach that enables legged robots to dynamically manipulate large and heavy objects with whole-body dexterity. Our key insight is that by performing test-time steer…
Finite element model updating is a mature discipline for linear structures, yet its extension to nonlinear regimes remains an open challenge. This paper presents a methodology that combines nonlinear …
Remote sensing image restoration (RSIR) is essential for recovering high-fidelity imagery from degraded observations, enabling accurate downstream analysis. However, most existing methods focus on sin…
In this paper, the problem of maximizing the sum-rate is addressed for a multi-user uplink scenario that is assisted by an active reconfigurable intelligent surface (RIS). The maximization is achieved…
Employing Bayesian inference to calibrate constitutive model parameters has grown substantially in recent years. Among the available techniques, Markov Chain Monte Carlo (MCMC) sampling remains one of…
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method provides rigorous saf…
Low-field (LF) magnetic resonance imaging (MRI) improves accessibility and reduces costs but generally has lower signal-to-noise ratios and degraded contrast compared to high field (HF) MRI, limiting …
This paper develops a comprehensive analytical framework for the outage probability of fluid antenna system (FAS)-aided communications by modeling the antenna as a continuous aperture and approximatin…
Large scale pre-training on text and image data along with diverse robot demonstrations has helped Vision Language Action models (VLAs) to generalize to novel tasks, objects and scenes. However, these…
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 …
Soft robotics leverages deformable materials to develop robots capable of navigating unstructured and dynamic environments. Silicone Voxel-Based Soft Robots (Silibots) are a type of pneumatically actu…
This work investigates the radio resource management (RRM) design for downlink integrated sensing and communications (ISAC) systems, jointly optimizing timeslot allocation, beam adaptation, functional…
Identification of worst-case gust loads is a critical step in the certification of very flexible aircraft, yet the computational cost of nonlinear full-order simulations renders exhaustive parametric …
A systematic approach to nonlinear model order reduction (NMOR) of coupled fluid-structureflight dynamics systems of arbitrary fidelity is presented. The technique employs a Taylor series expansion of…
Distributed multiple-input multiple-output (MIMO) architectures enable large-scale integrated sensing and communication (ISAC) by providing high spatial resolution and robustness through spatial diver…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks o…
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