Research
Research
Research
Research
97+ open-access research outputs.
The matrix-free gather-batched-GEMM-scatter pattern eliminates global stiffness assembly for three-dimensional SIMP topology optimization, but the conventional three-stage implementation forces avoida…
In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted eit…
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correc…
Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and informative path planni…
Stepwise signals are ubiquitous in single-molecule detections, where abrupt changes in signal levels typically correspond to molecular conformational changes or state transitions. However, these featu…
This paper develops an instantaneous-frequency (IF) local estimator calculated with the complex Teager-Kaiser energy operator (CTKEO) and the dynamic-signal identity. The contribution is a novel IF ex…
Ground Vibration Testing (GVT) supports aircraft certification but often requires lengthy and costly campaigns. Propeller-driven Vibration Testing (PVT) is assessed here as an output-only alternative,…
Underwater environments impose severe challenges to visual-inertial odometry systems, as strong light attenuation, marine snow and turbidity, together with weakly exciting motions, degrade inertial ob…
Growing EV adoption can worsen traffic conditions if chargers are sited without regard to their impact on congestion. We study how to strategically place EV chargers to reduce congestion using two equ…
The method described in the first part for frequency-selectively measuring the transfer function and the noise power spectral density of the superimposed noise at the output of a disturbed, real syste…
Organisms in nature, such as Cephalopods and Pachyderms, exploit stiffness modulation to achieve amazing dexterity in the control of their appendages. In this paper, we explore the phenomenon of layer…
Magnetic continuum robots (MCRs) enable minimally invasive navigation through tortuous anatomical channels, yet axially magnetized designs have largely been limited to bending-only motion. To expand d…
Channel modeling for satellite-to-underwater laser communication (StULC) links remains challenging due to long distances and the diversity of the channel constituents. The StULC channel is typically s…
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use can induce mechanica…
To achieve net-zero emissions by 2050, all-electric transportation is a promising option. In the U.S., the transportation sector contributes the largest share (29 percent) of greenhouse gas emissions.…
The regional inertia, which determines the regional rate of change of frequency (RoCoF), should be kept in a secure status in renewable-penetrated power systems. To break away from mapping the regiona…
Scrubbing surfaces is a physically demanding and time-intensive task. Removing adhered contamination requires substantial friction generated through pressure and torque or high lateral forces. Rigid r…
Multistep staircase avalanche photodiodes (APDs) are the solid-state analogue of photomultiplier tubes, owing to their deterministic amplification with twofold stepwise gain via impact ionization. Yet…
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The classical formulation of the EKF is posed for nonlinear systems defined on …
Voltage unbalance, caused by variations in voltage magnitude and phase angle, is a significant power quality issue in three-phase systems, leading to equipment inefficiencies and increased system loss…
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