H. Harry Asada

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Multimodal Intention Recognition Combining Head Motion and Throat Vibration for Underwater Superlimbs. IEEE Trans Autom. Sci. Eng. Rongzheng Zhang, Wanghongjie Qiu, Jianuo Qiu, Yuqin Guo, Chengxiao Dong, Tuo Zhang, Juan Yi, Chaoyang Song, H. Harry Asada, Fang Wan
2025	J	`jnl`	An Actuator Pre-Filtering Approach to Control-Coherent Koopman Modeling: Extending Koopman Operators to Systems With Control. IEEE Control. Syst. Lett. H. Harry Asada
2025	J	`jnl`	Cross-Modality Embedding of Force and Language for Natural Human-Robot Communication. CoRR Ravi Tejwani, Karl Velazquez, John Payne, Paolo Bonato, H. Harry Asada
2025	A*	`conf`	Design and Experimental Validation of Woodwork-Inspired Soft Pneumatic Grippers. ICRA Abriana Stewart-Height, Roberto Bolli Jr., Emily A. Kamienski, H. Harry Asada
2025	A*	`conf`	Elderly Bodily Assistance Robot (E-BAR): A Robot System for Body-Weight Support, Ambulation Assistance, and Fall Catching, Without the Use of a Harness. ICRA Roberto Bolli Jr., H. Harry Asada
2025	C	`conf`	Koopman Modeling of Human Gait Dynamics for Global Modal Analysis Using Periodic Motion Regularization. ACC Emily A. Kamienski, Seth Donahue, Matthew J. Major, H. Harry Asada
2025	J	`jnl`	Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control. CoRR Cormac O'Neill, Jasmine Terrones, H. Harry Asada
2025	J	`jnl`	Loop closure grasping: Topological transformations enable strong, gentle, and versatile grasps. CoRR Kentaro Barhydt, O. Godson Osele, Sreela Kodali, Cosima du Pasquier, Chase M. Hartquist, H. Harry Asada, Allison M. Okamura
2025	A	`conf`	Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer. IROS O. Godson Osele, Kentaro Barhydt, Teagan Sullivan, H. Harry Asada, Allison M. Okamura
2025	J	`jnl`	Mechanically Programming the Cross-Sectional Shape of Soft Growing Robotic Structures for Patient Transfer. CoRR O. Godson Osele, Kentaro Barhydt, Teagan Sullivan, H. Harry Asada, Allison M. Okamura
2024	J	`jnl`	A Monte Carlo Approach to Koopman Direct Encoding and Its Application to the Learning of Neural-Network Observables. IEEE Robotics Autom. Lett. Itta Nozawa, Emily A. Kamienski, Cormac O'Neill, H. Harry Asada
2024	J	`jnl`	A two-speed actuator for robotics with fast seamless gear shifting. CoRR Alexandre Girard, H. Harry Asada
2024	—	`conf`	Control-Coherent Koopman Modeling: A Physical Modeling Approach. CDC H. Harry Asada, Jose A. Solano-Castellanos
2024	J	`jnl`	Control-Coherent Koopman Modeling: A Physical Modeling Approach. CoRR H. Harry Asada, Jose A. Solano-Castellanos
2024	J	`jnl`	Enhancing Elderly Mobility: A Sturdy, Two-Body Robot for Handlebar Placement in Any Location. IEEE Robotics Autom. Lett. Roberto Bolli Jr., H. Harry Asada
2024	A	`conf`	Koopman Dynamic Modeling for Global and Unified Representations of Rigid Body Systems Making and Breaking Contact. IROS Cormac O'Neill, H. Harry Asada
2024	J	`jnl`	Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators. CoRR Alexandre Girard, H. Harry Asada
2024	J	`jnl`	Model Free Method of Screening Training Data for Adversarial Datapoints Through Local Lipschitz Quotient Analysis. IEEE Robotics Autom. Lett. Emily A. Kamienski, H. Harry Asada
2024	A*	`conf`	Supernumerary Robotic Limbs to Support Post-Fall Recoveries for Astronauts. ICRA Erik Ballesteros, Sang-Yoep Lee, Kalind C. Carpenter, H. Harry Asada
2024	J	`jnl`	Time-Critical Fall Prediction Based on Lipschitz Data Analysis and Design of a Reconfigurable Walker for Preventing Fall Injuries. IEEE Access Emily A. Kamienski, Paolo Bonato, H. Harry Asada
2024	A*	`conf`	Tip-Clutching Winch for High Tensile Force Application with Soft Growing Robots. ICRA O. Godson Osele, Kentaro Barhydt, Nicholas Cerone, Allison M. Okamura, H. Harry Asada
2023	J	`jnl`	A Data-Driven Approach to Positioning Grab Bars in the Sagittal Plane for Elderly Persons. CoRR Roberto Bolli Jr., H. Harry Asada
2023	A	`conf`	A Handle Robot for Providing Bodily Support to Elderly Persons. IROS Roberto Bolli Jr., Paolo Bonato, H. Harry Asada
2023	J	`jnl`	A High-Strength, Highly-Flexible Robotic Strap for Harnessing, Lifting, and Transferring Humans. IEEE Robotics Autom. Lett. Kentaro Barhydt, H. Harry Asada
2023	A	`conf`	An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator. IROS Ravi Tejwani, Chengyuan Ma, Paolo Bonato, H. Harry Asada
2023	J	`jnl`	An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator. CoRR Ravi Tejwani, Chengyuan Ma, Paolo Bonato, H. Harry Asada
2023	J	`jnl`	Data-Driven Encoding: A New Numerical Method for Computation of the Koopman Operator. IEEE Robotics Autom. Lett. Jerry Ng, H. Harry Asada
2023	J	`jnl`	Language Control in Robotics. CoRR Ravi Tejwani, Chengyuan Ma, Paolo Bonato, H. Harry Asada
2023	J	`jnl`	Learned Lifted Linearization Applied to Unstable Dynamic Systems Enabled by Koopman Direct Encoding. IEEE Control. Syst. Lett. Jerry Ng, H. Harry Asada
2023	J	`jnl`	Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance. Adv. Intell. Syst. Jiayu Huo, Jingran Wang, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, H. Harry Asada, Fang Wan, Chaoyang Song
2023	J	`jnl`	Reconfigurable Design and Modeling of an Underwater Superlimb for Diving Assistance. Adv. Intell. Syst. Jiayu Huo, Jingran Wang, Yuqin Guo, Wanghongjie Qiu, Mingdong Chen, H. Harry Asada, Fang Wan, Chaoyang Song
2023	J	`jnl`	Shared Control Based on Extended Lipschitz Analysis With Application to Human-Superlimb Collaboration. CoRR Hanjun Song, H. Harry Asada
2023	A*	`conf`	Supernumerary Robotic Limbs for Next Generation Space Suit Technology. ICRA Erik Ballesteros, Brandon Man, H. Harry Asada
2023	—	`conf`	Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance. CASE Yuqin Guo, Rongzheng Zhang, Wanghongjie Qiu, H. Harry Asada, Fang Wan, Chaoyang Song
2023	J	`jnl`	Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance. CoRR Yuqin Guo, Rongzheng Zhang, Wanghongjie Qiu, H. Harry Asada, Fang Wan, Chaoyang Song
2022	J	`jnl`	A Fast Gear-Shifting Actuator for Robotic Tasks with Contacts. CoRR Alexandre Girard, H. Harry Asada
2022	J	`jnl`	A practical optimal control approach for two-speed actuators. CoRR Alexandre Girard, H. Harry Asada
2022	J	`jnl`	Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators. IEEE Robotics Autom. Lett. Filippos E. Sotiropoulos, H. Harry Asada
2022	J	`jnl`	Global, Unified Representation of Heterogenous Robot Dynamics Using Composition Operators. CoRR H. Harry Asada
2022	J	`jnl`	Handle Anywhere: A Mobile Robot Arm for Providing Bodily Support to Elderly Persons. CoRR Roberto Bolli Jr., Paolo Bonato, H. Harry Asada
2022	J	`jnl`	Horizontal Insertion of a Ring Onto a Shaft Using a Gantry Crane With Minimal Sensors. IEEE Robotics Autom. Lett. Cormac O'Neill, H. Harry Asada
2022	J	`jnl`	Learned Lifted Linearization Applied to Unstable Dynamic Systems Enabled by Koopman Direct Encoding. CoRR Jerry Ng, H. Harry Asada
2022	J	`jnl`	Model Predictive Control and Transfer Learning of Hybrid Systems Using Lifting Linearization Applied to Cable Suspension Systems. IEEE Robotics Autom. Lett. Jerry Ng, H. Harry Asada
2022	A*	`conf`	Monitoring the Mental State of Cooperativeness for Guiding an Elderly Person in Sit-to-Stand Assistance. ICRA John Bell, H. Harry Asada
2022	J	`jnl`	Musculoskeletal Load Analysis for the Design and Control of a Wearable Robot Bracing the Human Body While Crawling on a Floor. IEEE Access Phillip H. Daniel, Chenglong Fu, H. Harry Asada
2021	J	`jnl`	Control Strategy for Jam and Wedge-Free 3D Precision Insertion of Heavy Objects Suspended With a Multi-Cable Crane. IEEE Robotics Autom. Lett. Rachel M. Hoffman, H. Harry Asada
2021	A*	`conf`	Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment. ICRA Phillip H. Daniel, H. Harry Asada
2021	J	`jnl`	Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators. CoRR Filippos E. Sotiropoulos, H. Harry Asada
2021	A	`conf`	Gear Ratio Optimization of a Multifunctional Walker Robot Using Dual-Motor Actuation. IROS John Bell, Emily A. Kamienski, Seiichi Teshigawara, Hirofumi Itagaki, H. Harry Asada
2021	J	`jnl`	Inherent Haptic Feedback From Supernumerary Robotic Limbs. IEEE Trans. Haptics Jacob W. Guggenheim, H. Harry Asada
2021	J	`jnl`	Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support. IEEE Robotics Autom. Lett. Hanjun Song, H. Harry Asada
2021	J	`jnl`	Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation. CoRR Nicholas S. Selby, H. Harry Asada
2021	J	`jnl`	Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation. IEEE Robotics Autom. Lett. Nicholas S. Selby, H. Harry Asada
2021	J	`jnl`	Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance. CoRR Jianwen Luo, Zheng Wang, Chaoyang Song, H. Harry Asada, Chenglong Fu
2021	J	`jnl`	Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks. IEEE Robotics Autom. Lett. Jianwen Luo, Zelin Gong, Yao Su, Lecheng Ruan, Ye Zhao, H. Harry Asada, Chenglong Fu
2021	J	`jnl`	Monitoring the Mental State of Cooperativeness for Guiding an Elderly Person in Sit-to-Stand Assistance. CoRR John Bell, H. Harry Asada
2021	J	`jnl`	Physics-Based Causal Lifting Linearization of Nonlinear Control Systems Underpinned by the Koopman Operator. CoRR Nicholas S. Selby, Filippos E. Sotiropoulos, H. Harry Asada
2021	J	`jnl`	Safe Tumbling of Heavy Objects Using a Two-Cable Crane. IEEE Robotics Autom. Lett. Cormac O'Neill, H. Harry Asada
2020	J	`jnl`	A Data-Driven Approach to Prediction and Optimal Bucket-Filling Control for Autonomous Excavators. IEEE Robotics Autom. Lett. Ryan J. Sandzimier, H. Harry Asada
2020	J	`jnl`	Autonomous Excavation of Rocks Using a Gaussian Process Model and Unscented Kalman Filter. IEEE Robotics Autom. Lett. Filippos E. Sotiropoulos, H. Harry Asada
2020	J	`jnl`	Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly. CoRR Daniel J. Gonzalez, H. Harry Asada
2020	C	`conf`	Design and Time-Optimal Control of a High-Speed High-Torque Dual-Motor Actuator. ACC John Bell, H. Harry Asada
2020	J	`jnl`	Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution. CoRR Daniel J. Gonzalez, H. Harry Asada
2020	J	`jnl`	Design of a Novel Mutliple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure. IEEE Robotics Autom. Lett. Hiroshi Matsuo, H. Harry Asada, Yukio Takeda
2020	A*	`conf`	Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism. ICRA Haruhiko Eto, H. Harry Asada
2020	J	`jnl`	Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs. CoRR Daniel J. Gonzalez, H. Harry Asada
2020	J	`jnl`	Laying the Groundwork for Intra-Robotic-Natural Limb Coordination: Is Fully Manual Control Viable? ACM Trans. Hum. Robot Interact. Jacob W. Guggenheim, Federico Parietti, Tamar Flash, H. Harry Asada
2020	J	`jnl`	Leveraging the Human Operator in the Design and Control of Supernumerary Robotic Limbs. IEEE Robotics Autom. Lett. Jacob W. Guggenheim, Rachel M. Hoffman, Hanjun Song, H. Harry Asada
2020	C	`conf`	MPC Performances for Nonlinear Systems Using Several Linearization Models. ACC Yusuke Igarashi, Masaki Yamakita, Jerry Ng, H. Harry Asada
2020	A*	`conf`	Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model. ICRA Daniel J. Gonzalez, H. Harry Asada
2020	J	`jnl`	Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model. CoRR Daniel J. Gonzalez, H. Harry Asada
2020	J	`jnl`	Precision Assembly of Heavy Objects Suspended With Multiple Cables From a Crane. IEEE Robotics Autom. Lett. Rachel M. Hoffman, H. Harry Asada
2020	—	`conf`	Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance. RoboSoft Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, H. Harry Asada, Zheng Wang, Chaoyang Song
2020	J	`jnl`	Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance. CoRR Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, H. Harry Asada, Zheng Wang, Chaoyang Song
2020	A	`conf`	Stable Crawling Policy for Wearable SuperLimbs Attached to a Human with Tuned Impedance. IROS Phillip H. Daniel, H. Harry Asada
2020	J	`jnl`	Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot. CoRR Daniel J. Gonzalez, H. Harry Asada
2019	A	`conf`	A Mobile Extendable Robot Arm: Singularity Analysis and Design. IROS Seiichi Teshigawara, H. Harry Asada
2019	J	`jnl`	A Model-Free Extremum-Seeking Approach to Autonomous Excavator Control Based on Output Power Maximization. IEEE Robotics Autom. Lett. Filippos E. Sotiropoulos, H. Harry Asada
2019	J	`jnl`	A Robotic Microscope System to Examine T Cell Receptor Acuity Against Tumor Neoantigens: A New Tool for Cancer Immunotherapy Research. IEEE Robotics Autom. Lett. Lee-Ling Sharon Ong, Hai Zhu, Debasis Banik, Zhenping Guan, Yinnian Feng, Ellis L. Reinherz, Matthew J. Lang, H. Harry Asada
2019	A	`conf`	Design of a Fail-Safe Wearable Robot with Novel Extendable Arms for Ergonomic Accommodation during Floor Work. IROS Katie S. Hahm, H. Harry Asada
2019	A	`conf`	Design of a Growing Robot Inspired by Plant Growth. IROS Tongxi Yan, Seiichi Teshigawara, H. Harry Asada
2019	J	`jnl`	Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition With Extra Robotic Legs. IEEE Robotics Autom. Lett. Daniel J. Gonzalez, H. Harry Asada
2019	J	`jnl`	Multi-cell ECM compaction is predictable via superposition of nonlinear cell dynamics linearized in augmented state space. PLoS Comput. Biol. Michaëlle N. Mayalu, Min-Cheol Kim, H. Harry Asada
2019	B	`conf`	Seamless Manual-to-Autopilot Transition: An Intuitive Programming Approach to Robotic Welding. RO-MAN Haruhiko Eto, H. Harry Asada
2018	C	`conf`	Causality in Dual Faceted Linearization of Nolnlinear Dynamical Systems. ACC Filippos E. Sotiropoulos, H. Harry Asada
2018	A*	`conf`	Decoupled Motion Control of Wearable Robot for Rejecting Human Induced Disturbances. ICRA Faye Y. Wu, H. Harry Asada
2018	A	`conf`	Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution. IROS Daniel J. Gonzalez, H. Harry Asada
2018	J	`jnl`	Localized Manipulation of Magnetic Particles in an Ensemble. IEEE Access Hian-Hian See, Sahan C. B. Herath, Yue Du, H. Harry Asada, Peter C. Y. Chen
