Research
Research
Research
Research
281+ open-access research outputs.
This work presents the design and analysis of a sixth-order triple-coupled transformer-based tank, enabling third-harmonic expansion for mmWave VCOs. Unlike conventional fourth-order tanks, the propos…
Under-resourced languages remain underrepresented in quantitative rhythm research,particularly in systematic intra-branch analysis of acoustic differentiation within closely related linguistic groups.…
Monitoring sea states across the offshore wind farm areas is essential to keep their structures safe, efficiently operate the systems, and assess the environmental effects of wind turbines. Convention…
This study proposes an anomaly-detection framework for monitoring exposure-length variations in submarine free-span cables using Distributed Acoustic Sensing (DAS), which is one of the distributed fib…
The escalating climate crisis and ecosystem degradation demand intelligent, low-cost sensors capable of robust, long-term monitoring in real-world environments. Absolute dissolved oxygen (DO) concentr…
Online Feedback Optimization leverages properties of optimization algorithms to develop controllers for systems with limited model availability, which is often the case in process control. The interpl…
This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and com…
Output regulation is the problem of finding a control input to asymptotically track reference trajectories and reject disturbances. This can be addressed by using the internal model principle to embed…
We evaluate whether factor-wise auxiliary dynamics supervision produces useful latent structure or improved robustness in simulated humanoid locomotion. DynaMITE -- a transformer encoder with a factor…
Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. Howe…
Bio-inspired aquatic propulsion offers high thrust and maneuverability but is prone to destabilizing forces such as lift fluctuations, which are further amplified by six-degree-of-freedom (6-DoF) flui…
In flood disaster rescue scenarios, partially submerged buildings prevent aerial robots from accessing lower levels, limiting mission effectiveness. To address this challenge, this paper presents Wuko…
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dy…
This paper presents the Marinarium, a modular and stand-alone underwater research facility designed to provide a realistic testbed for maritime and space-analog robotic experimentation in a resource-e…
This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommod…
Structural vibration testing plays a key role in aerospace engineering for evaluating dynamic behaviour, ensuring reliability and verifying structural integrity. These tests rely on accurate and robus…
Water desalination plants (DPs) are among the most critical infrastructures and largest electricity loads in water-scarce regions worldwide. Although reverse osmosis (RO) desalination is the most ener…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike tradition…
Many nonlinear optimal control and optimization problems involve constraints that combine continuous dynamics with discrete logic conditions. Standard approaches typically rely on mixed-integer progra…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwa…
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