Research
Research
Research
Research
891+ open-access research outputs.
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, intera…
With the rapid advancement of computer technologies enabling fast calculations of complex structures, numerical methods have become a central tool in engineering sciences, while physical models have i…
Variable flux memory motors, which employ Low Coercive Force (LCF) magnets, achieve extended high-efficiency operation through controllable magnetization states. To address the need for a unified appr…
We present a soft corrugated tube sensor designed to estimate strain in each half segment. When air flows through the tube, the internal corrugated cavities induce pressure oscillations that excite th…
To navigate a space, the brain makes an internal representation of the environment using different cells such as place cells, grid cells, head direction cells, border cells, and speed cells. All these…
Highly compressible solids, such as foams, exhibit complex responses, including pronounced tension-compression asymmetry. Capturing such behaviors within unified hyperelastic frameworks remains challe…
Crack segmentation on edge devices can support continuous infrastructure monitoring and maintenance and thereby help to preserve public safety. Furthermore, autonomous infrastructure monitoring by usi…
Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perceptio…
Identifying the trajectories of rigid bodies and of interaction forces is essential for a wide range of tasks in robotics, biomechanics, and related domains. These tasks include trajectory segmentatio…
Conventional field operations spend most of their energy moving the tractor body, not the implement. Yet feasibility studies for novel agricultural vehicles rarely tie mechanics, energy harvest, draft…
In this work, we present RAGE-XY, an extended version of RAGE, a real-time estimation framework that simultaneously infers vehicle velocity, tire slip angles, and the forces acting on the vehicle usin…
Realistic modeling of scattering from curved metallic bodies - such as vehicles and roadside structures - is essential for cellular and vehicular channel modeling as well as radar applications. A prac…
This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler a…
Generative artificial intelligence offers a new paradigm to design matter in high-dimensional spaces. However, its underlying mechanisms remain difficult to interpret and limit adoption in computation…
Due to brain-body co-evolution, animals' intrinsic body dynamics play a crucial role in energy-efficient locomotion, which shares control effort between active muscles and passive body dynamics -- a p…
In this work, we propose a zero constellation for binary modulation on conjugate-reciprocal zeros (BMOCZ), called jutted BMOCZ (J-BMOCZ), and study its application to non-coherent orthogonal frequency…
Damping of structures and systems is often dominated by frictional dissipation in connections, the prediction of which remains a longstanding scientific challenge. Previous studies have shown that the…
Generalization under manipulation and dataset shift remains a core challenge in forged media detection for AI-driven edge sensing systems. Frozen vision foundation models with linear probes are strong…
Magneto-active elastomers exhibit large, nonlinear deformations under combined mechanical loading and magnetic fields, and their effective behavior is strongly governed by microstructural heterogeneit…
Tight matching with the environment is key to effective robot operation in complex settings. Situated robots that build their bodies in situ (e.g. by spinning) are uniquely positioned to exploit their…
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