2018	J	`jnl`	Triple Scissor Extender Robot Arm: A Solution to the Last One Foot Problem of Manipulation. IEEE Robotics Autom. Lett. Abbas Shikari, H. Harry Asada
2017	A	`conf`	A multi-track elevator system for E-commerce fulfillment centers. IROS Rachel M. Hoffman, H. Harry Asada
2017	J	`jnl`	Cyborg and Bionic Systems [TC Spotlight]. IEEE Robotics Autom. Mag. Toshio Fukuda, Alois C. Knoll, H. Harry Asada, Qiang Huang, Qing Shi
2017	J	`jnl`	Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly. IEEE Robotics Autom. Lett. Daniel J. Gonzalez, H. Harry Asada
2017	C	`conf`	Dynamic modeling of cancer cell migration in an extracellular matrix fiber network. ACC Min-Cheol Kim, Rohan Abeyaratne, Roger D. Kamm, H. Harry Asada
2017	J	`jnl`	Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices. Int. J. Robotics Res. Lucas O. Tiziani, Alexander M. Hart, Thomas W. Cahoon, Faye Wu, H. Harry Asada, Frank L. Hammond
2017	A*	`conf`	Independent, voluntary control of extra robotic limbs. ICRA Federico Parietti, H. Harry Asada
2017	C	`conf`	Latent space superposition of multiple solutions to predict emergent behaviors of nonlinear cellular systems. ACC Michaelle N. Mayalu, H. Harry Asada, Min-Cheol Kim
2017	J	`jnl`	Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators. IEEE Robotics Autom. Lett. Alexandre Girard, H. Harry Asada
2017	C	`conf`	Precise linearization of nonlinear, non-autonomous systems based on physical system modeling theory. ACC H. Harry Asada, Sampriti Bhattacharyya
2017	—	`conf`	Supernumerary Robotic Limbs for Human Augmentation in Overhead Assembly Tasks. Robotics: Science and Systems Zack Bright, H. Harry Asada
2017	A*	`conf`	The MantisBot: Design and impedance control of supernumerary robotic limbs for near-ground work. ICRA Daniel A. Kurek, H. Harry Asada
2016	C	`conf`	A data-driven approach to precise linearization of nonlinear dynamical systems in augmented latent space. ACC H. Harry Asada, Faye Y. Wu, Alexandre Girard, Michaelle N. Mayalu
2016	A*	`conf`	A practical optimal control approach for two-speed actuators. ICRA Alexandre Girard, H. Harry Asada
2016	C	`conf`	A reduced order systems approach to prediction of emergent behaviors of cellular systems. ACC Michaelle N. Mayalu, Min-Cheol Kim, H. Harry Asada
2016	—	`conf`	Approximated stochastic model predictive control using statistical linearization of nonlinear dynamical system in latent space. CDC Hiroyuki Oyama, Masaki Yamakita, H. Harry Asada
2016	—	`conf`	Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance. ISER Laura Treers, Roger Lo, Michael Cheung, Aymeric Guy, Jacob W. Guggenheim, Federico Parietti, H. Harry Asada
2016	—	`conf`	Detecting cell division of Pseudomonas aeruginosa bacteria from bright-field microscopy images with hidden conditional random fields. EMBC Lee-Ling S. Ong, Xinghua Zhang, Binu Kundukad, Justin Dauwels, Patrick Doyle, H. Harry Asada
2016	C	`conf`	Dynamic modeling of collective cell migration on an elastic substrate of extracellular matrix fiber network. ACC Min-Cheol Kim, Michaelle N. Mayalu, H. Harry Asada
2016	—	`conf`	Image classification of unlabeled malaria parasites in red blood cells. EMBC Zheng Zhang, Lee-Ling Sharon Ong, Kong Fang, Athul Matthew, Justin Dauwels, Ming Dao, H. Harry Asada
2016	J	`jnl`	Implicit and Intuitive Grasp Posture Control for Wearable Robotic Fingers: A Data-Driven Method Using Partial Least Squares. IEEE Trans. Robotics Faye Y. Wu, H. Harry Asada
2016	—	`conf`	Localized manipulation of magnetic particles in a group. ICIA Hian-Hian See, Sahan C. B. Herath, Yue Du, H. Harry Asada, Peter C. Y. Chen
2016	J	`jnl`	Supernumerary Robotic Limbs for Human Body Support. IEEE Trans. Robotics Federico Parietti, H. Harry Asada
2016	A*	`conf`	Triple Scissor Extender: A 6-DOF lifting and positioning robot. ICRA Daniel J. Gonzalez, H. Harry Asada
2015	A*	`conf`	"Hold-and-manipulate" with a single hand being assisted by wearable extra fingers. ICRA Faye Y. Wu, H. Harry Asada
2015	A*	`conf`	A self stabilizing underwater sub-surface inspection robot using hydrodynamic ground effect. ICRA Sampriti Bhattacharyya, H. Harry Asada, Michael S. Triantafyllou
2015	A	`conf`	A two-speed actuator for robotics with fast seamless gear shifting. IROS Alexandre Girard, H. Harry Asada
2015	Misc	`conf`	Automated tracking of cells from phase contrast images by multiple hypothesis Kalman filters. ICASSP Mengmeng Wang, Lee-Ling Sharon Ong, Justin Dauwels, H. Harry Asada
2015	B	`conf`	Automatic detection of endothelial cells in 3D angiogenic sprouts from experimental phase contrast images. Image Processing Mengmeng Wang, Lee-Ling Sharon Ong, Justin Dauwels, H. Harry Asada
2015	J	`jnl`	Cell Invasion Dynamics into a Three Dimensional Extracellular Matrix Fibre Network. PLoS Comput. Biol. Min-Cheol Kim, Jordan Whisler, Yaron R. Silberberg, Roger D. Kamm, H. Harry Asada
2015	A*	`conf`	Design and control of Supernumerary Robotic Limbs for balance augmentation. ICRA Federico Parietti, Kameron Chan, Banks Hunter, H. Harry Asada
2015	A*	`conf`	Harmonic analysis of a PZT poly-actuator. ICRA James Torres, H. Harry Asada
2015	C	`conf`	Multi-model selection of integrated mechanistic-empirical models describing T-cell response. ACC Michaelle N. Mayalu, H. Harry Asada
2015	—	`conf`	Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices. ISRR (1) Frank L. Hammond III, Faye Y. Wu, H. Harry Asada
2014	J	`jnl`	A Bayesian filtering approach to incorporate 2D/3D time-lapse confocal images for tracking angiogenic sprouting cells interacting with the gel matrix. Medical Image Anal. Lee-Ling S. Ong, Justin Dauwels, Marcelo H. Ang Jr., H. Harry Asada
2014	A*	`conf`	A robot on the shoulder: Coordinated human-wearable robot control using Coloured Petri Nets and Partial Least Squares predictions. ICRA Baldin Llorens-Bonilla, H. Harry Asada
2014	C	`conf`	An information-theoretic approach to integrated mechanistic-empirical modeling of cellular response based on intracellular signaling dynamics. ACC Michaelle N. Mayalu, H. Harry Asada
2014	—	`conf`	Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers. Robotics: Science and Systems Faye Y. Wu, H. Harry Asada
2014	A*	`conf`	Bracing the human body with supernumerary Robotic Limbs for physical assistance and load reduction. ICRA Federico Parietti, Kameron Chan, H. Harry Asada
2014	—	`conf`	Closed loop position control of a linear PZT poly-actuator. AIM James Torres, H. Harry Asada
2014	A	`conf`	Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures. IROS Sampriti Bhattacharyya, H. Harry Asada
2014	J	`jnl`	Control-Configured Design of Spheroidal, Appendage-Free, Underwater Vehicles. IEEE Trans. Robotics Anirban Mazumdar, H. Harry Asada
2014	A*	`conf`	Design for precision multi-directional maneuverability: Egg-shaped underwater robots for infrastructure inspection. ICRA Anirban Mazumdar, Meng Yee Chuah, Michael S. Triantafyllou, H. Harry Asada
2014	A*	`conf`	Harmonic PZT poly-actuators. ICRA James Torres, Lluis Penalver-Aguila, H. Harry Asada
2014	J	`jnl`	High-Gain, High Transmissibility PZT Displacement Amplification Using a Rolling-Contact Buckling Mechanism and Preload Compensation Springs. IEEE Trans. Robotics James Torres, H. Harry Asada
2014	—	`conf`	Segmentation of densely populated cell nuclei from confocal image stacks using 3D non-parametric shape priors. EMBC Lee-Ling S. Ong, Mengmeng Wang, Justin Dauwels, H. Harry Asada
2014	A*	`conf`	Supernumerary Robotic Limbs for aircraft fuselage assembly: Body stabilization and guidance by bracing. ICRA Federico Parietti, H. Harry Asada
2013	—	`conf`	2D data-driven stalk cell prediction model based on tip-stalk cell interaction in angiogenesis. EMBC Mengmeng Wang, Lee-Ling Sharon Ong, Justin Dauwels, H. Harry Asada
2013	A*	`conf`	A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure. ICRA Anirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada
2013	J	`jnl`	Dynamic Modeling of Cell Migration and Spreading Behaviors on Fibronectin Coated Planar Substrates and Micropatterned Geometries. PLoS Comput. Biol. Min-Cheol Kim, Devin M. Neal, Roger D. Kamm, H. Harry Asada
2013	A*	`conf`	Dynamic analysis and state estimation for wearable robotic limbs subject to human-induced disturbances. ICRA Federico Parietti, H. Harry Asada
2013	—	`conf`	Engineered muscle systems having individually addressable distributed muscle actuators controlled by optical stimuli. EMBC Devin Neal, H. Harry Asada
2013	A*	`conf`	Maximizing output work of PZT stacks while gaining large displacement amplification. ICRA James Torres, Shinichiro Tsukahara, H. Harry Asada
2013	C	`conf`	Optogenetic control of live skeletal muscles: Non-invasive, wireless, and precise activation of muscle tissues. ACC Devin Neal, Mahmut Selman Sakar, H. Harry Asada
2012	A*	`conf`	A compact, maneuverable, underwater robot for direct inspection of nuclear power piping systems. ICRA Anirban Mazumdar, Martin Lozano, Aaron Fittery, H. Harry Asada
2012	A*	`conf`	A dual-use visible light approach to integrated communication and localization of underwater robots with application to non-destructive nuclear reactor inspection. ICRA Ian C. Rust, H. Harry Asada
2012	A*	`conf`	Controlling the locomotion of a separated inner robot from an outer robot using electropermanent magnets. ICRA Andrew D. Marchese, H. Harry Asada, Daniela Rus
2012	A	`conf`	Demonstration-based control of supernumerary robotic limbs. IROS Baldin Llorens-Bonilla, Federico Parietti, H. Harry Asada
2012	J	`jnl`	Subject-Specific Estimation of Central Aortic Blood Pressure Using an Individualized Transfer Function: A Preliminary Feasibility Study. IEEE Trans. Inf. Technol. Biomed. Jin-Oh Hahn, Andrew T. Reisner, Farouc A. Jaffer, H. Harry Asada
2012	C	`conf`	Valve-PWM control of integrated pump-valve propulsion systems for highly maneuverable underwater vehicles. ACC Anirban Mazumdar, H. Harry Asada
2011	A*	`conf`	A compact underwater vehicle using high-bandwidth coanda-effect valves for low speed precision maneuvering in cluttered environments. ICRA Anirban Mazumdar, H. Harry Asada
2011	A*	`conf`	Co-fabrication of live skeletal muscles as actuators in A millimeter scale mechanical system. ICRA Devin Neal, H. Harry Asada
2011	J	`jnl`	Design and Control of Paired Mobile Robots Working Across a Thin Plate With Application to Aircraft Manufacturing. IEEE Trans Autom. Sci. Eng. Manas Menon, H. Harry Asada
2011	J	`jnl`	Editorial: Special Issue on Stochasticity in Robotics and Bio-Systems. Int. J. Robotics Res. H. Harry Asada, Vijay Kumar
2011	A*	`conf`	Flip-and-slide magnetic paired robots for aircraft manufacturing and maintenance. ICRA Geoffrey Karasic, H. Harry Asada
2011	C	`conf`	Molecular signaling observer and predictor: A framework for closed-loop control of cell behaviors having long time delay. ACC H. Harry Asada, Yingxiao Wang, Michaëlle N. Mayalu
2011	—	`conf`	Simultaneous tracking of cell nuclei and conduit parameters from time-lapse confocal microscopy images. ISBI Lee-Ling S. Ong, Marcelo H. Ang, H. Harry Asada
2011	J	`jnl`	Stochastic modeling and identification of emergent behaviors of an Endothelial Cell population in angiogenic pattern formation. Int. J. Robotics Res. Levi Wood, Roger D. Kamm, H. Harry Asada
2011	A	`conf`	Stochastic tracking of migrating live cells interacting with 3D gel environment using augmented-space particle filters. IROS Lee-Ling S. Ong, Levi Wood, Marcelo H. Ang, H. Harry Asada
2011	A*	`conf`	The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass. ICRA Ian C. Rust, H. Harry Asada
2010	J	`jnl`	A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies. IEEE Trans. Robotics Thomas W. Secord, H. Harry Asada
2010	A*	`conf`	A multi-cell piezoelectric device for tunable resonance actuation and energy harvesting. ICRA Thomas W. Secord, Anirban Mazumdar, H. Harry Asada
2010	A*	`conf`	Continuous path tracing by a cable-suspended, under-actuated robot: The Winch-Bot. ICRA Daniel P. Cunningham, H. Harry Asada
2010	C	`conf`	Estimation of state-transition probability matrices in asynchronous population Markov processes. ACC Waleed A. Farahat, H. Harry Asada
2010	J	`jnl`	Identification of Multichannel Cardiovascular Dynamics Using Dual Laguerre Basis Functions for Noninvasive Cardiovascular Monitoring. IEEE Trans. Control. Syst. Technol. Jin-Oh Hahn, Devin B. McCombie, Andrew T. Reisner, Horacio M. Hojman, H. Harry Asada
2010	C	`conf`	Kalman filter for inhomogeneous population Markov chains with application to stochastic recruitment control of muscle actuators. ACC Lael Odhner, H. Harry Asada
2010	A*	`conf`	Phased-array piezoelectric actuators using a buckling mechanism having large displacement amplification and nonlinear stiffness. ICRA Devin Neal, H. Harry Asada
2010	A*	`conf`	Scaling up shape memory alloy actuators using a recruitment control architecture. ICRA Lael Odhner, H. Harry Asada
2010	—	`conf`	Tracking of cell population from time lapse and end point confocal microscopy images with multiple hypothesis Kalman smoothing filters. CVPR Workshops Lee-Ling S. Ong, Marcelo H. Ang Jr., H. Harry Asada
2009	J	`jnl`	A Stochastic Broadcast Feedback Approach to Regulating Cell Population Morphology for Microfluidic Angiogenesis Platforms. IEEE Trans. Biomed. Eng. Levi Benjamin Wood, Anusuya Das, Roger D. Kamm, H. Harry Asada
2009	A*	`conf`	A variable stiffness PZT cellular actuator with tunable resonance for cyclic motion tasks. ICRA Thomas W. Secord, H. Harry Asada
2009	A*	`conf`	Actuation and position estimation of a passive mobile end effector from across a thin wall for heavy-duty aircraft manufacturing. ICRA Manas Menon, H. Harry Asada
2009	—	`conf`	Cellular muscle actuators with variable resonant frequencies. Robotics: Science and Systems Thomas W. Secord, H. Harry Asada
2009	A	`conf`	Mag-Foot: A steel bridge inspection robot. IROS Anirban Mazumdar, H. Harry Asada
2009	J	`jnl`	Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly. IEEE Trans. Robotics Binayak Roy, H. Harry Asada
