Research
Research
Research
Research
174+ open-access research outputs.
The ensemble Kalman filter (EnKF) is widely used for nonlinear and high-dimensional state estimation because it replaces complex covariance propagation with simple ensemble statistics. However, conven…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
Mechanical vibration monitoring often requires high sampling rates and generates large data volumes, posing challenges for storage, transmission, and power efficiency. Compressive Sensing (CS) offers …
Extracellular DNA accumulation in recirculating bioprocesses inhibits microbial growth and reduces productivity. We consider a continuous bioreactor with a recirculating loop and an electrophoretic fi…
Nonlinear extensions of the Kalman filter (KF), such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), are indispensable for state estimation in complex dynamical systems, yet…
Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, larg…
Generative AI (GenAI) has transformed applications in natural language processing and content creation, yet centralized inference remains hindered by high latency, limited customizability, and privacy…
Deep learning models like U-Net and its variants, have established state-of-the-art performance in edge detection tasks and are used by Generative AI services world-wide for their image generation mod…
In this study, we evaluated four binarization methods. Locality-Sensitive Hashing (LSH), Iterative Quantization (ITQ), Kernel-based Supervised Hashing (KSH), and Supervised Discrete Hashing (SDH) on t…
This paper develops an embedding-based approach to solve switched optimal control problems (SOCPs) with an arbitrary number of subsystems. Initially, the discrete switching signal is represented by a …
Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for c…
Based on the provided LaTeX code, here is the metadata for the submission form: Title: TokCom-UEP: Semantic Importance-Matched Unequal Error Protection for Resilient Image Transmission Author(s): Kaiz…
We address the problem of optimal evasion in a planar endgame engagement, where a target with bounded lateral acceleration seeks to avoid interception by a missile guided by a linear feedback law. Con…
Generating hand grasps with language instructions is a widely studied topic that benefits from embodied AI and VR/AR applications. While transferring into hand articulatied object interaction (HAOI), …
Conditional differential entropy provides an intuitive measure for relatively ranking time-series complexity by quantifying uncertainty in future observations given past context. However, its direct c…
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used t…
Signal classification models based on deep neural networks are typically trained on datasets collected under controlled conditions, either simulated or over-the-air (OTA), which are constrained to spe…
LiDAR-Inertial Odometry (LIO) is a foundational technique for autonomous systems, yet its deployment on resource-constrained platforms remains challenging due to computational and memory limitations. …
This communication on collision avoidance with unexpected obstacles is motivated by some critical appraisals on reinforcement learning (RL) which "requires ridiculously large numbers of trials to lear…
This work presents a novel reinforcement learning (RL) algorithm based on Y-wise Affine Neural Networks (YANNs). YANNs provide an interpretable neural network which can exactly represent known piecewi…
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