Research
Research
Research
Research
424+ open-access research outputs.
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity of maintaining topolo…
AI data center loads create query-driven power transients on millisecond timescales. Such loads can violate the timescale separation assumptions underlying internal inverter control of grid-following …
We present a curated multi-platform LiDAR reference dataset from an instrumented ICOS forest plot, explicitly designed to support calibration, benchmarking, and integration of 3D structural data with …
The increasing penetration of Distributed Energy Resources (DERs), particularly electric vehicles, heat pumps, and photovoltaic systems, is fundamentally changing power flows in Low-Voltage (LV) distr…
Accurate pipe roughness estimation in large-scale water distribution networks is often hindered by the high cost of traditional field methods. This study investigates whether network partitioning, by …
Accurate and continuous localization of Autonomous Underwater Vehicles (AUVs) in GPS-denied environments is a persistent challenge in marine robotics. In the absence of external position fixes, AUVs r…
Artificial intelligence (AI) is driving rapid growth in electricity demand, yet the grid-facing power dynamics of AI data centers remain poorly understood. Here we show that, in shared-GPU systems, th…
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and lea…
The rapid growth of generative artificial intelligence (AI) has introduced unprecedented computational demands, driving significant increases in the energy footprint of data centers. However, existing…
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark positi…
Accurate vehicular localization in Global Navigation Satellite System (GNSS)-denied environments, such as road tunnels, remains a key challenge for cooperative intelligent transport systems (C-ITS). T…
The growing integration of renewable and decentralized generation increases the need for flexibility in distribution systems. This flexibility, typically represented in a PQ capability curve, is const…
Existing approaches for battery health forecasting often rely on extensive cycling histories and continuously monitored cells. In contrast, many real-world scenarios provide only sparse information, e…
Wireless bioelectronic interfaces are increasingly used to control tissue-engineered biohybrid robotic systems. However, a unifying engineering framework linking device design to system-level control …
Regenerating singing voices with altered lyrics while preserving melody consistency remains challenging, as existing methods either offer limited controllability or require laborious manual alignment.…
This paper addresses the modeling gap between complex dispersive-medium characterization and clutter statistical analysis in single-snapshot frequency diverse array multiple-input multiple-output grou…
This paper presents the development of an algorithm, termed the Global-Local Hybrid Surrogate (GLHS), designed to efficiently compute the probability of rare failure events in complex systems. The pri…
The Finite element method (FEM) has long served as the computational backbone for topology optimization (TO). However, for designing structures undergoing large deformations, conventional FEM-based TO…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric tr…
Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framewo…
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