2009	A*	`conf`	Nonlinear, large-strain PZT actuators using controlled structural buckling. ICRA Devin Neal, H. Harry Asada
2009	C	`conf`	Stable control of distributed hysteretic systems using cellular broadcast stochastic feedback. ACC Levi Benjamin Wood, H. Harry Asada
2009	C	`conf`	Stochastic control of population dynamics using Kalman filtering with applications to artificial muscle recruitment. ACC Lael Odhner, H. Harry Asada
2009	A*	`conf`	The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation. ICRA Daniel P. Cunningham, H. Harry Asada
2008	A	`conf`	An optical external localization system and applications to indoor tracking. IROS Srujan Linga, Binayak Roy, H. Harry Asada, Daniela Rus
2008	C	`conf`	Broadcast feedback control of cell populations using stochastic Lyapunov functions with application to angiogenesis regulation. ACC Levi Benjamin Wood, Anusuya Das, H. Harry Asada
2008	A*	`conf`	Concurrent multi-link deployment of a gravity-assisted underactuated snake robot for aircraft assembly. ICRA Binayak Roy, H. Harry Asada
2008	J	`jnl`	Cuffless Blood Pressure Monitoring Using Hydrostatic Pressure Changes. IEEE Trans. Biomed. Eng. Phillip A. Shaltis, Andrew T. Reisner, H. Harry Asada
2008	A	`conf`	Design of a semi-passive heavy-duty mobile robotic system for automated assembly inside an aircraft body. IROS Manas Menon, H. Harry Asada
2008	A*	`conf`	Dynamic analysis of a high-bandwidth, large-strain, PZT cellular muscle actuator with layered strain amplification. ICRA Thomas W. Secord, Jun Ueda, H. Harry Asada
2008	C	`conf`	Physiologic-State-Adaptive Recovery of Aortic Blood Pressure and Flow Using Blind 2-Channel IIR Cardiovascular System Identification. ACC Jin-Oh Hahn, Andrew T. Reisner, H. Harry Asada
2008	A*	`conf`	Static lumped parameter model for nested PZT cellular actuators with exponential strain amplification mechanisms. ICRA Jun Ueda, Thomas W. Secord, H. Harry Asada
2008	—	`conf`	Stochastic Recruitment: A Limited-Feedback Control Policy for Large Ensemble Systems. Robotics: Science and Systems Lael Odhner, H. Harry Asada
2008	C	`conf`	Stochastic recruitment: Controlling state distribution among swarms of hybrid agents. ACC Lael Odhner, H. Harry Asada
2008	A*	`conf`	Synergistic design of a humanoid hand with hybrid DC motor - SMA array actuators embedded in the palm. ICRA Josiah Rosmarin, H. Harry Asada
2007	A*	`conf`	A Humanoid Foot with Polypyrrole Conducting Polymer Artificial Muscles for Energy Dissipation and Storage. ICRA Thomas W. Secord, H. Harry Asada
2007	A*	`conf`	Broadcast Feedback for Stochastic Cellular Actuator Systems Consisting of Nonuniform Actuator Units. ICRA Jun Ueda, Lael Odhner, H. Harry Asada
2007	C	`conf`	Broadcast Feedback of Large-Scale, Distributed Stochastic Control Systems Inspired by Biological Muscle Control. ACC Jun Ueda, Lael Odhner, H. Harry Asada
2007	J	`jnl`	Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological Muscle Control. Int. J. Robotics Res. Jun Ueda, Lael Odhner, H. Harry Asada
2007	—	`conf`	Closed Loop Control of a Gravity-assisted Underactuated Robot Arm with Application to Aircraft Wing-. Robotics: Science and Systems Binayak Roy, H. Harry Asada
2007	J	`jnl`	Conductive Fabric Garment for a Cable-Free Body Area Network. IEEE Pervasive Comput. Eric Wade, H. Harry Asada
2007	A	`conf`	Design of PZT cellular actuators with power-law strain amplification. IROS Jun Ueda, Thomas W. Secord, H. Harry Asada
2007	A	`conf`	Inter-finger coordination and postural synergies in robot hands via mechanical implementation of principal components analysis. IROS Christopher Y. Brown, H. Harry Asada
2007	A*	`conf`	SBC Hand: A Lightweight Robotic Hand with an SMA Actuator Array implementing C-segmentation. ICRA Kyu-Jin Cho, Josiah Rosmarin, H. Harry Asada
2007	C	`conf`	Sensitivity and Variance Analysis of Arterial Pressure Transfer Dynamics Estimated from Adaptive Multi-Channel System Identification. ACC Jin-Oh Hahn, Andrew T. Reisner, H. Harry Asada
2007	A*	`conf`	Stochastic Optimal Control Laws for Cellular Artificial Muscles. ICRA Lael Odhner, Jun Ueda, H. Harry Asada
2006	A*	`conf`	A Broadcast-probability Approach to the Control of vast DOF Cellular Actuators. ICRA Jun Ueda, Lael Odhner, H. Harry Asada
2006	—	`conf`	A Cellular Control Architecture for Compliant Artificial Muscles. EMBC Lael U. Odhner, Jun Ueda, H. Harry Asada
2006	C	`conf`	A blind approach to reconstruction of aortic blood pressure waveform using gray-box identification of multiple pressure transfer channels. ACC Jin-Oh Hahn, Andrew T. Reisner, H. Harry Asada
2006	—	`conf`	Adaptive blood pressure estimation from wearable PPG sensors using peripheral artery pulse wave velocity measurements and multi-channel blind identification of local arterial dynamics. EMBC Devin B. McCombie, Andrew T. Reisner, H. Harry Asada
2006	C	`conf`	DC Behavior of Conductive Fabric Networks with Application to Wearable Sensor Nodes. BSN Eric Wade, H. Harry Asada
2006	A*	`conf`	Design of Vast DOF Artificial Muscle Actuators with a Cellular Array Structure and its Application to a Five-fingered Robotic Hand. ICRA Kyu-Jin Cho, Josiah Rosmarin, H. Harry Asada
2006	—	`conf`	Dimensionality reduction of cellular actuator arrays using the concept of synergy for driving a robotic hand. EMBC Kyu-Jin Cho, H. Harry Asada
2006	A*	`conf`	Dynamics and Control of a Gravity-assisted Underactuated Robot Arm for Assembly Operations inside an Aircraft Wing-box. ICRA Binayak Roy, H. Harry Asada
2006	—	`conf`	Feedback Control of Stochastic Cellular Actuators. ISER Lael Odhner, Jun Ueda, H. Harry Asada
2006	C	`conf`	Iterative learning control of shape memory alloy actuators with thermoelectric temperature regulation for a multifunctional car seat. ACC Manas Menon, H. Harry Asada
2006	—	`conf`	Noise Cancellation Model Validation for Reduced Motion Artifact Wearable PPG Sensors Using MEMS Accelerometers. EMBC Levi Benjamin Wood, H. Harry Asada
2006	C	`conf`	Nonlinear observer design for a varying-order switched system with application to heat exchangers. ACC Tao Cheng, H. Harry Asada
2006	—	`conf`	Reconstruction of Central Aortic Pressure Waveform Using Adaptive Multi-Channel Identification. EMBC Jin-Oh Hahn, Andrew T. Reisner, Horacio M. Hojman, H. Harry Asada
2006	—	`conf`	Wearable, Cuff-less PPG-Based Blood Pressure Monitor with Novel Height Sensor. EMBC Phillip A. Shaltis, Andrew T. Reisner, H. Harry Asada
2005	A	`conf`	An underactuated robot with a hyper-articulated deployable arm working inside an aircraft wing-box. IROS Binayak Roy, H. Harry Asada
2005	A*	`conf`	Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box. ICRA Binayak Roy, H. Harry Asada
2005	A	`conf`	Electrostatic analysis and design of a cable-free body area network of sensor nodes using 2D communication over conductive fabric sheets. IROS Eric Wade, H. Harry Asada
2005	J	`jnl`	Laguerre-model blind system identification: cardiovascular dynamics estimated from multiple peripheral circulatory signals. IEEE Trans. Biomed. Eng. Devin B. McCombie, Andrew T. Reisner, H. Harry Asada
2005	A*	`conf`	Multi-Axis SMA Actuator Array for Driving Anthropomorphic Robot Hand. ICRA Kyu-Jin Cho, H. Harry Asada
2005	A*	`conf`	Multi-Segment State Coordination for Reducing Latency Time of Shape Memory Alloy Actuator Systems. ICRA Brian Selden, Kyu-Jin Cho, H. Harry Asada
2005	C	`conf`	Nonlinear observer design and experimental verification for heat exchangers during the start-up process. ACC Tao Cheng, Xiang-Dong He, H. Harry Asada
2005	C	`conf`	Reducing motion artifact in wearable bio-sensors using MEMS accelerometers for active noise cancellation. ACC Peter Gibbs, H. Harry Asada
2005	J	`jnl`	Repositioning of a rigid body with a flexible sheet and its application to an automated rehabilitation bed. IEEE Trans Autom. Sci. Eng. Binayak Roy, Arin Basmajian, H. Harry Asada
2005	C	`conf`	Segmentation theory for design of a multi-axis actuator array using segmented binary control. ACC Kyu-Jin Cho, H. Harry Asada
2004	A*	`conf`	A Vast DOF Robotic Car Seat using SMA Actuators with a Matrix Drive System. ICRA Kyu-Jin Cho, Binayak Roy, Stephen A. Mascaro, H. Harry Asada
2004	C	`conf`	Application of congestion control algorithms for the control of a large number of actuators with a matrix network drive system. ACC Kyu-Jin Cho, H. Harry Asada
2004	J	`jnl`	Measurement of finger posture and three-axis fingertip touch force using fingernail sensors. IEEE Trans. Robotics Autom. Stephen A. Mascaro, H. Harry Asada
2004	C	`conf`	Multi-channel blind system identification of the arterial network using a haemodynamic wave propagation model. ACC Devin B. McCombie, H. Harry Asada
2004	C	`conf`	Nonlinear observer design for two-phase flow heat exchangers of air conditioning systems. ACC Tao Cheng, Xiang-Dong He, H. Harry Asada
2004	A	`conf`	Segmentation architecture of multi-axis SMA array actuators inspired by biological muscles. IROS Kyu-Jin Cho, H. Harry Asada
2004	A*	`conf`	Segmented Binary Control of Shape Memory Alloy Actuator Systems using the Peltier Effect. ICRA Brian Selden, Kyu-Jin Cho, H. Harry Asada
2004	A*	`conf`	Wearable Conductive Fiber Sensors for Measuring Joint Movements. ICRA Peter Gibbs, H. Harry Asada
2004	A*	`conf`	Wearable DC Powerline Communication Network using Conductive Fabrics. ICRA Eric Wade, H. Harry Asada
2003	C	`conf`	A new feedback linearization approach to advanced control of multi-unit HVAC systems. ACC Xiang-Dong He, H. Harry Asada
2003	C	`conf`	A recursive frequency tracking method for passive telemetry sensors. ACC Kyu-Jin Cho, H. Harry Asada
2003	A	`conf`	Design and control of vast DOF wet SMA array actuators. IROS Stephen A. Mascaro, Kyu-Jin Cho, H. Harry Asada
2003	A*	`conf`	Flexible material handling system using smart-carriers and powerline communication. ICRA Eric Wade, H. Harry Asada
2003	A	`conf`	Kinematics and control of rigid body manipulation with a flexible sheet and its application to a rehabilitation bed. IROS Binayak Roy, H. Harry Asada
2003	A*	`conf`	Large-scale servo control using a matrix wire network for driving a large number of actuators. ICRA Kyu-Jin Cho, Samuel Au, H. Harry Asada
2003	A*	`conf`	Maneuvering a bed sheet for repositioning a bedridden patient. ICRA Binayak Roy, Arin Basmajian, H. Harry Asada
2003	A*	`conf`	Wet Shape Memory Alloy Actuators for Active Vasculated Robotic Flesh. ICRA Stephen A. Mascaro, H. Harry Asada
2002	C	`conf`	A source coding and modulation method for power saving and interference reduction in DS-CDMA sensor network systems. ACC Chun-Hung Liu, H. Harry Asada
2002	C	`conf`	Blind multi-channel identification of ARMA systems: a least-squares approach. ACC Yi Zhang, H. Harry Asada
2002	C	`conf`	Decentralized hierarchical control of multiple time scale systems. ACC Danielle C. Tarraf, H. Harry Asada
2002	A*	`conf`	Filter Design and Calibration for Fingernail Sensors to Measure Fingertip Forces and Finger Posture. ICRA Stephen A. Mascaro, H. Harry Asada
2002	C	`conf`	On the nature and stability of differential-algebraic systems. ACC Danielle C. Tarraf, H. Harry Asada
2002	A*	`conf`	One-Wire Smart Motors Communicating over the DC Power Bus-Line with Application to Endless Rotary Joints. ICRA Eric Wade, H. Harry Asada
2002	—	`conf`	Understanding of Fingernail-Bone Interaction and Fingertip Hemodynamics for Fingernail Sensor Design. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Stephen A. Mascaro, H. Harry Asada
2001	C	`conf`	A sliding observer for differential-algebraic (DAE) systems. ACC Danielle C. Tarraf, H. Harry Asada
2001	C	`conf`	Co-simulation of algebraically coupled dynamic subsystems. ACC Bei Gu, H. Harry Asada
2001	J	`jnl`	Design of surface wave active beds based on human tissue physiology. Adv. Robotics Joseph Spano, H. Harry Asada
2001	—	`conf`	Energy-optimal point-to-point wireless data communications. ICC Anthony C. Erin, H. Harry Asada
2001	J	`jnl`	Photoplethysmograph fingernail sensors for measuring finger forces without haptic obstruction. IEEE Trans. Robotics Autom. Stephen A. Mascaro, H. Harry Asada
2000	C	`conf`	Co-simulation of coupled dynamic subsystems: a differential-algebraic approach using singularly perturbed sliding manifolds. ACC Bei Gu, Brandon W. Gordon, H. Harry Asada
2000	J	`jnl`	Kinematic analysis and design of surface wave distributed actuators with application to a powered bed for bedridden patients. IEEE Trans. Robotics Autom. Joseph Spano, H. Harry Asada
1999	J	`jnl`	A perturbation/correlation method for force guided robot assembly. IEEE Trans. Robotics Autom. Sooyong Lee, H. Harry Asada
1999	A	`conf`	A semi-autonomous control architecture applied to robotic wheelchairs. IROS Karim A. Tahboub, H. Harry Asada
1999	A*	`conf`	Design and Control of an Active Mattress for Moving Bedridden Patients. ICRA William H. Finger, H. Harry Asada
1999	J	`jnl`	Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs. IEEE Trans. Robotics Autom. Masayoshi Wada, H. Harry Asada
1999	B	`conf`	Minimum energy coding for RF transmission. WCNC Cem Erin, H. Harry Asada, Kai-Yeung Siu
1999	A*	`conf`	Photo-Plethysmograph Nail Sensors for Measuring Finger Forces Without Haptic Obstruction: Modeling and Experimentation. ICRA Stephen A. Mascaro, Kuo-Wei Chang, H. Harry Asada
1999	A*	`conf`	Virtual Switch Human-Machine Interface Using Fingernail Touch Sensors. ICRA Stephen A. Mascaro, H. Harry Asada
1998	A*	`conf`	Docking Control of Holonomic Omnidirectional Vehicles with Applications to a Hybrid Wheelchair/Bed System. ICRA Stephen A. Mascaro, H. Harry Asada
1998	A*	`conf`	Hand-in-Glove Human-Machine Interface and Interactive Control: Task Process Modeling Using Dual Petri Nets. ICRA Stephen A. Mascaro, H. Harry Asada
1997	A	`conf`	Assembly automation using perturbation/correlation. IROS Sooyong Lee, H. Harry Asada
1993	J	`jnl`	Representation and learning of nonlinear compliance using neural nets. IEEE Trans. Robotics Autom. H. Harry Asada
1985	J	`jnl`	Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures. IEEE J. Robotics Autom. H. Harry Asada, André By

