Research
Research
Research
Research
76+ open-access research outputs.
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the compani…
This paper presents an adaptive sampling algorithm tailored for the optimization of parametrized dynamical systems using projection-based model order reduction. Unlike classical sampling strategies, t…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, a…
Self-propelling robotic capsules eliminate shaft looping of conventional colonoscopy, reducing patient discomfort. However, reliably moving within the slippery, viscoelastic environment of the colon r…
This paper introduces the Mechacnially prOgrammed Radius-adjustable PHysical (MORPH) wheel, a fully passive variable-radius wheel that embeds mechanical behavior logic for torque-responsive transforma…
In [1], a new modeling paradigm for developing rate-and-state-dependent, control-oriented friction models was introduced. The framework, termed Friction with Bristle Dynamics (FrBD), combines nonlinea…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike tradition…
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners …
Fall recovery is a critical skill for humanoid robots in dynamic environments such as RoboCup, where prolonged downtime often decides the match. Recent techniques using deep reinforcement learning (DR…
Ovarian cancer remains one of the most lethal gynecological malignancies, largely due to late diagnosis and extensive heterogeneity across subtypes. Current diagnostic methods are limited in their abi…
Computational materials discovery relies on the generation of plausible crystal structures. The plausibility is typically judged through density functional theory methods which, while typically accura…
The morphology of a slender soft-robot can be modified by sensing its shape via sensors and exerting moments via actuators embedded along its body. The actuating moments required to morph these soft-r…
This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast moving obstacles. SMART-…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding chal…
Glioblastoma, a highly aggressive brain tumor with diverse molecular and pathological features, poses a diagnostic challenge due to its heterogeneity. Accurate diagnosis and assessment of this heterog…
Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim t…
We present a simple, accessible method for autonomously transforming flat plastic sheets into intricate three-dimensional structures using only uniform heating and common tools such as household ovens…
Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, co…
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differential equation (PDE…
Autonomous and targeted underwater visual monitoring and exploration using Autonomous Underwater Vehicles (AUVs) can be a challenging task due to both online and offline constraints. The online constr…
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