Research
Research
Research
Research
5,585+ open-access research outputs.
Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen …
Sensing the direction of arrival and polarization of impinging signals is a key prerequisite for beamforming and interference mitigation in modern wireless communication systems. Dynamic metasurface a…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random sh…
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
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…
Recent audio-aware large language models (ALLMs) have demonstrated strong capabilities across diverse audio understanding and reasoning tasks, but they still frequently produce hallucinated or overly …
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key c…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physical experimentation. …
The rapid growth of large, power-electronics-rich data center (DC) loads is creating new operational challenges for bulk power systems. A key risk arises when a DC uninterruptible power supply (UPS) d…
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…
AI and data-driven models have large potential for data assimilation applications by creating fast and accurate forecasts. Their tendency to produce spurious inaccurate, nonphysical results -- halluci…
This letter presents an energy-efficient multi-robot coverage path planning (MRCPP) framework for large, nonconvex Regions of Interest (ROI) containing obstacles and no-fly zones (NFZ). Existing minim…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated in…
The aim of this paper is to demonstrate some interesting and useful approaches for writing a program in the assembly language. In order to demonstrate the possibilities of the assembly language, a pro…
Brain-inspired non-Boolean computing offers intrinsic error tolerance and parallelism, but its practical deployment is limited by the lack of compact, energy-efficient spiking hardware compatible with…
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develop an impact-aware Mo…
Autonomous mechanical thrombectomy (MT) presents substantial challenges due to highly variable vascular geometries and the requirements for accurate, real-time control. While reinforcement learning (R…
Electric power systems are rapidly evolving into deeply digital, cyber-physical infrastructures in which large fleets of distributed energy resources must be coordinated as system-level flexibility ac…
Modern world models are becoming too complex to admit explicit dynamical descriptions. We study safety-critical contextual control, where a Planner must optimize a task objective using only feasibilit…
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