Research
Research
Research
Research
4,517+ open-access research outputs.
Large 3D SIMP studies require repeated elasticity solves for density-dependent operators whose finest matrices are expensive to assemble and whose conditioning degrades under high contrast. We study t…
Localized features such as singularities, sharp gradients, discontinuities, and moving sources require adaptive finite element discretizations. Conventional refinement strategies introduce significant…
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAVs) operating on an u…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
Accurate estimation of thermospheric mass density is a prerequisite for orbit prediction and space situational awareness, where the upper atmosphere responds nonlinearly to solar and geomagnetic forci…
OpenPodcar2 is a robust, ROS2-interfaced, low-cost, open source hardware and software, autonomous vehicle platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. It is a modif…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
Deploying neural-network control barrier functions (CBFs) on embedded hardware requires evaluating the barrier value and its Lie derivatives along the system vector fields at every control cycle. The …
Autonomous driving systems often infer pedestrian yielding behavior from geometric and kinematic cues alone, limiting their ability to reason about visual scene context and age-dependent behavioral va…
Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experien…
We study whether deep networks for medical imaging learn useful nonrobust features - predictive input patterns that are not human interpretable and highly susceptible to small adversarial perturbation…
Brain-inspired non-Boolean computing offers intrinsic error tolerance and parallelism, but its practical deployment is limited by the lack of compact, energy-efficient spiking hardware compatible with…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightl…
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been…
We introduce a graph-signal generalisation of Sample Entropy, denoted SampEn$_{G}$, to quantify irregularity of graph signals on a continuous state space, complementing existing methods on symbolic dy…
This paper outlines a pathway towards active operation of lowvoltage distribution grids. In these grids, the growing deployment of distributed generation, controllable demand and storage, together wit…
In this paper we design a switching control law for the \'Cuk converter in the continuous conduction mode using piecewise linear Lyapunov functions. These Lyapunov functions can be constructed using d…
ReRAM-based in-memory computing (IMC) architectures are promising candidates for energy-efficient matrix-vector multiplication. While scaling the size of ReRAM arrays allows for the amortization of po…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic …
This paper studies end-to-end latency minimization for a multi-band radar sensing and deep neural network (DNN) inference pipeline. Unlike conventional stage-wise designs that treat radar sensing and …
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