Research
Research
Research
Research
2,117+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the fi…
Reliable estimation of neuromuscular activation is a key enabler for adaptive and personalized control in wearable robotics. However, surface electromyography (EMG) remains difficult to deploy robustl…
This paper studies the distributed adaptiveestimation problems for stochastic large regression modelswith an infinite number of parameters. By constructing a re-cursive local cost function, we propose…
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…
In practical early-stage battery-electric vehicle studies, analysis workflows may become fragmented across spreadsheets, notebooks, and project-specific scripts, making reuse, audit, and extension har…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage…
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is sensitive to disturban…
Efficient beam alignment is fundamental to high-throughput and reliable connectivity in Vehicle-to-Everything (V2X) systems. However, conventional beam management in dynamic vehicular topologies incur…
Upper-limb exoskeletons (ULEs) have the potential to restore functional independence in individuals with severe motor impairments; however, the clinical relevance of wrist degrees of freedom (DoF), pa…
The large-scale integration of inverter-based resources (IBRs), particularly distributed photovoltaics (DPVs), into distribution networks increases the need for integrated transmission and distributio…
Timely information delivery in low-altitude networks is critical for many time-sensitive applications, such as unmanned aerial vehicle (UAV) navigation, inspection, and surveillance. The key challenge…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
Wrist function is essential in performing activities of daily living (ADLs). However, there is limited experimental evidence on the functional impact of wrist Abduction-Adduction (Ab-Ad) joint assista…
In this letter, we propose a sparsification method for precoding codebooks that reduces the peak-to-average power ratio (PAPR) while preserving the achievable rate. By exploiting the fact that precode…
Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, frict…
Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which …
This study presents a physically informed hybrid time-frequency and machine learning (STFT-ML) framework for arc stability monitoring in electric arc welding systems. The primary current signal is mod…
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