Research
Research
Research
Research
1,348+ open-access research outputs.
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…
We consider the one-dimensional quasilinear heat equation with state-dependent heat capacity and thermal conductivity, and design a boundary-output observer based on the backstepping design for a line…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transf…
Long-horizon manipulation remains challenging for vision-language-action (VLA) policies: real tasks are multi-step, progress-dependent, and brittle to compounding execution errors. We present LoHo-Man…
Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology perform…
Everything that exists has a natural frequency; this material characteristic is something that must be known and fully understood. If we fail to predict, measure, and address potential natural frequen…
Automatic Speech Recognition (ASR) is increasingly used in applications involving child speech, such as language learning and literacy acquisition. However, the effectiveness of such applications is l…
This paper studies the co-design of actuators, sensors, and communication in the distributed setting, where a networked plant is partitioned into subsystems each equipped with a sub-controller interac…
In the last ten years, medical robotics has moved from the margins to the mainstream. Since the Engineering Research Center for Computer-Integrated Surgical Systems and Technology was Launched in 1998…
Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty.…
The long-term forecasting of electricity demand has been a prevalent research topic, primarily because of its economic and strategic relevance. Several machine learning as well as deep learning techni…
The design of distributed autonomous systems for operation beyond reliable ground contact presents a fundamental tension: as round-trip communication latency grows, the set of decisions delegable to g…
Human and animal brains perform planning to enable complex movements and behaviors. This process can be effectively described using model predictive control (MPC); that is, brains can be thought of as…
Cloud robotics enables robots to offload high-dimensional motion planning and reasoning to remote servers. However, for continuous manipulation tasks requiring high-frequency control, network latency …
This paper proposes an adaptive tube framework for model predictive control (MPC) of discrete-time linear time-invariant systems subject to parametric uncertainty and additive disturbances. In contras…
The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification te…
Reliable control and state estimation of differential drive robots (DDR) operating in dynamic and uncertain environments remains a challenge, particularly when system dynamics are partially unknown an…
A 3 bit Analog to Digital Converter (ADC) is designed using perpendicular Spin Orbit Torque Magnetic Tunnel Junction (SOT MTJ). A sampled analog input signal is transmitted as a spin orbit torque curr…
Aesthetics - often treated as secondary to function-guides how people interpret robots' roles. A great deal of robot designs - both real and fictitious - use sleek industrial aesthetics. These feature…
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory m…
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