Research
Research
Research
Research
25+ open-access research outputs.
Robotic ultrasound (US) has recently attracted increasing attention as a means to overcome the limitations of conventional US examinations, such as the strong operator dependence. However, the decisio…
Safely moving through environments affected by fire is a critical capability for autonomous mobile robots deployed in disaster response. In this work, we present a novel approach for mobile robots to …
In this paper, we introduce an autonomous Ultrasonic Sacral Osteotomy (USO) robotic system that integrates an ultrasonic osteotome with a seven-degree-of-freedom (DoF) robotic manipulator guided by an…
Radar-based sensing is a promising privacy-preserving alternative to cameras and wearables in settings such as long-term care. Yet detecting quasi-static presence (lying, sitting, or standing with onl…
Neural radiance field (NeRF) is a promising approach for reconstruction and new view synthesis. However, previous NeRF-based reconstruction methods overlook the critical role of acoustic impedance in …
Real-time tracking of dynamic targets amidst large-scale, high-frequency disturbances remains a critical unsolved challenge in Robotic Ultrasound Systems (RUSS), primarily due to the end-to-end latenc…
Conventional freehand ultrasound (US) imaging is highly dependent on the skill of the operator, often leading to inconsistent results and increased physical demand on sonographers. Robotic Ultrasound …
Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO…
Medical ultrasound has been widely used to examine vascular structure in modern clinical practice. However, traditional ultrasound examination often faces challenges related to inter- and intra-operat…
This article describes a new, efficient way of finding control and state trajectories in optimal control problems by reformulation as a system of differential-algebraic equations (DAEs). The optimal c…
Deep Vein Thrombosis (DVT) is a common yet potentially fatal condition, often leading to critical complications like pulmonary embolism. DVT is commonly diagnosed using Ultrasound (US) imaging, which …
Telerobotic and Autonomous Robotic Ultrasound Systems (RUS) help alleviate the need for operator-dependability in free-hand ultrasound examinations. However, the state-of-the-art RUSs still rely on a …
Navigating the ultrasound (US) probe to the standardized imaging plane (SIP) for image acquisition is a critical but operator-dependent task in conventional freehand diagnostic US. Robotic US systems …
The success of collaboration between humans and robots in shared environments relies on the robot's real-time adaptation to human motion. Specifically, in Social Navigation, the agent should be close …
Recent research has shown the potential of deep learning in multi-parametric MRI-based visual pathway (VP) segmentation. However, obtaining labeled data for training is laborious and time-consuming. T…
This paper presents a brief examination of Automatic Target Recognition (ATR) technology within ground-based radar systems. It offers a lucid comprehension of the ATR concept, delves into its historic…
Autonomous robotic ultrasound System (RUSS) has been extensively studied. However, fully automated ultrasound image acquisition is still challenging, partly due to the lack of study in combining two p…
To enable the computation of effective randomized patrol routes for single- or multi-robot teams, we present RoSSO, a Python package designed for solving Markov chain optimization problems. We exploit…
Ultrasound (US) is one of the most widely used modalities for clinical intervention and diagnosis due to the merits of providing non-invasive, radiation-free, and real-time images. However, free-hand …
This paper provides an observer-based event-triggered boundary control strategy for the one-phase Stefan problem using the position and velocity measurements of the moving interface. The infinite-dime…
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