Research
Research
Research
Research
9,701+ open-access research outputs.
Current developments of high-speed magnetic levitation technology using the principle of the electromagnet suspension (EMS) focus on reaching vehicle speeds of more than 600 km/h. With increasing vehi…
Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends control of physical adaptability. Unlike modular systems that rely on discrete component in…
Model Predictive Control (MPC) is widely recognized for its ability to explicitly handle system constraints. In practice, system states are often affected by disturbances with unknown distributions. W…
This study investigates the effects of nail penetration speed on the safety outcomes of large-format automotive lithium-ion pouch cells. Through six controlled tests varying the speed of nail insertio…
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle o…
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath th…
Tackling climate change requires the rapid and deep decarbonization of electric power systems. While energy management systems (EMSs) play a central role in this transition, conventional EMSs focus ma…
The For\^et Montmorency (FoMo) dataset is a comprehensive multi-season data collection, recorded over the span of one year in a boreal forest. Featuring a unique combination of on- and off-pavement en…
Tactile perception is indispensable for robots to implement various manipulations dexterously, especially in contact-rich scenarios. However, alongside the development of deep learning techniques, it …
Purpose/Objective: Brain tumors result in 20 years of lost life on average. Standard therapies induce complex structural changes in the brain that are monitored through MRI. Recent developments in art…
This paper presents an adaptive control framework for Euler-Lagrange (E-L) systems that enforces user-defined time-varying state and input constraints in the presence of parametric uncertainties and b…
Existing data generation methods suffer from exploration limits, embodiment gaps, and low signal-to-noise ratios, leading to performance degradation during self-iteration. To address these challenges,…
The extension of 5G connectivity through Low-Earth Orbit satellite systems introduces significant technical challenges, particularly due to time-varying propagation delays and high Doppler shifts resu…
Tunable input-to-state safety (TISSf) generalizes the input-to-state safety (ISSf) framework by incorporating a tuning function that regulates safety conservatism while preserving robustness against p…
Many previous works in spike sorting study spike classification and compression independently. In this paper, a novel algorithm is proposed called MetaSort to address these two problems. To deal with …
Networked low Earth orbit (LEO) satellite constellations enabled by inter-satellite links offer a promising path toward ubiquitous broadband non-terrestrial services. However, fast orbital motion indu…
The Internet of Underwater Things (IoUT) is becoming a critical infrastructure for ocean observation, marine resource management, and climate science. Its development is hindered by severe acoustic at…
Many real-world walking scenarios contain obstacles and unsafe ground patches (e.g., slippery or cluttered areas), leaving a disconnected set of admissible footholds that can be modeled as stepping-st…
Open Radio Access Network (RAN) enables flexible, AI-driven control of mobile networks through disaggregated, multi-vendor components. In this architecture, xApps handle real-time functions, whereas r…
In classical Informative Path Planning (C-IPP), robots are typically modeled as mobile sensors that acquire digital measurements such as images or radiation levels. In this model - since making a meas…
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