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This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…
Millimeter-wave vehicular networks incur enormous beam-training overhead to enable narrow-beam communications. This paper proposes a learning and adaptation framework in which the dynamics of the communication beams are learned and then…
Connected and Automated Vehicles (CAVs) offer a promising solution to the challenges of mixed traffic with both CAVs and Human-Driven Vehicles (HDVs). A significant hurdle in such scenarios is traffic oscillation, or the "stop-and-go"…
Idling vehicle detection (IVD) can be helpful in monitoring and reducing unnecessary idling and can be integrated into real-time systems to address the resulting pollution and harmful products. The previous approach [13], a non-end-to-end…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…
Emerging immersive display technologies efficiently utilize resources with perceptual graphics methods such as foveated rendering and denoising. Running multiple perceptual graphics methods challenges devices with limited power and…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
In this paper, we consider multiple solar-powered wireless nodes which utilize the harvested solar energy to transmit collected data to multiple unmanned aerial vehicles (UAVs) in the uplink. In this context, we jointly design UAV flight…
Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…
Robot manipulation for untangling 1D deformable structures such as ropes, cables, and wires is challenging due to their infinite dimensional configuration space, complex dynamics, and tendency to self-occlude. Analytical controllers often…
Multicore fibres are recently gaining considerable attention in the context of quantum communication tasks, where their capability to transmit multiple quantum states along different cores of the same channel make them a promising candidate…
Cell detection and segmentation are integral parts of automated systems in digital pathology. Encoder-decoder networks have emerged as a promising solution for these tasks. However, training of these networks has typically required full…
When humans perceive the world, they naturally integrate multiple audio-visual tasks within dynamic, real-world scenes. However, current works such as event localization, parsing, segmentation and question answering are mostly explored…
Despite the recent success of deep neural networks, it remains challenging to effectively model the long-tail class distribution in visual recognition tasks. To address this problem, we first investigate the performance bottleneck of the…
Learning precise representations of users and items to fit observed interaction data is the fundamental task of collaborative filtering. Existing studies usually infer entangled representations to fit such interaction data, neglecting to…
Generative model-based motion prediction techniques have recently realized predicting controlled human motions, such as predicting multiple upper human body motions with similar lower-body motions. However, to achieve this, the…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…