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Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural…
Intra-cardiac Echocardiography (ICE) plays a critical role in Electrophysiology (EP) and Structural Heart Disease (SHD) interventions by providing real-time visualization of intracardiac structures. However, maintaining continuous…
Intrusion detection in IoT and industrial networks requires models that can detect rare attacks at low false-positive rates while remaining reliable under evolving traffic and limited labels. Existing IDS solutions often report strong…
Along with the importance of safety, an IDS has become a significant task in the real world. Prior studies proposed various intrusion detection models for the UAV. Past rule-based approaches provided a concrete baseline IDS model, and the…
Forthcoming 6G networks have two predominant features of wide coverage and sufficient computation capability. To support the promising applications, Integrated Sensing, Communication, and Computation (ISCC) has been considered as a vital…
Inspection of cracks is an important process for properly monitoring and maintaining a building. However, manual crack inspection is time-consuming, inconsistent, and dangerous (e.g., in tall buildings). Due to the development of…
3D anomaly detection has recently become a significant focus in computer vision. Several advanced methods have achieved satisfying anomaly detection performance. However, they typically concentrate on the external structure of 3D samples…
This study aimed to develop a virtual sensing algorithm of structural vibration for the real-time identification of unmeasured information. First, certain local point vibration responses (such as displacement and acceleration) are measured…
With the rapid application of unmanned aerial vehicles (UAVs) in urban areas, the identification and tracking of hovering UAVs have become critical challenges, significantly impacting the safety of aircraft take-off and landing operations.…
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot…
Continuous structural health monitoring (SHM) and integrated nondestructive evaluation (NDE) are important for ensuring the safe operation of high-risk engineering structures. Recently, piezoresistive nanocomposite materials have received…
In everyday indoor navigation, robots often needto detect non-distinctive small-change objects (e.g., stationery,lost items, and junk, etc.) to maintain domain knowledge. Thisis most relevant to ground-view change detection (GVCD), a…
Legged robots carry an IMU, but the inertial solution drifts because consumer-grade IMUs are noisy. However, the feet create intermittent contacts with the environment that can be used to mitigate that drift. This report develops a sequence…
Rotation search and point cloud registration are two fundamental problems in robotics and computer vision, which aim to estimate the rotation and the transformation between the 3D vector sets and point clouds, respectively. Due to the…
Due to circuit failures, defective elements that cannot adaptively adjust the phase shifts of their impinging signals in a desired manner may exist on an intelligent reflecting surface (IRS). Traditional way to locate these defective IRS…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
With rapid urbanization comes the increase of community, construction, and transportation noise in residential areas. The conventional approach of solely relying on sound pressure level (SPL) information to decide on the noise environment…
In this paper, we present a statistical beamforming algorithm as a pre-processing step for robust automatic speech recognition (ASR). By modeling the target speech as a non-stationary Laplacian distribution, a mask-based statistical…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…