Research
Research
Research
Research
325+ open-access research outputs.
In the context of robot learning for manipulation, curated datasets are an important resource for advancing the state of the art; however, available datasets typically only include successful executio…
We consider deterministic finite-horizon optimal control problems with a fixed initial state. We introduce an on-line policy iteration method, which starting from a given policy, however obtained, gen…
This work presents an inexpensive optical projection tomography (OPT) system built on a mobile phone platform for three-dimensional optical microscopy. The system uses an iPhone camera together with a…
This position paper looks briefly at the way we attempt to program robotic AI systems. Many AI systems are based on the idea of trying to improve the performance of one individual system to beyond so-…
The transition toward 6G networks demands energy-efficient hardware capable of active interaction with the environment. Reconfigurable Intelligent Surfaces (RIS) have emerged as a key technology for I…
We review the literature on individual patient organ acceptance decision making by presenting a Markov Decision Process (MDP) model to formulate the organ acceptance decision process as a stochastic c…
Opacity has emerged as a central confidentiality notion for information-flow security in discrete event systems (DES), capturing the requirement that an external observer (intruder) should never be ab…
This letter investigates properties of the second-order cone relaxation of the optimal power flow (OPF) problem, with emphasis on relaxation tightness, nodal voltage angles recovery, and alternating-c…
This paper develops the proof of concept for a novel affine transformable unmanned ground vehicle (ATUGV) with the capability of safe and aggressive deformation while carrying multiple payloads. The A…
A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a…
Accurate calibration and robust localization are fundamental for downstream tasks in spinning actuated LiDAR applications. Existing methods, however, require parameterizing extrinsic parameters based …
This chapter focuses on active sensing using sparse arrays. In active sensing applications, such as radar, sonar, wireless communications, and medical ultrasound, a collection of sensors probes the en…
Embedded systems are becoming more in demand to work in dynamic and uncertain environments, and being confined to the strong requirements of real-time. Conventional static scheduling models usually ca…
Recent advancements in robotic rehabilitation therapy have provided modular exercise systems for post-stroke muscle recovery with basic control schemes. But these systems struggle to adapt to patients…
The increasing industrial demand for alternative actuators over conventional electromagnetism-based systems having limited efficiency, bulky size, complex design due to in-built gear-train mechanisms,…
This paper investigates how grid-forming (GFM) and grid-following (GFL) control strategies in inverter-based resources (IBRs) influence line distance and differential protection in converter-dominated…
We present the design, fabrication, and measurement of a high-temperature superconductor (HTSC) Stepped Impedance Resonator (SIR) band-pass filter for S-band applications, and its incorporation into a…
Supervisory controllers control cyber-physical systems to ensure their correct and safe operation. Synthesis-based engineering (SBE) is an approach to largely automate their design and implementation.…
In this short article, I would like to briefly summarize my research in the first 5 years in my university academia life in USA. I think that my research results obtained in these 5 years are the best…
The COMPARE Ecosystem aims to improve the compatibility and benchmarking of open-source products for robot manipulation through a series of activities. One such activity is the development of standard…
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