Research
Research
Research
Research
5,825+ open-access research outputs.
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…
Nuclear fusion is a promising clean energy source in which deuterium and tritium fuse inside a magnetically confined plasma in a tokamak, releasing energy. A key challenge on the route to practical nu…
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…
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…
With the shift towards decentralized energy generation, the increasing complexity of power systems renders physics-based modeling challenging. At the same time the growing amount of available measurem…
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…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been …
The large-scale integration of inverter-based resources (IBRs), particularly distributed photovoltaics (DPVs), into distribution networks increases the need for integrated transmission and distributio…
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…
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…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
Most autonomous driving safety benchmarks use time-to-collision (TTC) to assess risk and guide safe behaviour. However, TTC-based methods treat risk as a one-dimensional closing problem, despite the i…
Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into desired rob…
The accelerating advancement of intelligent transportation systems has established consumer-oriented vehicular networks (CVNs) as a critical infrastructure for next-generation connected mobility. Howe…
Can we learn the physics of matter in motion directly from images and video--and trust it? Answering this question requires integrating experiments, physics-based simulation, and data across tradition…
Lamarckian inheritance has been shown to be a powerful accelerator in systems where the joint evolution of robot morphologies and controllers is enhanced with individual learning. Its defining advanta…
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the…
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