Research
Research
Research
Research
568+ open-access research outputs.
Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been ma…
In the pursuit of autonomous spacecraft proximity maneuvers and docking(PMD), we introduce a novel Bayesian actor-critic reinforcement learning algorithm to learn a control policy with the stability g…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and …
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robo…
At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the numbe…
Precise relative navigation is a critical enabler for distributed satellites to achieve new mission objectives impossible for a monolithic spacecraft. Carrier phase differential GPS (CDGPS) with integ…
Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative mo…
Brain tumors are increasingly prevalent, characterized by the uncontrolled spread of aberrant tissues in the brain, with almost 700,000 new cases diagnosed globally each year. Magnetic Resonance Imagi…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot …
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-f…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each ag…
This paper details our speaker diarization system designed for multi-domain, multi-microphone casual conversations. The proposed diarization pipeline uses weighted prediction error (WPE)-based derever…
Deep learning has achieved remarkable success in bearing fault diagnosis. However, its performance oftentimes deteriorates when dealing with highly imbalanced or long-tailed data, while such cases are…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for rea…
Ball bearings find widespread use in various manufacturing and mechanical domains, and methods based on machine learning have been widely adopted in the field to monitor wear and spot defects before t…
A non-parametric complementary ensemble empirical mode decomposition (NPCEEMD) is proposed for identifying bearing defects using weak features. NPCEEMD is non-parametric because, unlike existing decom…
In expressive and controllable Text-to-Speech (TTS), explicit prosodic features significantly improve the naturalness and controllability of synthesised speech. However, manual prosody annotation is l…
Cardiac Magnetic Resonance imaging (CMR) is the gold standard for assessing cardiac function. Segmenting the left ventricle (LV), right ventricle (RV), and LV myocardium (MYO) in CMR images is crucial…
This paper considers the problem of the bearing-based formation control with disturbance rejection for a group of agents under the leader-follower structure. The disturbances are in the form of a trig…
Vehicular visible light positioning (VLP) methods find relative locations of vehicles by estimating the positions of intensity-modulated head/tail lights of one vehicle (target) with respect to anothe…
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