Research
Research
Research
Research
78+ open-access research outputs.
Indoor fire disasters pose severe challenges to autonomous search and rescue due to dense smoke, high temperatures, and dynamically evolving indoor environments. In such time-critical scenarios, multi…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Power-to-ammonia (P2A) provides a carbon-free alternative to conventional ammonia production by replacing fossil-based feedstocks with electrolytic hydrogen and nitrogen from air separation. For decen…
We present \texttt{DR-DAQP}, an open-source solver for strongly monotone affine variational inequaliries that combines Douglas-Rachford operator splitting with an active-set acceleration strategy. The…
The increasing penetration of photovoltaic (PV) generation in low-voltage distribution networks presents operational challenges, with overvoltages being among the most critical. This study introduces …
We present StochasticBarrier.jl, an open-source Julia-based toolbox for generating Stochastic Barrier Functions (SBFs) for safety verification of discrete-time stochastic systems with additive Gaussia…
Attitude control is essential for many satellite missions. Classical controllers, however, are time-consuming to design and sensitive to model uncertainties and variations in operational boundary cond…
This paper introduces The Spheres dataset, multitrack orchestral recordings designed to advance machine learning research in music source separation and related MIR tasks within the classical music do…
The consideration of stochastic uncertainty in optimal and predictive control is a well-explored topic. Recently Polynomial Chaos Expansions (PCE) have received considerable attention for problems inv…
The present work proposes a novel two phases model-based strategy for leakage detection. The two phases are: the identification of the district metering area (DMA) and the pipe pre-localization into t…
In fields such as material design or biomedicine, fiber materials play an important role. Fiber simulations, also called digital twins, provide a basis for testing and optimizing the material's physic…
Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstruc…
The discrete exterior calculus (DEC) defines a family of discretized differential operators which preserve certain desirable properties from the exterior calculus. We formulate and solve the porous co…
With the growing integration of modular multilevel converters (MMCs) in Multi-Terminal Direct Current (MTDC) transmission systems, there is an increasing need for control strategies that ensure both e…
The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart-Gough platform. The problem involves determining all possible postures of a mobile platfor…
In the near future, point-to-point High Voltage Direct Current (HVDC) systems are expected to evolve into multi-terminal and meshed HVDC grids, predominantly adopting a bipolar HVDC configuration. Nor…
Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certif…
Since time immemorial an old adage has always seemed to ring true: you cannot use a high-level productive programming language like Python or R for real-time control and embedded-systems programming, …
Proprietary closed-source software is still the norm in advanced process control. Transparency and reproducibility are key aspects of scientific research. Free and open-source toolkit can contribute t…
This paper proposes an improved version of DurIAN-E (DurIAN-E 2), which is also a duration informed attention neural network for expressive and high-fidelity text-to-speech (TTS) synthesis. Similar wi…
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