Blog
Fast and Modular Whole-Body Lagrangian Dynamics of Legged Robots with Changing Morphology
Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with simplifying assumptions for nominal gaits, lack the flexibility to adapt to such scenarios. To...
Study of Auto-igniting Spray Flame in Vitiated Swirling Hot Coflow using flamelet generated model
Swirl-stabilized auto-igniting spray flames are essential for designing efficient and clean combustion systems. The present study performs large eddy simulations (LES) of the dilute auto-igniting methanol flame in a vitiated, hot coflow of varying swirl intensities. The six-dimensional Flamelet Generated Manifold (FGM)...
Measurement of the Temperature Dependence of the Refractive Index of CdZnTe
We have been developing a CdZnTe immersion grating for a compact high-dispersion mid-infrared spectrometer (wavelength range 10–18 $\mu$m, spectral resolution $R = \lambda/\Delta \lambda > 25,000$, operating temperature $T < 20$ K). Using an immersion grating, the spectrometer size can be reduced...
Probing Bulk Band Topology from Time Boundary Effect in Synthetic Dimension
An incident wave at a temporal interface, created by an abrupt change in system parameters, generates time-refracted and time-reflected waves. We find topological characteristics associated with the temporal interface that separates distinct spatial topologies and report a novel bulk-boundary correspondence for the...
An Explicit and Efficient $O(n^2)$-Time Algorithm for Sorting Sumsets
We present the first explicit comparison-based algorithm that sorts the sumset $X + Y = \{x_i + y_j,\ \forall 0 \le i, j < n\}$, where $X$ and $Y$ are sorted arrays of real numbers, in optimal $O(n^2)$ time and comparisons. While...
ConTextual: Improving Clinical Text Summarization in LLMs with Context-preserving Token Filtering and Knowledge Graphs
Unstructured clinical data can serve as a unique and rich source of information that can meaningfully inform clinical practice. Extracting the most pertinent context from such data is critical for exploiting its true potential toward optimal and timely decision-making in patient care....
Circinus: Efficient Query Planner for Compound ML Serving
The rise of compound AI serving — integrating multiple operators in a pipeline that may span edge and cloud tiers — enables end-user applications such as autonomous driving, generative AI-powered meeting companions, and immersive gaming. Achieving high service goodput — i.e., meeting...
Stability threshold of Couette flow for 3D Boussinesq system in Sobolev spaces
In this paper, we investigate the nonlinear stability and transition threshold for the 3D Boussinesq system in Sobolev space under the high Reynolds number and small thermal diffusion in $\mathbb{T}\times\mathbb{R}\times\mathbb{T} $. It is proved that if the initial velocity $v_{\rm in}$ and...
On the four-body limaçon choreography: maximal superintegrability and choreographic fragmentation
In this paper, as a continuation of [Fernandez-Guasti, \textit{Celest Mech Dyn Astron} 137, 4 (2025)], we demonstrate the maximal superintegrability of the reduced Hamiltonian, which governs the four-body choreographic planar motion along the lima\c{c}on trisectrix (resembling a folded figure eight), in the...
Long Exposure Localization in Darkness Using Consumer Cameras
In this paper we evaluate performance of the SeqSLAM algorithm for passive vision-based localization in very dark environments with low-cost cameras that result in massively blurred images. We evaluate the effect of motion blur from exposure times up to 10,000 ms from...