Research
Research
Research
Research
970+ open-access research outputs.
Multi-talker automatic speech recognition (ASR) in conversational recordings remains an open problem, particularly in scenarios with large portion of overlapping speech where identifying and transcrib…
Accurately estimating friction coefficients between arbitrary material pairs is critical for robotics, digital fabrication, and physics-based simulation, but exhaustive pairwise testing scales quadrat…
The Gaussian scale parameter \(\epsilon\) is central to the behavior of Gaussian Kolmogorov--Arnold Networks (KANs), yet its role in deep edge-based architectures has not been studied systematically. …
We introduce a graph-signal generalisation of Sample Entropy, denoted SampEn$_{G}$, to quantify irregularity of graph signals on a continuous state space, complementing existing methods on symbolic dy…
We present principles of algebraic diversity (AD), a group-theoretic approach to signal processing exploiting signal symmetry to extract more information per observation, complementing classical metho…
Satellite constellation design requires optimizing orbital parameters across multiple satellites to maximize mission specific metrics. For many types of mission, it is desirable to maximize coverage a…
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic …
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally li…
Reduced-order models (ROMs) are essential for rapid simulation of complex biomechanical systems and for bridging the gap between high fidelity models and clinical application. However, ROMs for tissue…
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…
At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial re…
Accurate inference from quartz crystal microbalance (QCM) measurements in liquids is often limited by reducing resonance behavior to two scalar endpoints (frequency and dissipation shifts, $\Delta f$ …
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…
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal feet, leading to un…
This paper proposes novel passive-dynamic walkers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elemen…
A $G$-normal random variable $X\sim \mathcal{N}(0,[\underline{\sigma}^2,\overline{\sigma}^2])$ does not admit a unique probability law due to volatility uncertainty. For a given test function $\phi$, …
This paper presents a Gaze-Guided Audio-Visual Speech Enhancement (GG-AVSE) framework to address the cocktail party problem. A major challenge in conventional AVSE is identifying the listener's intend…
In this work, we propose an efficient and transparent green learning pipeline to address the automatic modulation classification (AMC) problem. This pipeline aims to enable receivers to blindly identi…
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these set…
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-efficient 3D distanc…
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