Research
Research
Research
Research
84+ open-access research outputs.
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…
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…
This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product…
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…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of comp…
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 adversarial worst-case load shedding (AWLS) problem is pivotal for identifying critical contingencies under line outages. It is naturally cast as a bilevel program: the upper level simulates an at…
In this paper we consider an interchange lane-swap scenario, a limited stretch of highway with two parallel lanes where most vehicles want to change lanes. We show that a particular decentralized Cont…
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,…
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…
The scalability of robotic learning is fundamentally bottlenecked by the significant cost and labor of real-world data collection. While simulated data offers a scalable alternative, it often fails to…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspen…
Industry 4.0's highly networked Machine Tool Controllers (MTCs) are prime targets for replay attacks that use outdated sensor data to manipulate actuators. Dynamic watermarking can reveal such tamperi…
The core mechanical system is built around three stepper motors for physical manipulation, a microcontroller for hardware control, a camera and YOLO detection model for real-time cube state detection.…
We propose 3-axis solar tracker water pumping system. The solar tracker can rotate and tilt using stepper/DC motors and can rise and lower on a tripod using a linear actuator. The charge generated fro…
During brittle crack propagation, a smooth crack front curve frequently becomes disjoint, generating a stepped crack and a material ligament that unites the newly formed crack fronts. These universal …
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing…
Piezo-stepper actuators enable accurate positioning through the sequential contraction and expansion of piezoelectric elements, generating a walking motion. The aim of this paper is to reduce velocity…
Neuroprosthetic devices require multichannel stimulator systems with an increasing number of channels. However, there are inherent power losses in typical multichannel stimulation circuits caused by a…
This study introduces a novel self-supervised learning approach for volumetric segmentation of defect indications captured by phased array ultrasonic testing data from Carbon Fiber Reinforced Polymers…
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