tables:
  redb_basic_properties:
    columns:
      - sha256
      - md5
      - sha1
      - parent_sha256
      - child_sha256
      - child_architecture
      - child_filetype
      - filesize
      - file_entropy
      - filetype
      - filetype_mime
      - filetype_magika
      - is_fat
      - first_seen
    column_types:
      sha256: String
      md5: String
      sha1: String
      parent_sha256: String
      child_sha256: Array(String)
      child_architecture: Array(String)
      child_filetype: Array(String)
      filesize: UInt64
      file_entropy: Float64
      filetype: String
      filetype_mime: String
      filetype_magika: String
      is_fat: Bool
      first_seen: DateTime64(3, 'UTC')
    search_fields:
      - parent_sha256
      - child_sha256
      - filesize
      - file_entropy
      - filetype
      - filetype_mime
      - filetype_magika
      - is_fat
      - first_seen

  redb_hashes:
    columns:
      - sha256
      - md5
      - sha1
      - ssdeep_hash
      - tlsh_hash
      - authentihash
      - imphash
      - impfuzzy
      - typerefhash
      - richhash
      - richpe_hash
      - richpv_hash
      - richpv_hash_sorted
      - import_hash
      - export_hash
      - section_hash
      - symbol_hash
      - dynamic_hash
      - macho_dylib_hash
      - macho_import_hash
      - macho_export_hash
      - macho_entitlement_hash
      - macho_symhash
      - permhash
    column_types:
      sha256: String
      md5: String
      sha1: String
      ssdeep_hash: String
      tlsh_hash: String
      authentihash: String
      imphash: String
      impfuzzy: String
      typerefhash: String
      richhash: String
      richpe_hash: String
      richpv_hash: String
      richpv_hash_sorted: String
      import_hash: String
      export_hash: String
      section_hash: String
      symbol_hash: String
      dynamic_hash: String
      macho_dylib_hash: String
      macho_import_hash: String
      macho_export_hash: String
      macho_entitlement_hash: String
      macho_symhash: String
      permhash: String
    search_fields:
      - ssdeep_hash
      - tlsh_hash
      - authentihash
      - imphash
      - impfuzzy
      - typerefhash
      - richhash
      - richpe_hash
      - richpv_hash
      - richpv_hash_sorted
      - import_hash
      - export_hash
      - section_hash
      - symbol_hash
      - dynamic_hash
      - macho_dylib_hash
      - macho_import_hash
      - macho_export_hash
      - macho_entitlement_hash
      - macho_symhash
      - permhash
      
  redb_capa:
    columns:
      - sha256
      - md5
      - sha1
      - capa_dump
      - attack_dump
      - mbc_dump
    column_types:
      sha256: String
      md5: String
      sha1: String
      capa_dump: JSON
      attack_dump: JSON
      mbc_dump: JSON

  redb_capa_capabilities:
    columns:
      - sha256
      - md5
      - sha1
      - namespace
      - capability
    column_types:
      sha256: String
      md5: String
      sha1: String
      namespace: String
      capability: String
    search_fields:
      - namespace
      - capability

  redb_capa_attack:
    columns:
      - sha256
      - md5
      - sha1
      - tactic
      - technique
      - technique_id
    column_types:
      sha256: String
      md5: String
      sha1: String
      tactic: String
      technique: String
      technique_id: String
    search_fields:
      - tactic
      - technique
      - technique_id

