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— We present a novel terrain classification technique both for effective, autonomous locomotion over natural, unknown terrains and for the qualitative analysis of terrains for exploration and mapping. Our straightforward approach requires a single camera with little processing of visual information. Specifically, we derived gait bounce and gait roll(More)
This paper presents a novel technique for camera tampering detection. It is implemented in real-time and was developed for use in surveillance and security applications. This method identifies camera tampering by detecting large differences between older frames of video and more recent frames. A buffer of incoming video frames is kept and three different(More)
— Small robots can be beneficial to important applications such as civilian search and rescue and military surveillance, but their limited resources constrain their functionality and performance. To address this, a reconfigurable technique based on field-programmable gate arrays (FPGAs) may be applied, which has the potential for greater functionality and(More)
We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/ torque, an extrinsic tactile sensor for measuring contact distributions , and a tactile actuator for displaying tactile(More)