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Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
This paper addresses an uplink localization problem in which a base station (BS) aims to locate a remote user with the help of reconfigurable intelligent surfaces (RISs). We propose a strategy in which the user transmits pilots sequentially…
The rise of AI-powered classification techniques has ushered in a new era for data-driven Fault Detection and Diagnosis in smart building systems. While extensive research has championed supervised FDD approaches, the real-world application…
The term wavefront sensor refers to the entire class of devices capable of measuring the optical wavefront of the incoming beam. Although numerous solutions have been proposed so far, recent advances in structured light have opened new…
This paper deals with two related problems, namely distance-preserving binary embeddings and quantization for compressed sensing . First, we propose fast methods to replace points from a subset $\mathcal{X} \subset \mathbb{R}^n$, associated…
A hybrid approach based on multirate signal processing and sensory data fusion is proposed for the condition monitoring and identification of fault signal signatures used in the Flight ECS (Engine Control System) unit. Though motor current…
Accurately assessing building damage is critical for disaster response and recovery. However, many existing models for detecting building damage have poor prediction accuracy due to their limited capabilities of identifying detailed,…
In this work we develop clustering techniques for the Bearing Only Target Localization (BOTL) problem. Our scenario has a receiver move along some path, generating bearing estimates on some interval. Multiple emitting targets exist in the…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…
The sparsity of millimeter wave (mmWave) channels in the angular and temporal domains is beneficial to channel estimation, while the associated channel parameters can be utilized for localization. However, line-of-sight (LoS) blockage poses…
Fault detection is vital in ensuring AC microgrids' reliable and resilient operation. Its importance lies in swiftly identifying and isolating faults, preventing cascading failures, and enabling rapid power restoration. This paper proposes…
To aide simultaneous localization and mapping (SLAM), future perception systems will incorporate forms of scene understanding. In a step towards fully integrated probabilistic geometric scene understanding, localization and mapping we…
For several tasks, ranging from manipulation to inspection, it is beneficial for robots to localize a target object in their surroundings. In this paper, we propose an approach that utilizes coarse point clouds obtained from miniaturized…
Structural health monitoring is a condition-based field of study utilised to monitor infrastructure, via sensing systems. It is therefore used in the field of aerospace engineering to assist in monitoring the health of aerospace structures.…
We propose a method for detecting many-body localization (MBL) in disordered spin systems. The method involves pulsed, coherent spin manipulations that probe the dephasing of a given spin due to its entanglement with a set of distant spins.…
A theoretical platform is developed for active elastic-wave sensing of (stationary and advancing) fractures along bi-material interfaces in layered composites. Damaged contact surfaces are characterized by a heterogeneous distribution of…
This study explores the limitations of image-based structural health monitoring (SHM) techniques in detecting structural damage. Leveraging machine learning and computer vision, image-based SHM offers a scalable and efficient alternative to…
Swarical, a Swarm-based hierarchical localization technique, enables miniature drones, known as Flying Light Specks (FLSs), to accurately and efficiently localize and illuminate complex 2D and 3D shapes. Its accuracy depends on the physical…
In biomechanical modeling, the representation of ligament attachments is crucial for a realistic simulation of the forces acting between the vertebrae. These forces are typically modeled as vectors connecting ligament landmarks on adjacent…