Research
Research
Research
Research
5,275+ open-access research outputs.
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, …
This paper introduces a general approximate alternating simulation relation (\emph{$\varepsilon$-gAAS relation}) for continuous-time systems, which relaxes existing simulation relations to tolerate la…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation…
Wave-driven desalination systems are an innovative solution to the global freshwater crisis, leveraging the complementary characteristics of seawater reverse osmosis and wave energy converters. Howeve…
Integrated sensing and communication (ISAC) holds great promise in expanding the applications of wireless communication networks. However, in current communication-centric systems, the time-frequency …
Microwave linear analog computing (MiLAC) has recently emerged as a promising architecture for analog-domain beamforming. In particular, a hybrid digital-MiLAC architecture was proposed and was shown …
We consider the one-dimensional quasilinear heat equation with state-dependent heat capacity and thermal conductivity, and design a boundary-output observer based on the backstepping design for a line…
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which ped…
This paper presents a trajectory planning method for articulated commercial vehicles, specifically tractor-semitrailers, based on Model Predictive Contouring Control (MPCC). Although MPCC has proven e…
To enable larger apertures in multipleinput multipleoutput MIMO systems the trihybrid MIMO architecture offers a promising lowcost and lowpower solution by introducing reconfigurable antennas as a thi…
We present CRC-SAM, a unified framework for colorectal cancer segmentation across colonoscopy, CT, and histopathology images. Unlike prior single-modality methods, CRC-SAM provides consistent, modalit…
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…
Variable impedance model predictive control (MPC) formulations that treat joint stiffness as an instantaneous decision variable operate on a feasible set strictly larger than the physically realizable…
Integrated sensing and communication (ISAC) is poised to be a defining feature of 6G networks, promising to transform cellular base stations (BSs) into ubiquitous radar sensors. However, a significant…
In this paper, we aim to extend the traditional point-mass-like robot representation in swarm robotics and instead study a swarm of long Heavy Articulated Vehicles (HAVs). HAVs are kinematically const…
We study the Suscectible-Infected-Recovered-Susceptible (SIRS) epidemic model on deterministic networks. For connected but otherwise general interaction patterns and heterogeneous recovery and loss-of…
Autonomous mechanical thrombectomy (MT) presents substantial challenges due to highly variable vascular geometries and the requirements for accurate, real-time control. While reinforcement learning (R…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural contro…
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload generates an offset…
As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpr…
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