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Large language models remain vulnerable to jailbreak attacks, and single-layer defenses often trade security for usability. We present TRYLOCK, the first defense-in-depth architecture that combines four heterogeneous mechanisms across the…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
A wheel that is capable of producing thrust and maintaining vehicle internal integrity is presented. The wheel can be seen as an organic extension to the central unit (eg the vehicle) it is attached to, that is, the system and the wheel can…
Aerial vehicles with collision resilience can operate with more confidence in environments with obstacles that are hard to detect and avoid. This paper presents the methodology used to design a collision resilient aerial vehicle with…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…
It is possible to build free-standing, load-bearing structures using only rocks and loops of elastic material. We investigate how these structures emerge, and find that the necessary maximum loop spacing (the critical spacing) is a function…
Earthquakes cause lasting changes in static equilibrium, resulting in global deformation fields that can be observed. Consequently, deformation measurements such as those provided by satellite based InSAR monitoring can be used to infer an…
Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh…
This paper studies steady-state traffic flow on a ring road with up- and down- slopes using a semi-discrete model. By exploiting the relations between the semi-discrete and the continuum models, a steady-state solution is uniquely…
Seismogenic areas on plate-boundary faults resist slipping until earthquakes begin. The delay in slip relative to plate motion, termed slip deficit, represents plate coupling as an interseismic proxy of seismic potential. However, when a…
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…
Numerical stability is of great significance for discrete-time dynamic vehicle model. Among the unstable factors, low-speed singularity stands out as one of the most challenging issues, which arises from that the denominator of tire side…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
Mechanical reliability plays an outsized role in determining the durability of flexible electronic devices because of the significant mechanical stresses they can experience during manufacturing and operation. These devices are typically…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Microspine grippers are small spines commonly found on insect legs that reinforce surface interaction by engaging with asperities to increase shear force and traction. An array of such microspines, when integrated into the limbs or…
Topologically interlocked materials and structures, which are assemblies of unbonded interlocking building blocks, are promising concepts for versatile structural applications. They have been shown to exhibit exceptional mechanical…
Complex autonomous driving, such as drifting, requires high-precision and high-frequency pose information to ensure accuracy and safety, which is notably difficult when using only onboard sensors. In this paper, we propose a drift…
The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…