  redb_capa_mbc:
    columns:
      - sha256
      - md5
      - sha1
      - objective
      - behavior
      - behavior_id
    column_types:
      sha256: String
      md5: String
      sha1: String
      objective: String
      behavior: String
      behavior_id: String
    search_fields:
      - objective
      - behavior
      - behavior_id

  redb_malcontent:
    columns:
      - sha256
      - analysis_date
      - malcontent_version
      - malcontent_risk_score
      - malcontent_risk_level
      - malcontent_json
    column_types:
      sha256: String
      analysis_date: DateTime64(3, 'UTC')
      malcontent_version: LowCardinality(String)
      malcontent_risk_score: UInt8
      malcontent_risk_level: LowCardinality(String)
      malcontent_json: JSON

  redb_malcontent_behaviors_mv:
    columns:
      - sha256
      - analysis_date
      - malcontent_version
      - malcontent_risk_score
      - malcontent_risk_level
      - malcontent_behavior_id
      - malcontent_rule_name
      - malcontent_description
      - malcontent_behavior_risk_score
      - malcontent_behavior_risk_level
      - malcontent_rule_url
      - malcontent_match_strings
    column_types:
      sha256: String
      analysis_date: DateTime64(3, 'UTC')
      malcontent_version: LowCardinality(String)
      malcontent_risk_score: UInt8
      malcontent_risk_level: LowCardinality(String)
      malcontent_behavior_id: String
      malcontent_rule_name: String
      malcontent_description: String
      malcontent_behavior_risk_score: UInt8
      malcontent_behavior_risk_level: LowCardinality(String)
      malcontent_rule_url: String
      malcontent_match_strings: Array(String)
    search_fields:
      - malcontent_behavior_id
      - malcontent_rule_name
      - malcontent_description
      - malcontent_behavior_risk_score
      - malcontent_behavior_risk_level
      - malcontent_risk_score
      - malcontent_risk_level

  redb_malcontent_behavior_categories_mv:
    columns:
      - malcontent_behavior_category
      - malcontent_rule_name
      - malcontent_behavior_risk_level
      - sample_count
    column_types:
      malcontent_behavior_category: String
      malcontent_rule_name: String
      malcontent_behavior_risk_level: LowCardinality(String)
      sample_count: UInt64
    search_fields:
      - malcontent_behavior_category
      - malcontent_rule_name
      - malcontent_behavior_risk_level

  redb_die:
    columns:
      - sha256
      - md5
      - sha1
      - die_info
    column_types:
      sha256: String
      md5: String
      sha1: String
      die_info: JSON

  redb_die_mv:
    columns:
      - sha256
      - md5
      - sha1
      - compiler
      - compiler_full
      - format
      - format_full
      - installer
      - installer_full
      - joiner
      - joiner_full
      - language
      - language_full
      - library
      - library_full
      - linker
      - linker_full
      - operation_system
      - operation_system_full
      - packer
      - packer_full
      - protector
      - protector_full
      - sfx
      - sfx_full
      - sign_tool
      - sign_tool_full
      - stub
      - stub_full
      - tool
      - tool_full
      # - has_overlay
      # - has_resources
      - is_packed
    column_types:
      sha256: String
      md5: String
      sha1: String
      compiler: String
      compiler_full: String
      format: String
      format_full: String
      installer: String
      installer_full: String
      joiner: String
      joiner_full: String
      language: String
      language_full: String
      library: String
      library_full: String
      linker: String
      linker_full: String
      operation_system: String
      operation_system_full: String
      packer: String
      packer_full: String
      protector: String
      protector_full: String
      sfx: String
      sfx_full: String
      sign_tool: String
      sign_tool_full: String
      stub: String
      stub_full: String
      tool: String
      tool_full: String
      # has_overlay: Bool
      # has_resources: Bool
      is_packed: Bool
    search_fields:
      - compiler
      - compiler_full
      - format
      - format_full
      - installer
      - installer_full
      - joiner
      - joiner_full
      - language
      - language_full
      - library
      - library_full
      - linker
      - linker_full
      - operation_system
      - operation_system_full
      - packer
      - packer_full
      - protector
      - protector_full
      - sfx
      - sfx_full
      - sign_tool
      - sign_tool_full
      - stub
      - stub_full
      - tool
      - tool_full
      - is_packed

  redb_pe_features:
    columns:
      - sha256
      - md5
      - sha1
      - dos_header
      # - dos_header_raw
      - nt_header
      # - nt_header_raw
      - optional_header
      # - optional_header_raw
      - file_header
      # - file_header_raw
      - magic_raw
      - magic_hex
      - entry_point
      - entry_point_hex
      - major_linker_version
      - minor_linker_version
      - target_machine
      - architecture
      - compilation_time
      - compilation_time_utc
      - is_dotnet
      - is_signed
      - has_overlay
      - number_of_sections
      - number_of_imports
      - number_of_exports
      - number_of_resources
      - type
      - dbg_struct
      # - dbg_struct_raw
      - dbg_timestamp
      - dbg_timestamp_utc
      - dbg_pdb_info
      - dbg_pdb_info_raw
      - tls_struct
      # - tls_struct_raw
      - export_timestamp
      - export_timestamp_utc
      - export_library_name
      - export_library_name_raw
      - rich_header_dump
      - rich_header_parsed
      - version_info
      # - version_info_raw
      - export_symbols_list
      - tls_callbacks
      - tls_callbacks_hex
    column_types:
      sha256: String
      md5: String
      sha1: String
      dos_header: String
      nt_header: String
      optional_header: String
      file_header: String
      magic_raw: UInt16
      magic_hex: String
      entry_point: UInt32
      entry_point_hex: String
      major_linker_version: UInt8
      minor_linker_version: UInt8
      target_machine: String
      architecture: Enum8('x86' = 1, 'Itanium' = 2, 'x64' = 3)
      compilation_time: UInt64
      compilation_time_utc: DateTime
      is_dotnet: Bool
      is_signed: Bool
      has_overlay: Bool
      number_of_sections: UInt16
      number_of_imports: UInt16
      number_of_exports: UInt16
      number_of_resources: UInt16
      type: Enum8('DLL' = 1, 'EXE' = 2, 'DRIVER' = 3)
      dbg_struct: String
      dbg_timestamp: UInt64
      dbg_timestamp_utc: DateTime
      dbg_pdb_info: String
      dbg_pdb_info_raw: String
      tls_struct: String
      export_timestamp: UInt64
      export_timestamp_utc: DateTime
      export_library_name: String
      export_library_name_raw: String
      rich_header_dump: JSON
      rich_header_parsed: Array(String)
      version_info: Array(String)
      export_symbols_list: Array(String)
      tls_callbacks: Array(UInt64)
      tls_callbacks_hex: Array(String)
    search_fields:
      - dos_header
      # - dos_header_raw
      - nt_header
      # - nt_header_raw
      - optional_header
      # - optional_header_raw
      - file_header
      # - file_header_raw
      - magic_raw
      - magic_hex
      - entry_point
      - entry_point_hex
      - major_linker_version
      - minor_linker_version
      - target_machine
      - architecture
      - compilation_time
      - compilation_time_utc
      - is_dotnet
      - is_signed
      - has_overlay
      - number_of_sections
      - number_of_imports
      - number_of_exports
      - number_of_resources
      - type
      - dbg_struct
      # - dbg_struct_raw
      - dbg_timestamp
      - dbg_timestamp_utc
      - dbg_pdb_info
      - dbg_pdb_info_raw
      - tls_struct
      # - tls_struct_raw
      - export_timestamp
      - export_timestamp_utc
      - export_library_name
      - export_library_name_raw
      - rich_header_dump
      - rich_header_parsed
      - version_info
      # - version_info_raw
      - export_symbols_list
      - tls_callbacks
      - tls_callbacks_hex

  redb_pe_imports:
    columns:
      - sha256
      - md5
      - sha1
      - library_name
      - function_name
    column_types:
      sha256: String
      md5: String
      sha1: String
      library_name: String
      function_name: String
    search_fields:
      - library_name
      - function_name

  redb_pe_sections:
    columns:
      - sha256
      - md5
      - sha1
      - section_name
      - section_name_b64
      - section_entropy
      - section_sha256
      - section_md5
      - section_size
      - section_v_addr
      - section_v_addr_hex
      - section_v_size
      - section_pointer_to_raw_data
      - section_pointer_to_raw_data_hex
    column_types:
      sha256: String
      md5: String
      sha1: String
      section_name: String
      section_name_b64: String
      section_entropy: Float64
      section_sha256: String
      section_md5: String
      section_size: UInt64
      section_v_addr: UInt64
      section_v_addr_hex: String
      section_v_size: UInt64
      section_pointer_to_raw_data: UInt64
      section_pointer_to_raw_data_hex: String
    search_fields:
      - section_name
      - section_name_b64
      - section_entropy
      - section_sha256
      - section_md5
      - section_size
      - section_v_addr
      - section_v_addr_hex
      - section_v_size
      - section_pointer_to_raw_data
      - section_pointer_to_raw_data_hex

  redb_pe_resources:
    columns:
      - sha256
      - md5
      - sha1
      - resource_type
      - resource_entropy
      - resource_sha256
      - resource_filetype
      - resource_magika
      - resource_language
      - resource_sub_lang
      - resource_size
      - resource_rva
    column_types:
      sha256: String
      md5: String
      sha1: String
      resource_type: String
      resource_entropy: Float64
      resource_sha256: String
      resource_filetype: String
      resource_magika: String
      resource_language: String
      resource_sub_lang: String
      resource_size: UInt64
      resource_rva: UInt64
    search_fields:
      - resource_type
      - resource_entropy
      - resource_sha256
      - resource_filetype
      - resource_magika
      - resource_language
      - resource_sub_lang
      - resource_size
      - resource_rva

  redb_pe_overlays:
    columns:
      - sha256
      - md5
      - sha1
      - overlay_size
      - overlay_entropy
      - overlay_offset
      - overlay_mimetype
      - overlay_type
      - overlay_magika
      - overlay_sha256
      - overlay_sha1
      - overlay_md5
    column_types:
      sha256: String
      md5: String
      sha1: String
      overlay_size: UInt64
      overlay_entropy: Float64
      overlay_offset: UInt64
      overlay_mimetype: String
      overlay_type: String
      overlay_magika: String
      overlay_sha256: String
      overlay_sha1: String
      overlay_md5: String
    search_fields:
      - overlay_size
      - overlay_entropy
      - overlay_offset
      - overlay_mimetype
      - overlay_type
      - overlay_magika
      - overlay_sha256
      - overlay_sha1
      - overlay_md5

  redb_pe_signatures:
    columns:
      - sha256
      - md5
      - sha1
      - signature_verified
      - date_signed
      - number_of_certificates
      - spcSpOpusInfo_program_name
      - spcSpOpusInfo_more_info
    column_types:
      sha256: String
      md5: String
      sha1: String
      signature_verified: Bool
      date_signed: DateTime64
      number_of_certificates: UInt8
      spcSpOpusInfo_program_name: String
      spcSpOpusInfo_more_info: String
    search_fields:
      - signature_verified
      - date_signed
      - number_of_certificates
      - spcSpOpusInfo_program_name
      - spcSpOpusInfo_more_info

  redb_pe_certificates:
    columns:
      - sha256
      - md5
      - sha1
      - certificate_type
      - certificate_algorithm
      - certificate_issuer
      - certificate_subject
      - certificate_serial_number
      - certificate_serial_formatted
      - certificate_thumbprint
      - certificate_valid_from
      - certificate_valid_to
    column_types:
      sha256: String
      md5: String
      sha1: String
      certificate_type: Enum8('signer' = 1, 'countersigner' = 2, 'chain' = 3)
      certificate_algorithm: String
      certificate_issuer: String
      certificate_subject: String
      certificate_serial_number: String
      certificate_serial_formatted: String
      certificate_thumbprint: String
      certificate_valid_from: DateTime64
      certificate_valid_to: DateTime64
    search_fields:
      - certificate_type
      - certificate_algorithm
      - certificate_issuer
      - certificate_subject
      - certificate_serial_number
      - certificate_serial_formatted
      - certificate_thumbprint
      - certificate_valid_from
      - certificate_valid_to

  redb_pe_dotnet:
    columns:
      - sha256
      - md5
      - sha1
      - dotnet
      - dotnet_str
    column_types:
      sha256: String
      md5: String
      sha1: String
      dotnet: JSON
      dotnet_str: String
    search_fields:
      - dotnet

  redb_pe_inconsistency_tests:
    columns:
      - sha256
      - md5
      - sha1
      - test_rich_header_checksum
      - test_rich_header_duplicate
      - test_rich_header_linker
      - test_rich_header_import_count
      - test_dotnet_data_dir_hidden
      - test_dotnet_extra_data
      - test_dotnet_fake_types
      - test_dotnet_invalid_type_ref
      - test_dotnet_fake_datastreams
      - test_dotnet_extra_module_table
      - test_dotnet_extra_assembly_table
      - test_dotnet_invalid_strings_stream
      - test_dotnet_streams_mixed_case
      - test_dotnet_method_def_invalid_table
      - test_dotnet_max_len_exceeding_strings
    column_types:
      sha256: String
      md5: String
      sha1: String
      test_rich_header_checksum: Bool
      test_rich_header_duplicate: Bool
      test_rich_header_linker: Bool
      test_rich_header_import_count: Bool
      test_dotnet_data_dir_hidden: Bool
      test_dotnet_extra_data: Bool
      test_dotnet_fake_types: Bool
      test_dotnet_invalid_type_ref: Bool
      test_dotnet_fake_datastreams: Bool
      test_dotnet_extra_module_table: Bool
      test_dotnet_extra_assembly_table: Bool
      test_dotnet_invalid_strings_stream: Bool
      test_dotnet_streams_mixed_case: Bool
      test_dotnet_method_def_invalid_table: Bool
      test_dotnet_max_len_exceeding_strings: Bool
    search_fields:
      - test_rich_header_checksum
      - test_rich_header_duplicate
      - test_rich_header_linker
      - test_rich_header_import_count
      - test_dotnet_data_dir_hidden
      - test_dotnet_extra_data
      - test_dotnet_fake_types
      - test_dotnet_invalid_type_ref
      - test_dotnet_fake_datastreams
      - test_dotnet_extra_module_table
      - test_dotnet_extra_assembly_table
      - test_dotnet_invalid_strings_stream
      - test_dotnet_streams_mixed_case
      - test_dotnet_method_def_invalid_table
      - test_dotnet_max_len_exceeding_strings

  redb_extra_findings:
    columns:
      - sha256
      - md5
      - sha1
      - context
      - finding
    column_types:
      sha256: String
      md5: String
      sha1: String
      context: String
      finding: Array(JSON)
    search_fields:
      - context
      - finding

