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MiMiC is a flexible and efficient framework for multiscale simulations in which different subsystems are treated by individual client programs. In this work, we present a new interface with OpenMM to be used as an MM client program and we…
This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
The growth in the deployment of Internet of Things (IoT) devices in various industries required the use of IoT platforms to manage, automate and control devices. This introduced different commercial and open source IoT platforms for…
Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly when visual tracking fails in challenging areas. In such…
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…
In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and…
With the continuing development of affordable immersive virtual reality (VR) systems, there is now a growing market for consumer content. The current form of consumer systems is not dissimilar to the lab-based VR systems of the past 30…
Over the past few years, a number of successful humanoid platforms have been developed, including the Nao and the DARwIn-OP, both of which are used by many research groups for the investigation of bipedal walking, full-body motions, and…
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…
Almost all modern hardware, from phone SoCs to high-end servers with accelerators, contain memory translation and protection hardware like IOMMUs, firewalls, and lookup tables which make it impossible to reason about, and enforce protection…
We are living in a world surrounded by diverse and "smart" devices with rich modalities of sensing ability. Conveniently capturing the interactions between us humans and these objects remains far-reaching. In this paper, we present I'm-HOI,…
The Internet of Things (IoT) is considered as the key enabling technology for smart services. Security and privacy are particularly open challenges for IoT applications due to the widespread use of commodity devices. This work introduces…
In this paper we present MetaEmu, an architecture-agnostic emulator synthesizer geared towards rehosting and security analysis of automotive firmware. MetaEmu improves over existing rehosting environments in two ways: Firstly, it solves the…
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and…
People spend an enormous amount of time and effort looking for lost objects. To help remind people of the location of lost objects, various computational systems that provide information on their locations have been developed. However,…
Simulations with high accuracy are an essential part of scientific research to accelerate the innovation process. They are especially useful for finding novel approaches or optimizing existing methods. Today, powerful software tools are…
Inertial Measurement Units (IMUs) are interceptive modalities that provide ego-motion measurements independent of the environmental factors. They are widely adopted in various autonomous systems. Motivated by the limitations in processing…
We present the first publicly available Android framework to stream data from an event camera directly to a mobile phone. Today's mobile devices handle a wider range of workloads than ever before and they incorporate a growing gamut of…