Research
Research
Research
Research
122,609+ open-access research outputs.
This paper discusses null-space wrench components in parallel manipulators. We examine the adaptation of the two most common characterizations of these components in grasp-like systems, namely, intera…
Sensing the direction of arrival and polarization of impinging signals is a key prerequisite for beamforming and interference mitigation in modern wireless communication systems. Dynamic metasurface a…
The growing number of wireless communication bands has driven demand for compact, low-loss, and frequency adjustable RF filtering. Tunable acoustic resonators are well suited to address these needs, o…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that address…
This paper provides a concise yet comprehensive review of recent advancements in millimeter-wave (mm-wave) oscillators below 100 GHz and sub-terahertz (sub-THz/THz) oscillators above 100 GHz for next-…
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of ob…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random sh…
We consider a system of two coupled first-order linear hyperbolic partial differential equations modeling heat transport in a counter-flow heat exchanger: one equation describes the transport of a hot…
Robotic manipulation critically requires reasoning about future spatial-temporal interactions, yet existing VLA policies and world-model-enhanced policies do not fully model action-relevant spatial-te…
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing ma…
This paper presents a hierarchical decision-making framework for unmanned aerial vehicle (UAV) missions motivated by search-and-rescue (SAR) scenarios under limited simulation training. The framework …
Monitoring physical activity energy expenditure (PAEE) in daily life is essential for characterizing individual health and metabolic status. Although indirect calorimetry provides gold-standard PAEE m…
Induced seismicity associated with gas production poses major operational and societal challenges, as illustrated by the Groningen field in the Netherlands. While many studies have focused on forecast…
Monitoring a 118 km subsea cable using Distributed acoustic, state-of-polarization, and Brillouin sensing captured storm-induced strain up to $\approx 0.003 \mu\epsilon$ (dynamic) and $\approx 180 \mu…
Automatic feature recognition (AFR) on B-Rep 3D-CAD models is central to CAD/CAM automation, yet most learning-based methods are complex, data-hungry, and evaluate instance grouping and semantic label…
Time-of-arrival (TOA)-based localization in mixed line-of-sight (LOS) and non-line-of-sight (NLOS) environments is challenging because conventional Euclidean range models do not capture diffraction-do…
We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critic…
Skill libraries in deployed robotic systems are continually updated through fine-tuning, fresh demonstrations, or domain adaptation, yet existing typed-composition methods (BLADE, SymSkill, Generative…
This paper presents a model-free, data-driven control synthesis method called dynamic mode adaptive control (DMAC) for systems whose mathematical models are unavailable or unsuitable for classical con…
Traditional iterative reconstruction methods are accurate but computationally expensive, limiting their use in high-throughput and real-time ptychography. Recent deep learning approaches improve speed…
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