10 accepted papers
This paper introduces SeaViper, a soft extendable aquatic vibrating intelligent piezoelectric robot that extends previously developed land-based systems into the aquatic domain. The aquatic domain introduces new fundamental mechanisms of motion as well as new robot-platform requirements. To study th…
This paper presents the key principles of eViper-2D - a thin large-area soft robotics platform - as a new development of the previous extendable Vibrating Intelligent Piezo-Electric Robot (eViper) platform. We first introduce the mechanical, electrical, and control framework of eViper-2D, and then d
In-memory computing (IMC) has emerged as a promising solution to address both computation and data-movement challenges, by performing computation on data in-place directly in the memory array. IMC typically relies on analog operation, which makes analog-to-digital converters (ADCs) necessary, for co…
Electrostatic actuators provide a promising approach to creating soft robotic sheets, due to their flexible form factor, modular integration, and fast response speed. However, their control requires kilo-Volt signals and understanding of complex dynamics resulting from force interactions by on-board…
Soft robots present unique capabilities, but have been limited by the lack of scalable technologies for construction and the complexity of algorithms for efficient control and motion. These depend on soft-body dynamics, high-dimensional actuation patterns, and external/onboard forces. This paper pre…
Soft robots have drawn great interest due to their ability to take on a rich range of shapes and motions, compared to traditional rigid robots. However, the motions, and underlying statics and dynamics, pose significant challenges to forming well-generalized and robust models necessary for robot des…
Machine-learning algorithms are being employed in an increasing range of applications, spanning high-performance and energy-constrained platforms. It has been noted that the statistical nature of the algorithms can open up new opportunities for throughput and energy efficiency, by moving hardware in…
Compressive information acquisition is a natural approach for low-power hardware front ends, since most natural signals are sparse in some basis. Key design questions include the impact of hardware impairments (e.g., nonlinearities) and constraints (e.g., spatially localized computations) on the fid…
Large-Area Electronics (LAE) technology has enabled the development of physically-expansive sensing systems with a flexible form-factor, including large-aperture microphone arrays. We propose an approach to blind source separation based on leveraging such an array. In our algorithm we carry out dela…
Computational energy versus computational precision represents a critical implementation-level tradeoff facing embedded DSP systems. Focusing on multiply-accumulate (MAC) hardware, which is used extensively in DSP implementations (e.g., FIR filtering), this paper proposes an approach that exploits f…