Research
Research
Research
Research
568+ open-access research outputs.
This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which cou…
The CONCERTO millimeter-wave spectral-imaging instrument was deployed on the Atacama Pathfinder EXperiment (APEX), where it acquired science data between April 2021 and May 2023. The instrument featur…
The escalating climate crisis and ecosystem degradation demand intelligent, low-cost sensors capable of robust, long-term monitoring in real-world environments. Absolute dissolved oxygen (DO) concentr…
AI is increasingly used to accelerate engineering design by improving decision-making and shortening iteration cycles. Application to marine propeller design, however, remains challenging due to scarc…
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develop an impact-aware Mo…
This paper establishes a nonlinear separation principle based on contraction theory and derives sharp stability conditions for recurrent neural networks (RNNs). First, we introduce a nonlinear separat…
Marine ecosystem degradation necessitates continuous, scientifically selective underwater monitoring. However, most autonomous underwater vehicles (AUVs) operate as passive data loggers, capturing exh…
Although autonomous underwater vehicles promise the capability of marine ecosystem monitoring, their deployment is fundamentally limited by the difficulty of controlling vehicles under highly uncertai…
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…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a comp…
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with …
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original tw…
Hybrid physical systems combine continuous and discrete dynamics, which can be simultaneously affected by faults. Conventional fault detection methods often treat these dynamics separately, limiting t…
This paper develops a cooperative fault-tolerant control framework for heterogeneous networked linear systems subject to sensor degradation and external disturbances. Each unit employs an augmented $\…
In GNSS-denied underwater environments, individual unmanned underwater vehicles (UUVs) suffer from unbounded dead-reckoning drift, making collaborative navigation crucial for accurate state estimation…
This work formalizes the differential topology of redundancy resolution for systems governed by signed-quadratic actuation maps. By analyzing the minimally redundant case, the global topology of the c…
Electrification of marine transport is a promising solution to reduce sector greenhouse gas emissions and operational costs. However, the large upfront cost of electric vessels and the required chargi…
A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vess…
Underwater observatories have recently emerged as an efficient solution for marine biodiversity monitoring. The primary objective of this work is to enable efficient and cost-effective data muling fro…
The increasing use of marine spaces by offshore infrastructure, including oil and gas platforms, underscores the need for consistent, scalable monitoring. Offshore development has economic, environmen…
Free open-access publishing with Google Scholar indexing.
Submission Guide →