Research
Research
Research
Research
901+ open-access research outputs.
This paper proposes a bitwise over-parameterized neural network (ONN) decoder for polar-coded transmission and develops a tractable theoretical performance analysis framework. By modeling each synthes…
Background: Tuning proportional-integral (PI) controllers for second-order plants to achieve monotonic step response with minimum settling time is an important problem in analytical control design. Ex…
The rapid growth of inverter-based resources (IBRs) and distributed energy resources (DERs) has fundamentally altered the long-term voltage stability characteristics of modern power systems. This arti…
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage, often stitching tog…
Modern world models are becoming too complex to admit explicit dynamical descriptions. We study safety-critical contextual control, where a Planner must optimize a task objective using only feasibilit…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics…
Autonomous vehicles equipped with robust onboard perception, localization, and planning still face limitations in occlusion and non-line-of-sight (NLOS) scenarios, where delayed reactions can increase…
Lithium Iron Phosphate (LFP) Battery Energy Storage Systems (BESSs) are a key enabler of the energy transition. However, they are known to exhibit significant inaccuracies in the estimation of their S…
Non-minimum-phase (NMP) zeros in multi-converter power systems impose bandwidth ceilings on feedback control, yet quantifying them at the system level has been impractical because commercial converter…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interacti…
This paper develops an entropy-based stability and robustness framework for nonlinear hypergraph dynamics with conservation and flow balance. We consider generator-form systems on the simplex whose st…
Purpose: To develop and evaluate a deep learning (DL) method for free-breathing phase-sensitive inversion recovery (PSIR) late gadolinium enhancement (LGE) cardiac MRI that produces diagnostic-quality…
Existing short term voltage stability (STVS) methods typically address either voltage oscillations or delayed voltage recovery; however, the coexistence of both phenomena has not been adequately cover…
Fault intensity diagnosis (FID) plays a pivotal role in intelligent manufacturing while neglecting dependencies among target classes hinders its practical deployment. This paper introduces a novel and…
Electric vertical takeoff and landing (eVTOL) aircraft operating in high-density urban airspace must maintain safe separation through tactical conflict resolution, yet the energy cost of such maneuver…
We extend latent representation methods for safety control design to set-valued states. Recent work has shown that barrier functions designed in a learned latent space can transfer safety guarantees b…
Considerable efforts have been made to address the resonance issue of the Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) wind farm integrated power systems. However, the D-PMSG controlle…
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncertainty, robustness of…
Many safety-critical control systems must operate under latent uncertainty that sensors cannot directly resolve at decision time. Such uncertainty, arising from unknown physical properties, exogenous …
End-to-end planning has emerged as a dominant paradigm for autonomous driving, where recent models often adopt a scoring-selection framework to choose trajectories from a large set of candidates, with…
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