Research
Research
Research
Research
9,701+ open-access research outputs.
The rapid development of cyber-physical systems is driving a transition toward mixed traffic environments comprising both human-driven and connected and automated vehicles (CAVs). This shift presents …
The increasing penetration of distributed energy resources (DERs) is transforming distribution networks into actively managed systems, introducing challenges related to voltage regulation, thermal loa…
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and com…
This position paper looks briefly at the way we attempt to program robotic AI systems. Many AI systems are based on the idea of trying to improve the performance of one individual system to beyond so-…
We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The s…
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problems are locally well m…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding col…
Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a …
This paper proposes a two-stage optimization framework to evaluate whether cost-optimal electric vehicle (EV) charging infrastructure translates into effective operation under distribution grid constr…
Digital Subtraction Angiography (DSA) is a clinically significant imaging technique for diagnosing cerebrovascular disease, as gold-standard. However, the artifacts caused by motion of high-attenuatio…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic s…
The development of medium-voltage direct current (MVDC) cable systems for wide-body all-electric aircraft (AEA) requires insulation technologies capable of operating reliably under reduced-pressure en…
The development of 6G networks brings an increasing variety of data services, which motivates the hybrid computation paradigm that coordinates the over-the-air computation (AirComp) and edge computing…
Gaze-following in child-robot interaction improves attention, recall, and learning, but requires expensive platforms (\$30,000+), sensors, algorithms, and raises privacy concerns. We propose a framewo…
Vision language action (VLA) models enable generalist robotic agents but often exhibit language ignorance, relying on visual shortcuts and remaining insensitive to instruction changes. We present Pros…
Learning-based quadruped controllers achieve impressive agility but typically lack formal safety guarantees under model uncertainty, perception noise, and unstructured contact conditions. We introduce…
Koopman operator-based methods enable data-driven bilinear representations of unknown nonlinear control systems. Accurate representations often demand significantly higher dimensions than the original…
In this paper, a new discrete-time approach to model the clutches engagement/disengagement in a two-speed powershift is proposed. The core idea is the development of a model for the computation of the…
Model Predictive Control (MPC) offers safe and near-optimal control but suffers from high computational costs. Approximate MPC (AMPC) mitigates this by learning a cheaper surrogate policy, typically b…
Tomographic volumetric additive manufacturing (TVAM) requires projection patterns that achieve high in-part fidelity while suppressing unintended exposure outside the target. We present a scale-invari…
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