Research
Research
Research
Research
1,571+ 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…
This paper presents an integrated lander-propulsion-GNC framework for autonomous lunar powered descent. The BUG VTVL test vehicle serves as the reference platform, with the YUNT V0 throttleable biprop…
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…
The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimi…
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…
With the rapid development of embodied intelligence, robotics education faces a dual challenge: high computational barriers and cumbersome environment configuration. Existing centralized cloud simulat…
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…
Reliable geolocation of non-cooperative emitters in environments where Global Navigation Satellite Systems (GNSS) are unavailable or degraded is a key enabler for spectrum regulation, emergency respon…
Peer-to-peer (P2P) energy management facilitates decentralized resource allocation among prosumers, improving local hosting capacity for renewables and minimizing energy expenditures while ensuring da…
The increasing penetration of distributed energy resources (DERs) is transforming distribution networks into actively managed systems, introducing challenges related to voltage regulation, thermal loa…
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…
Reliable positioning is essential for Uncrewed Aerial Vehicles (UAVs) in safety-critical urban operations, yet achieving sub-meter accuracy under stringent latency constraints remains challenging. Whi…
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…
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