Saad Ahmad Khan

Hao Li, Chengyi Xing, Saad Khan et al. · stanford

Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design and application of underwater whisker sensors based on Fiber Bragg Grating (FBG) technology. These passive whiskers are mounted along the robot$'$s exterior to sense its surroundings through light, non-intrusive contacts. For contact tracking, we employ a sim-to-real learning framework, which involves extensive data collection in simulation followed by a sim-to-real calibration process to transfer the model trained in simulation to the real world. Experiments with whiskers immersed in water indicate that our approach can track contact points with an accuracy of $<2$ mm, without requiring precise robot proprioception. We demonstrate that the approach also generalizes to unseen objects.

Saad Ahmad Khan, Ladislau Boloni

We describe an agent-based simulation of a fictional (but feasible) information trading business. The Gas Price Information Trader (GPIT) buys information about real-time gas prices in a metropolitan area from drivers and resells the information to drivers who need to refuel their vehicles. Our simulation uses real world geographic data, lifestyle-dependent driving patterns and vehicle models to create an agent-based model of the drivers. We use real world statistics of gas price fluctuation to create scenarios of temporal and spatial distribution of gas prices. The price of the information is determined on a case-by-case basis through a simple negotiation model. The trader and the customers are adapting their negotiation strategies based on their historical profits. We are interested in the general properties of the emerging information market: the amount of realizable profit and its distribution between the trader and customers, the business strategies necessary to keep the market operational (such as promotional deals), the price elasticity of demand and the impact of pricing strategies on the profit.