Research
Research
Research
Research
46+ open-access research outputs.
The self-noise of capacitive sensors, primarily caused by thermal noise from the gate-bias resistor in the preamplifier, imposes a fundamental limit on measurement sensitivity. In electret condenser m…
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersive 3D interaction an…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essen…
Thrust vector control (TVC) is a key mechanism for stabilizing rockets during flight, yet conventional implementations remain costly and technically inaccessible to students and hobbyists. This paper …
This research proposes a Sliding Mode PID (SMC-PID) controller to improve the speed control performance of DC servo motors, which are widely used in industrial applications such as robotics and CNC. T…
This paper presents SEGO (Semantic Graph Ontology), a cognitive mapping architecture designed to integrate geometric perception, semantic reasoning, and explanation generation into a unified framework…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic ma…
While autonomous driving (AD) stacks struggle with decision making under partial observability and real-world complexity, human drivers are capable of applying commonsense reasoning to make near-optim…
Purpose: To enhance time-resolved segmented imaging by synergy of run-time stabilization and retrospective, data-driven phase correction. Methods: A segmented 3D EPI sequence for fMRI time series is e…
In this paper, a proportional-integral servo-control design method is developed for multi-input-multioutput linear time invariant systems with operational constraints imposed on the system control inp…
A control design modification to prevent integrator windup for position saturated servo-controllers is introduced. The design is based on the formalism of Control Barrier Functions and represents an a…
A servomotor is a closed-loop system designed for precise movement control, utilizing position feedback to achieve accurate final positions. Due to the ability to deliver higher power output and opera…
DC motors have been widely used in many industrial applications, from small jointed robots with multiple degrees of freedom to household appliances and transportation vehicles such as electric cars an…
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional methods often require prio…
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive sim…
To advance theoretical solutions and address limitations in modeling complex servo-driven actuation systems experiencing high non-linearity and load disturbances, this paper aims to design a practical…
In the field of rocket technology, the latch valve assumes a pivotal role in regulating the flow of fuel gases and liquids to ensure the requisite energy supply. This project endeavors to innovate by …
The nasopharyngeal (NP) swab test is a method for collecting cultures to diagnose for different types of respiratory illnesses, including COVID-19. Delegating this task to robots would be beneficial i…
Foundation excavations are deepening, expanding, and approaching structures. Steel supports measure and manage axial force. The study regulates steel support structure power during deep excavation usi…
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simultaneously align mul…
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