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There is an increasing need to comprehensively characterize the kinematic performances of different Micromobility Vehicles (MMVs). This study aims to: 1) characterize the kinematic behaviors of different MMVs during emergency maneuvers; 2)…
Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…
Visual Question Answering (VQA) models, which fall under the category of vision-language models, conventionally execute multiple downsampling processes on image inputs to strike a balance between computational efficiency and model…
In this thesis, we propose an alternative characterization of the notion of Configuration Space, which we call Visual Configuration Space (VCS). This new characterization allows an embodied agent (e.g., a robot) to discover its own body…
Mobile health systems in recent times, have notably improved the healthcare sector by empowering patients to actively participate in their health, and by facilitating access to healthcare professionals. Effective operation of these mobile…
Multi-axle Swerve-drive Autonomous Mobile Robots (MS-AGVs) equipped with independently steerable wheels are commonly used for high-payload transportation. In this work, we present a novel model predictive control (MPC) method for MS-AGV…
Motivated by recent work on studying massive imaging data in various neuroimaging studies, we propose a novel spatially varying coefficient model (SVCM) to spatially model the varying association between imaging measures in a…
Human-involved interactive environments pose significant challenges for autonomous vehicle decision-making processes due to the complexity and uncertainty of human behavior. It is crucial to develop an explainable and trustworthy…
Clinical assessments for neuromuscular disorders, such as Spinal Muscular Atrophy (SMA) and Duchenne Muscular Dystrophy (DMD), continue to rely on subjective measures to monitor treatment response and disease progression. We introduce a…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
In a future connected vehicle environment, an optimized route and motion planning should not only fulfill efficiency and safety constraints but also minimize vehicle motions and oscillations, causing poor ride comfort perceived by…
Even as technology and performance gains are made in the sphere of automated driving, safety concerns remain. Vehicle simulation has long been seen as a tool to overcome the cost associated with a massive amount of on-road testing for…
To enhance motion comfort in (automated) driving we present biomechanical models and demonstrate their ability to capture vibration transmission from seat to trunk and head. A computationally efficient full body model is presented, able to…
Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…
Medical images are often more difficult to acquire than natural images due to the specialism of the equipment and technology, which leads to less medical image datasets. So it is hard to train a strong pretrained medical vision model. How…
Current visual reasoning methods mainly focus on exploring specific reasoning modes. Although improvements can be achieved in particular domains, they struggle to develop general reasoning capabilities. Inspired by this, we propose a novel…
Autonomous vehicles (AVs) rely on multi-modal fusion for safety, but current visual and optical sensors fail to detect road-induced excitations which are critical for vehicles' dynamic control. Inspired by human synesthesia, we propose the…
Users of Virtual Reality (VR) systems often experience vection, the perception of self-motion in the absence of any physical movement. While vection helps to improve presence in VR, it often leads to a form of motion sickness called…
Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis techniques have been used to expose MSD…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…