Research
Research
Research
Research
378+ open-access research outputs.
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the compani…
Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which …
In this study, we proposed a deep Swin-Vision Transformer-based transfer learning architecture for robust multi-cancer histopathological image classification. The proposed framework integrates a hiera…
Large volumes of medical data remain underutilized because centralizing distributed data is often infeasible due to strict privacy regulations and institutional constraints. In addition, models traine…
This work investigates different sufficient and necessary criteria for hyperelastic, isotropic polyconvex material models, focusing on neural network implementations for compressible and incompressibl…
Changepoint detection is increasingly applied to ecological time series, yet statistical power at the short series lengths typical of monitoring (10-50 observations) is rarely assessed. We present a s…
Predicting surgical needle trajectories from endoscopic video is critical for robot-assisted suturing, enabling anticipatory planning, real-time guidance, and safer motion execution. Existing methods …
Robotic ultrasound offers advantages over free-hand scanning, including improved reproducibility and reduced operator dependency. In clinical practice, US acquisition relies heavily on the sonographer…
Robots are improving their autonomy with minimal human supervision. However, auditable actions, transparent decision processes, and new human-robot interaction models are still missing requirements to…
In recent engineering applications using deep learning, physics-informed neural network (PINN) is a new development as it can exploit the underlying physics of engineering systems. The novelty of PINN…
Differential Mobility Spectrometry (DMS), also known as Field Asymmetric Ion Mobility Spectrometry, is a rapid and affordable technology for extracting information from gas phase samples containing co…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, a…
Medical ultrasound (US) imaging is a frontline tool for the diagnosis of kidney diseases. However, traditional freehand imaging procedure suffers from inconsistent, operator-dependent outcomes, lack o…
Purpose: Kidney ureteroscopic navigation is challenging with a steep learning curve. However, current clinical training has major deficiencies, as it requires one-on-one feedback from experts and occu…
The discovery of constitutive laws for complex materials has historically faced a dichotomy between high-fidelity data-driven approaches, which demand prohibitive full-field experimental data, and tra…
Quantitative MRI (qMRI) involves parameter estimation governed by an explicit signal model. However, these models are often confounded and difficult to validate in vivo. A model is misspecified when t…
This paper introduces a hybrid two-stage registration framework for reconstructing three-dimensional (3D) kidney anatomy from macroscopic slices, using CT-derived models as the geometric reference sta…
Prenatal ultrasound is the cornerstone for detecting congenital anomalies of the kidneys and urinary tract, but diagnosis is limited by operator dependence and suboptimal imaging conditions. We sought…
CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally de…
Accurate segmentation of lung tumors from 3D computed tomography (CT) scans is essential for automated treatment planning and response assessment. Despite self-supervised pretraining on numerous datas…
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