Research
Research
Research
Research
446+ open-access research outputs.
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…
Accurate antenna array calibrations and measurements of aspects such as active element pattern (AEP) are critical for enabling integrated sensing and communication (ISAC) technologies such as directio…
Efficient and robust path planning hinges on combining all accessible information sources. In particular, the task of path planning for robotic environmental exploration and monitoring depends highly …
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this resea…
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…
This paper presents an open-source Software-in-the-Loop (SIL) simulation platform designed for autonomous Ackerman vehicle research and education. The proposed framework focuses on simplicity, while m…
Tight matching with the environment is key to effective robot operation in complex settings. Situated robots that build their bodies in situ (e.g. by spinning) are uniquely positioned to exploit their…
The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition …
Robotic microsurgery demands precise bimanual control, intuitive interaction, and informative force feedback. However, most training platforms for robotic microsurgery lack immersive 3D interaction an…
Undocumented orphaned wells pose significant health and environmental risks to nearby communities by releasing toxic gases and contaminating water sources, with methane emissions being a primary conce…
Timing degradation in SRAM-based FPGAs arises from multiple physical mechanisms that manifest differently in the routing fabric, most notably power-distribution-network (PDN) marginality and configura…
Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends control of physical adaptability. Unlike modular systems that rely on discrete component in…
Programming robots by demonstration (PbD) is an intuitive concept, but scaling it to real-world variability remains a challenge for most current teaching frameworks. Conditional task graphs are very e…
End-user robot programming grants users the flexibility to re-task robots in situ, yet it remains challenging for novices due to the need for specialized robotics knowledge. Large Language Models (LLM…
Unlike their large-scale counterparts, small-scale robots are largely confined to laboratory environments and are rarely deployed in real-world settings. As robot size decreases, robot-terrain interac…
In recent years, the Moon has emerged as an unparalleled extraterrestrial testbed for advancing cuttingedge technological and scientific research critical to enabling sustained human presence on its s…
Deep learning-based Personal Sound Zones (PSZs) rely on simulated acoustic transfer functions (ATFs) for training, yet idealized point-source models exhibit large sim-to-real gaps. While physically in…
Saplings are key indicators of forest regeneration and overall forest health. However, their fine-scale architectural traits are difficult to capture with existing 3D sensing methods, which make quant…
Robots are increasingly entering the daily lives of families, yet their successful integration into domestic life remains a challenge. We explore family routines as a critical entry point for understa…
Open-path Tunable Diode Laser Absorption Spectroscopy offers an effective method for measuring, mapping, and monitoring gas concentrations, such as leaking CO2 or methane. Compared to spatial sampling…
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