Research
Research
Research
Research
136+ open-access research outputs.
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during operation. This paper…
Precision Immobilization Technique (PIT) is a potentially effective intervention maneuver for emergency out-of-control vehicle, but its automation is challenged by highly nonlinear collision dynamics,…
We present LAD, a real-time language--action planner with an interruptible architecture that produces a motion plan in a single forward pass (~20 Hz) or generates textual reasoning alongside a motion …
Publicly available full-field digital mammography (FFDM) datasets remain limited in size, clinical annotations, and vendor diversity, hindering the development of robust models. We introduce LUMINA, a…
Accurate longitudinal analysis of brain MRI is often hindered by evolving lesions, which bias automated neuroimaging pipelines. While deep generative models have shown promise in inpainting these lesi…
Background: Thyroid ultrasound is commonly performed using a combination of static images and cine clips (video recordings). However, the exact utility and impact of cine images remains unknown. This …
High-quality Fourier Transform Infrared (FTIR) imaging usually needs extensive signal averaging to reduce noise and drift which severely limits clinical speed. Deep learning can accelerate imaging by …
Curriculum learning has demonstrated substantial effectiveness in robot learning. However, it still faces limitations when scaling to complex, wide-ranging task spaces. Such task spaces often lack a w…
This paper presents a data-driven methodology for the control of static hydraulic impact hammers, also known as rock breakers, which are commonly used in the mining industry. The task addressed in thi…
The detection of underwater targets is severely affected by the non-uniform spatial characteristics of marine environmental noise. Additionally, the presence of both natural and anthropogenic acoustic…
Background: Gait and balance impairment can profoundly impact people with multiple sclerosis (PwMS). Objectives: To evaluate the analytical and clinical validity of the U-Turn Test (UTT), a smartphone…
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may expand in multiple dire…
Natural flyers use soft wings to seamlessly enable a wide range of flight behaviours, including agile manoeuvres, squeezing through narrow passageways, and withstanding collisions. In contrast, conven…
India achieved a significant milestone on August $23^{\text{rd}}$ 2023, becoming the fourth country to accomplish a soft landing on the Moon. This paper presents the powered descent trajectory design …
Purpose: Medical foundation models (FMs) offer a path to build high-performance diagnostic systems. However, their application to prostate cancer (PCa) detection from micro-ultrasound ({\mu}US) remain…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and dron…
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This paper introduces COMPAct…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and ca…
Prostate cancer (PCa) is the most frequently diagnosed malignancy in men and the eighth leading cause of cancer death worldwide. Multiparametric MRI (mpMRI) has become central to the diagnostic pathwa…
In the 1990s Land Mobile Radio (LMR) systems evolved from analog frequency modulation (FM) to standardised digital systems. Both digital and analog FM systems now co-exist in various services and exhi…
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