  # code_binja_decompiled_functions_references:
  #   columns:
  #     - sha256
  #     - md5
  #     - sha1
  #     - decompiled_function_hash
  #     - decompiled_function_name
  #     - decompiled_function_prototype
  #     - decompiled_function_address
  #   column_types:
  #     sha256: String
  #     md5: String
  #     sha1: String
  #     decompiled_function_hash: String
  #     decompiled_function_name: String
  #     decompiled_function_prototype: String
  #     decompiled_function_address: UInt64
  #   search_fields:
  #     - decompiled_function_hash
  #     - decompiled_function_name
  #     - decompiled_function_address

  # code_binja_decompiled_functions_content:
  #   columns:
  #     - decompiled_function_hash
  #     - decompiled_function
  #     - decompiled_function_lower
  #     - function_type
  #   column_types:
  #     decompiled_function_hash: String
  #     decompiled_function: String
  #     decompiled_function_lower: String
  #     function_type: Enum8('USER'=1, 'LIBRARY'=2, 'THUNK'=3, 'EXTERNAL'=4, 'UNKNOWN'=5)
  #   search_fields:
  #     - decompiled_function_hash
  #     - decompiled_function

  # code_binja_disassembled_functions_content:
  #   columns:
  #     - disassembled_function_hash
  #     - disassembled_function
  #     - fully_normalized_disassembly
  #     - api_normalized_disassembly
  #     - category_normalized_disassembly
  #   column_types:
  #     disassembled_function_hash: String
  #     disassembled_function: String
  #     fully_normalized_disassembly: String
  #     api_normalized_disassembly: String
  #     category_normalized_disassembly: String
  #   search_fields:
  #     - disassembled_function_hash
  #     - disassembled_function
  #     - fully_normalized_disassembly
  #     - api_normalized_disassembly
  #     - category_normalized_disassembly

  # code_binja_disassembled_functions_references:
  #   columns:
  #     - sha256
  #     - sha1
  #     - md5
  #     - disassembled_function_hash
  #     - fully_normalized_disassembly_hash
  #     - api_normalized_disassembly_hash
  #     - category_normalized_disassembly_hash
  #     - disassembled_function_name
  #     - disassembled_function_address
  #     - ssdeep_disassembly
  #     - tlsh_disassembly
  #     - ssdeep_fully_normalized
  #     - tlsh_fully_normalized
  #   column_types:
  #     sha256: String
  #     sha1: String
  #     md5: String
  #     disassembled_function_hash: String
  #     fully_normalized_disassembly_hash: String
  #     api_normalized_disassembly_hash: String
  #     category_normalized_disassembly_hash: String
  #     disassembled_function_name: String
  #     disassembled_function_address: UInt64
  #     ssdeep_disassembly: String
  #     tlsh_disassembly: String
  #     ssdeep_fully_normalized: String
  #     tlsh_fully_normalized: String
  #   search_fields:
  #     - disassembled_function_hash
  #     - fully_normalized_disassembly_hash
  #     - api_normalized_disassembly_hash
  #     - category_normalized_disassembly_hash
  #     - disassembled_function_name
  #     - disassembled_function_address
  #     - ssdeep_disassembly
  #     - tlsh_disassembly
  #     - ssdeep_fully_normalized
  #     - tlsh_fully_normalized

  code_binja_decompiled_functions_references:
    columns:
      - sha256
      - md5
      - sha1
      - decompiled_function_hash
      - disassembled_function_hash
      - decompiled_function_name
      - decompiled_function_prototype
      - decompiled_function_address
      - functions_caller
      - functions_call
    column_types:
      sha256: String
      md5: String
      sha1: String
      decompiled_function_hash: String
      disassembled_function_hash: String
      decompiled_function_name: String
      decompiled_function_prototype: String
      decompiled_function_address: UInt64
      functions_caller: Array(String)
      functions_call: Array(String)
    search_fields:
      - decompiled_function_name
      - decompiled_function_address

  code_binja_decompiled_functions_content:
    columns:
      - decompiled_function_hash
      - decompiled_function
      - function_type
      - flattened_score
      - mba_score
    column_types:
      decompiled_function_hash: String
      decompiled_function: String
      function_type: Enum8('USER'=1, 'LIBRARY'=2, 'THUNK'=3, 'EXTERNAL'=4, 'UNKNOWN'=5)
      flattened_score: Float64
      mba_score: Float64
    search_fields:
      - decompiled_function_hash
      - decompiled_function
      - flattened_score
      - mba_score

  code_binja_disassembled_functions_content:
    columns:
      - disassembled_function_hash
      - disassembled_function
      - disassembled_function_no_addresses
      - function_type
      - instructions_count
      - instructions_types
      - control_flow_count
      - memory_access_pattern
      - register_usage
      - data_references_count
      - opcode_frequency_vector
      - api_calls_vector
      - max_block_size
      - num_calls
      - stack_size
      - instruction_type_ratios
      - instruction_embedding
    column_types:
      disassembled_function_hash: String
      disassembled_function: String
      disassembled_function_no_addresses: String
      function_type: Enum8('USER'=1, 'LIBRARY'=2, 'THUNK'=3, 'EXTERNAL'=4, 'UNKNOWN'=5)
      instructions_count: UInt32
      instructions_types: Array(String)
      control_flow_count: UInt32
      memory_access_pattern: Array(String)
      register_usage: Array(String)
      data_references_count: UInt32
      opcode_frequency_vector: Array(Float32)
      api_calls_vector: Array(Float32)
      max_block_size: UInt32
      num_calls: UInt32
      stack_size: Int32
      instruction_type_ratios: Array(Float32)
      instruction_embedding: Array(Float32)
    search_fields:
      - disassembled_function_hash
      - disassembled_function

  code_binja_disassembled_functions_references:
    columns:
      - sha256
      - sha1
      - md5
      - disassembled_function_hash
      - decompiled_function_hash
      - disassembled_function_name
      - disassembled_function_address
      - tlsh_disassembly
      - tlsh_llil
    column_types:
      sha256: String
      sha1: String
      md5: String
      disassembled_function_hash: String
      decompiled_function_hash: String
      disassembled_function_name: String
      disassembled_function_address: UInt64
      tlsh_disassembly: String
      tlsh_llil: String
    search_fields:
      - disassembled_function_name
      - disassembled_function_address
      - tlsh_disassembly
      - tlsh_normalized

  # APK Code Analysis Tables (decompiled Java + smali disassembly)
  code_apk_decompiled_methods_references:
    columns:
      - sha256
      - decompiled_method_hash
      - smali_method_hash
      - decompiled_class_name
      - decompiled_method_name
      - decompiled_method_signature
      - decompiled_method_prototype
      - functions_caller
      - functions_call
      - analysis_date
    column_types:
      sha256: FixedString(64)
      decompiled_method_hash: FixedString(64)
      smali_method_hash: Nullable(FixedString(64))
      decompiled_class_name: LowCardinality(String)
      decompiled_method_name: LowCardinality(String)
      decompiled_method_signature: String
      decompiled_method_prototype: String
      functions_caller: Array(String)
      functions_call: Array(String)
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - decompiled_class_name
      - decompiled_method_name
      - decompiled_method_prototype

  code_apk_decompiled_methods_content:
    columns:
      - decompiled_method_hash
      - decompiled_method
      - decompiled_method_type
      - decompiled_has_string_encryption
      - decompiled_has_reflection_calls
      - decompiled_excessive_goto_count
      - analysis_date
    column_types:
      decompiled_method_hash: FixedString(64)
      decompiled_method: String
      decompiled_method_type: Enum8('USER'=1, 'LIBRARY'=2, 'UNKNOWN'=5)
      decompiled_has_string_encryption: UInt8
      decompiled_has_reflection_calls: UInt8
      decompiled_excessive_goto_count: UInt8
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - decompiled_method_hash
      - decompiled_method
      - decompiled_method_type

  code_apk_smali_methods_references:
    columns:
      - sha256
      - smali_method_hash
      - decompiled_method_hash
      - smali_class_name
      - smali_method_name
      - smali_method_signature
      - analysis_date
    column_types:
      sha256: FixedString(64)
      smali_method_hash: FixedString(64)
      decompiled_method_hash: Nullable(FixedString(64))
      smali_class_name: LowCardinality(String)
      smali_method_name: LowCardinality(String)
      smali_method_signature: String
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - smali_class_name
      - smali_method_name

  code_apk_smali_methods_content:
    columns:
      - smali_method_hash
      - smali_method
      - smali_method_type
      - smali_instructions_count
      - smali_register_count
      - smali_has_string_encryption
      - smali_has_reflection_calls
      - smali_excessive_goto_count
      - smali_flattened_score
      - smali_mba_score
      - analysis_date
    column_types:
      smali_method_hash: FixedString(64)
      smali_method: String
      smali_method_type: Enum8('USER'=1, 'LIBRARY'=2, 'UNKNOWN'=5)
      smali_instructions_count: UInt32
      smali_register_count: UInt16
      smali_has_string_encryption: UInt8
      smali_has_reflection_calls: UInt8
      smali_excessive_goto_count: UInt8
      smali_flattened_score: Float64
      smali_mba_score: Float64
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - smali_method_hash
      - smali_method
      - smali_method_type
      - smali_instructions_count
      - smali_flattened_score
      - smali_mba_score

  code_apk_method_similarity_metrics:
    columns:
      - smali_method_hash
      - ssdeep_smali
      - tlsh_smali
      - ssdeep_smali_normalized
      - tlsh_smali_normalized
      - minhash
      - analysis_date
    column_types:
      smali_method_hash: FixedString(64)
      ssdeep_smali: Nullable(String)
      tlsh_smali: Nullable(FixedString(72))
      ssdeep_smali_normalized: Nullable(String)
      tlsh_smali_normalized: Nullable(FixedString(72))
      minhash: Array(UInt8)
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - ssdeep_smali
      - tlsh_smali
      - ssdeep_smali_normalized
      - tlsh_smali_normalized

  code_apk_cfg_methods:
    columns:
      - smali_method_hash
      - cfg_topology_hash
      - block_count
      - edge_count
      - cfg_instructions_count
      - call_count
      - cyclomatic_complexity
      - loop_count
      - max_depth
      - max_fan_out
      - md_index_topdown
      - md_index_bottomup
      - prime_product_smali
      - cfg_feature_tlsh
      - wl_minhash
      - bb_features
      - cfg_adjacency
      - analysis_date
    column_types:
      smali_method_hash: FixedString(64)
      cfg_topology_hash: FixedString(16)
      block_count: UInt16
      edge_count: UInt16
      cfg_instructions_count: UInt32
      call_count: UInt16
      cyclomatic_complexity: UInt16
      loop_count: UInt16
      max_depth: UInt16
      max_fan_out: UInt16
      md_index_topdown: UInt64
      md_index_bottomup: UInt64
      prime_product_smali: UInt64
      cfg_feature_tlsh: Nullable(FixedString(72))
      wl_minhash: Array(UInt8)
      bb_features: Array(Array(UInt16))
      cfg_adjacency: Array(UInt32)
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - cfg_topology_hash
      - block_count
      - edge_count
      - cfg_instructions_count
      - cyclomatic_complexity
      - loop_count

  code_apk_analysis_errors:
    columns:
      - sha256
      - class_name
      - method_name
      - error_location
      - error_message
      - error_type
      - error_hash
      - status
      - analysis_date
    column_types:
      sha256: FixedString(64)
      class_name: Nullable(String)
      method_name: Nullable(String)
      error_location: LowCardinality(String)
      error_message: Nullable(String)
      error_type: Nullable(String)
      error_hash: FixedString(32)
      status: Enum8('new'=1, 'investigating'=2, 'fixed'=3, 'wontfix'=4)
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - error_location
      - error_type
      - status

