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Brigham Young University

Academic institutionnorthamerica · us
Official website
Research library130linked papers
Opportunities0open roles
Selected work

Representative Papers

Customer Service Operations: A Gatekeeper Framework

Mar 13, 2025Production and operations management

This study addresses the trade-off between cost and service quality in multichannel customer service by modeling the entire service process as a gated system. It jointly optimizes decisions across three levels: strategic (channel deployment), tactical (staffing and AI allocation), and operational (real-time scheduling). Leveraging operations research, dynamic modeling, and numerical simulation, the work derives a structured optimal request-handling policy and uncovers a counterintuitive insight: judicious deployment of AI chatbots not only enhances service efficiency but also significantly improves service quality, thereby achieving simultaneous optimization of cost and customer experience.

2 citationsRead paper

ROScopter: A Multirotor Autopilot based on ROSflight 2.0

Mar 05, 2026

This work addresses the challenges commonly encountered in multirotor flight control research—namely, the complexity of simulation-to-hardware workflows, poor code readability, and limited extensibility—by presenting a lightweight, modular, full-stack open-source flight control system built on ROS 2 and ROSflight 2.0. The proposed architecture enables seamless deployment between simulation and real hardware while significantly simplifying code structure without compromising performance. Its high modularity enhances both readability and extensibility, facilitating rapid research iteration. Experimental results demonstrate that the system achieves waypoint tracking performance comparable to state-of-the-art flight controllers, yet with a smaller, cleaner codebase that streamlines development and validation in academic settings.

1 citationsRead paper

Scalable Tree Ensemble Proximities in Python

Jan 06, 2026arXiv.org

This work addresses the scalability limitations of traditional tree ensemble methods for computing sample similarity, which suffer from quadratic time and memory complexity due to explicit pairwise comparisons. The authors propose a separable, weighted leaf collision similarity framework that formalizes a novel class of similarity measures amenable to exact sparse matrix factorization. By restricting computations to the leaf-node level and leveraging the inherent sparsity of tree-based representations, the method eliminates the need for explicit pairwise evaluations. Integrating decision tree structures with sparse linear algebra techniques, the approach enables efficient nearest-neighbor computation on standard CPUs, scaling to hundreds of thousands of samples while substantially reducing both runtime and memory consumption—thereby overcoming a fundamental bottleneck in the scalability of conventional tree-based similarity methods.

1 citationsRead paper

PneuDrive: An Embedded Pressure Control System and Modeling Toolkit for Large-Scale Soft Robots

Apr 14, 2024International Conference on Soft Robotics

Large-scale pneumatic soft robots lack scalable, high-precision real-time pressure control systems and dynamic modeling tools suitable for real-time control. Method: This paper introduces PneuDrive—a modular embedded pressure control system—and the first real-time-control-oriented tri-model dynamic modeling toolkit. PneuDrive features a novel scalable RS-485 bus architecture enabling multi-node daisy-chaining, closed-loop control of 16 valves (0–100 psig), and reliable communication over distances exceeding 10 meters. The modeling toolkit integrates data-driven, physics-based, and hybrid models, supporting hysteresis compensation, fluid–structure interaction modeling, and quantitative performance benchmarking. Contribution/Results: Evaluated on a three-segment continuum robot, the system achieves coordinated trajectory tracking across 12 actuation channels. All three model types are experimentally calibrated and validated via real-time simulation, establishing both a hardware platform and a modeling paradigm for real-time control of pneumatic soft robots.

1 citationsRead paper
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