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In this paper, we propose an approach to detect incipient slip, i.e. predict slip, by using a high-resolution vision-based tactile sensor, GelSlim. The sensor dynamically captures the tactile imprints of the contact object and their changes…
Multi-Agent Pickup and Delivery (MAPD) is the problem of computing collision-free paths for a group of agents such that they can safely reach delivery locations from pickup ones. These locations are provided at runtime, making MAPD a…
Multipath TCP (MPTCP) has been widely used as an efficient way for communication in many applications. Data centers, smartphones, and network operators use MPTCP to balance the traffic in a network efficiently. MPTCP is an extension of TCP…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Most modern smartphones are equipped with a barometer to sample air pressure. Accessing these samples is deemed harmless, hence does not require any permission. In this work, we show, however, that these samples can reveal sensitive…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
We propose and experimentally evaluate a novel method that dynamically changes the contention window of access points based on system load to improve performance in a dense Wi-Fi deployment. A key feature is that no MAC protocol changes,…
Empirical evidence shows that typing on touchscreen devices is prone to errors and that correcting them poses a major detriment to users' performance. Design of text entry systems that better serve users, across their broad capability…
Network latency in mobile software has a large impact on user experience, with potentially severe economic consequences. Prefetching and caching have been shown effective in reducing the latencies in browser-based systems. However, those…
One of the challenging tasks in LTE baseband receiver design is synchronization, which determines the symbol boundary and transmitted frame start-time, and performs cell identification. Conventional algorithms are based on correlation…
This paper proposes a computationally efficient methodology to predict the damage progression in solder contacts of electronic components using temperature-time curves. For this purpose, two machine learning algorithms, a Multilayer…
The tool presence detection challenge at M2CAI 2016 consists of identifying the presence/absence of seven surgical tools in the images of cholecystectomy videos. Here, we propose to use deep architectures that are based on our previous work…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
Smartphones and smartphone apps have undergone an explosive growth in the past decade. However, smartphone battery technology hasn't been able to keep pace with the rapid growth of the capacity and the functionality of smartphones and apps.…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Background: Many attempts to validate gait pipelines that process sensor data to detect gait events have focused on the detection of initial contacts only in supervised settings using a single sensor. Objective: To evaluate the performance…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
Through the last decade, we have witnessed a surge of Internet of Things (IoT) devices, and with that a greater need to choreograph their actions across both time and space. Although these two problems, namely time synchronization and…
Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…