  # Strings table for string:"value" search functionality
  code_binja_strings_by_binary:
    columns:
      - sha256
      - string
      - string_raw
      - string_encoding
      - string_offset
      - string_length
      - string_raw_length
      - string_entropy
    column_types:
      sha256: FixedString(64)
      string: String
      string_raw: String
      string_encoding: String
      string_offset: UInt64
      string_length: UInt32
      string_raw_length: UInt32
      string_entropy: Float32
    search_fields:
      - string
      - string_encoding
      - string_length
      - string_entropy

  # Generic text-content table for any text-based artefact (JS today;
  # PowerShell, Python, plain text, email bodies, extracted PDF/Office text in
  # the future). One row per sha256. content_type carries the magika label so
  # callers can filter without joining to redb_basic_properties.
  code_text_content:
    columns:
      - sha256
      - content_type
      - text_raw
      - text_normalized
      - normalizer_used
      - analysis_date
    column_types:
      sha256: FixedString(64)
      content_type: LowCardinality(String)
      text_raw: String CODEC(ZSTD(3))
      text_normalized: Nullable(String) CODEC(ZSTD(3))
      normalizer_used: Nullable(String)
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - content_type
      - normalizer_used

  # ELF Binary Tables
  redb_elf_features:
    columns:
      - sha256
      - md5
      - sha1
      - ei_class
      - ei_data
      - ei_version
      - ei_osabi
      - ei_abiversion
      - e_type
      - e_machine
      - e_version
      - e_entry
      - e_flags
      - ei_class_str
      - ei_data_str
      - ei_osabi_str
      - e_type_str
      - e_machine_str
      - is_64bit
      - is_stripped
      - is_pie
      - has_canary
      - has_nx
      - has_relro
      - has_fortify
      - number_of_segments
      - number_of_sections
      - number_of_symbols
      - number_of_dynamic_symbols
      - number_of_relocations
      - number_of_dependencies
      - build_id
      - gnu_hash_present
      - has_debug_info
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      ei_class: UInt8
      ei_data: UInt8
      ei_version: UInt8
      ei_osabi: UInt8
      ei_abiversion: UInt8
      e_type: UInt8
      e_machine: UInt16
      e_version: UInt32
      e_entry: UInt64
      e_flags: UInt32
      ei_class_str: String
      ei_data_str: String
      ei_osabi_str: String
      e_type_str: String
      e_machine_str: String
      is_64bit: UInt8
      is_stripped: UInt8
      is_pie: UInt8
      has_canary: UInt8
      has_nx: UInt8
      has_relro: UInt8
      has_fortify: UInt8
      number_of_segments: UInt16
      number_of_sections: UInt16
      number_of_symbols: UInt32
      number_of_dynamic_symbols: UInt32
      number_of_relocations: UInt32
      number_of_dependencies: UInt16
      build_id: String
      gnu_hash_present: UInt8
      has_debug_info: UInt8
    search_fields:
      - ei_class_str
      - ei_data_str
      - ei_osabi_str
      - e_type_str
      - e_machine_str
      - e_entry
      - is_64bit
      - is_stripped
      - is_pie
      - has_canary
      - has_nx
      - has_relro
      - has_fortify
      - number_of_segments
      - number_of_sections
      - number_of_symbols
      - number_of_dynamic_symbols
      - number_of_relocations
      - number_of_dependencies
      - build_id
      - gnu_hash_present
      - has_debug_info

  redb_elf_segments:
    columns:
      - sha256
      - md5
      - sha1
      - segment_type
      - segment_type_str
      - segment_flags
      - segment_flags_str
      - segment_offset
      - segment_offset_hex
      - segment_vaddr
      - segment_paddr
      - segment_filesz
      - segment_memsz
      - segment_align
      - segment_entropy
      - segment_sha256
      - segment_md5
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      segment_type: UInt8
      segment_type_str: String
      segment_flags: UInt32
      segment_flags_str: Array(String)
      segment_offset: UInt64
      segment_offset_hex: String
      segment_vaddr: UInt64
      segment_paddr: UInt64
      segment_filesz: UInt64
      segment_memsz: UInt64
      segment_align: UInt64
      segment_entropy: Float64
      segment_sha256: FixedString(64)
      segment_md5: FixedString(32)
    search_fields:
      - segment_type_str
      - segment_offset
      - segment_vaddr
      - segment_filesz
      - segment_memsz
      - segment_entropy
      - segment_sha256
      - segment_md5

  redb_elf_sections:
    columns:
      - sha256
      - md5
      - sha1
      - section_name
      - section_type
      - section_type_str
      - section_flags
      - section_flags_str
      - section_addr
      - section_offset
      - section_offset_hex
      - section_size
      - section_link
      - section_info
      - section_addralign
      - section_entsize
      - section_entropy
      - section_sha256
      - section_md5
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      section_name: String
      section_type: UInt8
      section_type_str: String
      section_flags: UInt64
      section_flags_str: Array(String)
      section_addr: UInt64
      section_offset: UInt64
      section_offset_hex: String
      section_size: UInt64
      section_link: UInt32
      section_info: UInt32
      section_addralign: UInt64
      section_entsize: UInt64
      section_entropy: Float64
      section_sha256: FixedString(64)
      section_md5: FixedString(32)
    search_fields:
      - section_name
      - section_type_str
      - section_addr
      - section_offset
      - section_size
      - section_entropy
      - section_sha256
      - section_md5

  redb_elf_dependencies:
    columns:
      - sha256
      - md5
      - sha1
      - dependency_name
      - dependency_type
      - dependency_type_str
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      dependency_name: String
      dependency_type: UInt8
      dependency_type_str: String
    search_fields:
      - dependency_name
      - dependency_type_str

  redb_elf_symbols:
    columns:
      - sha256
      - md5
      - sha1
      - symbol_name
      - symbol_value
      - symbol_size
      - symbol_type
      - symbol_type_str
      - symbol_bind
      - symbol_bind_str
      - symbol_visibility
      - symbol_visibility_str
      - symbol_section_index
      - symbol_section_index_str
      - is_dynamic
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      symbol_name: String
      symbol_value: UInt64
      symbol_size: UInt64
      symbol_type: UInt8
      symbol_type_str: String
      symbol_bind: UInt8
      symbol_bind_str: String
      symbol_visibility: UInt8
      symbol_visibility_str: String
      symbol_section_index: UInt16
      symbol_section_index_str: String
      is_dynamic: UInt8
    search_fields:
      - symbol_name
      - symbol_type_str
      - symbol_bind_str
      - symbol_visibility_str
      - is_dynamic

  redb_elf_imports:
    columns:
      - sha256
      - md5
      - sha1
      - elf_imports_total
      - elf_import_libraries
      - elf_import_functions
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      elf_imports_total: UInt32
      elf_import_libraries: Array(String)
      elf_import_functions: Array(String)
    search_fields:
      - elf_imports_total
      - elf_import_libraries
      - elf_import_functions

  redb_elf_exports:
    columns:
      - sha256
      - md5
      - sha1
      - elf_exports_total
      - elf_export_functions
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      elf_exports_total: UInt32
      elf_export_functions: Array(String)
    search_fields:
      - elf_exports_total
      - elf_export_functions

  redb_elf_relocations:
    columns:
      - sha256
      - md5
      - sha1
      - relocation_offset
      - relocation_offset_hex
      - relocation_type
      - relocation_type_str
      - relocation_symbol_index
      - relocation_symbol_name
      - relocation_addend
      - relocation_section
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      relocation_offset: UInt64
      relocation_offset_hex: String
      relocation_type: UInt32
      relocation_type_str: String
      relocation_symbol_index: UInt32
      relocation_symbol_name: String
      relocation_addend: Int64
      relocation_section: String
    search_fields:
      - relocation_type_str
      - relocation_symbol_name
      - relocation_section

  redb_elf_notes:
    columns:
      - sha256
      - md5
      - sha1
      - note_name
      - note_type
      - note_type_str
      - note_desc
      - note_section
    column_types:
      sha256: FixedString(64)
      md5: FixedString(32)
      sha1: FixedString(40)
      note_name: String
      note_type: UInt32
      note_type_str: String
      note_desc: String
      note_section: String
    search_fields:
      - note_name
      - note_type_str
      - note_section

  # Mach-O Binary Tables
  redb_macho_features:
    columns:
      - sha256
      - architecture
      - magic
      - cputype
      - cpusubtype
      - filetype
      - ncmds
      - sizeofcmds
      - flags
      - magic_str
      - cputype_str
      - cpusubtype_str
      - filetype_str
      - flags_str
      - is_64bit
      - is_signed
      - entry_point
      - uuid
      - version_info
      - version_info_str
      - load_commands_set
      - number_of_segments
      - number_of_dylibs
      - number_of_imports
      - number_of_exports
    column_types:
      sha256: FixedString(64)
      architecture: Nullable(UInt32)
      magic: UInt32
      cputype: UInt32
      cpusubtype: UInt32
      filetype: UInt32
      ncmds: UInt32
      sizeofcmds: UInt32
      flags: UInt32
      magic_str: String
      cputype_str: String
      cpusubtype_str: String
      filetype_str: String
      flags_str: Array(String)
      is_64bit: UInt8
      is_signed: UInt8
      entry_point: Nullable(UInt64)
      uuid: Nullable(String)
      version_info: JSON
      version_info_str: JSON
      load_commands_set: Array(String)
      number_of_segments: UInt32
      number_of_dylibs: UInt32
      number_of_imports: UInt32
      number_of_exports: UInt32
    search_fields:
      - magic_str
      - cputype_str
      - cpusubtype_str
      - filetype_str
      - is_64bit
      - is_signed
      - uuid
      - number_of_segments
      - number_of_dylibs
      - number_of_imports
      - number_of_exports
      - load_commands_set

  redb_macho_signatures:
    columns:
      - sha256
      - signing_type
      - has_signature
      - number_of_certificates
      - cd_identifier
      - cd_team_id
      - cd_flags
      - cd_hash
      - has_hardened_runtime
      - has_library_validation
      - date_signed
    column_types:
      sha256: FixedString(64)
      signing_type: String
      has_signature: UInt8
      number_of_certificates: UInt32
      cd_identifier: Nullable(String)
      cd_team_id: Nullable(String)
      cd_flags: Nullable(UInt32)
      cd_hash: Nullable(String)
      has_hardened_runtime: UInt8
      has_library_validation: UInt8
      date_signed: Nullable(DateTime64)
    search_fields:
      - signing_type
      - has_signature
      - cd_identifier
      - cd_team_id
      - cd_hash
      - has_hardened_runtime
      - has_library_validation
      - date_signed

  redb_macho_certificates:
    columns:
      - sha256
      - certificate_type
      - certificate_algorithm
      - certificate_issuer
      - certificate_subject
      - certificate_serial_number
      - certificate_thumbprint
      - certificate_valid_from
      - certificate_valid_to
    column_types:
      sha256: FixedString(64)
      certificate_type: String
      certificate_algorithm: String
      certificate_issuer: String
      certificate_subject: String
      certificate_serial_number: String
      certificate_thumbprint: FixedString(40)
      certificate_valid_from: DateTime64
      certificate_valid_to: DateTime64
    search_fields:
      - certificate_type
      - certificate_algorithm
      - certificate_issuer
      - certificate_subject
      - certificate_serial_number
      - certificate_thumbprint
      - certificate_valid_from
      - certificate_valid_to

  redb_macho_entitlements:
    columns:
      - sha256
      - entitlement_key
      - entitlement_type
      - value_bool
      - value_string
      - value_array
    column_types:
      sha256: FixedString(64)
      entitlement_key: String
      entitlement_type: String
      value_bool: Nullable(UInt8)
      value_string: Nullable(String)
      value_array: Array(String)
    search_fields:
      - entitlement_key
      - entitlement_type

  redb_macho_segments:
    columns:
      - sha256
      - segment_name
      - segment_vaddr
      - segment_vsize
      - segment_offset
      - segment_size
      - segment_max_vm_protection
      - segment_initial_vm_protection
      - segment_nsects
      - segment_flags
      - segment_entropy
      - segment_sha256
    column_types:
      sha256: FixedString(64)
      segment_name: String
      segment_vaddr: UInt64
      segment_vsize: UInt64
      segment_offset: UInt64
      segment_size: UInt64
      segment_max_vm_protection: UInt32
      segment_initial_vm_protection: UInt32
      segment_nsects: UInt32
      segment_flags: UInt32
      segment_entropy: Float64
      segment_sha256: FixedString(64)
    search_fields:
      - segment_name
      - segment_vaddr
      - segment_size
      - segment_entropy
      - segment_sha256

  redb_macho_dylibs:
    columns:
      - sha256
      - dylib_name
      - dylib_timestamp
      - dylib_current_version
      - dylib_compat_version
    column_types:
      sha256: FixedString(64)
      dylib_name: String
      dylib_timestamp: UInt32
      dylib_current_version: UInt32
      dylib_compat_version: UInt32
    search_fields:
      - dylib_name

  redb_macho_imports:
    columns:
      - sha256
      - library_name
      - function_name
      - import_source
    column_types:
      sha256: FixedString(64)
      library_name: String
      function_name: String
      import_source: Nullable(String)
    search_fields:
      - library_name
      - function_name
      - import_source

  redb_macho_exports:
    columns:
      - sha256
      - macho_exports_total
      - macho_export_symbols
    column_types:
      sha256: FixedString(64)
      macho_exports_total: UInt32
      macho_export_symbols: Array(String)
    search_fields:
      - macho_exports_total
      - macho_export_symbols

  yara_matches:
    columns:
      - sha256
      - rule_id
      - rule_name
      - scan_date
      - match_strings
    column_types:
      sha256: FixedString(32)
      rule_id: UInt64
      rule_name: String
      scan_date: DateTime64
      match_strings: Array(String)
    search_fields:
      - rule_name

