Research
Research
Research
Research
399+ open-access research outputs.
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing ma…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER,…
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large paramet…
The physicality of exercise makes the role of athletic trainers unique. Their physical presence allows them to guide a student through a motion, demonstrate an exercise, and give intuitive feedback. R…
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked…
Recovering a source signal from indirect measurements often requires estimating latent parameters, such as wireless channel states or MRI coil sensitivities, that cannot be directly observed. Here, we…
The introduction of Renewable Energy Sources (RES) and Distributed Energy Resources (DERs) has led to the formulation of Microgrids (MGs) and Networks of MGs (NMGs). MGs and NMGs can operate in island…
Marine ecosystem degradation necessitates continuous, scientifically selective underwater monitoring. However, most autonomous underwater vehicles (AUVs) operate as passive data loggers, capturing exh…
Frequency-selective wireless power transfer provides a feasible route to enable independent actuation and control of multiple untethered robots in a common workspace; however, the scalability remains …
We present $\phi-$DeepONet, a physics-informed neural operator designed to learn mappings between function spaces that may contain discontinuities or exhibit non-smooth behavior. Classical neural oper…
Existing sub-/super-synchronous (SSO) suppression methods for the direct-drive permanent magnet synchronous generators (D-PMSG) integrated power systems are mainly achieved by external devices or sub-…
Efficient numerical models are required for the design of systems with high temperature superconductor (HTS) coils, as fully resolved finite element simulations of individual coated conductors become …
Echo-planar imaging (EPI) remains the cornerstone of diffusion MRI, but it is prone to severe geometric distortions due to its rapid sampling scheme that renders the sequence highly sensitive to $B_{0…
In scenarios where synchronous generators (SGs) and grid-following renewable energy sources (GFLR) are co-located, existing research, which mainly focuses on the first-swing stability of SGs, often ov…
Deploying synchronous condensers (SynCons) near grid-following renewable energy sources (GFLRs) is an effective and increasingly adopted strategy for grid support. However, the potential transient ins…
This paper presents a hierarchical two-stage framework for multi-robot task allocation and trajectory optimization in asymmetric task spaces: (1) a sequential auction allocates tasks using closed-form…
Extrusion-based 3D printing of cementitious materials enables fabrication of complex structures, however it is highly sensitive to disturbances, material property variations, and process uncertainties…
Sodium-ion batteries employing hard carbon electrodes are considered a drop-in technology for lithium-ion batteries. Electrode drying is a critical manufacturing step, as binder migration during pore …
Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concep…
To reduce CO2 emissions and tackle increasing fuel costs, the aviation industry is swiftly moving towards the electrification of aircraft. From the viewpoint of systems and control, a key challenge br…
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