Research
Research
Research
Research
14+ open-access research outputs.
Integrating pretrained speech encoders with large language models (LLMs) is promising for ASR, but performance and data efficiency depend on the speech-language interface. A common choice is a learned…
Virtual fixtures (VFs) improve precision in teleoperation but often ``fight'' the user, inflating mental workload and eroding the sense of agency. We propose Soft-Nash Virtual Fixtures, a game-theoret…
Affective interaction is not merely about recognizing emotions; it is an embodied, situated process shaped by context and co-created through interaction. In affective computing, the role of haptic fee…
Contact forces introduce discontinuities into robot dynamics that severely limit the use of simulators for gradient-based optimization. Penalty-based simulators such as MuJoCo, soften contact resoluti…
We propose AuralNet, a novel 3D multi-source binaural sound source localization approach that localizes overlapping sources in both azimuth and elevation without prior knowledge of the number of sourc…
This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such safety guarantees ar…
Navigating unknown three-dimensional (3D) rugged environments is challenging for multi-robot systems. Traditional discrete systems struggle with rough terrain due to limited individual mobility, while…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within th…
This work aims to build a multilingual text-to-speech (TTS) synthesis system for ten lower-resourced Turkic languages: Azerbaijani, Bashkir, Kazakh, Kyrgyz, Sakha, Tatar, Turkish, Turkmen, Uyghur, and…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is p…
In recent years, orthogonal chirp-division multiplexing (OCDM) has been increasingly considered as an alternative multicarrier scheme, e.g., to orthogonal frequency-division multiplexing, in digital c…
We present an analytical and experimental study of torsional magnetic mechanism where the restoring torque is due to magnetic field interactions between rotating and fixed permanent magnets. The oscil…
Reinforcement learning has been established over the past decade as an effective tool to find optimal control policies for dynamical systems, with recent focus on approaches that guarantee safety duri…
Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approa…
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