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Shape Memory Alloys (SMAs) are a class of smart materials that exhibit a macroscopic contraction of up to 5% when heated via an electric current. This effect can be exploited for the development of novel unconventional actuators. Despite…
This paper presents novel Weighted Finite-State Transducer (WFST) topologies to implement Connectionist Temporal Classification (CTC)-like algorithms for automatic speech recognition. Three new CTC variants are proposed: (1) the…
Evaluating lesion progression and treatment response via longitudinal lesion tracking plays a critical role in clinical practice. Automated approaches for this task are motivated by prohibitive labor costs and time consumption when lesion…
Voltage stability refers to the ability of a power system to maintain acceptable voltages among all buses under normal operating conditions and after a disturbance. In this paper, a measurement-based voltage stability assessment (VSA)…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many…
Continual test-time domain adaptation (CTTA) aims to adjust pre-trained source models to perform well over time across non-stationary target environments. While previous methods have made considerable efforts to optimize the adaptation…
Long-term voltage stability assessment (VSA) of independent transmission (T-VSA) and distribution (D-VSA)systems have been studied since long to estimate load margins. However, their impacts on each other have been neglected due to…
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier…
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…
Transformer-based language models display impressive reasoning-like behavior, yet remain brittle on tasks that require stable symbolic manipulation. This paper develops a unified perspective on these phenomena by interpreting self-attention…
Recent advances in pre-trained vision transformers have shown promise in parameter-efficient audio-visual learning without audio pre-training. However, few studies have investigated effective methods for aligning multimodal features in…
Scaling video diffusion transformers (DiTs) is limited by their quadratic 3D attention, even though most of the attention mass concentrates on a small subset of positions. We turn this observation into VSA, a trainable, hardware-efficient…
Standard transformer architectures apply the same number of layers to every token regardless of contextual difficulty. We present Token-Selective Attention (TSA), a learned per-token gate on residual updates between consecutive transformer…
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising…
This work presents a three-dimensional constitutive model for shape memory alloys considering the TRansformation-Induced Plasticity (TRIP) as well as the Two-Way Shape Memory Effect (TWSME) through a large deformation framework. The…
Over the years, the number of exoskeleton devices utilized for upper-limb rehabilitation has increased dramatically, each with its own set of pros and cons. Most exoskeletons are not portable, limiting their utility to daily use for house…
Electric Vehicle (EV) chargers are the need of the hour as EVs have invaded the commercial automobile market. The Three-Phase Three-Switch (TPTS) converter has features which make it ideal to act as the charging station because of its high…
Audio-visual continual test-time adaptation involves continually adapting a source audio-visual model at test-time, to unlabeled non-stationary domains, where either or both modalities can be distributionally shifted, which hampers online…
Video Object Segmentation (VOS) has emerged as an increasingly important problem with availability of larger datasets and more complex and realistic settings, which involve long videos with global motion (e.g, in egocentric settings),…