  # IOC (Indicators of Compromise) table
  # Extracted from decompiled functions and strings
  # Uses xxHash64 for fast IOC value lookups
  # Note: Only sha256 stored - md5/sha1 lookups handled by search layer translation
  redb_iocs:
    columns:
      - sha256
      - ioc_type
      - ioc_value
      - ioc_hash
      - source_type
      - source_identifier
      - extracted_at
    column_types:
      sha256: FixedString(64)
      ioc_type: Enum8('ipv4'=1, 'ipv6'=2, 'fqdn'=3, 'url'=4, 'email'=5, 'server'=6, 'hash_md5'=10, 'hash_sha1'=11, 'hash_sha256'=12, 'cve'=20, 'cwe'=21, 'cpe'=22, 'crypto_btc'=30, 'crypto_eth'=31, 'crypto_xrp'=32, 'crypto_bch'=33, 'crypto_ada'=34, 'crypto_substrate'=35, 'path_linux'=40, 'path_windows'=41, 'registry_key'=42, 'onion'=50)
      ioc_value: String
      ioc_hash: UInt64
      source_type: Enum8('decompiled_function'=1, 'disassembled_function'=2, 'string'=3, 'text_raw'=4, 'text_normalized'=5)
      source_identifier: String
      extracted_at: DateTime64(3)
    search_fields:
      # IOC type-specific search fields (ioc_ipv4, ioc_url, etc.)
      - ipv4
      - ipv6
      - fqdn
      - url
      - email
      - server
      - hash_md5
      - hash_sha1
      - hash_sha256
      - cve
      - cwe
      - cpe
      - crypto_btc
      - crypto_eth
      - crypto_xrp
      - crypto_bch
      - crypto_ada
      - crypto_substrate
      - path_linux
      - path_windows
      - onion

  redb_apk_features:
    columns:
      - sha256
      - package_name
      - app_name
      - version_code
      - version_name
      - min_sdk_version
      - target_sdk_version
      - compile_sdk_version
      - main_activity
      - is_debuggable
      - allow_backup
      - uses_cleartext_traffic
      - supported_abis
      - dex_count
      - total_dex_size
      - total_file_count
      - has_native_code
      - has_assets
      - uses_libraries
      - earliest_content_modification
      - latest_content_modification
      - contains_embedded_apk
      - analysis_date
    column_types:
      sha256: String
      package_name: Nullable(String)
      app_name: Nullable(String)
      version_code: Nullable(UInt32)
      version_name: Nullable(String)
      min_sdk_version: UInt16
      target_sdk_version: UInt16
      compile_sdk_version: UInt16
      main_activity: String
      is_debuggable: UInt8
      allow_backup: UInt8
      uses_cleartext_traffic: UInt8
      supported_abis: Array(String)
      dex_count: UInt16
      total_dex_size: UInt64
      total_file_count: UInt32
      has_native_code: UInt8
      has_assets: UInt8
      uses_libraries: Array(String)
      earliest_content_modification: String
      latest_content_modification: String
      contains_embedded_apk: UInt8
    search_fields:
      - package_name
      - app_name
      - version_code
      - version_name
      - min_sdk_version
      - target_sdk_version
      - is_debuggable
      - has_native_code
      - contains_embedded_apk

  redb_apk_components:
    columns:
      - sha256
      - component_type
      - class_name
      - is_exported
      - intent_actions
      - intent_categories
      - analysis_date
    column_types:
      sha256: String
      component_type: String
      class_name: String
      is_exported: UInt8
      intent_actions: Array(String)
      intent_categories: Array(String)

  redb_apk_manifest:
    columns:
      - sha256
      - activity_count
      - service_count
      - receiver_count
      - provider_count
      - intent_filters_by_action
      - intent_filters_by_category
      - uses_features
      - manifest_xml
      - analysis_date
    column_types:
      sha256: String
      activity_count: UInt16
      service_count: UInt16
      receiver_count: UInt16
      provider_count: UInt16
      intent_filters_by_action: Array(String)
      intent_filters_by_category: Array(String)
      uses_features: Array(String)
      manifest_xml: String

  redb_apk_permissions:
    columns:
      - sha256
      - permission_name
      - protection_level
      - is_custom
      - analysis_date
    column_types:
      sha256: String
      permission_name: String
      protection_level: String
      is_custom: UInt8
    search_fields:
      - permission_name
      - protection_level
      - is_custom

  redb_apk_signature:
    columns:
      - sha256
      - is_signed
      - signature_scheme_versions
      - number_of_certificates
      - apk_signer_subject
      - apk_signer_issuer
      - analysis_date
    column_types:
      sha256: String
      is_signed: UInt8
      signature_scheme_versions: Array(UInt8)
      number_of_certificates: UInt8
      apk_signer_subject: String
      apk_signer_issuer: String

  redb_apk_certificates:
    columns:
      - sha256
      - certificate_subject
      - certificate_issuer
      - certificate_serial_number
      - certificate_valid_from
      - certificate_valid_to
      - certificate_thumbprint
      - certificate_algorithm
      - key_size
      - is_self_signed
      - certificate_source_scheme
      - analysis_date
    column_types:
      sha256: String
      certificate_subject: String
      certificate_issuer: String
      certificate_serial_number: String
      certificate_valid_from: DateTime64
      certificate_valid_to: DateTime64
      certificate_thumbprint: FixedString(40)
      certificate_algorithm: LowCardinality(String)
      key_size: UInt16
      is_self_signed: UInt8
      certificate_source_scheme: LowCardinality(String)

  redb_apk_dex:
    columns:
      - sha256
      - dex_sha256
      - dex_filename
      - dex_tlsh
      - dex_class_count
      - dex_method_count
      - dex_string_count
      - dex_top_packages
      - dex_obfuscation_indicators
      - analysis_date
    column_types:
      sha256: String
      dex_sha256: String
      dex_filename: String
      dex_tlsh: String
      dex_class_count: UInt32
      dex_method_count: UInt32
      dex_string_count: UInt32
      dex_top_packages: JSON
      dex_obfuscation_indicators: JSON

  redb_apk_dex_api_usage:
    columns:
      - sha256
      - dex_sha256
      - api_category
      - api_calls
      - analysis_date
    column_types:
      sha256: String
      dex_sha256: String
      api_category: String
      api_calls: Array(String)

  redb_apk_resources:
    columns:
      - sha256
      - resource_path
      - resource_size
      - resource_sha256
      - resource_magika
      - resource_entropy
      - is_suspicious
      - analysis_date
    column_types:
      sha256: String
      resource_path: String
      resource_size: UInt64
      resource_sha256: String
      resource_magika: String
      resource_entropy: Float32
      is_suspicious: UInt8
    search_fields:
      - resource_magika
      - resource_entropy
      - is_suspicious

  redb_apk_native_libs:
    columns:
      - sha256
      - lib_abi
      - lib_filename
      - lib_size
      - lib_sha256
      - lib_is_known_packer
      - analysis_date
    column_types:
      sha256: String
      lib_abi: String
      lib_filename: String
      lib_size: UInt64
      lib_sha256: String
      lib_is_known_packer: UInt8
    search_fields:
      - lib_abi
      - lib_filename
      - lib_is_known_packer

  redb_apk_inconsistency_tests:
    columns:
      - sha256
      - test_zip_bomb
      - test_zip_duplicate_entries
      - test_zip_path_traversal
      - test_zip_suspicious_timestamps
      - test_hidden_dex_files
      - test_manifest_component_mismatch
      - test_debuggable_release
      - test_emulator_detection_strings
      - test_debugger_detection
      - test_root_detection
      - analysis_date
    column_types:
      sha256: String
      test_zip_bomb: UInt8
      test_zip_duplicate_entries: UInt8
      test_zip_path_traversal: UInt8
      test_zip_suspicious_timestamps: UInt8
      test_hidden_dex_files: UInt8
      test_manifest_component_mismatch: UInt8
      test_debuggable_release: UInt8
      test_emulator_detection_strings: UInt8
      test_debugger_detection: UInt8
      test_root_detection: UInt8

  # ============================================================================
  # JavaScript Tables
  # ============================================================================

  redb_js_features:
    columns:
      - sha256
      - line_count
      - char_count
      - text_entropy
      - max_line_length
      - avg_line_length
      - is_minified
      - is_likely_obfuscated
      - obfuscator_name
      - obfuscation_score
      - obfuscation_techniques
      - eval_count
      - function_constructor_count
      - settimeout_setinterval_count
      - document_write_count
      - innerhtml_count
      - unescape_count
      - fromcharcode_count
      - atob_count
      - decodeuri_count
      - total_function_count
      - total_variable_count
      - max_nesting_depth
      - avg_identifier_length
      - hex_string_count
      - unicode_escape_count
      - long_string_count
      - base64_string_count
      - comment_ratio
      - script_type
      - detected_environment
      - analysis_date
    column_types:
      sha256: String
      line_count: UInt32
      char_count: UInt64
      text_entropy: Float64
      max_line_length: UInt32
      avg_line_length: Float64
      is_minified: Bool
      is_likely_obfuscated: Bool
      obfuscator_name: LowCardinality(String)
      obfuscation_score: UInt8
      obfuscation_techniques: Array(String)
      eval_count: UInt32
      function_constructor_count: UInt32
      settimeout_setinterval_count: UInt32
      document_write_count: UInt32
      innerhtml_count: UInt32
      unescape_count: UInt32
      fromcharcode_count: UInt32
      atob_count: UInt32
      decodeuri_count: UInt32
      total_function_count: UInt32
      total_variable_count: UInt32
      max_nesting_depth: UInt16
      avg_identifier_length: Float64
      hex_string_count: UInt32
      unicode_escape_count: UInt32
      long_string_count: UInt32
      base64_string_count: UInt32
      comment_ratio: Float64
      script_type: LowCardinality(String)
      detected_environment: LowCardinality(String)
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - text_entropy
      - is_minified
      - is_likely_obfuscated
      - obfuscator_name
      - obfuscation_score
      - eval_count
      - function_constructor_count
      - fromcharcode_count
      - script_type
      - detected_environment

  redb_js_suspicious_apis:
    columns:
      - sha256
      - api_name
      - api_category
      - call_count
      - line_numbers
      - context_snippet
      - analysis_date
    column_types:
      sha256: String
      api_name: String
      api_category: LowCardinality(String)
      call_count: UInt32
      line_numbers: Array(UInt32)
      context_snippet: String
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - api_name
      - api_category
      - call_count

  redb_js_deobfuscation:
    columns:
      - sha256
      - deobfuscator_used
      - deobfuscation_successful
      - original_size
      - deobfuscated_size
      - size_change_ratio
      - original_entropy
      - deobfuscated_entropy
      - new_strings_found
      - new_apis_found
      - deobfuscated_sha256
      - analysis_date
    column_types:
      sha256: String
      deobfuscator_used: LowCardinality(String)
      deobfuscation_successful: UInt8
      original_size: UInt64
      deobfuscated_size: UInt64
      size_change_ratio: Float64
      original_entropy: Float64
      deobfuscated_entropy: Float64
      new_strings_found: UInt32
      new_apis_found: UInt32
      deobfuscated_sha256: String
      analysis_date: DateTime64(3, 'UTC')
    search_fields:
      - deobfuscator_used
      - deobfuscation_successful
      - size_change_ratio
      - new_strings_found
      - new_apis_found