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Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low…
This thesis introduces a set of methods for testing models of modified gravity using galaxy clusters. In particular, a technique for constraining models with a chameleon screening is introduced. In addition, the outlined technique is…
Accurate trajectory prediction for buses is crucial in intelligent transportation systems, particularly within urban environments. In developing regions where access to multimodal data is limited, relying solely on onboard GPS data remains…
Understanding the propagation and attenuation patterns of ground vibrations is critical for evaluating the impact of environmental disturbances on large-scale scientific facilities. However, complex site conditions often result in intricate…
This paper investigates near-field (NF) position and orientation tracking of a multi-antenna mobile station (MS) using an extremely large antenna array (ELAA)-equipped base station (BS) with a limited number of radio frequency (RF) chains.…
Global navigation satellite systems (GNSS) are widely used for navigation and time distribution, features indispensable for critical infrastructure such as mobile communication networks, as well as emerging technologies like automated…
The precision of the attitude in the inter-satellite ranging missions like GRACE is one of the important requirement. It is required not only for the mission performance but also for the good quality of the gravity field models which are…
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…
Gravity Recovery and Climate Experiment Follow-On (GRACE-FO) was launched on May 22, 2018. It carries the Laser Ranging Interferometer (LRI) as a technology demonstrator that measures the inter-satellite range with nanometer precision using…
Low Earth orbit (LEO) satellites are leveraged to support new position, navigation, and timing (PNT) service alternatives to GNSS. These alternatives require accurate propagation of satellite position and velocity with a realistic…
This work presents a comparative study of existing and new techniques to detect knee injuries by leveraging Stanford's MRNet Dataset. All approaches are based on deep learning and we explore the comparative performances of transfer learning…
Satellite observations play a critical role in numerical weather prediction where they are assimilated through an observation operator that maps model states to radiances. In the traditional Ensemble Kalman Filter, these observations are…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic field-based Simultaneous Localisation…
The proposed Laser Interferometer Space Antenna (LISA) mission is tasked with the detection and characterization of gravitational waves from various sources in the universe. This endeavor is challenged by transient displacement and…
In the last decade, researchers and medical device companies have made major advances towards transforming passive capsule endoscopes into active medical robots. One of the major challenges is to endow capsule robots with accurate…
Earth embedding models transform Earth observation data into embeddings uniquely tied to locations on the Earth's surface. These models are typically evaluated in isolation, comparing the downstream task performance across different Earth…
In this paper, we propose Adjusted Shuffling SARAH, a novel algorithm that integrates shuffling strategies into the recursive SARAH framework using a dynamic weighting mechanism to enhance exploration. We analyze the algorithm under two…
Most artificial intelligence (AI) research have concentrated in high-income countries, where imaging data, IT infrastructures and clinical expertise are plentiful. However, slower progress has been made in limited-resource environments…
In 2016, we published "A test of general relativity using the LARES and LAGEOS satellites and a GRACE Earth gravity model. Measurement of Earth's dragging of inertial frames [1]", a measurement of frame-dragging, a fundamental prediction of…
Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…