Research
Research
Research
Research
568+ open-access research outputs.
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to suppor…
The gastrointestinal (GI) tract of humans can have a wide variety of aberrant mucosal abnormality findings, ranging from mild irritations to extremely fatal illnesses. Prompt identification of gastroi…
Biomedical audio signals, such as phonocardiograms (PCG), are inherently rhythmic and contain diagnostic information in both their spectral (tonal) and temporal domains. Standard 2D spectrograms provi…
Bearings are among the most failure-prone components in rotating machinery, and their condition directly impacts overall performance. Therefore, accurately diagnosing bearing faults is essential for e…
Robotic tails can enhance the stability and maneuverability of mobile robots, but current designs face a trade-off between the power of rigid systems and the safety of soft ones. Rigid tails generate …
Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to lack of generalized methodologies and high cost o…
Bearing fault diagnosis in rotating machinery is critical for ensuring operational reliability, therefore early fault detection is essential to avoid catastrophic failures and expensive emergency repa…
Passive bearing-only tracking (BOT) estimates the target states by utilising noisy bearing measurements captured by a sensor array. The sensor array is often towed behind the ship, using a long flexib…
We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training ti…
This letter presents a CWT-enhanced vibration sensing framework for bearing fault monitoring through spatial localization on time-frequency spectrograms. Vibration signals are transformed into continu…
This paper addresses the challenge of assigning heterogeneous sensors (i.e., robots with varying sensing capabilities) for multi-target tracking. We classify robots into two categories: (1) sufficient…
Bearing-only Target Motion Analysis (TMA) is a promising technique for passive tracking in various applications as a bearing angle is easy to measure. Despite its advantages, bearing-only TMA is chall…
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To …
The Harmonic Balance-Alternating Frequency-Time domain (HB-AFT) method is extensively employed for dynamic response analysis of nonlinear systems. However, its application to high-dimensional complex …
In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsystem is updated indep…
With the rapid development of the construction industry, issues such as harsh working environments, high-intensity and high-risk tasks, and labor shortages have become increasingly prominent. This dri…
The growing adoption of inverter-based resources (IBRs) has introduced unprecedented dynamics in power systems, resulting in oscillations across a broad spectrum of frequencies. Communication delay be…
The concept of smart wireless environments envisions dynamic programmable propagation of information-bearing signals through the deployment of Reconfigurable Intelligent Surfaces (RISs). Typical RIS i…
In complex terrain construction environments, there are high demands for robots to achieve both high payload capacity and mobility flexibility. As the key load-bearing component, the optimization of r…
In this paper, we mainly focus on the problem of multi-target observability, focusing on the unique state estimation criteria for multiple targets. We derive the condition which is necessary as well a…
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