Research
Research
Research
Research
592+ open-access research outputs.
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Multimodal federated learning enables privacy-preserving collaborative model training across healthcare institutions. However, a fundamental challenge arises from modality heterogeneity: many clinical…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
The online 3D bin packing problem is important in logistics, warehousing and intelligent manufacturing, with solutions shifting to deep reinforcement learning (DRL) which faces challenges like low sam…
We study the nonlinear inverse problem arising in Temporal CT, a multi-source computed-tomography architecture in which NS = 3 simultaneously active X-ray sources produce M = 5 mixed Poisson intensity…
Accurate state estimation for robotic systems evolving on Lie group manifolds, such as legged robots, is a prerequisite for achieving agile control. However, this task is challenged by nonlinear obser…
Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks s…
Bin picking in real industrial environments remains challenging due to severe clutter, occlusions, and the high cost of traditional 3D sensing setups. We present Pickalo, a modular 6D pose-based bin-p…
Sensor spoofing analysis in cyber-physical systems is predominantly confined to linear state spaces, where attack transferability is trivial. On Lie groups, however, the noncommutativity of the dynami…
The deployment of multiple transmitters (TXs) in integrated sensing and communication (ISAC) networks necessitates efficient resource sharing to overcome the limitations of orthogonal allocation. Whil…
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a neural feedback cont…
Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomo…
Material awareness can improve robotic navigation and interaction, particularly in conditions where cameras and LiDAR degrade. We present a lightweight mmWave radar material classification pipeline de…
Extracting a target source from underdetermined mixtures is challenging for beamforming approaches. Recently proposed time-frequency-bin-wise switching (TFS) and linear combination (TFLC) strategies m…
Speech dereverberation in distant-microphone scenarios remains challenging due to the high correlation between reverberation and target signals, often leading to poor generalization in real-world envi…
In this work, we propose an unsupervised domain adaptation (UDA) framework for 3D volumetric lesion detection that adapts a detector trained on labeled FDG PET/CT to unlabeled PSMA PET/CT. Beyond cova…
The increasing demand for hygienic and contactless solutions in public and private environments has encouraged the development of automated systems for everyday applications. This paper presents the d…
A 3 bit Analog to Digital Converter (ADC) is designed using perpendicular Spin Orbit Torque Magnetic Tunnel Junction (SOT MTJ). A sampled analog input signal is transmitted as a spin orbit torque curr…
Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range …
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