Research
Research
Research
Research
226+ open-access research outputs.
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…
In real-world robotic manipulation, states typically admit a neighborhood of near-equivalent actions. That is, for each state, there exist a feasible action neighborhood (FAN) rather than a single cor…
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…
Wind disturbances remain a key barrier to reliable autonomous navigation for lightweight quadrotors, where the rapidly varying airflow can destabilize both planning and tracking. This paper introduces…
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-based policies face pro…
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…
Wireless capsule endoscopy (WCE) has transformed gastrointestinal (GI) diagnostics by enabling noninvasive visualization of the digestive tract, yet its diagnostic yield remains constrained by the abs…
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 paper, we study robust beamforming design for near-field physical-layer-security (PLS) systems, where a base station (BS) equipped with an extremely large-scale array (XL-array) serves multipl…
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…
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), …
Extracting pulsive temporal patterns from a small dataset without their repetition or singularity shows significant importance in manufacturing applications but does not sufficiently attract scientifi…
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…
Conventional acoustic beamformers typically assume short-time stationarity and process frequency bins independently, ignoring inter-frequency correlations. This is suboptimal for almost-periodic noise…
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…
Commercial building Heating, Ventilation, and Air Conditioning (HVAC) systems can provide flexibility to the electricity grid. Some researchers have found it convenient to model HVAC systems as virtua…
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