Research
Research
Research
Research
1,656+ open-access research outputs.
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
Unlike chatbots, physical AI must act while the world keeps evolving. Therefore, the inter-chunk pause of synchronous executors are fatal for dynamic tasks regardless of how fast the inference is. Asy…
We present a novel framework for line-of-sight (LoS) delay-Doppler (DD) estimation in dense scattering propagation environments. We present two time-frequency (TF) domain pilot sequences inspired by t…
Multi-speaker automatic speech recognition (ASR) aims to transcribe conversational speech involving multiple speakers, requiring the model to capture not only what was said, but also who said it and s…
This study investigates the kinematic role of palm degrees of freedom (DoF) in enhancing thumb opposability in a five-finger robotic hand. A hand model consisting of a five DoF thumb and four fingers …
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Accurate forecasting of electric load and renewable generation is essential for reliable and cost effective power system operations. Recent advances in transformer based and foundation machine learnin…
This study proposes an encrypted visual feedback control algorithm for regulating a one-dimensional stage using Ring Learning With Errors (RLWE) encryption. The proposed algorithm performs both featur…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt i…
Objective: Diabetic macular edema (DME) is the leading cause of severe visual impairment in patients with diabetes. Quantification of retinal fluid, particularly intraretinal fluid (IRF) and subretina…
Unification of automatic speech recognition (ASR) systems reduces development and maintenance costs, but training a single model to perform well in both offline and low-latency streaming settings rema…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight bu…
Vision-language-action (VLA) models have achieved great success on general robotic tasks, but still face challenges in fine-grained spatiotemporal manipulation. Typically, existing methods mainly embe…
Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked…
Quantitative speed-of-sound (SoS) and attenuation of tissues are closely related to pathology; however, conventional B-mode images are limited to qualitative visualization. Existing ultrasound full-wa…
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existin…
Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding s…
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