Research
Research
Research
Research
63+ 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…
J. B. Fourier in his \emph{Th\'{e}orie Analytique de la Chaleur} of 1822 introduced, amongst other things, two ideas that have made a fundamental impact in fields as diverse as Mathematical Physics, E…
As robots become increasingly integrated into daily life, understanding responses to robot mistreatment carries important ethical and design implications. This mixed-methods study (N = 201) examined h…
Vision-Language Models (VLMs) enable multimodal reasoning for robotic perception and interaction, but their deployment in real-world systems remains constrained by latency, limited onboard resources, …
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…
Recent advances in large multimodal models have enabled new opportunities in embodied AI, particularly in robotic manipulation. These models have shown strong potential in generalization and reasoning…
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…
Robots with anthropomorphic features are increasingly shaping how humans perceive and morally engage with them. Our research investigates how different levels of anthropomorphism influence protective …
Background and objective: Expert annotations limit large-scale supervised pretraining in medical imaging, while ubiquitous metadata (modality, anatomical region) remain underused. We introduce ModAn-M…
Federated Learning (FL) enables distributed model training on edge devices while preserving data privacy. However, FL deployments in wireless networks face significant challenges, including communicat…
This work proposes an integrated approach for optimising Federated Learning (FL) communication in dynamic and heterogeneous network environments. Leveraging the modular flexibility of the Open Radio A…
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…
This paper examines the intricate interplay among AI safety, security, and governance by integrating technical systems engineering with principles of moral imagination and ethical philosophy. Drawing …
This research introduces an advanced Explainable Artificial Intelligence (XAI) framework designed to elucidate the decision-making processes of Deep Reinforcement Learning (DRL) agents in ORAN archite…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While t…
AI alignment is a pivotal issue concerning AI control and safety. It should consider not only value-neutral human preferences but also moral and ethical considerations. In this study, we introduced Fa…
We present a novel framework for the probabilistic modelling of random fourth order material tensor fields, with a focus on tensors that are physically symmetric and positive definite (SPD), of which …
Free open-access publishing with Google Scholar indexing.
Submission Guide →