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Resistive crossbars have attracted significant interest in the design of Deep Neural Network (DNN) accelerators due to their ability to natively execute massively parallel vector-matrix multiplications within dense memory arrays. However,…
Several techniques have been proposed to address the problem of recognizing activities of daily living from signals. Deep learning techniques applied to inertial signals have proven to be effective, achieving significant classification…
The ubiquitous availability of smartphones and smartwatches with integrated inertial measurement units (IMUs) enables straightforward capturing of human activities. For specific applications of sensor based human activity recognition (HAR),…
SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…
The need for deep neural network (DNN) models with higher performance and better functionality leads to the proliferation of very large models. Model training, however, requires intensive computation time and energy. Memristor-based…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
Microscopy is routinely used to image biological structures of interest. Due to imaging constraints, acquired images, also called as micrographs, are typically low-SNR and contain noise. Over the last few years, regression-based tasks like…
Human Activity Recognition (HAR) using Inertial Measurement Unit (IMU) sensors is critical for applications in healthcare, safety, and industrial production. However, variations in activity patterns, device types, and sensor placements…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
Inertial Measurement Unit (IMU) sensors are widely employed for Human Activity Recognition (HAR) due to their portability, energy efficiency, and growing research interest. However, a significant challenge for IMU-HAR models is achieving…
Either RGB images or inertial signals have been used for the task of motion capture (mocap), but combining them together is a new and interesting topic. We believe that the combination is complementary and able to solve the inherent…
An embodied system must not only model the patterns of the external world but also understand its own motion dynamics. A motion dynamic model is essential for efficient skill acquisition and effective planning. In this work, we introduce…
We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy that works on a large state space due to the unlimited…
The memory demands of large-scale deep neural networks (DNNs) require synaptic weight values to be stored and updated in off-chip memory like dynamic random-access memory, which reduces energy efficiency and increases training time.…
Recent studies confirm the applicability of Inertial Measurement Unit (IMU)-based systems for human motion analysis. Notwithstanding, high-end IMU-based commercial solutions are yet too expensive and complex to democratize their use among a…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Accurately estimating vehicle velocity via smartphone is critical for mobile navigation and transportation. This paper introduces a cutting-edge framework for velocity estimation that incorporates temporal learning models, utilizing…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
Human Activity Recognition~(HAR) is the classification of human movement, captured using one or more sensors either as wearables or embedded in the environment~(e.g. depth cameras, pressure mats). State-of-the-art methods of HAR rely on…