Research
Research
Research
Research
25+ open-access research outputs.
A central challenge in mobile manipulation is preserving multiple plausible action models while remaining reactive during execution. A bottle in a cluttered scene can often be approached and grasped i…
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a labor-intensive tas…
Wide-field high-resolution microscopy requires fast scanning and accurate image mosaicking to cover large fields of view without compromising image quality. However, conventional galvanometric scannin…
Clubroot, a major soilborne disease affecting canola and other cruciferous crops, is characterized by the development of large galls on the roots of susceptible hosts. In this study, we present the fi…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower …
Quadruped robots face persistent challenges in achieving versatile locomotion due to limitations in reference motion data diversity. To address these challenges, we introduce an in-between motion gene…
In this work we extend the low-cost GELLO teleoperation system, initially designed for joint position control, with additional force information. Our first extension is to implement force feedback, al…
Mandibular Angle Split Osteotomy (MASO) is a significant procedure in oral and maxillofacial surgery. Despite advances in technique and instrumentation, its success still relies heavily on the surgeon…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of pos…
NASA's forthcoming Lunar Gateway space station, which will be uncrewed most of the time, will need to operate with an unprecedented level of autonomy. One key challenge is enabling the Canadarm3, the …
Forced alignment systems automatically determine boundaries between segments in speech data, given an orthographic transcription. These tools are commonplace in phonetics to facilitate the use of spee…
Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skil…
Renal pathology, as the gold standard of kidney disease diagnosis, requires doctors to analyze a series of tissue slices stained by H&E staining and special staining like Masson, PASM, and PAS, respec…
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent ga…
The adaptive smoothing method (ASM) is a standard data-driven technique used in traffic state estimation. The ASM has free parameters which, in practice, are chosen to be some generally acceptable val…
The application of machine learning algorithms to the diagnosis and analysis of Alzheimer's disease (AD) from multimodal neuroimaging data is a current research hotspot. It remains a formidable challe…
Among the tilt-rotors (quadrotors) developed in the last decades, Rylls model with eight inputs (four magnitudes of the thrusts and four tilting angles) attracted great attention. Typical feedback lin…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient lo…
High dimensionality poses many challenges to the use of data, from visualization and interpretation, to prediction and storage for historical preservation. Techniques abound to reduce the dimensionali…
Modern optical coherence tomography (OCT) devices provide volumetric images with micrometer-scale spatial resolution and a temporal resolution beyond video rate. In this work, we analyze an OCT-based …
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